version: 66.13
glider: 220
mission: 6
dive: 363
start: 11 27 116 20 25 4
data:
$ID,220
$MISSION,6
$DIVE,363
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,930
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,120
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,400
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54354
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0024999999
$HD_B,0.014
$HD_C,1.6e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,190
$PITCH_MAX,3888
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.025
$PITCH_ADJ_DBAND,3
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2765
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3050
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-168.7365
$PRESSURE_SLOPE,0.0001077811
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,48
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044037569
$SEABIRD_T_H,0.00063615869
$SEABIRD_T_I,2.4815216e-05
$SEABIRD_T_J,2.9729028e-06
$SEABIRD_C_G,-9.8086529
$SEABIRD_C_H,1.075657
$SEABIRD_C_I,-0.0023452051
$SEABIRD_C_J,0.00023101401
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,271116,201332,953.9320,-12447.8594,16,1.9,16,9.0,1.5,301.4,6,8.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.42
$_SM_ANGLEo,-70.3
$GPS2,271116,202441,953.9981,-12447.9062,2,1.9,4,9.0,1.1,317.8,6,10.0
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,43.2,17338,-17.6,-7.750,-24.23,2047
$D_GRID,930
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,14,-0.93,-107.1,109,2779,1097,1018,0.0,0.0,0,92,0.00,0.00,-77.05,0.000,16390,0.000,0.000,108,2780,3478,3470,3487,0,0,0,0,0,0,14.67,12.62,14.66
$GC,95,-0.93,-107.1,106,2780,3468,3489,0.9,-4.2,2,112,11.98,0.00,0.00,0.000,2310,0.386,0.000,2593,2780,3479,3471,3488,0,0,0,0,0,0,13.98,14.37,14.26
$GC,436,-0.74,-107.1,2593,2781,3479,3487,79.8,-11.0,18,441,0.25,1.92,0.00,0.000,2436,0.233,0.103,2655,3826,3485,3477,3494,0,0,0,0,0,0,14.21,14.34,14.47
$GC,575,-0.74,-107.1,2656,3826,3479,3488,90.8,-7.4,38,581,0.00,1.80,0.00,0.000,1062,0.000,0.038,2655,2729,3482,3478,3487,0,0,0,0,0,0,14.60,14.57,14.60
$GC,911,-0.74,-107.1,2655,2730,3481,3487,117.4,-167.6,53,917,0.00,2.08,0.00,0.000,260,0.000,0.103,2649,3817,3483,3480,3487,0,0,0,0,0,0,14.88,14.34,14.88
$GC,1149,-0.74,-107.1,2648,3817,3480,3488,142.0,-6.9,87,1155,0.00,1.73,0.00,0.000,1062,0.000,0.039,2647,2783,3483,3479,3487,0,0,0,0,0,0,14.71,14.66,14.72
$GC,1472,-0.74,-107.1,2647,2783,3480,3485,170.6,-9.0,98,1477,0.00,1.98,0.00,0.000,260,0.000,0.104,2639,3816,3484,3484,3484,0,0,0,0,0,0,14.94,14.36,14.94
$GC,1533,-0.74,-107.1,2639,3818,3480,3483,176.6,-9.8,107,1540,0.00,1.75,0.00,0.000,1030,0.000,0.039,2639,2769,3481,3479,3483,0,0,0,0,0,0,14.73,14.69,14.73
$GC,1863,-0.74,-107.1,2639,2770,3480,3478,208.4,-9.7,119,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2769,3478,3479,3478,0,0,0,0,0,0,14.93,14.93,14.93
$GC,2200,-0.74,-107.1,2639,2770,3480,3473,241.4,-9.9,125,2205,0.00,2.03,0.00,0.000,260,0.000,0.105,2630,3818,3476,3479,3473,0,0,0,0,0,0,14.93,14.36,14.94
$GC,2247,-0.74,-107.1,2631,3818,3480,3473,246.4,-10.3,132,2257,0.10,1.75,0.00,0.000,3078,0.225,0.041,2661,2786,3474,3479,3470,0,0,0,0,0,0,14.33,14.67,14.54
$GC,2591,-0.74,-107.1,2661,2786,3479,3469,276.8,-8.8,139,2597,0.00,2.40,0.00,0.000,516,0.000,0.043,2661,1379,3473,3478,3468,0,0,0,0,0,0,14.94,14.59,14.95
$GC,2668,-0.74,-107.1,2662,1379,3480,3468,283.4,-8.5,150,2674,0.00,2.50,0.00,0.000,1030,0.000,0.066,2652,2773,3472,3479,3466,0,0,0,0,0,0,14.54,14.44,14.58
$GC,2983,-0.74,-107.1,2652,2773,3480,3457,310.1,-8.5,160,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2773,3470,3479,3462,0,0,0,0,0,0,14.95,14.95,14.94
$GC,3319,-0.74,-107.1,2652,2773,3479,3459,337.6,-8.3,166,3325,0.00,2.42,0.00,0.000,516,0.000,0.044,2652,1370,3468,3479,3457,0,0,0,0,0,0,14.95,14.53,14.95
$GC,3367,-0.74,-107.1,2652,1370,3480,3458,341.7,-8.4,173,3375,0.00,2.53,0.00,0.000,1030,0.000,0.067,2642,2768,3467,3479,3456,0,0,0,0,0,0,14.51,14.42,14.56
$GC,3711,-0.74,-107.1,2643,2769,3480,3452,372.2,-9.0,180,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2768,3465,3479,3452,0,0,0,0,0,0,14.95,14.95,14.95
$GC,4048,-0.74,-107.1,2643,2768,3480,3449,402.6,-9.1,186,4053,0.00,2.40,0.00,0.000,516,0.000,0.044,2642,1378,3464,3479,3449,0,0,0,0,0,0,14.95,14.54,14.93
$GC,4088,-0.74,-107.1,2643,1375,3480,3450,406.5,-9.1,192,4096,0.00,2.53,0.00,0.000,1030,0.000,0.067,2632,2779,3461,3474,3449,0,0,0,0,0,0,14.53,14.43,14.57
$GC,4439,-0.74,-107.1,2633,2780,3479,3446,439.5,-9.5,200,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2780,3462,3479,3445,0,0,0,0,0,0,14.97,14.94,14.94
$GC,4775,-0.74,-107.1,2633,2780,3480,3444,469.5,-8.8,206,4777,0.10,0.00,0.00,0.000,2054,0.262,0.000,2661,2780,3460,3479,3442,0,0,0,0,0,0,14.33,14.63,14.57
$GC,5111,-0.74,-107.1,2662,2780,3479,3440,493.9,-7.2,212,5112,0.00,0.00,0.00,0.000,38,0.000,0.000,2661,2779,3459,3479,3439,0,0,0,0,0,0,14.94,14.94,14.94
$GC,5448,-0.74,-107.1,2662,2779,3479,3438,519.0,-7.5,218,5453,0.00,2.42,0.00,0.000,548,0.000,0.045,2661,1385,3457,3479,3436,0,0,0,0,0,0,14.93,14.52,14.94
$GC,5531,-0.81,-107.1,2662,1385,3479,3437,525.5,-7.7,230,5537,0.00,2.53,0.00,0.000,1190,0.000,0.069,2652,2770,3457,3479,3436,0,0,0,0,0,0,14.50,14.40,14.53
$GC,5896,-0.81,-107.1,2653,2770,3479,3433,553.7,-7.7,240,5897,0.00,0.00,0.00,0.000,38,0.000,0.000,2652,2770,3454,3476,3432,0,0,0,0,0,0,14.95,14.95,14.95
$GC,6231,-0.81,-107.1,2652,2771,3480,3429,578.9,-7.5,246,6237,0.00,2.40,0.00,0.000,548,0.000,0.044,2652,1386,3453,3478,3429,0,0,0,0,0,0,14.95,14.50,14.96
$GC,6259,-0.81,-107.1,2652,1384,3479,3430,581.1,-8.1,250,6265,0.00,2.50,0.00,0.000,1030,0.000,0.069,2643,2763,3454,3479,3429,0,0,0,0,0,0,14.45,14.36,14.51
$GC,6623,-0.81,-107.1,2642,2764,3480,3426,611.5,-8.5,260,6624,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2763,3452,3478,3426,0,0,0,0,0,0,14.95,14.95,14.95
$GC,6960,-0.81,-107.1,2644,2763,3476,3427,639.2,-8.2,266,6960,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2761,3451,3476,3426,0,0,0,0,0,0,14.96,14.95,14.95
$GC,7295,-0.81,-107.1,2643,2761,3473,3426,668.3,-8.8,272,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2763,3448,3471,3425,0,0,0,0,0,0,14.95,14.95,14.95
$GC,7631,-0.81,-107.1,2643,2763,3472,3426,699.1,-9.2,278,7637,0.00,2.40,0.00,0.000,516,0.000,0.046,2642,1387,3448,3471,3425,0,0,0,0,0,0,14.95,14.42,14.95
$GC,7672,-0.81,-107.1,2643,1387,3471,3430,703.0,-9.3,284,7680,0.00,2.53,0.00,0.000,1030,0.000,0.069,2634,2761,3446,3470,3423,0,0,0,0,0,0,14.42,14.32,14.47
$GC,8023,-0.81,-107.1,2634,2762,3471,3423,733.1,-8.5,292,8030,0.00,2.05,0.00,0.000,260,0.000,0.112,2625,3826,3446,3471,3422,0,0,0,0,0,0,14.92,14.21,14.92
$GC,8057,-0.81,-107.1,2626,3826,3471,3424,736.0,-8.9,297,8064,0.00,1.85,0.00,0.000,1030,0.000,0.045,2625,2757,3446,3470,3422,0,0,0,0,0,0,14.66,14.59,14.67
$GC,8416,-0.81,-107.1,2625,2758,3471,3423,763.9,-7.7,306,8421,0.00,2.40,0.00,0.000,548,0.000,0.044,2625,1372,3445,3469,3421,0,0,0,0,0,0,14.90,14.45,14.90
$GC,8457,-0.81,-107.1,2625,1371,3470,3422,767.2,-7.8,312,8464,0.00,2.58,0.00,0.000,1030,0.000,0.066,2613,2766,3446,3471,3421,0,0,0,0,0,0,14.42,14.32,14.46
$GC,8807,-0.81,-107.1,2614,2766,3470,3421,794.9,-8.0,320,8814,0.00,2.05,0.00,0.000,260,0.000,0.109,2607,3826,3444,3469,3420,0,0,0,0,0,0,14.91,14.20,14.91
$GC,8855,-0.81,-107.1,2607,3827,3470,3420,799.1,-8.6,327,8864,0.10,1.85,0.00,0.000,3078,0.249,0.044,2635,2771,3444,3469,3420,0,0,0,0,0,0,14.23,14.60,14.38
$GC,9200,-0.81,-107.1,2635,2770,3468,3421,822.8,-6.8,334,9205,0.00,2.45,0.00,0.000,548,0.000,0.045,2635,1361,3443,3467,3419,0,0,0,0,0,0,14.91,14.44,14.91
$GC,9262,-0.81,-107.1,2635,1362,3468,3419,827.2,-7.0,343,9268,0.00,2.55,0.00,0.000,1062,0.000,0.067,2626,2758,3446,3467,3425,0,0,0,0,0,0,14.39,14.29,14.43
$GC,9592,-0.81,-107.1,2624,2758,3467,3419,851.1,-7.2,355,9592,0.00,0.00,0.00,0.000,38,0.000,0.000,2625,2758,3442,3467,3418,0,0,0,0,0,0,14.90,14.90,14.90
$GC,9928,-0.81,-107.1,2625,2759,3468,3417,874.8,-6.9,361,9933,0.00,2.45,0.00,0.000,548,0.000,0.044,2625,1359,3442,3467,3417,0,0,0,0,0,0,14.93,14.42,14.92
$GC,9962,-0.81,-107.1,2625,1359,3467,3418,877.3,-5.8,366,9968,0.00,2.58,0.00,0.000,1062,0.000,0.067,2616,2766,3441,3466,3416,0,0,0,0,0,0,14.35,14.24,14.40
$GC,10320,-0.81,-107.1,2615,2765,3465,3416,903.2,-7.9,375,10325,0.00,2.05,0.00,0.000,260,0.000,0.112,2607,3816,3439,3464,3415,0,0,0,0,0,0,14.90,14.12,14.90
$GC,10346,-0.81,-107.1,2607,3817,3465,3415,905.5,-8.4,379,10353,0.08,1.88,0.00,0.000,3078,0.267,0.043,2629,2742,3439,3464,3415,0,0,0,0,0,0,14.16,14.55,14.39
$STATE,10709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10709,begin apogee
$GC,10715,-0.23,0.0,2629,2226,3466,3413,933.3,-7.7,389,10830,0.65,0.00,111.93,1.952,10244,0.171,0.000,2821,2223,3052,3094,3011,0,0,0,0,0,0,14.11,13.98,13.05
$STATE,10831,end apogee,CONTROL_FINISHED_OK
$STATE,10831,begin climb
$GC,10834,0.93,107.1,2820,2223,3090,3005,937.3,0.0,391,10964,1.12,2.50,118.15,1.950,10756,0.091,0.057,3185,847,2617,2680,2554,0,0,0,0,0,0,13.98,14.00,12.89
$GC,10970,0.75,127.3,3185,847,2680,2549,934.2,6.7,412,10998,0.15,2.60,23.05,2.016,13478,0.213,0.050,3145,2255,2541,2612,2471,0,0,0,0,0,0,13.72,13.82,12.86
$GC,11330,0.77,145.1,3144,2255,2607,2450,910.5,6.9,428,11354,0.00,2.62,18.62,2.037,8484,0.000,0.099,3145,3658,2466,2543,2389,0,0,0,0,0,0,14.64,14.24,13.33
$GC,11425,0.68,145.1,3144,3660,2536,2383,903.1,8.3,442,11431,0.10,2.50,0.00,0.000,5254,0.215,0.040,3127,2241,2461,2541,2382,0,0,0,0,0,0,14.12,14.34,14.27
$GC,11776,0.71,177.0,3126,2236,2543,2380,881.2,6.1,450,11817,0.00,2.70,36.08,1.953,8484,0.000,0.098,3125,3655,2338,2419,2258,0,0,0,0,0,0,14.76,14.12,13.31
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$STATE,22455,end climb,SURFACE_DEPTH_REACHED
$STATE,22455,begin surface coast
$FINISH,0.9,1.020933
$STATE,22462,end surface coast,CONTROL_FINISHED_OK
$STATE,22462,begin surface
$SM_CCo,22484,21.35,0.161,0,0,1057,500.14
$SM_GC,-1.25,9.65,1.52,21.35,0.091,0.037,0.161,175,2728,1057,-8.39,1.44,500.14,0,0,0,0,0,0,14.58,14.59,14.25
$IRIDIUM_FIX,947.31,-12450.02,271116,134836
$TT8_MAMPS,0.038199,0.444157
$HUMID,54.64
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,22.80
$XPDR_PINGS,1
$SC_FREEKB,3770336
$PM_FREEKB,55668672
$24V_AH,12.51,131.715
$10V_AH,12.11,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.000,196.775,489.850,21.350,0.000,0.000,0.000,389.275,0.250,0.000,5.923,0.000,19297.748,820.340,2611.336,431.247,0.000,2014.790,0.000,1650.793,0.000,0.839,0.000
$DEVICE_MAMPS,385.560,111.690,2037.195,160.650,0.000,0.000,0.000,177.480,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22520.000,22468.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.472,2.409,0.000,0.000
$MEM,334740
$DATA_FILE_SIZE,33304,916
$CAP_FILE_SIZE,164087,0
$CFSIZE,1024409600,952614912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088,34.15,1
$GPS,281116,024110,956.100,-12445.785,28,1.3,29,9.0,0.2,0.0,5,10.0