version: 66.13
glider: 220
mission: 6
dive: 368
start: 11 29 116 5 10 54
data:
$ID,220
$MISSION,6
$DIVE,368
$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,55
$R_STBD_OVSHOOT,17
$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
$GPS1,291116,045425,1002.8624,-12445.1357,34,1.4,34,9.0,0.5,32.2,5,4.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.94
$_SM_ANGLEo,-67.9
$GPS2,291116,051031,1003.1738,-12445.1514,2,1.3,3,9.0,0.8,32.7,6,9.6
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,297.5,40010,-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,-107.1,106,2772,1101,1017,0.0,0.0,0,92,0.00,0.00,-77.15,0.000,16390,0.000,0.000,104,2772,3478,3470,3486,0,0,0,0,0,0,14.69,12.64,14.68
$GC,95,-0.93,-107.1,105,2771,3471,3488,0.3,-3.3,2,115,11.75,1.92,0.00,0.000,2308,0.377,0.081,2583,3829,3480,3472,3488,0,0,0,0,0,0,14.00,14.33,14.40
$GC,184,-0.52,-107.1,2581,3830,3475,3487,42.1,-26.0,16,190,0.52,1.83,0.00,0.000,3206,0.248,0.037,2723,2736,3480,3473,3487,0,0,0,0,0,0,14.07,14.53,14.28
$GC,507,-0.52,-107.1,2723,2735,3479,3487,68.6,-5.5,29,513,0.00,2.25,0.00,0.000,548,0.000,0.042,2723,1385,3481,3477,3486,0,0,0,0,0,0,14.85,14.50,14.85
$GC,569,-0.61,-107.1,2723,1386,3479,3486,72.5,-6.4,38,575,0.00,2.50,0.00,0.000,1190,0.000,0.066,2713,2786,3482,3478,3487,0,0,0,0,0,0,14.50,14.40,14.53
$GC,899,-0.69,-107.1,2714,2787,3478,3487,95.1,-6.8,52,904,0.05,1.88,0.00,0.000,4516,0.205,0.106,2639,3823,3484,3481,3487,0,0,0,0,0,0,14.63,14.40,14.70
$GC,1094,-0.69,-107.1,2639,3823,3478,3488,113.5,-9.5,80,1100,0.12,1.73,0.00,0.000,3078,0.213,0.038,2677,2777,3482,3478,3486,0,0,0,0,0,0,14.37,14.69,14.59
$GC,1459,-0.69,-107.1,2677,2776,3479,3482,139.5,-7.1,90,1464,0.00,2.35,0.00,0.000,548,0.000,0.039,2677,1395,3480,3478,3482,0,0,0,0,0,0,14.95,14.54,14.95
$GC,1549,-0.69,-107.1,2677,1394,3478,3483,146.2,-7.7,103,1555,0.00,2.50,0.00,0.000,1062,0.000,0.066,2667,2792,3479,3478,3480,0,0,0,0,0,0,14.55,14.45,14.59
$GC,1907,-0.69,-107.1,2667,2794,3479,3475,174.0,-7.8,112,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2793,3477,3478,3476,0,0,0,0,0,0,14.93,14.94,14.94
$GC,2243,-0.69,-107.1,2667,2795,3478,3470,200.5,-7.9,118,2248,0.00,2.38,0.00,0.000,516,0.000,0.041,2668,1397,3473,3476,3470,0,0,0,0,0,0,14.95,14.59,14.95
$GC,2284,-0.69,-107.1,2667,1396,3478,3471,203.9,-8.1,124,2290,0.00,2.53,0.00,0.000,1030,0.000,0.067,2657,2791,3475,3478,3473,0,0,0,0,0,0,14.56,14.47,14.60
$GC,2635,-0.69,-107.1,2658,2792,3479,3464,232.6,-8.3,132,2640,0.00,2.40,0.00,0.000,516,0.000,0.041,2658,1387,3471,3478,3464,0,0,0,0,0,0,14.95,14.59,14.95
$GC,2669,-0.69,-107.1,2657,1385,3478,3465,235.4,-8.6,137,2676,0.00,2.53,0.00,0.000,1030,0.000,0.067,2648,2792,3470,3478,3463,0,0,0,0,0,0,14.57,14.46,14.60
$GC,3027,-0.69,-107.1,2649,2792,3477,3460,265.8,-8.5,146,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2792,3468,3478,3459,0,0,0,0,0,0,14.92,14.95,14.95
$GC,3363,-0.69,-107.1,2648,2793,3479,3454,293.2,-8.1,152,3368,0.00,2.42,0.00,0.000,516,0.000,0.041,2647,1397,3465,3477,3454,0,0,0,0,0,0,14.97,14.53,14.97
$GC,3432,-0.69,-107.1,2648,1396,3478,3454,298.9,-7.7,162,3439,0.10,2.53,0.00,0.000,3110,0.216,0.067,2666,2785,3465,3478,3453,0,0,0,0,0,0,14.27,14.43,14.42
$GC,3755,-0.69,-107.1,2669,2785,3478,3451,322.5,-7.4,173,3756,0.00,0.00,0.00,0.000,38,0.000,0.000,2672,2784,3463,3477,3450,0,0,0,0,0,0,14.94,14.94,14.95
$GC,4091,-0.69,-107.1,2668,2785,3478,3446,349.4,-8.1,179,4096,0.00,2.38,0.00,0.000,516,0.000,0.041,2668,1398,3461,3477,3445,0,0,0,0,0,0,14.95,14.57,14.95
$GC,4139,-0.69,-107.1,2668,1397,3478,3446,353.6,-8.5,186,4147,0.00,2.53,0.00,0.000,1030,0.000,0.068,2659,2789,3461,3477,3445,0,0,0,0,0,0,14.52,14.43,14.57
$GC,4483,-0.69,-107.1,2659,2790,3478,3441,382.1,-8.2,193,4489,0.00,2.38,0.00,0.000,516,0.000,0.041,2658,1397,3459,3477,3441,0,0,0,0,0,0,14.95,14.56,14.95
$GC,4539,-0.69,-107.1,2660,1397,3478,3442,386.6,-7.8,201,4545,0.00,2.50,0.00,0.000,1030,0.000,0.068,2650,2797,3458,3477,3440,0,0,0,0,0,0,14.62,14.43,14.65
$GC,4875,-0.69,-107.1,2651,2797,3478,3439,412.6,-7.8,214,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2797,3457,3477,3437,0,0,0,0,0,0,14.97,14.96,14.96
$GC,5211,-0.69,-107.1,2651,2797,3478,3437,437.6,-7.4,220,5216,0.00,2.40,0.00,0.000,548,0.000,0.041,2650,1392,3456,3477,3435,0,0,0,0,0,0,14.96,14.57,14.96
$GC,5294,-0.69,-107.1,2650,1392,3476,3434,443.8,-7.2,232,5300,0.10,2.55,0.00,0.000,3110,0.215,0.069,2670,2787,3455,3477,3433,0,0,0,0,0,0,14.23,14.40,14.38
$GC,5659,-0.69,-107.1,2670,2788,3478,3431,468.8,-6.9,242,5660,0.00,0.00,0.00,0.000,38,0.000,0.000,2669,2787,3454,3477,3431,0,0,0,0,0,0,14.93,14.94,14.94
$GC,5995,-0.77,-107.1,2670,2788,3478,3428,491.6,-6.7,248,6000,0.00,2.40,0.00,0.000,676,0.000,0.041,2669,1397,3452,3477,3428,0,0,0,0,0,0,14.96,14.54,14.95
$GC,6092,-0.86,-107.1,2670,1398,3478,3427,498.4,-6.8,262,6098,0.05,2.50,0.00,0.000,5286,0.119,0.068,2609,2771,3452,3477,3427,0,0,0,0,0,0,14.35,14.36,14.45
$GC,6443,-0.86,-107.1,2616,2771,3475,3427,530.4,-9.3,270,6448,0.00,2.00,0.00,0.000,260,0.000,0.113,2601,3817,3449,3473,3426,0,0,0,0,0,0,14.93,14.27,14.93
$GC,6477,-0.86,-107.1,2602,3818,3474,3426,533.9,-10.4,275,6483,0.00,1.77,0.00,0.000,1030,0.000,0.041,2600,2779,3449,3472,3426,0,0,0,0,0,0,14.71,14.67,14.73
$GC,6835,-0.86,-107.1,2600,2781,3473,3426,569.8,-10.1,284,6840,0.00,2.38,0.00,0.000,516,0.000,0.042,2599,1387,3448,3471,3426,0,0,0,0,0,0,14.95,14.50,14.95
$GC,6876,-0.86,-107.1,2600,1386,3472,3428,574.0,-10.0,290,6883,0.08,2.53,0.00,0.000,3078,0.230,0.067,2611,2771,3448,3471,3426,0,0,0,0,0,0,14.18,14.37,14.34
$GC,7227,-0.86,-107.1,2611,2772,3471,3425,607.8,-9.7,298,7232,0.00,2.03,0.00,0.000,260,0.000,0.113,2604,3822,3448,3470,3426,0,0,0,0,0,0,14.93,14.24,14.93
$GC,7317,-0.86,-107.1,2603,3822,3471,3427,616.8,-9.8,311,7323,0.00,1.80,0.00,0.000,1030,0.000,0.043,2604,2771,3448,3470,3426,0,0,0,0,0,0,14.70,14.65,14.71
$GC,7675,-0.86,-107.1,2604,2776,3470,3424,650.6,-9.5,320,7680,0.00,2.38,0.00,0.000,516,0.000,0.043,2603,1386,3446,3469,3423,0,0,0,0,0,0,14.95,14.48,14.95
$GC,7709,-0.86,-107.1,2603,1385,3470,3423,654.1,-10.3,325,7716,0.00,2.53,0.00,0.000,1030,0.000,0.067,2594,2771,3445,3469,3422,0,0,0,0,0,0,14.45,14.35,14.50
$GC,8067,-0.86,-107.1,2595,2772,3468,3421,689.5,-9.9,334,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2771,3444,3467,3421,0,0,0,0,0,0,14.95,14.95,14.95
$GC,8403,-0.86,-107.1,2595,2771,3466,3421,722.6,-9.9,340,8408,0.00,2.40,0.00,0.000,516,0.000,0.043,2594,1383,3442,3464,3420,0,0,0,0,0,0,14.95,14.50,14.95
$GC,8444,-0.86,-107.1,2593,1383,3466,3420,726.9,-10.0,346,8450,0.10,2.53,0.00,0.000,3078,0.230,0.068,2612,2768,3442,3465,3420,0,0,0,0,0,0,14.10,14.35,14.29
$GC,8795,-0.86,-107.1,2612,2770,3466,3418,758.1,-8.9,354,8795,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2768,3441,3465,3418,0,0,0,0,0,0,14.94,14.94,14.94
$GC,9131,-0.86,-107.1,2613,2768,3465,3419,787.9,-8.9,360,9136,0.00,2.42,0.00,0.000,516,0.000,0.044,2612,1377,3441,3464,3418,0,0,0,0,0,0,14.92,14.43,14.92
$GC,9158,-0.86,-107.1,2610,1377,3465,3417,790.5,-9.5,364,9164,0.00,2.55,0.00,0.000,1030,0.000,0.067,2603,2768,3440,3463,3417,0,0,0,0,0,0,14.41,14.31,14.46
$GC,9523,-0.86,-107.1,2604,2768,3462,3418,824.0,-9.3,374,9524,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2768,3439,3461,3417,0,0,0,0,0,0,14.90,14.91,14.91
$GC,9859,-0.86,-107.1,2604,2769,3462,3415,856.2,-9.6,380,9864,0.00,2.40,0.00,0.000,516,0.000,0.043,2601,1387,3438,3461,3415,0,0,0,0,0,0,14.91,14.43,14.91
$GC,9907,-0.86,-107.1,2603,1387,3462,3415,861.0,-7.9,387,9914,0.00,2.55,0.00,0.000,1030,0.000,0.069,2593,2767,3438,3461,3415,0,0,0,0,0,0,14.30,14.21,14.35
$GC,10251,-0.86,-107.1,2594,2768,3461,3414,895.0,-10.0,394,10251,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2768,3437,3461,3413,0,0,0,0,0,0,14.90,14.90,14.91
$GC,10587,-0.86,-107.1,2593,2769,3461,3412,927.6,-9.6,400,10588,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2768,3436,3460,3412,0,0,0,0,0,0,14.92,14.93,14.93
$STATE,10640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10640,begin apogee
$GC,10647,-0.23,0.0,2594,2244,3460,3413,932.7,-9.5,401,10758,0.80,0.00,108.30,1.985,10244,0.183,0.000,2824,2244,3049,3091,3007,0,0,0,0,0,0,14.10,13.99,13.01
$STATE,10759,end apogee,CONTROL_FINISHED_OK
$STATE,10759,begin climb
$GC,10762,0.93,107.1,2824,2245,3089,3001,936.5,0.0,403,10890,1.10,2.50,116.38,1.971,10756,0.090,0.056,3184,869,2617,2678,2556,0,0,0,0,0,0,14.00,14.02,12.89
$GC,10917,0.79,107.1,3180,870,2678,2547,930.8,8.5,426,10924,0.00,2.55,0.00,0.000,1158,0.000,0.050,3183,2256,2611,2677,2545,0,0,0,0,0,0,13.99,13.93,14.00
$GC,11261,0.66,107.1,3183,2257,2678,2538,902.7,8.4,433,11267,0.22,2.62,0.00,0.000,4484,0.224,0.100,3118,3660,2607,2677,2538,0,0,0,0,0,0,14.17,14.28,14.43
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$STATE,22570,end climb,SURFACE_DEPTH_REACHED
$STATE,22570,begin surface coast
$FINISH,-0.2,1.020824
$STATE,22598,end surface coast,CONTROL_FINISHED_OK
$STATE,22598,begin surface
$SM_CCo,22619,30.17,0.157,0,0,1057,500.14
$SM_GC,-0.44,9.18,0.85,30.17,0.069,0.076,0.157,177,2767,1057,-8.40,-0.76,500.14,0,0,0,0,0,0,14.56,14.43,14.26
$IRIDIUM_FIX,956.07,-12443.37,281116,221324
$TT8_MAMPS,0.035952,0.318325
$HUMID,53.85
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,21.80
$XPDR_PINGS,0
$SC_FREEKB,3768416
$PM_FREEKB,55607872
$24V_AH,12.64,133.314
$10V_AH,12.64,0.000
$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,25.250,220.700,491.475,30.175,0.000,0.000,0.000,499.950,0.000,0.000,4.626,0.000,19505.268,876.607,2770.498,446.557,0.000,2206.052,0.000,1677.582,0.000,0.839,0.000
$DEVICE_MAMPS,377.145,113.220,2071.620,156.825,0.000,0.000,0.000,179.010,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22657.000,22606.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.492,2.414,0.000,0.000
$MEM,334764
$DATA_FILE_SIZE,33384,934
$CAP_FILE_SIZE,176704,0
$CFSIZE,1024409600,951877632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057,343.32,1
$GPS,291116,112932,1004.829,-12447.053,31,0.9,38,9.0,0.5,59.9,10,3.3