version: 66.13
glider: 220
mission: 6
dive: 373
start: 11 30 116 14 11 7
data:
$ID,220
$MISSION,6
$DIVE,373
$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,60
$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
$GPS1,301116,135931,1012.1595,-12453.7588,20,0.9,20,9.0,0.9,222.6,9,4.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-70.0
$GPS2,301116,141047,1012.1425,-12453.7451,1,0.9,1,9.0,0.3,178.4,9,5.2
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,304.0,17188,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-0.93,-107.1,109,2772,1100,1016,0.0,0.0,0,93,0.00,0.00,-76.90,0.000,16390,0.000,0.000,107,2772,3478,3469,3488,0,0,0,0,0,0,14.66,12.61,14.66
$GC,96,-0.93,-107.1,108,2772,3470,3489,1.4,-4.4,2,116,12.02,1.92,0.00,0.000,2308,0.390,0.073,2584,3834,3480,3471,3489,0,0,0,0,0,0,13.98,14.31,14.36
$GC,346,-0.63,-107.1,2584,3835,3474,3489,67.1,-15.9,39,352,0.40,1.83,0.00,0.000,3206,0.236,0.039,2693,2757,3480,3472,3489,0,0,0,0,0,0,14.11,14.57,14.30
$GC,676,-0.63,-107.1,2693,2758,3479,3489,94.6,-8.3,53,682,0.00,2.33,0.00,0.000,516,0.000,0.041,2692,1374,3482,3478,3487,0,0,0,0,0,0,14.88,14.50,14.89
$GC,913,-0.63,-107.1,2693,1375,3479,3488,111.7,-6.2,87,919,0.00,2.50,0.00,0.000,1062,0.000,0.067,2683,2773,3483,3478,3488,0,0,0,0,0,0,14.52,14.40,14.54
$GC,1236,-0.63,-107.1,2683,2773,3478,3488,135.4,-7.6,98,1241,0.00,2.38,0.00,0.000,548,0.000,0.041,2682,1370,3481,3477,3486,0,0,0,0,0,0,14.91,14.55,14.91
$GC,1292,-0.63,-107.1,2684,1370,3478,3487,139.8,-7.8,106,1297,0.00,2.50,0.00,0.000,1030,0.000,0.067,2674,2776,3482,3479,3486,0,0,0,0,0,0,14.62,14.45,14.64
$GC,1628,-0.63,-107.1,2674,2776,3478,3484,167.7,-8.6,119,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2776,3480,3478,3483,0,0,0,0,0,0,14.91,14.92,14.92
$GC,1964,-0.63,-107.1,2674,2776,3478,3480,195.9,-8.2,125,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2776,3482,3478,3487,0,0,0,0,0,0,14.93,14.92,14.93
$GC,2300,-0.63,-107.1,2674,2776,3479,3474,223.2,-8.0,131,2305,0.00,2.40,0.00,0.000,516,0.000,0.042,2673,1377,3475,3477,3473,0,0,0,0,0,0,14.93,14.54,14.93
$GC,2383,-0.63,-107.1,2674,1377,3478,3473,229.9,-7.7,143,2389,0.08,2.53,0.00,0.000,3110,0.208,0.068,2688,2764,3475,3478,3472,0,0,0,0,0,0,14.28,14.41,14.42
$GC,2748,-0.72,-107.1,2689,2766,3478,3469,256.1,-7.3,153,2754,0.00,2.38,0.00,0.000,676,0.000,0.041,2689,1380,3473,3478,3468,0,0,0,0,0,0,14.93,14.52,14.93
$GC,2782,-0.82,-107.1,2688,1381,3479,3468,258.6,-7.3,158,2788,0.08,2.53,0.00,0.000,5286,0.087,0.069,2616,2771,3472,3478,3467,0,0,0,0,0,0,14.47,14.41,14.54
$GC,3140,-0.82,-107.1,2617,2772,3479,3462,294.7,-10.2,167,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2771,3469,3477,3462,0,0,0,0,0,0,14.93,14.93,14.93
$GC,3476,-0.82,-107.1,2616,2771,3479,3459,327.9,-9.8,173,3482,0.00,2.40,0.00,0.000,516,0.000,0.043,2615,1376,3467,3477,3458,0,0,0,0,0,0,14.94,14.55,14.94
$GC,3510,-0.82,-107.1,2616,1376,3485,3459,331.2,-9.4,178,3517,0.08,2.53,0.00,0.000,3078,0.234,0.069,2628,2766,3467,3477,3458,0,0,0,0,0,0,14.21,14.40,14.39
$GC,3868,-0.82,-107.1,2628,2767,3479,3454,362.6,-8.8,187,3873,0.00,2.03,0.00,0.000,260,0.000,0.112,2620,3815,3465,3477,3454,0,0,0,0,0,0,14.94,14.29,14.94
$GC,3909,-0.82,-107.1,2621,3818,3478,3454,366.6,-9.5,193,3916,0.00,1.80,0.00,0.000,1030,0.000,0.041,2620,2768,3465,3477,3453,0,0,0,0,0,0,14.68,14.63,14.69
$GC,4260,-0.82,-107.1,2620,2770,3478,3451,400.3,-9.7,201,4266,0.00,2.40,0.00,0.000,516,0.000,0.043,2620,1379,3463,3477,3450,0,0,0,0,0,0,14.95,14.50,14.97
$GC,4301,-0.82,-107.1,2620,1380,3476,3455,404.4,-10.0,207,4307,0.00,2.53,0.00,0.000,1030,0.000,0.068,2612,2766,3463,3477,3450,0,0,0,0,0,0,14.50,14.40,14.55
$GC,4652,-0.82,-107.1,2611,2765,3478,3448,443.1,-11.2,215,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2766,3461,3477,3446,0,0,0,0,0,0,14.95,14.96,14.95
$GC,4988,-0.82,-107.1,2611,2767,3478,3444,481.3,-11.2,221,4994,0.00,2.05,0.00,0.000,260,0.000,0.112,2602,3828,3460,3477,3444,0,0,0,0,0,0,14.93,14.30,14.94
$GC,5092,-0.82,-107.1,2602,3829,3483,3443,492.8,-10.6,236,5100,0.10,1.80,0.00,0.000,3078,0.223,0.042,2630,2774,3460,3477,3443,0,0,0,0,0,0,14.23,14.66,14.39
$GC,5436,-0.82,-107.1,2630,2776,3476,3440,521.8,-8.1,243,5441,0.00,2.40,0.00,0.000,516,0.000,0.042,2630,1373,3458,3477,3439,0,0,0,0,0,0,14.93,14.51,14.93
$GC,5498,-0.82,-107.1,2631,1374,3478,3438,526.7,-7.6,252,5504,0.00,2.53,0.00,0.000,1062,0.000,0.067,2621,2769,3458,3477,3439,0,0,0,0,0,0,14.48,14.38,14.52
$GC,5828,-0.82,-107.1,2623,2769,3478,3438,552.3,-7.8,264,5833,0.00,2.40,0.00,0.000,516,0.000,0.042,2620,1373,3457,3477,3437,0,0,0,0,0,0,14.95,14.51,14.95
$GC,5876,-0.82,-107.1,2621,1373,3478,3438,556.3,-8.0,271,5883,0.00,2.50,0.00,0.000,1030,0.000,0.067,2611,2755,3457,3477,3437,0,0,0,0,0,0,14.46,14.35,14.50
$GC,6220,-0.82,-107.1,2612,2755,3477,3433,587.1,-9.1,278,6225,0.00,2.05,0.00,0.000,260,0.000,0.112,2603,3822,3455,3477,3433,0,0,0,0,0,0,14.92,14.25,14.92
$GC,6247,-0.82,-107.1,2605,3823,3478,3432,589.9,-9.9,282,6253,0.08,1.85,0.00,0.000,3078,0.257,0.042,2629,2749,3455,3477,3433,0,0,0,0,0,0,14.24,14.63,14.38
$GC,6612,-0.82,-107.1,2629,2749,3477,3432,623.6,-9.4,292,6617,0.00,2.38,0.00,0.000,516,0.000,0.043,2628,1365,3453,3477,3430,0,0,0,0,0,0,14.92,14.47,14.92
$GC,6653,-0.82,-107.1,2629,1366,3478,3430,627.7,-9.8,298,6659,0.00,2.53,0.00,0.000,1030,0.000,0.067,2619,2758,3451,3477,3426,0,0,0,0,0,0,14.45,14.35,14.50
$GC,7004,-0.82,-107.1,2620,2758,3476,3429,662.0,-9.7,306,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2757,3452,3476,3428,0,0,0,0,0,0,14.95,14.93,14.95
$GC,7340,-0.82,-107.1,2620,2758,3473,3429,693.6,-9.3,312,7345,0.00,2.40,0.00,0.000,516,0.000,0.043,2619,1380,3448,3472,3425,0,0,0,0,0,0,14.92,14.42,14.92
$GC,7374,-0.82,-107.1,2619,1381,3471,3428,696.8,-9.4,317,7381,0.00,2.53,0.00,0.000,1030,0.000,0.068,2610,2756,3450,3472,3428,0,0,0,0,0,0,14.43,14.33,14.47
$GC,7732,-0.82,-107.1,2610,2756,3471,3429,730.6,-9.5,326,7737,0.00,2.03,0.00,0.000,260,0.000,0.111,2601,3825,3449,3470,3428,0,0,0,0,0,0,14.94,14.26,14.94
$GC,7766,-0.82,-107.1,2602,3825,3471,3429,734.1,-10.3,331,7772,0.10,1.85,0.00,0.000,3078,0.243,0.044,2635,2760,3452,3477,3428,0,0,0,0,0,0,14.18,14.60,14.33
$GC,8124,-0.82,-107.1,2635,2761,3471,3426,763.4,-8.1,340,8129,0.00,2.40,0.00,0.000,516,0.000,0.044,2635,1368,3447,3470,3425,0,0,0,0,0,0,14.91,14.44,14.91
$GC,8151,-0.82,-107.1,2632,1369,3471,3426,765.7,-8.3,344,8157,0.00,2.55,0.00,0.000,1030,0.000,0.067,2625,2754,3447,3470,3425,0,0,0,0,0,0,14.39,14.29,14.44
$GC,8516,-0.82,-107.1,2626,2756,3470,3425,795.3,-8.1,354,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2755,3449,3469,3430,0,0,0,0,0,0,14.91,14.91,14.91
$GC,8852,-0.82,-107.1,2626,2756,3469,3422,821.5,-7.7,360,8857,0.00,2.45,0.00,0.000,548,0.000,0.044,2625,1355,3445,3468,3422,0,0,0,0,0,0,14.93,14.40,14.93
$GC,8908,-0.82,-107.1,2625,1356,3469,3422,825.6,-6.8,368,8913,0.00,2.55,0.00,0.000,1062,0.000,0.067,2616,2761,3445,3468,3422,0,0,0,0,0,0,14.51,14.35,14.54
$GC,9244,-0.82,-107.1,2616,2761,3467,3423,852.0,-7.8,381,9250,0.00,2.05,0.00,0.000,260,0.000,0.114,2608,3816,3443,3466,3421,0,0,0,0,0,0,14.90,14.12,14.90
$GC,9278,-0.82,-107.1,2608,3816,3466,3422,854.8,-6.8,386,9284,0.00,1.85,0.00,0.000,1062,0.000,0.044,2607,2750,3443,3465,3421,0,0,0,0,0,0,14.54,14.52,14.57
$GC,9636,-0.82,-107.1,2608,2749,3465,3422,884.0,-8.2,395,9641,0.00,2.38,0.00,0.000,516,0.000,0.044,2606,1374,3442,3464,3421,0,0,0,0,0,0,14.90,14.42,14.90
$GC,9677,-0.82,-107.1,2607,1373,3465,3421,887.1,-7.3,401,9684,0.12,2.53,0.00,0.000,3110,0.217,0.067,2633,2749,3442,3465,3420,0,0,0,0,0,0,14.02,14.27,14.20
$GC,10028,-0.82,-107.1,2633,2749,3465,3420,912.0,-7.0,409,10034,0.00,2.08,0.00,0.000,292,0.000,0.114,2625,3820,3441,3464,3419,0,0,0,0,0,0,14.92,14.14,14.92
$GC,10104,-0.82,-107.1,2625,3821,3465,3420,917.9,-7.8,420,10110,0.00,1.88,0.00,0.000,1030,0.000,0.044,2624,2748,3444,3470,3419,0,0,0,0,0,0,14.60,14.54,14.62
$STATE,10305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10305,begin apogee
$GC,10312,-0.23,0.0,2625,2211,3465,3419,933.2,-7.6,428,10425,0.68,0.10,110.62,1.962,10244,0.173,0.156,2823,2271,3049,3090,3008,0,0,0,0,0,0,14.10,13.93,12.99
$STATE,10426,end apogee,CONTROL_FINISHED_OK
$STATE,10426,begin climb
$GC,10429,0.93,107.1,2824,2271,3087,3004,936.6,0.0,430,10556,1.12,2.60,117.50,1.955,10756,0.092,0.056,3184,850,2625,2685,2565,0,0,0,0,0,0,13.97,14.02,12.87
$GC,10562,0.72,122.2,3187,851,2678,2555,932.7,7.0,450,10584,0.17,2.55,17.50,2.046,13478,0.216,0.049,3140,2234,2562,2630,2494,0,0,0,0,0,0,13.69,13.83,12.88
$GC,10920,0.72,124.8,3141,2234,2625,2473,906.6,7.6,459,10925,0.00,2.67,0.00,0.000,292,0.000,0.099,3140,3663,2548,2624,2472,0,0,0,0,0,0,14.67,14.28,14.68
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$STATE,22298,end climb,SURFACE_DEPTH_REACHED
$STATE,22298,begin surface coast
$FINISH,0.6,1.020810
$STATE,22307,end surface coast,CONTROL_FINISHED_OK
$STATE,22307,begin surface
$SM_CCo,22330,15.00,0.163,0,0,1056,500.14
$SM_GC,0.54,9.12,3.38,15.00,0.038,0.063,0.163,180,2759,1056,-8.40,-0.76,500.14,0,0,0,0,0,0,14.51,14.33,14.22
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$TT8_MAMPS,0.03745,0.436667
$HUMID,54.80
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,3766496
$PM_FREEKB,55544512
$24V_AH,12.61,134.882
$10V_AH,12.12,0.000
$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
$DEVICE_SECS,25.150,233.425,479.450,15.000,0.000,0.000,0.000,390.850,0.000,0.000,4.855,0.000,18957.850,858.397,2734.261,451.041,0.000,2115.423,0.000,1744.326,0.000,0.838,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.518,2.411,0.000,0.000
$MEM,334752
$DATA_FILE_SIZE,36670,986
$CAP_FILE_SIZE,175809,0
$CFSIZE,1024409600,951123968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,318.78,1
$GPS,301116,202440,1014.048,-12455.864,35,1.1,36,9.0,0.9,104.3,7,9.0