version: 66.13
glider: 220
mission: 6
dive: 374
start: 11 30 116 20 36 16
data:
$ID,220
$MISSION,6
$DIVE,374
$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,63
$R_STBD_OVSHOOT,18
$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
$GPS1,301116,202440,1014.0483,-12455.8643,35,1.1,36,9.0,0.9,104.3,7,9.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-71.1
$GPS2,301116,203553,1014.0044,-12455.9072,2,1.1,6,9.0,0.9,228.3,7,9.2
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,313.8,12013,-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,14,-0.93,-107.1,109,2774,1103,1016,0.0,0.0,0,92,0.00,0.00,-76.18,0.000,16390,0.000,0.000,107,2774,3479,3470,3488,0,0,0,0,0,0,14.67,12.61,14.66
$GC,95,-0.93,-107.1,107,2774,3471,3489,1.7,-5.4,2,110,11.90,1.95,0.00,0.000,2308,0.386,0.080,2585,3831,3480,3471,3489,0,0,0,0,0,0,14.00,14.35,14.38
$GC,229,-0.67,-107.1,2584,3831,3474,3488,48.4,-19.3,22,234,0.35,1.80,0.00,0.000,3206,0.250,0.037,2677,2757,3478,3469,3488,0,0,0,0,0,0,14.06,14.50,14.26
$GC,565,-0.67,-107.1,2677,2758,3479,3488,81.2,-7.3,37,570,0.00,2.33,0.00,0.000,548,0.000,0.042,2677,1381,3483,3478,3488,0,0,0,0,0,0,14.84,14.50,14.84
$GC,705,-0.67,-107.1,2678,1381,3480,3488,91.4,-7.3,57,710,0.00,2.42,0.00,0.000,1062,0.000,0.066,2667,2764,3483,3479,3488,0,0,0,0,0,0,14.59,14.43,14.66
$GC,1041,-0.67,-107.1,2667,2764,3479,3489,117.8,-7.8,68,1047,0.00,2.00,0.00,0.000,260,0.000,0.107,2658,3823,3483,3478,3488,0,0,0,0,0,0,14.90,14.35,14.90
$GC,1131,-0.67,-107.1,2659,3823,3479,3489,126.3,-9.8,81,1137,0.00,1.80,0.00,0.000,1030,0.000,0.037,2658,2720,3483,3479,3488,0,0,0,0,0,0,14.73,14.69,14.73
$GC,1489,-0.67,-107.1,2659,2721,3479,3485,159.6,-9.0,90,1494,0.00,2.22,0.00,0.000,516,0.000,0.041,2665,1414,3481,3478,3485,0,0,0,0,0,0,14.92,14.52,14.92
$GC,1523,-0.67,-107.1,2657,1412,3480,3485,162.8,-9.3,95,1530,0.10,2.40,0.00,0.000,3078,0.207,0.067,2679,2749,3481,3478,3485,0,0,0,0,0,0,14.27,14.40,14.44
$GC,1881,-0.67,-107.1,2679,2750,3479,3480,191.5,-8.1,104,1887,0.00,2.05,0.00,0.000,260,0.000,0.110,2671,3827,3478,3478,3478,0,0,0,0,0,0,14.95,14.36,14.95
$GC,1922,-0.67,-107.1,2672,3827,3479,3481,195.1,-8.9,110,1928,0.00,1.75,0.00,0.000,1030,0.000,0.040,2671,2786,3478,3478,3479,0,0,0,0,0,0,14.73,14.68,14.74
$GC,2273,-0.67,-107.1,2671,2786,3478,3476,223.4,-7.9,118,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2786,3476,3479,3474,0,0,0,0,0,0,14.95,14.95,14.95
$GC,2609,-0.67,-107.1,2672,2786,3479,3471,248.6,-7.6,124,2615,0.00,2.38,0.00,0.000,548,0.000,0.041,2671,1378,3473,3478,3469,0,0,0,0,0,0,14.95,14.57,14.95
$GC,2685,-0.67,-107.1,2672,1378,3479,3470,254.8,-8.1,135,2691,0.00,2.50,0.00,0.000,1030,0.000,0.065,2662,2756,3474,3479,3469,0,0,0,0,0,0,14.52,14.42,14.57
$GC,3001,-0.67,-107.1,2662,2756,3479,3465,282.5,-9.0,145,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2754,3471,3478,3464,0,0,0,0,0,0,14.94,14.94,14.93
$GC,3337,-0.67,-107.1,2662,2756,3479,3462,313.5,-9.2,151,3342,0.00,2.35,0.00,0.000,516,0.000,0.042,2661,1384,3468,3477,3460,0,0,0,0,0,0,14.94,14.56,14.94
$GC,3385,-0.67,-107.1,2660,1384,3479,3461,318.0,-9.1,158,3393,0.08,2.47,0.00,0.000,3078,0.215,0.067,2676,2756,3469,3478,3460,0,0,0,0,0,0,14.26,14.41,14.41
$GC,3729,-0.67,-107.1,2676,2758,3479,3456,345.2,-7.7,165,3730,0.00,0.00,0.00,0.000,38,0.000,0.000,2676,2757,3466,3477,3456,0,0,0,0,0,0,14.93,14.92,14.93
$GC,4065,-0.75,-107.1,2677,2759,3478,3453,368.6,-6.8,171,4070,0.00,2.38,0.00,0.000,676,0.000,0.043,2676,1381,3465,3478,3452,0,0,0,0,0,0,14.94,14.55,14.94
$GC,4106,-0.84,-107.1,2677,1380,3478,3452,371.4,-6.8,177,4112,0.05,2.50,0.00,0.000,5286,0.123,0.067,2614,2761,3464,3478,3451,0,0,0,0,0,0,14.39,14.40,14.50
$GC,4457,-0.84,-107.1,2610,2762,3478,3448,403.4,-9.4,185,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2761,3462,3476,3448,0,0,0,0,0,0,14.94,14.94,14.94
$GC,4793,-0.84,-107.1,2613,2762,3479,3445,436.3,-9.9,191,4798,0.00,2.03,0.00,0.000,260,0.000,0.112,2606,3819,3461,3478,3445,0,0,0,0,0,0,14.93,14.28,14.93
$GC,4876,-0.84,-107.1,2606,3819,3478,3446,445.4,-10.8,203,4882,0.00,1.83,0.00,0.000,1030,0.000,0.042,2605,2751,3460,3477,3444,0,0,0,0,0,0,14.73,14.67,14.78
$GC,5241,-0.84,-107.1,2606,2752,3479,3441,483.2,-10.4,213,5246,0.00,2.08,0.00,0.000,260,0.000,0.110,2597,3819,3459,3478,3441,0,0,0,0,0,0,14.93,14.28,14.93
$GC,5275,-0.84,-107.1,2598,3819,3479,3442,486.9,-11.3,218,5281,0.10,1.83,0.00,0.000,3078,0.246,0.042,2630,2756,3459,3478,3441,0,0,0,0,0,0,14.26,14.66,14.42
$GC,5633,-0.84,-107.1,2631,2756,3474,3439,519.2,-8.9,227,5638,0.00,2.40,0.00,0.000,516,0.000,0.043,2631,1380,3457,3478,3437,0,0,0,0,0,0,14.95,14.48,14.95
$GC,5716,-0.84,-107.1,2631,1381,3479,3437,526.7,-8.9,239,5722,0.00,2.47,0.00,0.000,1030,0.000,0.065,2621,2746,3456,3477,3436,0,0,0,0,0,0,14.48,14.38,14.55
$GC,6081,-0.84,-107.1,2622,2746,3476,3436,559.4,-9.0,249,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2746,3455,3477,3434,0,0,0,0,0,0,14.92,14.92,14.92
$GC,6417,-0.84,-107.1,2622,2747,3479,3432,589.6,-8.9,255,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2746,3455,3478,3432,0,0,0,0,0,0,14.95,14.95,14.95
$GC,6753,-0.84,-107.1,2621,2747,3475,3430,619.6,-8.9,261,6758,0.00,2.38,0.00,0.000,516,0.000,0.044,2620,1378,3453,3477,3429,0,0,0,0,0,0,14.92,14.47,14.93
$GC,6787,-0.84,-107.1,2621,1378,3478,3430,622.7,-9.5,266,6793,0.00,2.50,0.00,0.000,1030,0.000,0.067,2611,2752,3453,3477,3429,0,0,0,0,0,0,14.47,14.36,14.51
$GC,7145,-0.84,-107.1,2612,2752,3474,3429,654.9,-8.9,275,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2752,3450,3473,3428,0,0,0,0,0,0,14.95,14.95,14.95
$GC,7481,-0.84,-107.1,2611,2753,3473,3429,684.3,-8.8,281,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2752,3450,3471,3429,0,0,0,0,0,0,14.92,14.92,14.92
$GC,7817,-0.84,-107.1,2612,2752,3471,3429,714.7,-9.1,287,7817,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2752,3449,3470,3428,0,0,0,0,0,0,14.92,14.92,14.92
$GC,8153,-0.84,-107.1,2606,2752,3471,3427,747.0,-9.7,293,8154,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2752,3448,3470,3426,0,0,0,0,0,0,14.92,14.92,14.92
$GC,8489,-0.84,-107.1,2612,2752,3470,3426,780.4,-10.0,299,8489,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2751,3447,3470,3425,0,0,0,0,0,0,14.92,14.92,14.92
$GC,8825,-0.84,-107.1,2610,2753,3468,3423,812.1,-9.3,305,8830,0.00,2.45,0.00,0.000,516,0.000,0.047,2610,1385,3445,3467,3423,0,0,0,0,0,0,14.92,14.38,14.92
$GC,8873,-0.84,-107.1,2610,1384,3468,3422,816.3,-7.9,312,8881,0.00,2.55,0.00,0.000,1030,0.000,0.069,2602,2755,3445,3467,3423,0,0,0,0,0,0,14.38,14.28,14.42
$GC,9217,-0.84,-107.1,2602,2761,3468,3423,846.2,-8.5,319,9218,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2755,3444,3467,3421,0,0,0,0,0,0,14.90,14.92,14.90
$GC,9553,-0.84,-107.1,2602,2755,3462,3423,872.8,-7.8,325,9554,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2754,3442,3464,3421,0,0,0,0,0,0,14.92,14.92,14.92
$GC,9889,-0.84,-107.1,2602,2756,3462,3420,898.6,-7.5,331,9890,0.00,0.00,0.00,0.000,38,0.000,0.000,2602,2755,3443,3464,3422,0,0,0,0,0,0,14.93,14.93,14.93
$GC,10225,-0.84,-107.1,2600,2755,3464,3420,925.6,-8.0,337,10226,0.08,0.00,0.00,0.000,2054,0.276,0.000,2621,2755,3441,3464,3419,0,0,0,0,0,0,14.31,14.56,14.50
$STATE,10278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10278,begin apogee
$GC,10285,-0.23,0.0,2623,2231,3466,3418,930.1,-8.3,338,10400,0.70,0.00,112.60,1.938,10244,0.171,0.000,2828,2229,3049,3090,3009,0,0,0,0,0,0,14.12,13.98,13.01
$STATE,10402,end apogee,CONTROL_FINISHED_OK
$STATE,10402,begin climb
$GC,10404,0.93,107.1,2829,2230,3087,3002,933.6,0.0,340,10529,1.10,2.45,116.05,1.955,10756,0.090,0.056,3186,880,2621,2682,2561,0,0,0,0,0,0,13.99,14.02,12.88
$GC,10549,0.76,107.1,3187,880,2680,2553,929.5,7.8,362,10557,0.12,2.55,0.00,0.000,5254,0.210,0.050,3153,2261,2613,2678,2549,0,0,0,0,0,0,13.75,13.88,13.88
$GC,10893,0.72,130.2,3153,2262,2680,2542,907.0,6.6,369,10927,0.00,2.70,25.38,1.980,8612,0.000,0.099,3153,3658,2524,2596,2453,0,0,0,0,0,0,14.68,14.22,13.29
$GC,10990,0.60,130.2,3151,3659,2604,2448,899.3,8.5,383,10996,0.22,2.45,0.00,0.000,5254,0.210,0.040,3100,2265,2521,2595,2447,0,0,0,0,0,0,14.09,14.34,14.26
$GC,11341,0.66,172.0,3109,2263,2596,2443,879.3,5.7,391,11390,0.00,0.00,47.35,1.929,8486,0.000,0.000,3100,2263,2363,2442,2285,0,0,0,0,0,0,14.77,14.17,13.27
$GC,11733,0.67,180.6,3101,2268,2438,2266,851.6,7.3,405,11740,0.00,2.72,2.75,1.086,8484,0.000,0.102,3099,3657,2335,2418,2252,0,0,0,0,0,0,14.72,14.35,12.88
$GC,11802,0.67,180.6,3104,3657,2419,2267,845.7,8.0,415,11808,0.00,2.45,1.58,0.256,9222,0.000,0.041,3109,2254,2331,2414,2249,0,0,0,0,0,0,14.49,14.46,13.88
$GC,12125,0.67,180.6,3109,2254,2416,2267,820.8,7.8,426,12127,0.00,0.00,1.35,0.262,8198,0.000,0.000,3109,2253,2331,2415,2247,0,0,0,0,0,0,14.80,14.43,14.13
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$STATE,22412,end climb,SURFACE_DEPTH_REACHED
$STATE,22413,begin surface coast
$FINISH,-0.7,1.020772
$STATE,22441,end surface coast,CONTROL_FINISHED_OK
$STATE,22441,begin surface
$SM_CCo,22462,21.67,0.163,0,0,1058,500.14
$SM_GC,-0.39,9.02,0.90,21.67,0.045,0.080,0.163,177,2772,1058,-8.41,-0.54,500.14,0,0,0,0,0,0,14.54,14.41,14.23
$IRIDIUM_FIX,1007.02,-12455.57,301116,140428
$TT8_MAMPS,0.03745,0.346787
$HUMID,55.59
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.30
$XPDR_PINGS,0
$SC_FREEKB,3766112
$PM_FREEKB,55532864
$24V_AH,12.61,135.194
$10V_AH,12.27,0.000
$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,24.675,175.675,510.000,21.675,0.000,0.000,0.000,386.825,0.000,0.000,8.383,0.000,19425.514,795.500,2493.200,426.957,0.000,1931.539,0.000,1550.561,0.000,0.839,0.000
$DEVICE_MAMPS,385.560,112.455,1979.820,162.945,0.000,0.000,0.000,175.950,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22498.000,22449.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.519,2.394,0.000,0.000
$MEM,334724
$DATA_FILE_SIZE,30046,847
$CAP_FILE_SIZE,161501,0
$CFSIZE,1024409600,951009280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063,354.63,1
$GPS,011216,025201,1016.324,-12457.417,31,0.7,31,9.1,0.6,303.9,12,4.3