version: 66.13
glider: 220
mission: 6
dive: 378
start: 12 1 116 22 27 7
data:
$ID,220
$MISSION,6
$DIVE,378
$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,56
$R_STBD_OVSHOOT,21
$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
$GPS1,011216,221319,1015.5050,-12501.3184,36,0.5,36,9.1,1.0,6.7,12,5.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.28
$_SM_ANGLEo,-70.8
$GPS2,011216,222647,1015.6265,-12501.2236,2,0.5,4,9.1,0.4,123.0,12,7.4
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,219.1,43992,-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,12,begin dive
$GC,15,-0.93,-107.1,112,2770,1097,1017,0.0,0.0,0,93,0.00,0.00,-76.50,0.000,16390,0.000,0.000,107,2771,3476,3469,3484,0,0,0,0,0,0,14.67,12.61,14.67
$GC,96,-0.93,-107.1,107,2772,3470,3488,1.2,-4.7,2,111,11.88,1.88,0.00,0.000,2308,0.386,0.047,2582,3844,3479,3470,3488,0,0,0,0,0,0,14.00,14.39,14.38
$GC,180,-0.64,-107.1,2582,3846,3473,3488,37.1,-21.6,15,186,0.35,1.83,0.00,0.000,3206,0.214,0.035,2681,2729,3480,3472,3488,0,0,0,0,0,0,14.13,14.47,14.30
$GC,510,-0.64,-107.1,2681,2729,3476,3489,69.2,-7.0,29,515,0.00,2.08,0.00,0.000,292,0.000,0.106,2673,3828,3482,3476,3488,0,0,0,0,0,0,14.83,14.33,14.84
$GC,747,-0.64,-107.1,2673,3829,3479,3487,90.0,-8.0,63,753,0.00,1.75,0.00,0.000,1030,0.000,0.039,2672,2772,3482,3478,3487,0,0,0,0,0,0,14.69,14.64,14.69
$GC,1070,-0.64,-107.1,2673,2773,3478,3487,115.8,-8.6,73,1075,0.00,2.33,0.00,0.000,516,0.000,0.041,2673,1383,3482,3477,3488,0,0,0,0,0,0,14.92,14.57,14.92
$GC,1111,-0.64,-107.1,2673,1384,3478,3487,119.5,-8.5,79,1117,0.00,2.47,0.00,0.000,1030,0.000,0.067,2662,2754,3482,3477,3487,0,0,0,0,0,0,14.54,14.44,14.58
$GC,1462,-0.64,-107.1,2663,2754,3477,3486,151.0,-9.0,87,1467,0.00,2.03,0.00,0.000,260,0.000,0.108,2655,3823,3481,3477,3485,0,0,0,0,0,0,14.94,14.35,14.94
$GC,1566,-0.64,-107.1,2655,3824,3478,3483,161.0,-9.3,102,1574,0.10,1.77,0.00,0.000,3078,0.226,0.038,2691,2756,3480,3477,3483,0,0,0,0,0,0,14.35,14.70,14.50
$GC,1910,-0.72,-107.1,2692,2755,3479,3480,184.4,-6.5,109,1915,0.00,2.30,0.00,0.000,676,0.000,0.040,2691,1388,3478,3477,3479,0,0,0,0,0,0,14.95,14.58,14.95
$GC,1986,-0.82,-107.1,2692,1387,3478,3479,189.2,-6.1,120,1993,0.08,2.47,0.00,0.000,5286,0.087,0.066,2619,2768,3475,3473,3477,0,0,0,0,0,0,14.50,14.44,14.56
$GC,2302,-0.82,-107.1,2620,2768,3478,3472,217.4,-9.2,130,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2768,3478,3477,3480,0,0,0,0,0,0,14.95,14.95,14.95
$GC,2638,-0.82,-107.1,2620,2769,3478,3468,250.6,-9.9,136,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2768,3473,3476,3470,0,0,0,0,0,0,14.94,14.94,14.93
$GC,2974,-0.82,-107.1,2619,2769,3477,3464,283.6,-9.9,142,2979,0.00,2.03,0.00,0.000,260,0.000,0.110,2611,3830,3466,3477,3456,0,0,0,0,0,0,14.95,14.36,14.95
$GC,3001,-0.82,-107.1,2612,3830,3477,3464,286.4,-10.1,146,3007,0.00,1.80,0.00,0.000,1030,0.000,0.041,2611,2771,3469,3477,3462,0,0,0,0,0,0,14.75,14.70,14.76
$GC,3366,-0.82,-107.1,2609,2772,3478,3459,322.1,-9.8,156,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2771,3467,3476,3459,0,0,0,0,0,0,14.96,14.96,14.96
$GC,3702,-0.82,-107.1,2611,2772,3478,3455,356.0,-10.2,162,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2771,3466,3477,3455,0,0,0,0,0,0,14.96,14.97,14.96
$GC,4038,-0.82,-107.1,2611,2771,3478,3451,392.8,-11.1,168,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2771,3464,3477,3452,0,0,0,0,0,0,14.96,14.98,14.97
$GC,4374,-0.82,-107.1,2611,2772,3478,3448,430.6,-11.2,174,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2770,3462,3477,3448,0,0,0,0,0,0,14.96,14.98,14.97
$GC,4710,-0.82,-107.1,2612,2772,3478,3444,464.6,-9.8,180,4716,0.00,2.40,0.00,0.000,516,0.000,0.043,2611,1372,3461,3477,3445,0,0,0,0,0,0,14.95,14.55,14.96
$GC,4737,-0.82,-107.1,2611,1373,3478,3444,467.4,-10.0,184,4744,0.10,2.55,0.00,0.000,3078,0.220,0.067,2629,2761,3460,3476,3444,0,0,0,0,0,0,14.21,14.41,14.38
$GC,5102,-0.82,-107.1,2629,2762,3477,3441,496.3,-7.5,194,5107,0.00,2.05,0.00,0.000,292,0.000,0.111,2622,3829,3458,3476,3440,0,0,0,0,0,0,14.94,14.33,14.94
$GC,5150,-0.82,-107.1,2622,3829,3477,3442,500.1,-8.0,201,5158,0.00,1.85,0.00,0.000,1030,0.000,0.042,2621,2752,3458,3476,3440,0,0,0,0,0,0,14.68,14.66,14.69
$GC,5494,-0.82,-107.1,2623,2752,3477,3438,526.3,-7.7,208,5500,0.00,2.40,0.00,0.000,548,0.000,0.042,2621,1374,3456,3476,3437,0,0,0,0,0,0,14.92,14.49,14.93
$GC,5556,-0.82,-107.1,2620,1375,3477,3437,531.6,-8.4,217,5562,0.00,2.55,0.00,0.000,1030,0.000,0.065,2612,2774,3456,3476,3437,0,0,0,0,0,0,14.49,14.39,14.53
$GC,5886,-0.82,-107.1,2612,2776,3477,3433,561.1,-9.2,229,5891,0.00,2.40,0.00,0.000,516,0.000,0.042,2616,1379,3454,3476,3433,0,0,0,0,0,0,14.95,14.52,14.95
$GC,5927,-0.82,-107.1,2611,1380,3477,3433,565.3,-10.0,235,5933,0.10,2.53,0.00,0.000,3078,0.223,0.066,2631,2762,3454,3476,3432,0,0,0,0,0,0,14.17,14.37,14.34
$GC,6278,-0.82,-107.1,2630,2763,3477,3431,598.8,-9.7,243,6283,0.00,2.00,0.00,0.000,260,0.000,0.111,2620,3829,3453,3476,3431,0,0,0,0,0,0,14.93,14.30,14.94
$GC,6382,-0.82,-107.1,2623,3829,3475,3432,609.7,-10.2,258,6390,0.00,1.85,0.00,0.000,1030,0.000,0.044,2620,2755,3452,3474,3431,0,0,0,0,0,0,14.69,14.63,14.70
$GC,6726,-0.82,-107.1,2623,2755,3472,3432,643.0,-9.6,265,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2754,3451,3471,3431,0,0,0,0,0,0,14.92,14.92,14.92
$GC,7062,-0.82,-107.1,2622,2756,3472,3423,673.2,-8.9,271,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2755,3449,3470,3429,0,0,0,0,0,0,14.92,14.92,14.92
$GC,7398,-0.82,-107.1,2623,2756,3472,3427,701.7,-8.5,277,7403,0.00,2.38,0.00,0.000,516,0.000,0.044,2621,1375,3448,3470,3427,0,0,0,0,0,0,14.95,14.48,14.95
$GC,7446,-0.82,-107.1,2622,1375,3471,3427,705.9,-8.5,284,7454,0.00,2.53,0.00,0.000,1030,0.000,0.067,2615,2757,3448,3470,3426,0,0,0,0,0,0,14.43,14.33,14.47
$GC,7790,-0.82,-107.1,2613,2757,3470,3425,736.4,-9.0,291,7795,0.00,2.03,0.00,0.000,260,0.000,0.112,2603,3836,3447,3469,3426,0,0,0,0,0,0,14.92,14.26,14.93
$GC,7846,-0.82,-107.1,2604,3837,3470,3426,741.8,-9.7,299,7851,0.08,1.85,0.00,0.000,3078,0.214,0.044,2626,2766,3446,3467,3425,0,0,0,0,0,0,14.19,14.54,14.35
$GC,8182,-0.82,-107.1,2626,2767,3468,3422,770.9,-8.7,312,8188,0.00,2.45,0.00,0.000,516,0.000,0.044,2625,1372,3447,3471,3423,0,0,0,0,0,0,14.91,14.42,14.91
$GC,8216,-0.82,-107.1,2626,1373,3469,3423,774.1,-9.1,317,8222,0.00,2.55,0.00,0.000,1030,0.000,0.066,2615,2772,3445,3468,3423,0,0,0,0,0,0,14.42,14.32,14.46
$GC,8574,-0.82,-107.1,2617,2773,3466,3422,806.6,-9.2,326,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2772,3443,3465,3422,0,0,0,0,0,0,14.91,14.91,14.91
$GC,8910,-0.82,-107.1,2617,2772,3465,3423,836.4,-9.0,332,8916,0.00,2.45,0.00,0.000,516,0.000,0.044,2615,1363,3442,3464,3421,0,0,0,0,0,0,14.91,14.44,14.90
$GC,8966,-0.82,-107.1,2615,1364,3464,3421,841.2,-7.9,340,8972,0.00,2.53,0.00,0.000,1030,0.000,0.067,2607,2763,3442,3464,3421,0,0,0,0,0,0,14.51,14.33,14.54
$GC,9302,-0.82,-107.1,2608,2764,3465,3421,869.8,-8.4,353,9307,0.00,2.05,0.00,0.000,260,0.000,0.113,2599,3821,3441,3464,3419,0,0,0,0,0,0,14.89,14.17,14.90
$GC,9336,-0.82,-107.1,2596,3822,3465,3419,872.9,-7.4,358,9342,0.10,1.83,0.00,0.000,3110,0.211,0.045,2627,2770,3442,3464,3420,0,0,0,0,0,0,14.12,14.52,14.28
$GC,9694,-0.82,-107.1,2627,2771,3463,3420,899.4,-7.4,367,9699,0.00,2.47,0.00,0.000,548,0.000,0.044,2626,1344,3440,3462,3419,0,0,0,0,0,0,14.90,14.38,14.90
$GC,9750,-0.82,-107.1,2627,1344,3463,3420,903.3,-6.1,375,9755,0.00,2.58,0.00,0.000,1062,0.000,0.067,2617,2769,3440,3462,3419,0,0,0,0,0,0,14.50,14.32,14.53
$GC,10086,-0.82,-107.1,2618,2770,3463,3413,929.0,-7.8,388,10087,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2769,3440,3462,3418,0,0,0,0,0,0,14.92,14.92,14.92
$STATE,10139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10139,begin apogee
$GC,10146,-0.23,0.0,2618,2216,3462,3419,933.4,-7.8,389,10258,0.70,0.08,108.65,1.990,10244,0.177,0.177,2822,2254,3051,3091,3011,0,0,0,0,0,0,14.12,13.93,13.00
$STATE,10259,end apogee,CONTROL_FINISHED_OK
$STATE,10259,begin climb
$GC,10262,0.93,107.1,2823,2254,3089,3005,936.7,0.0,391,10388,1.12,2.50,116.88,1.961,10756,0.090,0.055,3187,886,2621,2680,2562,0,0,0,0,0,0,14.00,14.02,12.85
$GC,10423,0.83,126.2,3187,886,2678,2550,930.7,6.8,415,10450,0.00,2.45,21.27,2.034,9382,0.000,0.050,3186,2252,2544,2613,2475,0,0,0,0,0,0,14.07,13.97,12.93
$GC,10759,0.71,126.2,3187,2252,2611,2460,900.5,9.3,428,10765,0.20,2.62,0.00,0.000,4484,0.230,0.099,3131,3652,2535,2612,2459,0,0,0,0,0,0,14.14,14.28,14.43
$GC,10835,0.63,126.2,3132,3653,2613,2459,893.8,8.5,439,10841,0.12,2.40,0.00,0.000,5254,0.212,0.040,3107,2273,2535,2612,2458,0,0,0,0,0,0,14.11,14.41,14.27
$GC,11151,0.66,149.1,3107,2276,2613,2457,872.7,6.6,449,11177,0.00,0.00,24.50,1.968,8230,0.000,0.000,3107,2274,2458,2535,2382,0,0,0,0,0,0,14.81,14.34,13.38
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$STATE,22125,end climb,SURFACE_DEPTH_REACHED
$STATE,22125,begin surface coast
$FINISH,-0.9,1.021012
$STATE,22152,end surface coast,CONTROL_FINISHED_OK
$STATE,22153,begin surface
$SM_CCo,22173,39.80,0.158,0,0,1058,500.14
$SM_GC,0.09,9.10,0.88,39.80,0.049,0.089,0.158,181,2773,1058,-8.39,-0.62,500.14,0,0,0,0,0,0,14.54,14.39,14.23
$IRIDIUM_FIX,1009.21,-12455.57,011216,221812
$TT8_MAMPS,0.03745,0.414197
$HUMID,55.04
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.20
$XPDR_PINGS,0
$SC_FREEKB,3764576
$PM_FREEKB,55484736
$24V_AH,12.61,136.428
$10V_AH,11.92,0.000
$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,24.775,187.250,442.550,39.800,0.000,0.000,0.000,457.275,0.000,0.000,6.409,0.000,19140.445,816.747,2611.728,433.591,0.000,2040.025,0.000,1591.290,0.000,0.838,0.000
$DEVICE_MAMPS,385.560,177.480,2119.050,158.355,0.000,0.000,0.000,176.715,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22211.000,22159.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.497,2.415,0.000,0.000
$MEM,334668
$DATA_FILE_SIZE,33379,876
$CAP_FILE_SIZE,161985,0
$CFSIZE,1024409600,950403072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022,223.14,1
$GPS,021216,043825,1014.001,-12502.779,34,0.9,34,9.1,0.2,310.0,9,3.8