version: 66.13
glider: 220
mission: 6
dive: 381
start: 12 2 116 18 8 50
data:
$ID,220
$MISSION,6
$DIVE,381
$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,61
$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
$GPS1,021216,175708,1011.5530,-12505.7451,21,1.1,21,9.1,1.0,197.9,6,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.12
$_SM_ANGLEo,-73.0
$GPS2,021216,180827,1011.5253,-12505.6348,2,1.2,5,9.1,0.2,0.0,6,9.3
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,211.9,32939,-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,-107.1,121,2779,1095,1013,0.0,0.0,0,99,0.00,0.00,-78.15,0.000,16390,0.000,0.000,118,2779,3478,3470,3487,0,0,0,0,0,0,14.66,12.59,14.66
$GC,102,-0.93,-107.1,119,2781,3471,3487,8.6,-15.3,3,120,11.88,2.40,0.00,0.000,2564,0.389,0.041,2592,1383,3479,3472,3486,0,0,0,0,0,0,14.04,14.38,14.34
$GC,134,0.00,-107.1,2592,1376,3475,3488,27.9,-53.3,8,140,1.05,2.58,0.00,0.000,3206,0.227,0.076,2882,2774,3481,3475,3487,0,0,0,0,0,0,14.13,14.29,14.38
$GC,464,-0.33,-107.1,2885,2775,3479,3486,46.2,-4.4,22,469,0.20,1.92,0.00,0.000,4516,0.103,0.109,2795,3821,3480,3474,3486,0,0,0,0,0,0,14.50,14.33,14.58
$GC,520,-0.60,-107.1,2793,3822,3478,3487,50.0,-6.8,30,525,0.20,1.77,0.00,0.000,5286,0.050,0.044,2677,2773,3482,3478,3486,0,0,0,0,0,0,14.51,14.51,14.54
$GC,856,-0.60,-107.1,2677,2774,3481,3486,80.3,-7.1,45,862,0.00,2.35,0.00,0.000,548,0.000,0.043,2677,1373,3483,3481,3486,0,0,0,0,0,0,14.88,14.54,14.90
$GC,1024,-0.60,-107.1,2677,1374,3483,3486,92.4,-7.2,69,1030,0.12,2.45,0.00,0.000,3110,0.224,0.065,2703,2770,3483,3481,3486,0,0,0,0,0,0,14.29,14.45,14.52
$GC,1388,-0.69,-107.1,2704,2774,3482,3487,111.8,-4.9,81,1389,0.00,0.00,0.00,0.000,166,0.000,0.000,2703,2769,3483,3481,3486,0,0,0,0,0,0,14.92,14.93,14.92
$GC,1724,-0.79,-107.1,2703,2771,3483,3484,128.6,-8.4,87,1725,0.12,0.00,0.00,0.000,4230,0.091,0.000,2615,2770,3483,3481,3485,0,0,0,0,0,0,14.69,14.75,14.73
$GC,2059,-0.79,-107.1,2615,2769,3483,3481,163.0,-10.4,93,2066,0.10,2.38,0.00,0.000,2564,0.248,0.044,2644,1370,3480,3481,3480,0,0,0,0,0,0,14.36,14.57,14.57
$GC,2094,-0.79,-107.1,2645,1370,3481,3481,167.4,-10.9,98,2100,0.00,2.50,0.00,0.000,1030,0.000,0.068,2634,2756,3480,3481,3480,0,0,0,0,0,0,14.54,14.45,14.58
$GC,2451,-0.79,-107.1,2635,2756,3483,3476,199.4,-8.8,107,2457,0.00,2.03,0.00,0.000,260,0.000,0.107,2626,3820,3478,3481,3476,0,0,0,0,0,0,14.96,14.37,14.95
$GC,2485,-0.79,-107.1,2626,3821,3482,3477,202.7,-9.4,112,2492,0.00,1.80,0.00,0.000,1030,0.000,0.041,2625,2748,3478,3481,3475,0,0,0,0,0,0,14.74,14.70,14.75
$GC,2844,-0.79,-107.1,2626,2748,3482,3470,235.3,-9.2,121,2850,0.00,2.08,0.00,0.000,260,0.000,0.106,2617,3820,3475,3481,3469,0,0,0,0,0,0,14.95,14.35,14.95
$GC,2878,-0.79,-107.1,2617,3820,3482,3471,239.3,-11.6,126,2884,0.00,1.77,0.00,0.000,1030,0.000,0.041,2617,2765,3475,3481,3469,0,0,0,0,0,0,14.64,14.61,14.66
$GC,3235,-0.79,-107.1,2617,2767,3482,3465,276.3,-10.6,135,3241,0.00,2.35,0.00,0.000,516,0.000,0.043,2616,1380,3473,3481,3465,0,0,0,0,0,0,14.96,14.56,14.96
$GC,3291,-0.79,-107.1,2617,1379,3482,3465,283.0,-9.7,143,3297,0.12,2.45,0.00,0.000,3078,0.240,0.067,2643,2770,3472,3481,3463,0,0,0,0,0,0,14.28,14.45,14.54
$GC,3627,-0.79,-107.1,2642,2771,3481,3460,314.7,-9.3,156,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2769,3470,3481,3460,0,0,0,0,0,0,14.96,14.97,14.97
$GC,3963,-0.79,-107.1,2643,2770,3482,3457,346.5,-9.3,162,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2770,3468,3481,3456,0,0,0,0,0,0,14.97,14.97,14.97
$GC,4300,-0.79,-107.1,2643,2770,3482,3452,374.9,-8.3,168,4305,0.00,2.40,0.00,0.000,516,0.000,0.044,2642,1376,3466,3481,3452,0,0,0,0,0,0,14.96,14.55,14.97
$GC,4348,-0.79,-107.1,2642,1376,3482,3453,378.9,-7.3,175,4355,0.00,2.53,0.00,0.000,1062,0.000,0.067,2633,2754,3466,3481,3452,0,0,0,0,0,0,14.49,14.39,14.54
$GC,4691,-0.79,-107.1,2634,2754,3482,3450,407.8,-8.2,182,4697,0.00,2.05,0.00,0.000,260,0.000,0.109,2625,3828,3465,3481,3449,0,0,0,0,0,0,14.94,14.33,14.94
$GC,4739,-0.79,-107.1,2625,3827,3482,3450,412.6,-9.2,189,4748,0.00,1.83,0.00,0.000,1030,0.000,0.044,2624,2770,3461,3481,3442,0,0,0,0,0,0,14.73,14.66,14.76
$GC,5083,-0.79,-107.1,2625,2770,3482,3444,442.7,-8.6,196,5089,0.00,2.42,0.00,0.000,516,0.000,0.045,2624,1376,3463,3481,3445,0,0,0,0,0,0,14.94,14.49,14.94
$GC,5139,-0.79,-107.1,2625,1376,3481,3446,448.4,-9.5,204,5145,0.10,2.45,0.00,0.000,3078,0.248,0.067,2643,2762,3462,3481,3444,0,0,0,0,0,0,14.26,14.41,14.51
$GC,5476,-0.79,-107.1,2643,2762,3482,3443,474.9,-8.0,217,5482,0.00,2.03,0.00,0.000,260,0.000,0.112,2635,3820,3461,3481,3441,0,0,0,0,0,0,14.95,14.30,14.95
$GC,5566,-0.79,-107.1,2635,3822,3482,3437,482.8,-8.8,230,5572,0.00,1.85,0.00,0.000,1030,0.000,0.042,2634,2734,3460,3481,3440,0,0,0,0,0,0,14.68,14.66,14.68
$GC,5924,-0.79,-107.1,2635,2731,3482,3439,513.3,-8.4,239,5929,0.00,2.33,0.00,0.000,516,0.000,0.044,2635,1374,3459,3481,3437,0,0,0,0,0,0,14.95,14.51,14.95
$GC,5979,-0.79,-107.1,2635,1373,3481,3438,519.4,-10.0,247,5985,0.00,2.47,0.00,0.000,1030,0.000,0.066,2625,2763,3459,3481,3437,0,0,0,0,0,0,14.59,14.40,14.62
$GC,6316,-0.79,-107.1,2625,2763,3482,3435,550.1,-9.1,260,6321,0.00,2.03,0.00,0.000,260,0.000,0.109,2616,3840,3458,3481,3435,0,0,0,0,0,0,14.93,14.30,14.93
$GC,6385,-0.79,-107.1,2615,3841,3483,3435,558.6,-10.3,270,6391,0.00,1.88,0.00,0.000,1030,0.000,0.042,2616,2737,3456,3480,3433,0,0,0,0,0,0,14.66,14.63,14.66
$GC,6707,-0.79,-107.1,2616,2737,3481,3433,588.0,-9.0,281,6714,0.10,2.35,0.00,0.000,2564,0.251,0.044,2645,1385,3456,3480,3432,0,0,0,0,0,0,14.33,14.40,14.54
$GC,6777,-0.79,-107.1,2645,1386,3482,3431,595.0,-9.0,291,6783,0.00,2.53,0.00,0.000,1030,0.000,0.067,2636,2767,3455,3480,3431,0,0,0,0,0,0,14.45,14.35,14.50
$GC,7100,-0.79,-107.1,2637,2767,3481,3430,619.6,-7.6,302,7100,0.00,0.00,0.00,0.000,38,0.000,0.000,2636,2767,3454,3480,3429,0,0,0,0,0,0,14.95,14.95,14.95
$GC,7436,-0.79,-107.1,2636,2768,3480,3426,644.6,-7.5,308,7437,0.00,0.00,0.00,0.000,38,0.000,0.000,2636,2766,3453,3480,3427,0,0,0,0,0,0,14.94,14.95,14.95
$GC,7772,-0.79,-107.1,2636,2768,3478,3426,668.8,-7.2,314,7777,0.00,2.42,0.00,0.000,548,0.000,0.046,2635,1379,3451,3476,3427,0,0,0,0,0,0,14.92,14.47,14.92
$GC,7813,-0.79,-107.1,2636,1378,3477,3428,672.0,-7.2,320,7819,0.00,2.50,0.00,0.000,1062,0.000,0.068,2626,2752,3450,3475,3426,0,0,0,0,0,0,14.45,14.34,14.49
$GC,8164,-0.79,-107.1,2626,2754,3474,3426,698.5,-7.6,328,8164,0.00,0.00,0.00,0.000,38,0.000,0.000,2626,2757,3450,3473,3427,0,0,0,0,0,0,14.92,14.92,14.92
$GC,8500,-0.79,-107.1,2626,2754,3473,3425,726.1,-8.3,334,8501,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2752,3448,3472,3425,0,0,0,0,0,0,14.94,14.95,14.94
$GC,8835,-0.79,-107.1,2627,2752,3473,3424,754.2,-8.3,340,8836,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2752,3448,3472,3424,0,0,0,0,0,0,14.94,14.94,14.95
$GC,9171,-0.79,-107.1,2626,2753,3472,3422,781.5,-8.1,346,9172,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2753,3446,3470,3422,0,0,0,0,0,0,14.92,14.92,14.93
$GC,9508,-0.79,-107.1,2626,2758,3471,3422,807.3,-7.5,352,9508,0.00,0.00,0.00,0.000,38,0.000,0.000,2626,2752,3446,3470,3422,0,0,0,0,0,0,14.91,14.91,14.91
$GC,9844,-0.79,-107.1,2620,2754,3471,3420,833.1,-7.8,358,9845,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2753,3445,3470,3420,0,0,0,0,0,0,14.91,14.91,14.91
$GC,10180,-0.79,-107.1,2627,2752,3471,3417,858.7,-7.7,364,10185,0.00,2.40,0.00,0.000,548,0.000,0.047,2625,1377,3443,3469,3418,0,0,0,0,0,0,14.93,14.43,14.93
$GC,10207,-0.79,-107.1,2625,1378,3471,3419,860.2,-5.0,368,10213,0.00,2.55,0.00,0.000,1062,0.000,0.070,2617,2751,3445,3471,3419,0,0,0,0,0,0,14.37,14.27,14.42
$GC,10572,-0.79,-107.1,2615,2752,3469,3419,888.1,-7.7,378,10573,0.10,0.00,0.00,0.000,2086,0.252,0.000,2640,2749,3443,3468,3419,0,0,0,0,0,0,14.23,14.52,14.45
$GC,10908,-0.79,-107.1,2644,2751,3469,3419,911.7,-6.9,384,10909,0.00,0.00,0.00,0.000,38,0.000,0.000,2645,2750,3442,3468,3417,0,0,0,0,0,0,14.92,14.92,14.92
$STATE,11185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11185,begin apogee
$GC,11191,-0.23,0.0,2646,2248,3469,3417,932.0,-7.1,389,11305,0.60,0.00,111.22,2.017,10244,0.164,0.000,2824,2248,3049,3092,3007,0,0,0,0,0,0,14.15,13.96,12.95
$STATE,11306,end apogee,CONTROL_FINISHED_OK
$STATE,11306,begin climb
$GC,11309,0.93,107.1,2823,2249,3091,3002,936.6,0.0,391,11440,1.10,2.55,118.78,1.964,10756,0.089,0.060,3182,849,2617,2679,2555,0,0,0,0,0,0,13.97,14.00,12.83
$GC,11670,0.85,127.3,3183,850,2683,2541,918.5,6.7,444,11697,0.00,2.55,21.83,2.025,9382,0.000,0.054,3183,2261,2540,2614,2467,0,0,0,0,0,0,14.33,14.26,13.22
$GC,12030,0.73,127.3,3183,2262,2613,2456,889.8,8.2,460,12035,0.12,2.60,0.00,0.000,4484,0.243,0.097,3142,3654,2533,2613,2454,0,0,0,0,0,0,14.18,14.32,14.34
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$STATE,23414,end climb,SURFACE_DEPTH_REACHED
$STATE,23414,begin surface coast
$FINISH,-1.5,1.021089
$STATE,23442,end surface coast,CONTROL_FINISHED_OK
$STATE,23444,begin surface
$SM_CCo,23465,40.90,0.156,0,0,1058,500.14
$SM_GC,-0.83,8.85,0.93,40.90,0.047,0.089,0.156,166,2769,1058,-8.38,-0.59,500.14,0,0,0,0,0,0,14.57,14.38,14.23
$IRIDIUM_FIX,1007.02,-12503.47,021216,112048
$TT8_MAMPS,0.03745,0.417193
$HUMID,55.55
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,21.00
$XPDR_PINGS,3
$SC_FREEKB,3763424
$PM_FREEKB,55447232
$24V_AH,12.59,137.353
$10V_AH,12.61,0.000
$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,25.600,190.050,440.650,40.900,0.000,0.000,0.000,388.475,0.750,0.000,6.723,0.000,20201.031,821.127,2696.571,448.909,0.000,2026.334,0.000,1721.741,0.000,0.839,0.000
$DEVICE_MAMPS,389.385,111.690,2024.955,156.060,0.000,0.000,0.000,177.480,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23504.000,23452.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.516,2.422,0.000,0.000
$MEM,334724
$DATA_FILE_SIZE,33379,954
$CAP_FILE_SIZE,165902,0
$CFSIZE,1024409600,949944320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.014,316.66,1
$GPS,031216,004131,1009.955,-12506.974,24,0.8,24,9.0,0.3,23.4,10,6.4