version: 66.13
glider: 220
mission: 6
dive: 405
start: 12 9 116 7 18 38
data:
$ID,220
$MISSION,6
$DIVE,405
$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,52
$R_STBD_OVSHOOT,19
$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
$GPS1,091216,070631,945.9435,-12455.5791,32,0.8,32,9.0,0.3,286.9,11,3.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.45
$_SM_ANGLEo,-68.4
$GPS2,091216,071815,945.9830,-12455.4854,2,0.8,2,9.0,0.5,172.3,12,6.7
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,30.2,37549,-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,-107.1,106,2774,1102,1013,0.0,0.0,0,100,0.00,0.00,-79.62,0.000,16390,0.000,0.000,103,2775,3475,3464,3486,0,0,0,0,0,0,14.66,13.17,14.66
$GC,104,-0.93,-107.1,105,2775,3469,3488,7.1,-13.1,3,121,11.90,1.90,0.00,0.000,2308,0.387,0.080,2583,3831,3478,3470,3486,0,0,0,0,0,0,14.01,14.37,14.28
$GC,205,-0.62,-107.1,2583,3831,3474,3488,45.2,-25.0,18,213,0.40,1.80,0.00,0.000,3206,0.227,0.036,2693,2734,3479,3472,3487,0,0,0,0,0,0,14.09,14.50,14.28
$GC,521,-0.62,-107.1,2692,2735,3477,3486,79.9,-8.6,30,526,0.00,2.28,0.00,0.000,516,0.000,0.041,2694,1398,3482,3477,3487,0,0,0,0,0,0,14.83,14.45,14.83
$GC,661,-0.62,-107.1,2693,1399,3479,3486,90.7,-7.3,50,666,0.00,2.40,0.00,0.000,1062,0.000,0.065,2684,2770,3482,3478,3486,0,0,0,0,0,0,14.59,14.43,14.61
$GC,1025,-0.62,-107.1,2684,2770,3479,3488,120.0,-7.8,62,1030,0.00,2.33,0.00,0.000,516,0.000,0.041,2683,1393,3482,3478,3486,0,0,0,0,0,0,14.90,14.53,14.90
$GC,1045,-0.62,-107.1,2684,1393,3482,3486,121.7,-8.1,65,1052,0.00,2.42,0.00,0.000,1030,0.000,0.066,2674,2762,3482,3478,3486,0,0,0,0,0,0,14.52,14.40,14.57
$GC,1361,-0.62,-107.1,2675,2762,3479,3487,144.9,-7.2,75,1366,0.00,2.33,0.00,0.000,548,0.000,0.041,2674,1396,3481,3478,3485,0,0,0,0,0,0,14.92,14.55,14.92
$GC,1444,-0.62,-107.1,2674,1397,3479,3485,150.4,-6.5,87,1450,0.10,2.42,0.00,0.000,3110,0.202,0.066,2695,2756,3481,3478,3485,0,0,0,0,0,0,14.27,14.42,14.44
$GC,1809,-0.71,-107.1,2696,2756,3479,3481,171.0,-5.9,97,1815,0.00,2.33,0.00,0.000,676,0.000,0.042,2696,1395,3478,3477,3480,0,0,0,0,0,0,14.94,14.56,14.95
$GC,1843,-0.81,-107.1,2696,1388,3479,3481,173.4,-7.0,102,1849,0.10,2.42,0.00,0.000,5286,0.074,0.067,2614,2752,3479,3478,3480,0,0,0,0,0,0,14.51,14.43,14.57
$GC,2201,-0.81,-107.1,2614,2755,3479,3476,210.8,-10.8,111,2206,0.00,2.00,0.00,0.000,260,0.000,0.108,2605,3822,3476,3478,3475,0,0,0,0,0,0,14.94,14.36,14.93
$GC,2235,-0.81,-107.1,2604,3824,3477,3475,214.7,-11.3,116,2241,0.10,1.73,0.00,0.000,3078,0.207,0.040,2635,2775,3476,3478,3475,0,0,0,0,0,0,14.31,14.65,14.47
$GC,2593,-0.81,-107.1,2636,2775,3479,3470,248.8,-9.4,125,2599,0.00,2.35,0.00,0.000,516,0.000,0.042,2635,1377,3473,3478,3469,0,0,0,0,0,0,14.93,14.54,14.93
$GC,2669,-0.81,-107.1,2636,1377,3480,3469,255.7,-8.8,136,2675,0.00,2.47,0.00,0.000,1030,0.000,0.063,2623,2755,3473,3478,3469,0,0,0,0,0,0,14.52,14.42,14.54
$GC,2985,-0.81,-107.1,2626,2756,3478,3466,284.3,-9.1,146,2990,0.00,2.00,0.00,0.000,260,0.000,0.109,2617,3820,3471,3478,3464,0,0,0,0,0,0,14.95,14.33,14.96
$GC,3047,-0.81,-107.1,2618,3821,3479,3464,290.2,-9.6,155,3053,0.00,1.80,0.00,0.000,1030,0.000,0.040,2617,2743,3470,3478,3463,0,0,0,0,0,0,14.71,14.68,14.71
$GC,3377,-0.81,-107.1,2618,2743,3478,3462,320.5,-9.2,167,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2743,3469,3478,3460,0,0,0,0,0,0,14.93,14.94,14.93
$GC,3713,-0.81,-107.1,2617,2741,3478,3456,351.8,-9.2,173,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2743,3467,3478,3456,0,0,0,0,0,0,14.96,14.97,14.96
$GC,4049,-0.81,-107.1,2618,2743,3478,3453,384.5,-9.9,179,4054,0.00,2.30,0.00,0.000,516,0.000,0.042,2617,1389,3464,3477,3452,0,0,0,0,0,0,14.95,14.55,14.94
$GC,4097,-0.81,-107.1,2611,1390,3477,3453,389.7,-10.3,186,4105,0.08,2.45,0.00,0.000,3078,0.236,0.066,2630,2754,3464,3477,3451,0,0,0,0,0,0,14.21,14.41,14.38
$GC,4441,-0.81,-107.1,2629,2755,3479,3448,423.2,-9.7,193,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2754,3463,3478,3449,0,0,0,0,0,0,14.96,14.96,14.95
$GC,4777,-0.81,-107.1,2630,2754,3477,3446,456.3,-9.9,199,4782,0.00,2.03,0.00,0.000,260,0.000,0.109,2621,3828,3461,3478,3444,0,0,0,0,0,0,14.95,14.33,14.95
$GC,4804,-0.81,-107.1,2623,3828,3478,3446,459.1,-10.2,203,4810,0.00,1.80,0.00,0.000,1030,0.000,0.041,2621,2768,3461,3478,3444,0,0,0,0,0,0,14.69,14.65,14.69
$GC,5169,-0.81,-107.1,2622,2768,3479,3441,494.7,-9.7,213,5174,0.00,2.35,0.00,0.000,516,0.000,0.041,2621,1378,3459,3477,3441,0,0,0,0,0,0,14.95,14.53,14.95
$GC,5231,-0.81,-107.1,2621,1378,3477,3441,500.8,-9.5,222,5237,0.00,2.47,0.00,0.000,1030,0.000,0.065,2612,2755,3458,3477,3439,0,0,0,0,0,0,14.48,14.38,14.52
$GC,5561,-0.81,-107.1,2613,2756,3478,3436,531.8,-9.4,234,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2755,3457,3477,3437,0,0,0,0,0,0,14.95,14.95,14.95
$GC,5897,-0.81,-107.1,2613,2755,3478,3435,563.0,-9.3,240,5902,0.00,2.03,0.00,0.000,260,0.000,0.109,2604,3826,3456,3477,3435,0,0,0,0,0,0,14.95,14.29,14.95
$GC,5924,-0.81,-107.1,2604,3827,3479,3434,565.6,-9.6,244,5930,0.10,1.83,0.00,0.000,3078,0.215,0.042,2633,2748,3455,3477,3434,0,0,0,0,0,0,14.24,14.64,14.41
$GC,6289,-0.81,-107.1,2634,2749,3478,3433,595.2,-8.1,254,6294,0.00,2.40,0.00,0.000,516,0.000,0.043,2633,1366,3454,3477,3432,0,0,0,0,0,0,14.95,14.46,14.96
$GC,6330,-0.81,-107.1,2634,1366,3478,3432,598.8,-8.5,260,6336,0.00,2.53,0.00,0.000,1030,0.000,0.066,2624,2762,3453,3477,3430,0,0,0,0,0,0,14.45,14.35,14.50
$GC,6681,-0.81,-107.1,2624,2763,3479,3428,629.2,-8.6,268,6686,0.00,2.40,0.00,0.000,516,0.000,0.043,2623,1369,3452,3477,3427,0,0,0,0,0,0,14.92,14.50,14.92
$GC,6729,-0.81,-107.1,2623,1369,3478,3427,633.4,-8.4,275,6736,0.00,2.50,0.00,0.000,1030,0.000,0.064,2613,2752,3452,3478,3427,0,0,0,0,0,0,14.44,14.35,14.47
$GC,7073,-0.81,-107.1,2614,2752,3475,3428,661.9,-8.2,282,7074,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2752,3450,3474,3427,0,0,0,0,0,0,14.92,14.92,14.92
$GC,7409,-0.81,-107.1,2614,2753,3473,3426,689.8,-8.4,288,7414,0.00,2.00,0.00,0.000,260,0.000,0.110,2605,3826,3448,3471,3426,0,0,0,0,0,0,14.92,14.26,14.94
$GC,7443,-0.81,-107.1,2605,3827,3472,3427,693.0,-9.1,293,7450,0.10,1.83,0.00,0.000,3078,0.216,0.043,2634,2755,3448,3471,3426,0,0,0,0,0,0,14.16,14.59,14.33
$GC,7801,-0.81,-107.1,2633,2757,3471,3426,720.2,-7.6,302,7806,0.00,2.38,0.00,0.000,548,0.000,0.044,2634,1368,3448,3470,3426,0,0,0,0,0,0,14.91,14.47,14.92
$GC,7870,-0.81,-107.1,2635,1368,3471,3426,725.6,-7.4,312,7876,0.00,2.53,0.00,0.000,1062,0.000,0.067,2625,2756,3447,3470,3425,0,0,0,0,0,0,14.42,14.32,14.47
$GC,8193,-0.81,-107.1,2625,2758,3471,3423,751.0,-7.8,323,8198,0.00,2.00,0.00,0.000,260,0.000,0.111,2616,3825,3446,3470,3423,0,0,0,0,0,0,14.91,14.26,14.91
$GC,8227,-0.81,-107.1,2617,3825,3471,3424,753.9,-8.5,328,8233,0.00,1.85,0.00,0.000,1030,0.000,0.044,2616,2744,3446,3470,3423,0,0,0,0,0,0,14.56,14.54,14.57
$GC,8585,-0.81,-107.1,2616,2746,3469,3423,783.8,-8.4,337,8591,0.00,2.35,0.00,0.000,516,0.000,0.044,2616,1373,3445,3468,3422,0,0,0,0,0,0,14.93,14.44,14.92
$GC,8626,-0.81,-107.1,2616,1373,3469,3423,787.5,-9.0,343,8632,0.10,2.53,0.00,0.000,3078,0.223,0.066,2635,2758,3445,3468,3422,0,0,0,0,0,0,14.07,14.28,14.24
$GC,8977,-0.81,-107.1,2635,2759,3469,3420,816.0,-8.1,351,8977,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2757,3444,3468,3420,0,0,0,0,0,0,14.93,14.93,14.93
$GC,9313,-0.81,-107.1,2636,2759,3469,3419,844.8,-8.6,357,9319,0.00,2.40,0.00,0.000,516,0.000,0.044,2635,1374,3443,3468,3419,0,0,0,0,0,0,14.92,14.44,14.92
$GC,9361,-0.81,-107.1,2636,1373,3468,3420,849.1,-8.9,364,9368,0.00,2.50,0.00,0.000,1030,0.000,0.066,2626,2750,3443,3467,3419,0,0,0,0,0,0,14.36,14.27,14.42
$GC,9705,-0.81,-107.1,2626,2750,3466,3420,879.8,-8.9,371,9705,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2750,3442,3465,3419,0,0,0,0,0,0,14.92,14.92,14.92
$GC,10041,-0.81,-107.1,2627,2750,3465,3419,909.6,-8.9,377,10047,0.00,2.42,0.00,0.000,516,0.000,0.045,2625,1380,3440,3464,3417,0,0,0,0,0,0,14.92,14.35,14.92
$GC,10103,-0.81,-107.1,2633,1381,3466,3417,915.1,-8.7,386,10109,0.00,2.53,0.00,0.000,1030,0.000,0.068,2616,2757,3440,3464,3417,0,0,0,0,0,0,14.33,14.23,14.38
$STATE,10318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10318,begin apogee
$GC,10325,-0.23,0.0,2617,2214,3465,3418,933.8,-8.7,396,10438,0.70,0.10,110.12,1.955,10244,0.177,0.157,2820,2273,3050,3092,3008,0,0,0,0,0,0,14.11,13.93,13.00
$STATE,10440,end apogee,CONTROL_FINISHED_OK
$STATE,10440,begin climb
$GC,10443,0.93,107.1,2821,2274,3091,3002,937.6,0.0,398,10569,1.12,2.50,117.15,1.956,10756,0.090,0.056,3185,895,2625,2685,2565,0,0,0,0,0,0,13.98,14.02,12.87
$GC,10617,0.83,116.9,3186,895,2681,2549,930.8,7.3,424,10631,0.00,2.42,10.62,2.119,9382,0.000,0.050,3186,2236,2585,2654,2516,0,0,0,0,0,0,14.07,14.00,12.95
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$STATE,22563,end climb,SURFACE_DEPTH_REACHED
$STATE,22563,begin surface coast
$FINISH,-1.4,1.021531
$STATE,22591,end surface coast,CONTROL_FINISHED_OK
$STATE,22592,begin surface
$SM_CCo,22613,40.65,0.152,0,0,1056,500.14
$SM_GC,-0.36,8.88,0.93,40.65,0.052,0.072,0.152,174,2762,1056,-8.38,-0.85,500.14,0,0,0,0,0,0,14.54,14.42,14.23
$IRIDIUM_FIX,938.56,-12459.70,091216,004235
$TT8_MAMPS,0.039697,0.380492
$HUMID,54.25
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.70
$XPDR_PINGS,0
$SC_FREEKB,3754208
$PM_FREEKB,55159488
$24V_AH,12.86,144.844
$10V_AH,12.39,0.000
$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
$DEVICE_SECS,24.750,220.975,456.200,40.650,0.000,0.000,0.000,410.525,0.000,0.000,4.255,0.000,19368.797,855.556,2645.289,472.903,0.000,2085.641,0.000,1653.608,0.000,0.839,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22651.000,22599.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.497,2.412,0.000,0.000
$MEM,334764
$DATA_FILE_SIZE,33393,918
$CAP_FILE_SIZE,170544,0
$CFSIZE,1024409600,946405376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,50.75,1
$GPS,091216,133709,948.341,-12453.579,17,0.9,25,9.0,0.7,32.8,10,6.6