version: 66.13
glider: 220
mission: 6
dive: 412
start: 12 11 116 5 31 26
data:
$ID,220
$MISSION,6
$DIVE,412
$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,47
$R_STBD_OVSHOOT,22
$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
$GPS1,111216,051926,1000.3950,-12441.2686,38,0.8,38,9.0,0.4,0.0,12,3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.80
$_SM_ANGLEo,-70.5
$GPS2,111216,053103,1000.5441,-12441.1553,2,0.7,3,9.0,1.1,43.9,12,6.4
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,285.4,48566,-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,-107.1,105,2778,1100,1011,0.0,0.0,0,100,0.00,0.00,-79.12,0.000,16390,0.000,0.000,105,2777,3479,3470,3488,0,0,0,0,0,0,14.67,12.57,14.67
$GC,104,-0.93,-107.1,105,2778,3471,3488,7.1,-13.8,3,121,11.70,1.92,0.00,0.000,2308,0.379,0.083,2583,3834,3480,3472,3489,0,0,0,0,0,0,14.01,14.35,14.33
$GC,345,-0.72,-107.1,2584,3834,3476,3489,72.2,-10.4,38,352,0.28,1.83,0.00,0.000,3206,0.217,0.037,2660,2748,3480,3475,3486,0,0,0,0,0,0,14.15,14.53,14.32
$GC,661,-0.72,-107.1,2661,2748,3480,3488,101.3,-9.1,50,666,0.00,2.30,0.00,0.000,516,0.000,0.041,2661,1372,3483,3479,3488,0,0,0,0,0,0,14.87,14.52,14.87
$GC,793,-0.72,-107.1,2662,1374,3480,3497,112.7,-6.8,69,800,0.00,2.47,0.00,0.000,1062,0.000,0.065,2649,2765,3483,3478,3489,0,0,0,0,0,0,14.50,14.41,14.54
$GC,1109,-0.72,-107.1,2651,2765,3479,3489,136.4,-8.0,79,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2765,3486,3484,3488,0,0,0,0,0,0,14.90,14.90,14.90
$GC,1445,-0.72,-107.1,2651,2765,3479,3487,168.3,-9.5,85,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2765,3482,3479,3485,0,0,0,0,0,0,14.92,14.92,14.92
$GC,1781,-0.72,-107.1,2651,2766,3480,3482,194.2,-7.8,91,1786,0.00,2.38,0.00,0.000,516,0.000,0.044,2651,1371,3479,3478,3481,0,0,0,0,0,0,14.93,14.56,14.92
$GC,1829,-0.72,-107.1,2651,1371,3479,3478,198.3,-8.2,98,1836,0.00,2.50,0.00,0.000,1030,0.000,0.066,2641,2764,3479,3479,3480,0,0,0,0,0,0,14.50,14.42,14.57
$GC,2173,-0.72,-107.1,2641,2764,3477,3477,228.6,-9.0,105,2179,0.00,2.38,0.00,0.000,516,0.000,0.042,2641,1374,3476,3478,3475,0,0,0,0,0,0,14.95,14.54,14.95
$GC,2229,-0.72,-107.1,2641,1375,3479,3475,233.8,-9.1,113,2235,0.10,2.47,0.00,0.000,3078,0.238,0.066,2661,2764,3476,3478,3474,0,0,0,0,0,0,14.27,14.41,14.50
$GC,2565,-0.72,-107.1,2661,2765,3479,3470,262.0,-8.3,126,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2765,3473,3478,3469,0,0,0,0,0,0,14.93,14.93,14.93
$GC,2901,-0.72,-107.1,2661,2766,3480,3465,288.1,-7.6,132,2906,0.00,2.38,0.00,0.000,548,0.000,0.042,2661,1378,3472,3481,3463,0,0,0,0,0,0,14.94,14.54,14.94
$GC,2970,-0.72,-107.1,2661,1379,3480,3462,293.3,-7.4,142,2976,0.00,2.50,0.00,0.000,1062,0.000,0.068,2652,2758,3470,3478,3463,0,0,0,0,0,0,14.52,14.41,14.56
$GC,3293,-0.72,-107.1,2653,2760,3479,3459,319.5,-8.3,153,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2762,3471,3483,3459,0,0,0,0,0,0,14.96,14.96,14.96
$GC,3629,-0.72,-107.1,2651,2760,3479,3455,345.3,-7.4,159,3634,0.00,2.40,0.00,0.000,548,0.000,0.043,2652,1371,3467,3479,3455,0,0,0,0,0,0,14.95,14.53,14.95
$GC,3712,-0.72,-107.1,2652,1371,3479,3454,351.3,-7.0,171,3718,0.00,2.53,0.00,0.000,1062,0.000,0.067,2643,2763,3466,3478,3454,0,0,0,0,0,0,14.50,14.39,14.56
$GC,4077,-0.72,-107.1,2644,2764,3479,3452,379.7,-8.0,181,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2763,3464,3478,3451,0,0,0,0,0,0,14.93,14.92,14.93
$GC,4413,-0.72,-107.1,2643,2765,3478,3447,407.3,-8.3,187,4418,0.00,2.03,0.00,0.000,260,0.000,0.112,2635,3828,3462,3478,3447,0,0,0,0,0,0,14.93,14.30,14.93
$GC,4440,-0.72,-107.1,2635,3828,3479,3448,411.8,-16.4,191,4446,0.08,1.80,0.00,0.000,3078,0.204,0.042,2658,2764,3462,3478,3446,0,0,0,0,0,0,14.32,14.64,14.46
$GC,4805,-0.72,-107.1,2659,2765,3479,3444,441.3,-8.0,201,4811,0.00,2.38,0.00,0.000,516,0.000,0.043,2659,1373,3460,3478,3443,0,0,0,0,0,0,14.93,14.50,14.93
$GC,4895,-0.72,-107.1,2659,1374,3484,3443,448.8,-8.2,214,4901,0.00,2.50,0.00,0.000,1030,0.000,0.067,2650,2761,3460,3478,3442,0,0,0,0,0,0,14.47,14.38,14.56
$GC,5253,-0.72,-107.1,2650,2761,3478,3440,479.0,-8.5,223,5258,0.00,2.00,0.00,0.000,260,0.000,0.112,2641,3815,3458,3478,3439,0,0,0,0,0,0,14.95,14.28,14.95
$GC,5301,-0.72,-107.1,2641,3817,3479,3439,483.4,-8.9,230,5308,0.00,1.83,0.00,0.000,1030,0.000,0.043,2642,2738,3458,3478,3438,0,0,0,0,0,0,14.62,14.60,14.64
$GC,5645,-0.72,-107.1,2641,2739,3478,3438,513.5,-8.8,237,5650,0.00,2.33,0.00,0.000,516,0.000,0.044,2640,1376,3457,3478,3436,0,0,0,0,0,0,14.92,14.51,14.92
$GC,5728,-0.72,-107.1,2642,1375,3479,3437,521.0,-8.7,249,5735,0.10,2.50,0.00,0.000,3078,0.216,0.067,2661,2752,3456,3477,3436,0,0,0,0,0,0,14.18,14.36,14.35
$GC,6093,-0.72,-107.1,2662,2753,3481,3432,549.6,-7.8,259,6093,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2752,3455,3478,3432,0,0,0,0,0,0,14.95,14.95,14.95
$GC,6429,-0.72,-107.1,2662,2752,3478,3431,573.7,-7.1,265,6435,0.00,2.40,0.00,0.000,548,0.000,0.044,2661,1375,3453,3478,3429,0,0,0,0,0,0,14.95,14.48,14.95
$GC,6470,-0.81,-107.1,2661,1376,3479,3429,576.8,-7.1,271,6476,0.00,2.50,0.00,0.000,1190,0.000,0.067,2652,2756,3453,3478,3429,0,0,0,0,0,0,14.44,14.34,14.48
$GC,6821,-0.81,-107.1,2652,2756,3475,3430,601.5,-7.1,279,6826,0.00,2.38,0.00,0.000,548,0.000,0.044,2652,1381,3452,3475,3429,0,0,0,0,0,0,14.92,14.49,14.91
$GC,6855,-0.81,-107.1,2652,1381,3476,3430,604.0,-7.3,284,6861,0.00,2.47,0.00,0.000,1062,0.000,0.067,2643,2752,3452,3475,3429,0,0,0,0,0,0,14.44,14.33,14.48
$GC,7213,-0.81,-107.1,2644,2751,3473,3430,629.6,-7.2,293,7219,0.00,2.38,0.00,0.000,548,0.000,0.044,2643,1379,3451,3474,3428,0,0,0,0,0,0,14.92,14.47,14.92
$GC,7247,-0.81,-107.1,2643,1380,3473,3428,632.3,-7.7,298,7253,0.00,2.53,0.00,0.000,1062,0.000,0.069,2635,2757,3449,3471,3428,0,0,0,0,0,0,14.41,14.31,14.46
$GC,7605,-0.81,-107.1,2636,2758,3472,3428,660.4,-8.0,307,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2757,3449,3470,3428,0,0,0,0,0,0,14.91,14.91,14.91
$GC,7941,-0.81,-107.1,2635,2758,3471,3426,688.9,-8.6,313,7947,0.00,2.40,0.00,0.000,516,0.000,0.044,2634,1375,3448,3470,3426,0,0,0,0,0,0,14.92,14.45,14.91
$GC,8010,-0.81,-107.1,2635,1375,3471,3427,695.1,-8.9,323,8016,0.00,2.53,0.00,0.000,1030,0.000,0.067,2625,2754,3447,3470,3425,0,0,0,0,0,0,14.39,14.29,14.44
$GC,8333,-0.81,-107.1,2626,2755,3471,3425,724.4,-9.1,334,8338,0.00,2.03,0.00,0.000,260,0.000,0.112,2617,3830,3447,3470,3425,0,0,0,0,0,0,14.90,14.23,14.90
$GC,8381,-0.81,-107.1,2617,3831,3470,3425,729.1,-9.6,341,8389,0.00,1.85,0.00,0.000,1030,0.000,0.044,2616,2750,3447,3469,3425,0,0,0,0,0,0,14.56,14.54,14.58
$GC,8725,-0.81,-107.1,2617,2751,3468,3425,760.0,-8.9,348,8730,0.00,2.40,0.00,0.000,516,0.000,0.044,2616,1373,3445,3467,3423,0,0,0,0,0,0,14.93,14.40,14.93
$GC,8794,-0.81,-107.1,2616,1373,3467,3426,766.3,-9.1,358,8800,0.08,2.53,0.00,0.000,3078,0.233,0.067,2628,2753,3445,3467,3423,0,0,0,0,0,0,14.04,14.27,14.23
$GC,9117,-0.81,-107.1,2628,2754,3468,3426,791.6,-7.7,369,9118,0.00,0.00,0.00,0.000,38,0.000,0.000,2628,2753,3444,3467,3421,0,0,0,0,0,0,14.92,14.92,14.92
$GC,9453,-0.81,-107.1,2632,2754,3466,3421,816.7,-7.4,375,9458,0.00,2.40,0.00,0.000,548,0.000,0.044,2629,1375,3443,3465,3421,0,0,0,0,0,0,14.92,14.43,14.92
$GC,9487,-0.81,-107.1,2628,1375,3465,3422,819.3,-7.7,380,9493,0.00,2.53,0.00,0.000,1062,0.000,0.066,2619,2756,3443,3465,3421,0,0,0,0,0,0,14.38,14.28,14.42
$GC,9845,-0.81,-107.1,2619,2757,3466,3420,847.3,-7.9,389,9851,0.00,2.08,0.00,0.000,260,0.000,0.113,2611,3825,3442,3464,3420,0,0,0,0,0,0,14.92,14.13,14.92
$GC,9872,-0.81,-107.1,2612,3826,3464,3421,849.7,-8.1,393,9879,0.00,1.85,0.00,0.000,1030,0.000,0.044,2611,2750,3442,3464,3420,0,0,0,0,0,0,14.52,14.52,14.55
$GC,10237,-0.81,-107.1,2606,2751,3464,3420,880.5,-8.5,403,10242,0.00,2.38,0.00,0.000,516,0.000,0.046,2609,1376,3441,3464,3419,0,0,0,0,0,0,14.90,14.40,14.90
$GC,10306,-0.81,-107.1,2610,1377,3461,3420,886.6,-8.6,413,10313,0.10,2.50,0.00,0.000,3078,0.225,0.067,2629,2740,3441,3463,3419,0,0,0,0,0,0,14.00,14.23,14.19
$GC,10629,-0.81,-107.1,2630,2741,3464,3418,912.2,-7.9,424,10629,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2739,3440,3463,3418,0,0,0,0,0,0,14.92,14.91,14.92
$STATE,10906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10906,begin apogee
$GC,10913,-0.23,0.0,2629,2230,3464,3418,934.0,-7.8,429,11026,0.65,0.00,110.88,1.949,10244,0.168,0.000,2823,2228,3049,3090,3008,0,0,0,0,0,0,14.12,13.96,12.95
$STATE,11027,end apogee,CONTROL_FINISHED_OK
$STATE,11027,begin climb
$GC,11031,0.93,107.1,2824,2229,3088,3002,937.6,0.0,431,11161,1.10,2.50,117.85,1.952,10756,0.089,0.057,3183,855,2616,2677,2556,0,0,0,0,0,0,13.99,14.01,12.83
$GC,11189,0.82,107.1,3184,856,2678,2547,932.4,8.0,455,11194,0.00,2.53,0.00,0.000,1158,0.000,0.051,3183,2259,2609,2678,2540,0,0,0,0,0,0,14.06,13.97,14.09
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$STATE,22967,end climb,SURFACE_DEPTH_REACHED
$STATE,22967,begin surface coast
$FINISH,-1.3,1.021305
$STATE,22995,end surface coast,CONTROL_FINISHED_OK
$STATE,22995,begin surface
$SM_CCo,23016,40.45,0.157,0,0,1056,500.14
$SM_GC,-0.88,8.80,0.93,40.45,0.041,0.088,0.157,182,2772,1056,-8.39,-0.45,500.14,0,0,0,0,0,0,14.50,14.33,14.20
$IRIDIUM_FIX,956.07,-12442.12,101216,224133
$TT8_MAMPS,0.036701,0.277879
$HUMID,56.41
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,20.50
$XPDR_PINGS,0
$SC_FREEKB,3751520
$PM_FREEKB,55072832
$24V_AH,12.57,147.042
$10V_AH,12.58,0.000
$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,23.925,209.775,444.150,40.450,0.000,0.000,0.000,394.425,0.000,0.000,5.005,0.000,19744.367,840.502,2672.006,478.302,0.000,2062.133,0.000,1692.740,0.000,0.838,0.000
$DEVICE_MAMPS,379.440,113.220,1982.880,156.825,0.000,0.000,0.000,178.245,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23056.000,23002.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.422,2.400,0.000,0.000
$MEM,334744
$DATA_FILE_SIZE,33384,945
$CAP_FILE_SIZE,168008,0
$CFSIZE,1024409600,945356800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,299.75,1
$GPS,111216,115705,1001.584,-12443.818,49,1.4,49,9.0,0.2,0.0,6,6.8