version: 66.13
glider: 220
mission: 6
dive: 421
start: 12 13 116 16 42 10
data:
$ID,220
$MISSION,6
$DIVE,421
$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,12
$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
$GPS1,131216,163031,1018.4250,-12459.5020,36,0.8,36,9.1,0.5,118.5,10,3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-69.9
$GPS2,131216,164147,1018.4007,-12459.3555,2,0.8,3,9.1,0.3,20.8,10,5.5
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,192.8,49964,-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,-107.1,140,2771,1103,1009,0.0,0.0,0,100,0.00,0.00,-79.25,0.000,16390,0.000,0.000,138,2768,3478,3470,3487,0,0,0,0,0,0,14.66,12.78,14.66
$GC,104,-0.93,-107.1,139,2770,3470,3488,9.5,-14.0,3,121,11.65,2.35,0.00,0.000,2564,0.383,0.032,2593,1358,3479,3471,3487,0,0,0,0,0,0,14.00,14.43,14.36
$GC,157,-0.65,-107.1,2593,1358,3474,3488,34.5,-31.3,11,162,0.38,2.55,0.00,0.000,3206,0.230,0.073,2686,2775,3479,3473,3486,0,0,0,0,0,0,14.12,14.32,14.38
$GC,493,-0.65,-107.1,2686,2777,3478,3486,74.2,-10.0,26,498,0.00,2.40,0.00,0.000,516,0.000,0.041,2686,1370,3481,3477,3486,0,0,0,0,0,0,14.82,14.44,14.82
$GC,639,-0.65,-107.1,2687,1370,3479,3487,86.9,-8.1,47,645,0.00,2.50,0.00,0.000,1030,0.000,0.067,2676,2761,3482,3478,3486,0,0,0,0,0,0,14.46,14.37,14.50
$GC,969,-0.65,-107.1,2676,2761,3480,3486,109.1,-6.6,59,970,0.00,0.00,0.00,0.000,38,0.000,0.000,2676,2761,3481,3476,3486,0,0,0,0,0,0,14.88,14.89,14.88
$GC,1305,-0.65,-107.1,2676,2762,3479,3486,132.8,-7.5,65,1311,0.00,2.03,0.00,0.000,292,0.000,0.109,2667,3829,3482,3478,3486,0,0,0,0,0,0,14.91,14.35,14.91
$GC,1502,-0.65,-107.1,2668,3829,3479,3485,150.3,-8.9,93,1508,0.00,1.77,0.00,0.000,1030,0.000,0.041,2668,2731,3481,3479,3484,0,0,0,0,0,0,14.72,14.67,14.73
$GC,1865,-0.65,-107.1,2668,2731,3479,3481,180.4,-8.2,103,1870,0.00,2.28,0.00,0.000,516,0.000,0.042,2668,1387,3479,3479,3479,0,0,0,0,0,0,14.94,14.55,14.94
$GC,1906,-0.65,-107.1,2668,1388,3478,3481,183.8,-8.2,109,1913,0.08,2.47,0.00,0.000,3078,0.208,0.067,2682,2766,3479,3479,3479,0,0,0,0,0,0,14.28,14.42,14.42
$GC,2257,-0.73,-107.1,2682,2766,3479,3476,210.6,-7.7,117,2263,0.00,2.35,0.00,0.000,676,0.000,0.041,2682,1391,3476,3479,3474,0,0,0,0,0,0,14.95,14.57,14.95
$GC,2298,-0.82,-107.1,2683,1391,3479,3475,214.2,-8.3,123,2304,0.05,2.47,0.00,0.000,5254,0.116,0.067,2621,2764,3472,3477,3468,0,0,0,0,0,0,14.41,14.42,14.50
$GC,2649,-0.82,-107.1,2621,2765,3480,3469,249.1,-9.7,131,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2764,3473,3478,3469,0,0,0,0,0,0,14.95,14.95,14.95
$GC,2985,-0.82,-107.1,2622,2766,3480,3465,280.3,-9.3,137,2985,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2764,3471,3478,3465,0,0,0,0,0,0,14.95,14.95,14.95
$GC,3321,-0.82,-107.1,2621,2764,3479,3463,313.1,-9.8,143,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2764,3469,3478,3461,0,0,0,0,0,0,14.94,14.94,14.94
$GC,3657,-0.82,-107.1,2621,2765,3479,3457,347.0,-10.1,149,3663,0.00,1.98,0.00,0.000,260,0.000,0.112,2612,3824,3467,3478,3457,0,0,0,0,0,0,14.94,14.35,14.94
$GC,3705,-0.82,-107.1,2613,3825,3479,3456,352.0,-10.3,156,3712,0.00,1.77,0.00,0.000,1030,0.000,0.041,2612,2771,3467,3478,3456,0,0,0,0,0,0,14.66,14.65,14.67
$GC,4049,-0.82,-107.1,2613,2771,3478,3453,386.8,-10.2,163,4054,0.00,2.38,0.00,0.000,516,0.000,0.042,2611,1379,3465,3478,3452,0,0,0,0,0,0,14.93,14.52,14.93
$GC,4097,-0.82,-107.1,2612,1380,3479,3453,391.8,-10.1,170,4104,0.10,2.50,0.00,0.000,3078,0.223,0.067,2629,2760,3465,3478,3452,0,0,0,0,0,0,14.21,14.39,14.37
$GC,4441,-0.82,-107.1,2632,2760,3479,3450,423.6,-9.3,177,4447,0.00,2.35,0.00,0.000,516,0.000,0.043,2632,1381,3463,3478,3449,0,0,0,0,0,0,14.93,14.52,14.92
$GC,4475,-0.82,-107.1,2631,1384,3479,3449,426.8,-9.3,182,4481,0.00,2.50,0.00,0.000,1030,0.000,0.067,2622,2764,3463,3478,3449,0,0,0,0,0,0,14.49,14.40,14.53
$GC,4833,-0.82,-107.1,2622,2765,3479,3443,458.5,-8.7,191,4838,0.00,2.40,0.00,0.000,516,0.000,0.042,2618,1375,3461,3478,3445,0,0,0,0,0,0,14.93,14.51,14.93
$GC,4860,-0.82,-107.1,2622,1370,3479,3446,460.9,-8.6,195,4866,0.00,2.53,0.00,0.000,1030,0.000,0.067,2612,2764,3461,3478,3445,0,0,0,0,0,0,14.46,14.37,14.51
$GC,5225,-0.82,-107.1,2612,2764,3479,3443,492.4,-8.6,205,5231,0.00,2.03,0.00,0.000,260,0.000,0.112,2603,3842,3460,3478,3442,0,0,0,0,0,0,14.92,14.29,14.92
$GC,5294,-0.82,-107.1,2603,3843,3479,3441,499.0,-9.5,215,5300,0.10,1.85,0.00,0.000,3078,0.216,0.041,2632,2749,3459,3478,3441,0,0,0,0,0,0,14.24,14.62,14.40
$GC,5617,-0.82,-107.1,2633,2750,3479,3439,525.9,-8.4,226,5622,0.00,2.35,0.00,0.000,516,0.000,0.043,2632,1379,3458,3478,3438,0,0,0,0,0,0,14.92,14.50,14.92
$GC,5679,-0.82,-107.1,2633,1380,3481,3437,531.3,-8.3,235,5685,0.00,2.50,0.00,0.000,1030,0.000,0.067,2623,2754,3457,3478,3437,0,0,0,0,0,0,14.45,14.35,14.51
$GC,6009,-0.82,-107.1,2624,2754,3479,3437,560.4,-9.0,247,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2754,3457,3478,3436,0,0,0,0,0,0,14.92,14.92,14.92
$GC,6345,-0.82,-107.1,2623,2755,3479,3432,590.6,-9.0,253,6351,0.00,2.38,0.00,0.000,516,0.000,0.043,2622,1384,3455,3478,3432,0,0,0,0,0,0,14.92,14.49,14.92
$GC,6386,-0.82,-107.1,2622,1385,3478,3432,594.4,-8.9,259,6392,0.00,2.50,0.00,0.000,1030,0.000,0.069,2613,2750,3455,3478,3432,0,0,0,0,0,0,14.45,14.33,14.48
$GC,6737,-0.82,-107.1,2614,2750,3478,3431,625.8,-9.0,267,6742,0.00,2.08,0.00,0.000,260,0.000,0.113,2605,3827,3453,3477,3430,0,0,0,0,0,0,14.90,14.26,14.92
$GC,6771,-0.82,-107.1,2605,3828,3477,3430,629.1,-9.7,272,6777,0.08,1.85,0.00,0.000,3078,0.221,0.044,2626,2753,3453,3476,3430,0,0,0,0,0,0,14.22,14.57,14.35
$GC,7129,-0.82,-107.1,2626,2753,3474,3430,660.2,-8.9,281,7135,0.00,2.38,0.00,0.000,516,0.000,0.045,2627,1372,3451,3473,3430,0,0,0,0,0,0,14.92,14.47,14.92
$GC,7177,-0.82,-107.1,2627,1372,3473,3428,664.9,-9.4,288,7184,0.00,2.50,0.00,0.000,1030,0.000,0.067,2617,2743,3451,3473,3429,0,0,0,0,0,0,14.40,14.31,14.45
$GC,7521,-0.82,-107.1,2618,2742,3472,3430,698.1,-9.7,295,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2743,3450,3471,3429,0,0,0,0,0,0,14.91,14.91,14.91
$GC,7857,-0.82,-107.1,2618,2743,3472,3428,730.2,-9.5,301,7858,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2743,3449,3471,3427,0,0,0,0,0,0,14.88,14.91,14.91
$GC,8193,-0.82,-107.1,2618,2743,3471,3427,759.3,-8.4,307,8198,0.00,2.40,0.00,0.000,516,0.000,0.045,2616,1369,3446,3470,3423,0,0,0,0,0,0,14.94,14.39,14.94
$GC,8234,-0.82,-107.1,2617,1370,3471,3426,762.8,-8.5,313,8241,0.00,2.53,0.00,0.000,1030,0.000,0.068,2608,2751,3448,3470,3426,0,0,0,0,0,0,14.40,14.30,14.45
$GC,8585,-0.82,-107.1,2608,2751,3471,3425,790.5,-7.9,321,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2751,3446,3469,3424,0,0,0,0,0,0,14.91,14.90,14.91
$GC,8921,-0.82,-107.1,2608,2753,3469,3423,817.9,-8.1,327,8926,0.00,2.03,0.00,0.000,260,0.000,0.115,2600,3824,3446,3468,3424,0,0,0,0,0,0,14.90,14.19,14.90
$GC,8962,-0.82,-107.1,2600,3825,3468,3424,821.6,-7.1,333,8969,0.10,1.85,0.00,0.000,3110,0.218,0.044,2627,2751,3445,3467,3423,0,0,0,0,0,0,14.13,14.53,14.30
$GC,9313,-0.82,-107.1,2627,2752,3468,3421,847.8,-7.4,341,9319,0.00,2.40,0.00,0.000,548,0.000,0.045,2628,1368,3444,3467,3421,0,0,0,0,0,0,14.88,14.42,14.90
$GC,9369,-0.82,-107.1,2627,1368,3468,3423,852.1,-7.7,349,9375,0.00,2.47,0.00,0.000,1062,0.000,0.068,2618,2749,3444,3468,3421,0,0,0,0,0,0,14.48,14.31,14.52
$GC,9705,-0.82,-107.1,2619,2750,3467,3420,879.3,-8.2,362,9706,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2748,3442,3465,3420,0,0,0,0,0,0,14.92,14.92,14.91
$GC,10041,-0.82,-107.1,2619,2748,3464,3421,908.1,-8.7,368,10041,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2748,3442,3464,3420,0,0,0,0,0,0,14.92,14.92,14.92
$STATE,10318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10318,begin apogee
$GC,10325,-0.23,0.0,2618,2224,3465,3419,932.4,-8.7,373,10438,0.70,0.00,109.88,1.958,10244,0.172,0.000,2824,2226,3053,3094,3013,0,0,0,0,0,0,14.12,13.97,12.98
$STATE,10439,end apogee,CONTROL_FINISHED_OK
$STATE,10439,begin climb
$GC,10442,0.93,107.1,2825,2224,3092,3005,936.8,0.0,375,10569,1.10,2.42,117.70,1.926,10756,0.087,0.057,3184,884,2622,2682,2563,0,0,0,0,0,0,14.00,14.01,12.87
$GC,10574,0.76,137.6,3183,883,2678,2553,934.2,6.2,395,10616,0.12,2.53,33.50,1.969,13478,0.208,0.050,3150,2257,2497,2571,2423,0,0,0,0,0,0,13.75,13.87,12.88
$GC,10942,0.77,140.9,3150,2258,2571,2408,908.0,7.6,412,10947,0.00,2.62,0.00,0.000,292,0.000,0.101,3150,3656,2489,2570,2408,0,0,0,0,0,0,14.66,14.27,14.67
$GC,11052,0.67,140.9,3151,3656,2571,2409,898.5,8.6,428,11057,0.17,2.38,0.00,0.000,5254,0.217,0.041,3111,2277,2489,2570,2408,0,0,0,0,0,0,14.19,14.47,14.42
$GC,11388,0.69,161.4,3109,2273,2571,2406,876.2,6.7,441,11422,0.00,2.65,25.92,1.952,8484,0.000,0.101,3110,3646,2401,2483,2320,0,0,0,0,0,0,14.79,14.29,13.35
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$STATE,22210,end climb,SURFACE_DEPTH_REACHED
$STATE,22210,begin surface coast
$FINISH,0.5,1.021399
$STATE,22236,end surface coast,CONTROL_FINISHED_OK
$STATE,22236,begin surface
$SM_CCo,22258,25.33,0.156,0,0,1058,500.14
$SM_GC,1.27,8.95,0.93,25.33,0.051,0.114,0.156,161,2757,1058,-8.44,-0.76,500.14,0,0,0,0,0,0,14.52,14.29,14.19
$IRIDIUM_FIX,1011.40,-12458.62,131216,100005
$TT8_MAMPS,0.038948,0.298851
$HUMID,56.81
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,20.80
$XPDR_PINGS,0
$SC_FREEKB,3748064
$PM_FREEKB,54963392
$24V_AH,12.78,149.878
$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,24.275,200.025,478.450,25.325,0.000,0.000,0.000,375.375,0.000,0.000,4.710,0.000,19071.363,813.960,2575.326,482.160,0.000,1986.073,0.000,1629.801,0.000,0.838,0.000
$DEVICE_MAMPS,383.265,114.750,1969.110,156.060,0.000,0.000,0.000,179.775,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22294.000,22243.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.492,2.418,0.000,0.000
$MEM,334724
$DATA_FILE_SIZE,33398,906
$CAP_FILE_SIZE,165365,0
$CFSIZE,1024409600,944029696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,254.98,1
$GPS,131216,225431,1016.301,-12500.667,27,0.8,27,9.1,0.6,335.7,11,6.5