version: 66.13
glider: 220
mission: 6
dive: 423
start: 12 14 116 5 50 41
data:
$ID,220
$MISSION,6
$DIVE,423
$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,66
$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
$GPS1,141216,053155,1014.8684,-12502.3906,35,0.7,35,9.1,0.4,202.3,12,3.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-70.5
$GPS2,141216,055020,1014.8105,-12502.4131,2,0.9,3,9.1,0.8,223.7,10,6.5
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,201.7,41365,-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,-107.1,112,2783,1101,1014,0.0,0.0,0,93,0.00,0.00,-76.88,0.000,16390,0.000,0.000,110,2783,3478,3467,3489,0,0,0,0,0,0,14.70,12.58,14.69
$GC,97,-0.93,-107.1,111,2783,3470,3490,2.8,-5.0,2,116,11.85,2.38,0.00,0.000,2564,0.383,0.034,2592,1377,3480,3471,3489,0,0,0,0,0,0,13.99,14.42,14.35
$GC,244,-0.75,-107.1,2593,1377,3473,3488,47.2,-13.4,24,249,0.25,2.47,0.00,0.000,3206,0.235,0.069,2651,2771,3480,3472,3488,0,0,0,0,0,0,14.16,14.38,14.42
$GC,564,-0.75,-107.1,2652,2771,3477,3489,77.8,-5.5,37,565,0.00,0.00,0.00,0.000,38,0.000,0.000,2649,2772,3481,3476,3487,0,0,0,0,0,0,14.87,14.87,14.87
$GC,900,-0.75,-107.1,2652,2771,3477,3489,106.0,-8.0,48,905,0.00,1.98,0.00,0.000,260,0.000,0.109,2643,3825,3482,3476,3488,0,0,0,0,0,0,14.90,14.33,14.90
$GC,1025,-0.75,-107.1,2643,3825,3477,3486,118.1,-9.9,66,1031,0.00,1.77,0.00,0.000,1030,0.000,0.039,2643,2744,3482,3476,3488,0,0,0,0,0,0,14.65,14.64,14.68
$GC,1349,-0.75,-107.1,2644,2744,3476,3486,148.0,-9.2,77,1354,0.00,2.28,0.00,0.000,516,0.000,0.043,2643,1397,3480,3476,3485,0,0,0,0,0,0,14.90,14.56,14.90
$GC,1466,-0.75,-107.1,2643,1398,3476,3484,159.0,-9.0,94,1472,0.00,2.42,0.00,0.000,1030,0.000,0.067,2634,2752,3479,3476,3483,0,0,0,0,0,0,14.50,14.42,14.56
$GC,1796,-0.75,-107.1,2635,2752,3477,3479,188.9,-9.0,106,1801,0.00,2.33,0.00,0.000,516,0.000,0.041,2632,1396,3477,3476,3478,0,0,0,0,0,0,14.95,14.57,14.95
$GC,1830,-0.75,-107.1,2634,1397,3477,3477,192.0,-8.8,111,1837,0.08,2.42,0.00,0.000,3078,0.218,0.065,2648,2754,3475,3474,3477,0,0,0,0,0,0,14.27,14.42,14.42
$GC,2188,-0.75,-107.1,2648,2756,3476,3471,222.8,-8.7,120,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2753,3474,3476,3472,0,0,0,0,0,0,14.92,14.93,14.93
$GC,2524,-0.75,-107.1,2648,2754,3476,3469,253.2,-9.2,126,2529,0.00,2.35,0.00,0.000,516,0.000,0.043,2648,1391,3471,3476,3467,0,0,0,0,0,0,14.93,14.56,14.93
$GC,2607,-0.75,-107.1,2648,1390,3477,3467,261.1,-9.2,138,2613,0.00,2.47,0.00,0.000,1030,0.000,0.068,2639,2757,3471,3476,3466,0,0,0,0,0,0,14.52,14.42,14.56
$GC,2972,-0.75,-107.1,2640,2757,3476,3462,295.4,-9.5,148,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2757,3468,3476,3461,0,0,0,0,0,0,14.95,14.95,14.95
$GC,3308,-0.75,-107.1,2640,2758,3477,3456,326.8,-9.2,154,3313,0.00,2.35,0.00,0.000,516,0.000,0.043,2639,1397,3466,3476,3456,0,0,0,0,0,0,14.95,14.55,14.95
$GC,3364,-0.75,-107.1,2639,1396,3477,3457,332.2,-9.5,162,3369,0.00,2.42,0.00,0.000,1030,0.000,0.067,2630,2757,3465,3476,3455,0,0,0,0,0,0,14.62,14.43,14.64
$GC,3700,-0.75,-107.1,2630,2757,3476,3453,366.1,-10.3,175,3705,0.00,2.03,0.00,0.000,260,0.000,0.112,2621,3843,3464,3476,3452,0,0,0,0,0,0,14.93,14.33,14.93
$GC,3756,-0.75,-107.1,2622,3842,3476,3451,372.3,-10.9,183,3761,0.10,1.83,0.00,0.000,3078,0.206,0.042,2652,2770,3468,3485,3451,0,0,0,0,0,0,14.27,14.60,14.42
$GC,4092,-0.75,-107.1,2652,2770,3476,3448,402.5,-8.8,196,4097,0.00,2.38,0.00,0.000,516,0.000,0.044,2652,1375,3461,3476,3447,0,0,0,0,0,0,14.92,14.53,14.92
$GC,4133,-0.75,-107.1,2652,1377,3477,3447,406.2,-8.8,202,4139,0.00,2.50,0.00,0.000,1030,0.000,0.067,2643,2762,3461,3476,3446,0,0,0,0,0,0,14.48,14.40,14.54
$GC,4484,-0.75,-107.1,2644,2763,3477,3443,436.0,-8.4,210,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2762,3462,3482,3443,0,0,0,0,0,0,14.93,14.95,14.95
$GC,4820,-0.75,-107.1,2644,2760,3476,3441,463.2,-8.0,216,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2762,3458,3476,3440,0,0,0,0,0,0,14.95,14.95,14.95
$GC,5156,-0.75,-107.1,2644,2763,3477,3437,490.2,-8.0,222,5161,0.00,2.40,0.00,0.000,516,0.000,0.044,2643,1378,3455,3475,3436,0,0,0,0,0,0,14.93,14.52,14.93
$GC,5218,-0.75,-107.1,2644,1378,3476,3436,495.2,-7.7,231,5224,0.00,2.53,0.00,0.000,1062,0.000,0.068,2634,2754,3456,3476,3437,0,0,0,0,0,0,14.46,14.37,14.51
$GC,5548,-0.75,-107.1,2635,2754,3476,3439,520.7,-7.7,243,5553,0.00,2.40,0.00,0.000,548,0.000,0.044,2632,1371,3453,3475,3432,0,0,0,0,0,0,14.95,14.56,14.95
$GC,5582,-0.75,-107.1,2634,1371,3476,3434,523.5,-8.1,248,5588,0.10,2.50,0.00,0.000,3078,0.211,0.067,2654,2753,3453,3475,3432,0,0,0,0,0,0,14.16,14.35,14.33
$GC,5940,-0.75,-107.1,2654,2753,3476,3432,549.5,-7.3,257,5946,0.00,2.00,0.00,0.000,292,0.000,0.112,2653,3818,3452,3475,3430,0,0,0,0,0,0,14.92,14.30,14.92
$GC,6002,-0.75,-107.1,2646,3819,3474,3432,554.3,-7.9,266,6008,0.00,1.83,0.00,0.000,1030,0.000,0.043,2645,2749,3452,3474,3430,0,0,0,0,0,0,14.61,14.59,14.62
$GC,6332,-0.75,-107.1,2646,2749,3472,3432,579.8,-7.8,278,6337,0.00,2.35,0.00,0.000,516,0.000,0.044,2645,1378,3450,3471,3430,0,0,0,0,0,0,14.94,14.49,14.94
$GC,6422,-0.75,-107.1,2646,1379,3471,3431,587.0,-7.8,291,6428,0.00,2.47,0.00,0.000,1030,0.000,0.067,2637,2745,3449,3471,3428,0,0,0,0,0,0,14.42,14.33,14.46
$GC,6780,-0.75,-107.1,2637,2744,3472,3429,615.9,-8.1,300,6785,0.00,2.38,0.00,0.000,516,0.000,0.044,2636,1376,3448,3470,3427,0,0,0,0,0,0,14.91,14.47,14.92
$GC,6828,-0.75,-107.1,2636,1376,3471,3428,619.9,-8.3,307,6836,0.08,2.53,0.00,0.000,3078,0.223,0.069,2649,2753,3448,3470,3427,0,0,0,0,0,0,14.14,14.31,14.30
$GC,7172,-0.75,-107.1,2649,2754,3471,3424,645.2,-7.3,314,7173,0.00,0.00,0.00,0.000,38,0.000,0.000,2649,2753,3448,3470,3427,0,0,0,0,0,0,14.93,14.93,14.93
$GC,7508,-0.75,-107.1,2648,2753,3469,3426,669.5,-7.3,320,7513,0.00,2.40,0.00,0.000,548,0.000,0.044,2649,1380,3447,3469,3425,0,0,0,0,0,0,14.93,14.47,14.93
$GC,7542,-0.75,-107.1,2650,1380,3469,3426,672.3,-7.9,325,7549,0.00,2.50,0.00,0.000,1030,0.000,0.068,2641,2744,3446,3468,3424,0,0,0,0,0,0,14.40,14.28,14.45
$GC,7900,-0.75,-107.1,2642,2744,3467,3423,700.0,-7.8,334,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2744,3444,3466,3423,0,0,0,0,0,0,14.90,14.91,14.91
$GC,8236,-0.75,-107.1,2635,2744,3465,3423,724.8,-7.4,340,8241,0.00,2.40,0.00,0.000,548,0.000,0.044,2640,1380,3443,3465,3422,0,0,0,0,0,0,14.93,14.46,14.93
$GC,8270,-0.75,-107.1,2641,1380,3465,3423,727.4,-7.6,345,8277,0.00,2.50,0.00,0.000,1062,0.000,0.069,2632,2748,3443,3465,3421,0,0,0,0,0,0,14.40,14.29,14.45
$GC,8628,-0.75,-107.1,2632,2748,3465,3421,753.9,-7.4,354,8629,0.00,0.00,0.00,0.000,38,0.000,0.000,2632,2748,3442,3465,3420,0,0,0,0,0,0,14.89,14.89,14.89
$GC,8964,-0.75,-107.1,2632,2749,3464,3420,779.4,-7.6,360,8965,0.00,0.00,0.00,0.000,38,0.000,0.000,2632,2749,3441,3463,3420,0,0,0,0,0,0,14.90,14.90,14.90
$GC,9300,-0.75,-107.1,2632,2749,3464,3418,807.4,-8.3,366,9305,0.00,2.42,0.00,0.000,516,0.000,0.045,2631,1372,3440,3462,3418,0,0,0,0,0,0,14.90,14.40,14.90
$GC,9341,-0.75,-107.1,2632,1373,3462,3418,811.8,-9.2,372,9347,0.10,2.55,0.00,0.000,3078,0.213,0.068,2651,2751,3440,3462,3418,0,0,0,0,0,0,14.04,14.23,14.21
$GC,9692,-0.83,-107.1,2652,2750,3463,3418,842.6,-8.9,380,9693,0.00,0.00,0.00,0.000,134,0.000,0.000,2651,2750,3439,3461,3417,0,0,0,0,0,0,14.89,14.89,14.90
$GC,10028,-0.91,-107.1,2653,2752,3462,3417,869.0,-7.6,386,10034,0.10,2.40,0.00,0.000,4772,0.113,0.045,2578,1382,3439,3461,3417,0,0,0,0,0,0,14.57,14.39,14.62
$GC,10069,-0.91,-107.1,2578,1381,3461,3418,873.2,-8.5,392,10075,0.10,2.50,0.00,0.000,3078,0.216,0.067,2596,2741,3438,3460,3416,0,0,0,0,0,0,14.02,14.26,14.20
$GC,10420,-0.91,-107.1,2597,2743,3462,3416,906.9,-9.7,400,10425,0.00,2.08,0.00,0.000,260,0.000,0.115,2590,3834,3437,3459,3415,0,0,0,0,0,0,14.91,14.15,14.91
$GC,10496,-0.91,-107.1,2589,3835,3460,3419,914.8,-10.2,411,10502,0.00,1.90,0.00,0.000,1030,0.000,0.043,2589,2738,3437,3459,3415,0,0,0,0,0,0,14.50,14.48,14.52
$STATE,10697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10697,begin apogee
$GC,10704,-0.23,0.0,2589,2224,3464,3416,934.7,-9.8,419,10816,0.80,0.08,109.55,1.953,10244,0.179,0.179,2821,2258,3050,3090,3010,0,0,0,0,0,0,14.05,13.91,12.93
$STATE,10818,end apogee,CONTROL_FINISHED_OK
$STATE,10818,begin climb
$GC,10821,0.93,107.1,2821,2259,3087,3003,939.1,0.0,421,10947,1.12,2.55,117.22,1.940,10756,0.089,0.056,3187,858,2622,2681,2563,0,0,0,0,0,0,13.99,14.02,12.86
$GC,10975,0.80,120.1,3188,861,2678,2549,935.2,7.1,444,10996,0.00,2.50,14.38,2.075,9382,0.000,0.050,3188,2253,2567,2635,2500,0,0,0,0,0,0,14.08,13.97,12.92
$GC,11311,0.68,120.1,3188,2253,2634,2484,907.6,8.6,457,11317,0.22,2.60,0.00,0.000,4484,0.220,0.098,3124,3658,2558,2633,2484,0,0,0,0,0,0,14.14,14.27,14.41
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$STATE,22977,end climb,SURFACE_DEPTH_REACHED
$STATE,22977,begin surface coast
$FINISH,-0.4,1.021328
$STATE,23005,end surface coast,CONTROL_FINISHED_OK
$STATE,23005,begin surface
$SM_CCo,23027,37.47,0.156,0,0,1057,500.14
$SM_GC,-1.22,9.45,0.90,37.47,0.083,0.080,0.156,186,2764,1057,-8.40,-0.88,500.14,0,0,0,0,0,0,14.47,14.36,14.19
$IRIDIUM_FIX,1009.21,-12500.42,141216,054407
$TT8_MAMPS,0.039697,0.289114
$HUMID,56.61
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.50
$XPDR_PINGS,0
$SC_FREEKB,3747296
$PM_FREEKB,54940096
$24V_AH,12.58,150.523
$10V_AH,12.56,0.000
$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
$DEVICE_SECS,25.300,206.325,452.725,37.475,0.000,0.000,0.000,680.225,0.000,0.000,5.008,0.000,19905.412,815.638,2924.984,503.222,0.000,2314.831,0.000,1682.795,0.000,1.425,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23065.000,23014.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.444,2.412,0.000,0.000
$MEM,334716
$DATA_FILE_SIZE,33317,934
$CAP_FILE_SIZE,174886,0
$CFSIZE,1024409600,943734784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051,250.82,1
$GPS,141216,121609,1012.719,-12503.931,23,0.9,31,9.0,0.2,260.0,10,2.8