version: 66.13
glider: 220
mission: 6
dive: 431
start: 12 16 116 10 44 47
data:
$ID,220
$MISSION,6
$DIVE,431
$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,57
$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
$GPS1,161216,103239,1001.2524,-12517.7383,33,1.1,33,9.0,0.3,24.6,6,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-67.9
$GPS2,161216,104424,1001.2746,-12517.7051,2,1.1,5,9.0,0.2,0.0,6,7.9
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,203.0,3875,-24.5,-7.750,-30.00,1225
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.19,-63.1,104,2782,1102,1016,0.0,0.0,0,92,0.00,0.00,-75.50,0.000,16390,0.000,0.000,105,2782,3302,3290,3314,0,0,0,0,0,0,14.66,12.55,14.64
$GC,96,-1.19,-63.1,106,2782,3292,3314,1.5,-3.6,2,116,11.50,2.40,0.00,0.000,2564,0.380,0.034,2510,1367,3305,3295,3315,0,0,0,0,0,0,13.94,14.38,14.32
$GC,164,-1.06,-63.1,2510,1369,3299,3314,31.0,-25.7,13,172,0.20,2.55,0.00,0.000,3206,0.276,0.067,2549,2770,3305,3297,3314,0,0,0,0,0,0,13.97,14.26,14.19
$GC,479,-0.97,-63.1,2549,2771,3301,3314,70.7,-10.6,25,486,0.12,2.38,0.00,0.000,2692,0.270,0.040,2582,1367,3309,3305,3314,0,0,0,0,0,0,14.19,14.45,14.45
$GC,619,-0.97,-63.1,2582,1368,3302,3310,83.6,-8.2,45,625,0.00,2.47,0.00,0.000,1030,0.000,0.064,2573,2776,3309,3301,3318,0,0,0,0,0,0,14.54,14.39,14.57
$GC,983,-0.97,-63.1,2573,2775,3303,3314,116.9,-9.6,58,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2776,3307,3301,3314,0,0,0,0,0,0,14.89,14.90,14.90
$GC,1319,-0.97,-63.1,2574,2776,3302,3313,150.8,-10.2,64,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2776,3306,3301,3312,0,0,0,0,0,0,14.90,14.90,14.90
$GC,1655,-0.97,-63.1,2574,2776,3302,3309,185.3,-10.1,70,1660,0.00,1.92,0.00,0.000,260,0.000,0.107,2565,3819,3305,3302,3308,0,0,0,0,0,0,14.91,14.35,14.91
$GC,1808,-0.97,-63.1,2565,3820,3299,3306,201.8,-10.4,92,1814,0.00,1.80,0.00,0.000,1030,0.000,0.040,2563,2734,3303,3301,3306,0,0,0,0,0,0,14.63,14.60,14.65
$GC,2159,-0.97,-63.1,2565,2734,3302,3303,237.9,-10.6,100,2164,0.00,2.28,0.00,0.000,516,0.000,0.043,2564,1392,3301,3301,3302,0,0,0,0,0,0,14.94,14.51,14.94
$GC,2235,-0.97,-63.1,2564,1393,3302,3301,246.2,-10.8,111,2241,0.08,2.47,0.00,0.000,3078,0.254,0.066,2575,2762,3300,3301,3300,0,0,0,0,0,0,14.16,14.37,14.34
$GC,2551,-0.97,-63.1,2575,2761,3302,3297,280.4,-11.0,121,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2761,3298,3300,3296,0,0,0,0,0,0,14.92,14.92,14.92
$GC,2887,-0.97,-63.1,2575,2762,3302,3293,317.1,-10.8,127,2892,0.00,2.00,0.00,0.000,260,0.000,0.110,2568,3817,3297,3301,3293,0,0,0,0,0,0,14.92,14.28,14.92
$GC,2935,-0.97,-63.1,2568,3818,3302,3292,322.6,-11.5,134,2943,0.00,1.77,0.00,0.000,1030,0.000,0.040,2568,2767,3296,3301,3292,0,0,0,0,0,0,14.63,14.60,14.64
$GC,3279,-0.97,-63.1,2568,2767,3301,3287,357.6,-10.0,141,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2767,3294,3301,3287,0,0,0,0,0,0,14.92,14.92,14.92
$GC,3615,-0.97,-63.1,2568,2767,3302,3282,393.0,-10.7,147,3620,0.00,2.38,0.00,0.000,516,0.000,0.042,2568,1376,3292,3301,3284,0,0,0,0,0,0,14.92,14.51,14.92
$GC,3671,-0.97,-63.1,2568,1376,3300,3285,399.3,-11.2,155,3676,0.00,2.47,0.00,0.000,1030,0.000,0.066,2557,2763,3292,3301,3283,0,0,0,0,0,0,14.57,14.45,14.60
$GC,4007,-0.97,-63.1,2558,2763,3302,3282,439.4,-12.1,168,4012,0.00,2.00,0.00,0.000,260,0.000,0.111,2550,3816,3291,3302,3280,0,0,0,0,0,0,14.94,14.24,14.94
$GC,4090,-0.97,-63.1,2551,3821,3300,3281,449.7,-12.4,180,4097,0.10,1.80,0.00,0.000,3078,0.242,0.041,2576,2760,3290,3301,3280,0,0,0,0,0,0,14.16,14.59,14.35
$GC,4455,-0.97,-63.1,2576,2759,3301,3277,486.6,-9.7,190,4460,0.00,2.38,0.00,0.000,516,0.000,0.043,2576,1369,3288,3302,3275,0,0,0,0,0,0,14.91,14.49,14.91
$GC,4573,-1.06,-63.1,2576,1370,3302,3271,497.6,-9.2,207,4580,0.00,2.53,0.00,0.000,1158,0.000,0.067,2568,2755,3287,3301,3274,0,0,0,0,0,0,14.42,14.33,14.47
$GC,4903,-1.06,-63.1,2568,2756,3302,3273,527.7,-9.0,219,4908,0.00,2.03,0.00,0.000,260,0.000,0.110,2558,3817,3287,3301,3273,0,0,0,0,0,0,14.90,14.26,14.90
$GC,4986,-1.06,-63.1,2559,3817,3301,3272,536.1,-10.4,231,4992,0.00,1.80,0.00,0.000,1030,0.000,0.041,2558,2747,3286,3301,3272,0,0,0,0,0,0,14.62,14.59,14.63
$GC,5351,-1.06,-63.1,2559,2748,3302,3268,573.1,-10.3,241,5357,0.00,2.33,0.00,0.000,516,0.000,0.041,2558,1386,3284,3301,3267,0,0,0,0,0,0,14.90,14.48,14.90
$GC,5407,-1.06,-63.1,2558,1387,3301,3268,578.8,-10.2,249,5413,0.00,2.45,0.00,0.000,1030,0.000,0.064,2549,2764,3284,3301,3267,0,0,0,0,0,0,14.56,14.39,14.59
$GC,5743,-1.06,-63.1,2549,2765,3302,3264,615.9,-11.0,262,5748,0.00,2.40,0.00,0.000,516,0.000,0.042,2549,1380,3282,3300,3264,0,0,0,0,0,0,14.90,14.46,14.90
$GC,5777,-1.06,-63.1,2549,1381,3302,3264,619.8,-11.3,267,5783,0.00,2.50,0.00,0.000,1030,0.000,0.065,2539,2763,3282,3300,3264,0,0,0,0,0,0,14.42,14.33,14.47
$GC,6135,-1.06,-63.1,2540,2762,3301,3262,659.5,-11.1,276,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2763,3280,3300,3261,0,0,0,0,0,0,14.90,14.90,14.90
$GC,6471,-1.06,-63.1,2536,2764,3301,3259,695.9,-10.7,282,6476,0.00,1.98,0.00,0.000,260,0.000,0.111,2531,3825,3279,3300,3258,0,0,0,0,0,0,14.90,14.25,14.90
$GC,6575,-1.06,-63.1,2532,3825,3300,3259,707.5,-11.1,297,6584,0.08,1.83,0.00,0.000,3078,0.262,0.043,2550,2767,3279,3299,3259,0,0,0,0,0,0,14.12,14.56,14.29
$GC,6919,-1.06,-63.1,2551,2771,3299,3258,742.0,-10.1,304,6924,0.00,2.42,0.00,0.000,516,0.000,0.042,2551,1359,3277,3297,3258,0,0,0,0,0,0,14.90,14.46,14.90
$GC,6995,-1.06,-63.1,2551,1358,3297,3260,749.6,-9.7,315,7001,0.00,2.55,0.00,0.000,1030,0.000,0.065,2541,2756,3277,3297,3258,0,0,0,0,0,0,14.38,14.28,14.42
$GC,7311,-1.06,-63.1,2541,2756,3296,3261,781.9,-10.4,325,7317,0.00,2.05,0.00,0.000,260,0.000,0.112,2533,3824,3276,3295,3257,0,0,0,0,0,0,14.89,14.14,14.90
$GC,7359,-1.06,-63.1,2534,3825,3296,3257,787.3,-11.0,332,7367,0.00,1.85,0.00,0.000,1030,0.000,0.043,2532,2742,3276,3294,3258,0,0,0,0,0,0,14.57,14.53,14.56
$GC,7703,-1.06,-63.1,2535,2742,3293,3256,822.1,-10.0,339,7704,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2741,3274,3294,3255,0,0,0,0,0,0,14.91,14.91,14.92
$GC,8039,-1.06,-63.1,2532,2743,3294,3254,854.5,-9.6,345,8045,0.00,2.12,0.00,0.000,260,0.000,0.112,2524,3824,3273,3292,3254,0,0,0,0,0,0,14.90,14.12,14.89
$GC,8101,-1.06,-63.1,2525,3824,3292,3255,860.9,-10.3,354,8108,0.10,1.83,0.00,0.000,3078,0.249,0.044,2551,2772,3272,3292,3253,0,0,0,0,0,0,14.01,14.49,14.20
$GC,8431,-1.06,-63.1,2551,2773,3292,3254,890.7,-9.1,366,8436,0.00,2.45,0.00,0.000,516,0.000,0.043,2551,1361,3272,3291,3253,0,0,0,0,0,0,14.91,14.38,14.91
$GC,8556,-1.06,-63.1,2551,1362,3292,3252,902.0,-9.0,384,8562,0.00,2.58,0.00,0.000,1030,0.000,0.066,2541,2760,3269,3291,3248,0,0,0,0,0,0,14.33,14.23,14.38
$STATE,8876,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8876,begin apogee
$GC,8884,-0.23,0.0,2542,2204,3292,3251,932.9,-9.6,395,8951,1.00,0.12,63.58,1.982,10244,0.198,0.143,2820,2280,3051,3088,3015,0,0,0,0,0,0,13.92,14.12,13.06
$STATE,8952,end apogee,CONTROL_FINISHED_OK
$STATE,8952,begin climb
$GC,8955,1.19,63.1,2822,2280,3084,3009,935.6,0.0,396,9033,1.35,2.50,69.38,1.985,10756,0.089,0.056,3268,889,2793,2841,2746,0,0,0,0,0,0,14.14,14.16,12.94
$GC,9154,1.14,100.2,3268,889,2841,2736,928.3,4.6,427,9203,0.00,2.40,40.17,1.994,9382,0.000,0.050,3267,2239,2645,2703,2587,0,0,0,0,0,0,14.26,14.17,13.09
$GC,9554,1.05,100.2,3268,2238,2702,2577,892.2,9.6,442,9559,0.00,2.62,0.00,0.000,388,0.000,0.097,3267,3657,2639,2702,2576,0,0,0,0,0,0,14.71,14.27,14.71
$GC,9615,0.90,100.2,3268,3657,2703,2578,885.5,10.7,451,9622,0.32,2.40,0.00,0.000,5254,0.259,0.041,3193,2277,2639,2702,2576,0,0,0,0,0,0,14.04,14.42,14.25
$GC,9945,0.90,100.2,3194,2277,2702,2574,859.7,7.8,463,9950,0.00,2.47,0.00,0.000,516,0.000,0.059,3203,862,2638,2702,2574,0,0,0,0,0,0,14.80,14.38,14.80
$GC,10001,0.90,100.2,3204,863,2701,2573,855.1,8.9,471,10007,0.00,2.40,0.00,0.000,1030,0.000,0.051,3203,2256,2637,2702,2573,0,0,0,0,0,0,14.55,14.41,14.57
$GC,10338,0.90,100.2,3204,2252,2704,2571,828.8,7.9,484,10343,0.00,2.58,0.00,0.000,260,0.000,0.099,3204,3645,2636,2702,2571,0,0,0,0,0,0,14.85,14.31,14.85
$GC,10427,0.90,100.2,3204,3645,2703,2571,821.0,8.9,497,10434,0.00,2.42,0.00,0.000,1030,0.000,0.040,3215,2245,2636,2702,2571,0,0,0,0,0,0,14.51,14.47,14.53
$GC,10786,0.90,100.2,3215,2246,2703,2569,792.9,7.9,506,10791,0.00,2.62,0.00,0.000,260,0.000,0.099,3215,3643,2635,2702,2569,0,0,0,0,0,0,14.87,14.28,14.87
$GC,10847,0.90,100.2,3215,3643,2703,2570,787.6,8.2,515,10854,0.12,2.40,0.00,0.000,5126,0.252,0.040,3192,2253,2635,2702,2569,0,0,0,0,0,0,14.05,14.48,14.23
$GC,11178,0.90,102.9,3192,2255,2703,2568,762.9,7.5,527,11183,0.00,2.62,0.00,0.000,292,0.000,0.099,3192,3643,2635,2702,2568,0,0,0,0,0,0,14.85,14.26,14.85
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$STATE,20918,end climb,SURFACE_DEPTH_REACHED
$STATE,20918,begin surface coast
$FINISH,-1.0,1.010821
$STATE,20949,end surface coast,CONTROL_FINISHED_OK
$STATE,20949,begin surface
$SM_CCo,20970,87.32,0.151,0,0,1057,500.14
$SM_GC,0.02,8.80,0.93,87.32,0.034,0.086,0.151,182,2772,1057,-8.39,-0.57,500.14,0,0,0,0,0,0,14.52,14.38,14.20
$IRIDIUM_FIX,956.07,-12518.00,161216,040914
$TT8_MAMPS,0.038948,0.271887
$HUMID,53.30
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,21.40
$XPDR_PINGS,1
$SC_FREEKB,3744224
$PM_FREEKB,54837696
$24V_AH,12.55,152.970
$10V_AH,12.52,0.000
$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
$DEVICE_SECS,24.500,202.350,304.625,87.325,0.000,0.000,0.000,398.075,0.250,0.000,7.097,0.000,17778.980,732.354,2757.061,477.814,0.000,1982.121,0.000,1773.137,0.000,0.839,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.573,2.428,0.000,0.000
$MEM,334744
$DATA_FILE_SIZE,36759,1017
$CAP_FILE_SIZE,163066,0
$CFSIZE,1024409600,942571520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,289.36,1
$GPS,161216,163631,1000.029,-12518.925,15,1.5,15,9.0,0.2,0.0,6,6.1