version: 66.13
glider: 220
mission: 6
dive: 435
start: 12 17 116 12 45 54
data:
$ID,220
$MISSION,6
$DIVE,435
$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,49
$R_STBD_OVSHOOT,23
$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
$GPS1,171216,123401,955.8559,-12513.5781,28,1.5,28,9.0,0.4,99.3,6,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.81
$_SM_ANGLEo,-66.9
$GPS2,171216,124531,955.8567,-12513.7051,2,1.5,3,9.0,0.8,281.1,6,7.8
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,135.4,37313,-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,12,begin dive
$GC,15,-0.93,-107.1,105,2785,1104,1013,0.0,0.0,0,100,0.00,0.00,-79.85,0.000,16390,0.000,0.000,104,2786,3478,3469,3487,0,0,0,0,0,0,14.66,13.09,14.66
$GC,104,-0.93,-107.1,105,2787,3470,3487,6.6,-12.7,3,121,11.85,2.40,0.00,0.000,2564,0.385,0.031,2588,1358,3478,3470,3487,0,0,0,0,0,0,13.97,14.34,14.23
$GC,226,-0.70,-107.1,2587,1357,3473,3488,44.3,-19.8,21,233,0.28,2.55,0.00,0.000,3206,0.220,0.072,2668,2760,3480,3473,3487,0,0,0,0,0,0,14.09,14.27,14.36
$GC,549,-0.70,-107.1,2668,2760,3478,3487,74.2,-6.4,34,554,0.00,1.98,0.00,0.000,292,0.000,0.110,2659,3830,3482,3477,3487,0,0,0,0,0,0,14.82,14.30,14.83
$GC,739,-0.70,-107.1,2660,3831,3478,3488,88.8,-7.1,61,747,0.00,1.83,0.00,0.000,1062,0.000,0.040,2659,2724,3483,3478,3489,0,0,0,0,0,0,14.57,14.55,14.59
$GC,1081,-0.70,-107.1,2660,2724,3478,3488,113.0,-7.5,71,1086,0.00,2.08,0.00,0.000,292,0.000,0.109,2651,3836,3482,3478,3487,0,0,0,0,0,0,14.90,14.34,14.90
$GC,1213,-0.70,-107.1,2651,3836,3479,3486,124.8,-9.3,90,1219,0.00,1.77,0.00,0.000,1030,0.000,0.041,2651,2768,3482,3478,3487,0,0,0,0,0,0,14.64,14.62,14.65
$GC,1529,-0.70,-107.1,2651,2767,3478,3485,155.6,-9.9,100,1534,0.00,2.35,0.00,0.000,516,0.000,0.041,2648,1384,3480,3477,3484,0,0,0,0,0,0,14.91,14.51,14.91
$GC,1598,-0.70,-107.1,2651,1385,3479,3482,162.3,-9.1,110,1604,0.08,2.50,0.00,0.000,3078,0.213,0.067,2665,2772,3480,3478,3482,0,0,0,0,0,0,14.20,14.35,14.34
$GC,1921,-0.70,-107.1,2666,2771,3478,3480,187.4,-7.5,121,1927,0.00,2.38,0.00,0.000,548,0.000,0.043,2665,1389,3478,3478,3478,0,0,0,0,0,0,14.93,14.52,14.94
$GC,1969,-0.70,-107.1,2665,1390,3479,3478,191.0,-7.2,128,1976,0.00,2.47,0.00,0.000,1062,0.000,0.068,2656,2757,3478,3478,3478,0,0,0,0,0,0,14.47,14.37,14.52
$GC,2313,-0.70,-107.1,2656,2760,3479,3473,217.8,-8.0,135,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2759,3472,3472,3473,0,0,0,0,0,0,14.92,14.92,14.92
$GC,2649,-0.70,-107.1,2656,2759,3478,3470,245.9,-8.4,141,2655,0.00,2.03,0.00,0.000,260,0.000,0.114,2648,3827,3473,3477,3469,0,0,0,0,0,0,14.92,14.28,14.92
$GC,2697,-0.70,-107.1,2649,3827,3478,3470,250.1,-8.6,148,2704,0.00,1.77,0.00,0.000,1030,0.000,0.044,2648,2770,3473,3478,3468,0,0,0,0,0,0,14.63,14.61,14.64
$GC,3041,-0.70,-107.1,2648,2772,3480,3463,278.5,-8.4,155,3046,0.00,2.38,0.00,0.000,516,0.000,0.043,2648,1380,3470,3478,3463,0,0,0,0,0,0,14.92,14.52,14.92
$GC,3089,-0.70,-107.1,2648,1378,3478,3464,282.9,-8.9,162,3097,0.08,2.50,0.00,0.000,3078,0.224,0.070,2662,2764,3469,3477,3462,0,0,0,0,0,0,14.21,14.38,14.38
$GC,3433,-0.70,-107.1,2663,2770,3479,3459,310.2,-7.9,169,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2762,3468,3477,3460,0,0,0,0,0,0,14.94,14.95,14.95
$GC,3769,-0.70,-107.1,2663,2763,3477,3456,334.9,-7.3,175,3774,0.00,2.38,0.00,0.000,548,0.000,0.043,2662,1385,3466,3477,3455,0,0,0,0,0,0,14.95,14.50,14.95
$GC,3831,-0.70,-107.1,2663,1384,3478,3456,339.7,-7.7,184,3837,0.00,2.50,0.00,0.000,1062,0.000,0.069,2654,2761,3466,3478,3455,0,0,0,0,0,0,14.45,14.36,14.51
$GC,4161,-0.70,-107.1,2654,2763,3478,3451,366.4,-8.2,196,4166,0.00,2.03,0.00,0.000,260,0.000,0.116,2654,3822,3464,3477,3451,0,0,0,0,0,0,14.92,14.26,14.92
$GC,4195,-0.70,-107.1,2646,3829,3479,3451,369.3,-8.4,201,4202,0.00,1.80,0.00,0.000,1030,0.000,0.044,2645,2766,3464,3478,3451,0,0,0,0,0,0,14.63,14.61,14.64
$GC,4553,-0.70,-107.1,2646,2766,3478,3449,397.4,-7.8,210,4558,0.00,2.40,0.00,0.000,516,0.000,0.043,2644,1366,3462,3477,3448,0,0,0,0,0,0,14.92,14.50,14.92
$GC,4601,-0.70,-107.1,2647,1366,3477,3449,401.3,-7.9,217,4610,0.10,2.53,0.00,0.000,3078,0.213,0.067,2667,2757,3462,3477,3447,0,0,0,0,0,0,14.16,14.35,14.33
$GC,4945,-0.70,-107.1,2667,2759,3479,3444,427.5,-7.8,224,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2757,3460,3477,3444,0,0,0,0,0,0,14.94,14.93,14.94
$GC,5281,-0.78,-107.1,2667,2757,3478,3442,455.9,-8.5,230,5286,0.00,2.40,0.00,0.000,644,0.000,0.043,2667,1373,3459,3477,3441,0,0,0,0,0,0,14.94,14.49,14.94
$GC,5343,-0.87,-107.1,2667,1373,3478,3443,461.3,-8.5,239,5349,0.05,2.53,0.00,0.000,5254,0.119,0.067,2606,2761,3459,3477,3441,0,0,0,0,0,0,14.31,14.32,14.39
$GC,5673,-0.87,-107.1,2606,2762,3478,3438,495.1,-10.3,251,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2761,3455,3472,3438,0,0,0,0,0,0,14.94,14.94,14.93
$GC,6009,-0.87,-107.1,2605,2762,3478,3437,527.8,-9.6,257,6015,0.00,2.42,0.00,0.000,516,0.000,0.044,2605,1369,3456,3477,3436,0,0,0,0,0,0,14.94,14.49,14.94
$GC,6050,-0.87,-107.1,2605,1370,3478,3436,531.7,-9.1,263,6056,0.00,2.53,0.00,0.000,1030,0.000,0.068,2595,2753,3456,3477,3436,0,0,0,0,0,0,14.43,14.33,14.47
$GC,6401,-0.87,-107.1,2596,2754,3478,3433,562.6,-8.7,271,6406,0.00,2.03,0.00,0.000,260,0.000,0.112,2586,3816,3455,3477,3433,0,0,0,0,0,0,14.94,14.19,14.94
$GC,6470,-0.87,-107.1,2587,3817,3477,3432,569.0,-9.3,281,6477,0.10,1.83,0.00,0.000,3078,0.213,0.043,2615,2748,3454,3476,3433,0,0,0,0,0,0,14.17,14.56,14.33
$GC,6793,-0.87,-107.1,2615,2749,3474,3432,596.3,-8.5,292,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2748,3452,3473,3432,0,0,0,0,0,0,14.91,14.91,14.91
$GC,7129,-0.87,-107.1,2615,2749,3473,3432,626.8,-9.2,298,7134,0.00,2.08,0.00,0.000,260,0.000,0.112,2608,3830,3452,3472,3432,0,0,0,0,0,0,14.90,14.24,14.91
$GC,7170,-0.87,-107.1,2608,3831,3473,3432,631.0,-10.0,304,7176,0.00,1.88,0.00,0.000,1030,0.000,0.045,2607,2744,3450,3471,3430,0,0,0,0,0,0,14.57,14.54,14.58
$GC,7521,-0.87,-107.1,2607,2745,3473,3429,665.0,-9.8,312,7526,0.00,2.35,0.00,0.000,516,0.000,0.043,2606,1374,3450,3470,3430,0,0,0,0,0,0,14.90,14.45,14.90
$GC,7548,-0.87,-107.1,2606,1375,3470,3431,667.7,-9.8,316,7554,0.00,2.53,0.00,0.000,1030,0.000,0.066,2597,2757,3450,3471,3429,0,0,0,0,0,0,14.39,14.30,14.44
$GC,7913,-0.87,-107.1,2598,2758,3470,3430,704.4,-10.1,326,7918,0.00,2.00,0.00,0.000,260,0.000,0.112,2589,3823,3449,3470,3429,0,0,0,0,0,0,14.92,14.19,14.92
$GC,7961,-0.87,-107.1,2589,3829,3471,3429,709.5,-10.3,333,7969,0.08,1.85,0.00,0.000,3078,0.221,0.045,2610,2746,3449,3470,3429,0,0,0,0,0,0,14.14,14.52,14.30
$GC,8305,-0.87,-107.1,2611,2743,3471,3429,740.8,-9.1,340,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2747,3448,3470,3427,0,0,0,0,0,0,14.90,14.88,14.90
$GC,8641,-0.87,-107.1,2611,2748,3471,3425,770.5,-8.7,346,8642,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2747,3447,3470,3425,0,0,0,0,0,0,14.90,14.90,14.90
$GC,8977,-0.87,-107.1,2611,2746,3468,3426,798.6,-8.3,352,8977,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2747,3446,3467,3425,0,0,0,0,0,0,14.90,14.90,14.90
$GC,9313,-0.87,-107.1,2611,2748,3467,3423,826.5,-8.3,358,9314,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2747,3444,3466,3422,0,0,0,0,0,0,14.90,14.90,14.90
$GC,9649,-0.87,-107.1,2611,2747,3467,3422,854.8,-8.4,364,9654,0.00,2.40,0.00,0.000,516,0.000,0.043,2610,1373,3444,3467,3421,0,0,0,0,0,0,14.92,14.40,14.92
$GC,9676,-0.87,-107.1,2611,1373,3467,3422,857.2,-7.7,368,9682,0.00,2.55,0.00,0.000,1062,0.000,0.067,2602,2752,3443,3466,3421,0,0,0,0,0,0,14.31,14.21,14.37
$GC,10041,-0.87,-107.1,2603,2752,3465,3422,887.6,-8.3,378,10046,0.00,2.05,0.00,0.000,260,0.000,0.116,2593,3833,3443,3465,3421,0,0,0,0,0,0,14.91,14.15,14.91
$GC,10138,-0.87,-107.1,2594,3834,3465,3420,895.9,-8.5,392,10144,0.00,1.88,0.00,0.000,1030,0.000,0.046,2593,2750,3442,3464,3420,0,0,0,0,0,0,14.50,14.47,14.51
$GC,10489,-0.87,-107.1,2594,2750,3465,3420,924.4,-8.1,400,10494,0.00,2.38,0.00,0.000,516,0.000,0.044,2592,1386,3441,3464,3419,0,0,0,0,0,0,14.90,14.40,14.90
$STATE,10555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10555,begin apogee
$GC,10563,-0.23,0.0,2589,2268,3464,3420,930.2,-8.3,410,10677,0.82,0.00,111.00,1.959,10244,0.182,0.000,2824,2268,3051,3091,3011,0,0,0,0,0,0,14.03,13.95,12.92
$STATE,10678,end apogee,CONTROL_FINISHED_OK
$STATE,10678,begin climb
$GC,10681,0.93,107.1,2825,2269,3089,3003,933.1,0.0,412,10812,1.10,2.55,117.78,1.950,10756,0.087,0.056,3185,870,2616,2677,2556,0,0,0,0,0,0,13.99,14.01,12.83
$GC,10840,0.81,107.1,3185,870,2678,2548,927.1,8.2,436,10845,0.00,2.47,0.00,0.000,1158,0.000,0.050,3185,2254,2613,2677,2549,0,0,0,0,0,0,14.09,13.99,14.11
$GC,11176,0.69,107.1,3185,2255,2678,2541,899.9,8.3,449,11177,0.22,0.00,0.00,0.000,4230,0.219,0.000,3122,2253,2609,2677,2542,0,0,0,0,0,0,14.15,14.46,14.41
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$STATE,22521,end climb,SURFACE_DEPTH_REACHED
$STATE,22521,begin surface coast
$FINISH,-1.6,1.021645
$STATE,22549,end surface coast,CONTROL_FINISHED_OK
$STATE,22549,begin surface
$SM_CCo,22571,35.95,0.159,0,0,1059,500.14
$SM_GC,-0.44,9.00,0.90,35.95,0.045,0.070,0.159,185,2760,1059,-8.38,-0.88,500.14,0,0,0,0,0,0,14.48,14.33,14.17
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$TT8_MAMPS,0.035952,0.35203
$HUMID,56.85
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.00
$XPDR_PINGS,0
$SC_FREEKB,3742688
$PM_FREEKB,54789568
$24V_AH,12.78,154.255
$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
$DEVICE_SECS,24.575,206.000,487.550,35.950,0.000,0.000,0.000,380.475,0.000,0.000,5.255,0.000,19319.732,843.562,2616.351,498.320,0.000,2038.647,0.000,1654.913,0.000,0.838,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22609.000,22557.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.492,2.402,0.000,0.000
$MEM,334756
$DATA_FILE_SIZE,33381,920
$CAP_FILE_SIZE,170339,0
$CFSIZE,1024409600,941965312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.013,163.60,1
$GPS,171216,190356,954.092,-12512.338,25,0.7,43,9.0,0.5,226.2,12,4.4