version: 66.13
glider: 220
mission: 6
dive: 457
start: 12 23 116 12 25 52
data:
$ID,220
$MISSION,6
$DIVE,457
$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,19
$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
$GPS1,231216,121002,1006.3097,-12447.6055,32,0.7,38,9.0,0.4,65.4,12,3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.11
$_SM_ANGLEo,-71.1
$GPS2,231216,122531,1006.4281,-12447.6338,2,0.7,3,9.0,0.2,19.4,12,5.6
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,299.9,32520,-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,-107.1,108,2789,1103,1014,0.0,0.0,0,100,0.00,0.00,-79.60,0.000,16390,0.000,0.000,107,2788,3477,3468,3487,0,0,0,0,0,0,14.67,13.12,14.66
$GC,104,-0.93,-107.1,107,2789,3469,3486,6.2,-12.8,3,121,11.82,2.40,0.00,0.000,2564,0.383,0.031,2586,1359,3478,3470,3487,0,0,0,0,0,0,13.98,14.36,14.26
$GC,250,-0.72,-107.1,2586,1358,3473,3488,41.9,-16.5,24,255,0.30,2.53,0.00,0.000,3206,0.233,0.070,2659,2768,3477,3469,3486,0,0,0,0,0,0,14.10,14.33,14.38
$GC,577,-0.72,-107.1,2660,2769,3477,3484,69.7,-6.5,38,586,0.00,1.95,0.00,0.000,292,0.000,0.111,2648,3829,3481,3476,3486,0,0,0,0,0,0,14.83,14.32,14.81
$GC,655,-0.72,-107.1,2650,3830,3475,3486,75.2,-7.2,49,663,0.00,1.80,0.00,0.000,1062,0.000,0.039,2651,2731,3481,3476,3486,0,0,0,0,0,0,14.58,14.54,14.59
$GC,971,-0.72,-107.1,2651,2732,3476,3487,101.4,-8.8,61,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2731,3481,3476,3486,0,0,0,0,0,0,14.87,14.87,14.87
$GC,1307,-0.72,-107.1,2651,2733,3477,3484,130.7,-8.6,67,1312,0.00,2.25,0.00,0.000,516,0.000,0.041,2651,1397,3479,3476,3483,0,0,0,0,0,0,14.89,14.52,14.89
$GC,1348,-0.72,-107.1,2651,1398,3477,3483,134.9,-9.6,73,1355,0.00,2.47,0.00,0.000,1030,0.000,0.068,2641,2772,3479,3476,3483,0,0,0,0,0,0,14.42,14.33,14.47
$GC,1699,-0.72,-107.1,2642,2772,3475,3481,167.5,-9.2,81,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2772,3477,3475,3479,0,0,0,0,0,0,14.92,14.90,14.92
$GC,2035,-0.72,-107.1,2642,2771,3476,3476,197.9,-9.1,87,2040,0.08,1.95,0.00,0.000,2308,0.272,0.112,2655,3825,3475,3475,3475,0,0,0,0,0,0,14.38,14.33,14.58
$GC,2104,-0.72,-107.1,2655,3826,3478,3474,204.1,-8.6,97,2111,0.00,1.75,0.00,0.000,1030,0.000,0.044,2656,2794,3474,3475,3474,0,0,0,0,0,0,14.62,14.59,14.63
$GC,2427,-0.72,-107.1,2656,2796,3477,3469,231.7,-8.7,108,2432,0.00,2.42,0.00,0.000,516,0.000,0.043,2654,1372,3472,3475,3469,0,0,0,0,0,0,14.90,14.51,14.91
$GC,2496,-0.72,-107.1,2652,1373,3476,3469,238.0,-8.6,118,2501,0.00,2.55,0.00,0.000,1030,0.000,0.068,2646,2769,3471,3475,3468,0,0,0,0,0,0,14.46,14.37,14.52
$GC,2819,-0.72,-107.1,2647,2770,3476,3465,266.2,-8.7,129,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2770,3469,3475,3464,0,0,0,0,0,0,14.92,14.92,14.92
$GC,3155,-0.72,-107.1,2647,2770,3476,3460,295.2,-8.6,135,3160,0.00,2.42,0.00,0.000,516,0.000,0.044,2646,1376,3467,3475,3460,0,0,0,0,0,0,14.91,14.50,14.91
$GC,3238,-0.72,-107.1,2647,1376,3476,3460,302.9,-9.1,147,3244,0.00,2.53,0.00,0.000,1030,0.000,0.068,2638,2760,3467,3475,3459,0,0,0,0,0,0,14.45,14.35,14.50
$GC,3602,-0.72,-107.1,2638,2760,3477,3455,334.8,-8.6,157,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2760,3465,3475,3455,0,0,0,0,0,0,14.93,14.93,14.93
$GC,3938,-0.72,-107.1,2638,2759,3476,3451,361.0,-7.9,163,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2759,3463,3475,3452,0,0,0,0,0,0,14.93,14.93,14.93
$GC,4275,-0.72,-107.1,2637,2759,3476,3450,390.1,-8.9,169,4281,0.00,2.40,0.00,0.000,516,0.000,0.044,2637,1379,3461,3475,3448,0,0,0,0,0,0,14.93,14.49,14.93
$GC,4351,-0.72,-107.1,2637,1380,3476,3447,397.3,-9.1,180,4357,0.10,2.53,0.00,0.000,3078,0.212,0.070,2657,2763,3461,3475,3447,0,0,0,0,0,0,14.12,14.31,14.30
$GC,4667,-0.72,-107.1,2658,2764,3477,3445,424.5,-8.6,190,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2762,3459,3475,3444,0,0,0,0,0,0,14.92,14.92,14.92
$GC,5002,-0.72,-107.1,2658,2764,3482,3441,453.6,-8.7,196,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2763,3458,3474,3442,0,0,0,0,0,0,14.92,14.92,14.92
$GC,5339,-0.72,-107.1,2658,2762,3476,3440,481.6,-8.2,202,5344,0.00,2.42,0.00,0.000,516,0.000,0.044,2658,1373,3455,3474,3437,0,0,0,0,0,0,14.92,14.47,14.92
$GC,5395,-0.80,-107.1,2658,1372,3476,3438,486.2,-8.0,210,5400,0.00,2.47,0.00,0.000,1158,0.000,0.067,2649,2760,3456,3474,3438,0,0,0,0,0,0,14.54,14.37,14.57
$GC,5730,-0.80,-107.1,2650,2760,3476,3438,513.3,-8.0,223,5735,0.00,2.03,0.00,0.000,260,0.000,0.116,2641,3831,3455,3475,3436,0,0,0,0,0,0,14.92,14.23,14.92
$GC,5793,-0.80,-107.1,2640,3833,3476,3436,518.6,-8.4,232,5799,0.00,1.85,0.00,0.000,1030,0.000,0.045,2640,2762,3455,3475,3436,0,0,0,0,0,0,14.59,14.52,14.57
$GC,6122,-0.80,-107.1,2642,2763,3475,3433,544.4,-7.8,244,6128,0.00,2.40,0.00,0.000,516,0.000,0.043,2641,1373,3453,3475,3432,0,0,0,0,0,0,14.90,14.43,14.90
$GC,6178,-0.80,-107.1,2641,1373,3476,3433,548.8,-8.0,252,6184,0.00,2.50,0.00,0.000,1030,0.000,0.067,2631,2765,3452,3473,3432,0,0,0,0,0,0,14.52,14.35,14.54
$GC,6515,-0.80,-107.1,2632,2766,3476,3429,576.9,-8.5,265,6516,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2765,3452,3475,3430,0,0,0,0,0,0,14.89,14.89,14.88
$GC,6850,-0.80,-107.1,2633,2766,3476,3430,605.9,-8.6,271,6856,0.00,2.45,0.00,0.000,516,0.000,0.045,2631,1372,3451,3475,3428,0,0,0,0,0,0,14.89,14.42,14.90
$GC,6892,-0.80,-107.1,2632,1372,3473,3428,609.6,-8.9,277,6899,0.00,2.55,0.00,0.000,1030,0.000,0.068,2622,2754,3451,3475,3427,0,0,0,0,0,0,14.38,14.28,14.42
$GC,7242,-0.80,-107.1,2622,2755,3473,3427,640.8,-8.9,285,7249,0.00,2.42,0.00,0.000,516,0.000,0.044,2621,1365,3448,3471,3426,0,0,0,0,0,0,14.91,14.42,14.91
$GC,7277,-0.80,-107.1,2622,1368,3473,3426,643.9,-9.1,290,7282,0.00,2.55,0.00,0.000,1030,0.000,0.068,2610,2752,3448,3470,3426,0,0,0,0,0,0,14.35,14.25,14.40
$GC,7634,-0.80,-107.1,2612,2753,3470,3426,676.9,-9.3,299,7636,0.10,0.00,0.00,0.000,2054,0.264,0.000,2640,2752,3448,3470,3426,0,0,0,0,0,0,14.23,14.52,14.47
$GC,7971,-0.80,-107.1,2641,2752,3465,3427,704.5,-8.2,305,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2752,3447,3468,3426,0,0,0,0,0,0,14.90,14.92,14.91
$GC,8307,-0.80,-107.1,2641,2753,3470,3424,732.2,-8.3,311,8312,0.00,2.40,0.00,0.000,516,0.000,0.044,2640,1375,3445,3468,3423,0,0,0,0,0,0,14.91,14.42,14.91
$GC,8355,-0.80,-107.1,2641,1374,3469,3424,736.4,-8.5,318,8362,0.00,2.53,0.00,0.000,1030,0.000,0.067,2631,2750,3445,3468,3423,0,0,0,0,0,0,14.33,14.21,14.36
$GC,8699,-0.80,-107.1,2632,2751,3467,3423,764.6,-8.1,325,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2751,3444,3466,3422,0,0,0,0,0,0,14.90,14.90,14.90
$GC,9034,-0.80,-107.1,2632,2751,3465,3423,792.7,-8.4,331,9040,0.00,2.42,0.00,0.000,516,0.000,0.044,2631,1373,3442,3464,3421,0,0,0,0,0,0,14.88,14.37,14.88
$GC,9083,-0.80,-107.1,2631,1374,3464,3421,796.9,-8.4,338,9090,0.00,2.55,0.00,0.000,1030,0.000,0.069,2622,2754,3442,3464,3421,0,0,0,0,0,0,14.30,14.20,14.36
$GC,9427,-0.80,-107.1,2622,2756,3465,3420,827.3,-8.9,345,9427,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2754,3442,3464,3420,0,0,0,0,0,0,14.88,14.87,14.88
$GC,9763,-0.80,-107.1,2623,2754,3464,3421,856.0,-8.5,351,9768,0.00,2.45,0.00,0.000,516,0.000,0.044,2622,1373,3441,3463,3419,0,0,0,0,0,0,14.87,14.35,14.87
$GC,9790,-0.80,-107.1,2621,1374,3467,3413,858.5,-7.8,355,9796,0.00,2.55,0.00,0.000,1030,0.000,0.069,2613,2749,3440,3462,3419,0,0,0,0,0,0,14.29,14.18,14.34
$GC,10155,-0.80,-107.1,2613,2748,3462,3419,889.3,-8.4,365,10161,0.00,2.10,0.00,0.000,260,0.000,0.116,2604,3823,3440,3462,3419,0,0,0,0,0,0,14.88,14.04,14.88
$GC,10182,-0.80,-107.1,2605,3822,3462,3420,891.7,-7.7,369,10189,0.10,1.88,0.00,0.000,3110,0.213,0.047,2633,2750,3440,3462,3419,0,0,0,0,0,0,14.00,14.46,14.16
$GC,10547,-0.80,-107.1,2634,2749,3462,3421,918.4,-7.1,379,10552,0.00,2.42,0.00,0.000,548,0.000,0.046,2633,1363,3439,3462,3417,0,0,0,0,0,0,14.86,14.34,14.86
$GC,10616,-0.80,-107.1,2633,1364,3463,3417,923.6,-7.4,389,10623,0.00,2.60,0.00,0.000,1062,0.000,0.070,2624,2751,3438,3460,3417,0,0,0,0,0,0,14.25,14.14,14.30
$STATE,10711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10711,begin apogee
$GC,10719,-0.23,0.0,2624,2210,3465,3418,931.0,-7.6,396,10833,0.68,0.10,110.65,1.972,10244,0.170,0.162,2822,2266,3051,3091,3012,0,0,0,0,0,0,14.04,13.90,12.91
$STATE,10834,end apogee,CONTROL_FINISHED_OK
$STATE,10834,begin climb
$GC,10838,0.93,107.1,2824,2266,3087,3005,934.9,0.0,398,10969,1.10,2.53,118.78,1.943,10756,0.087,0.057,3185,883,2616,2677,2556,0,0,0,0,0,0,13.98,14.00,12.83
$GC,10997,0.81,112.4,3186,883,2678,2549,930.5,7.5,422,11003,0.00,2.45,1.23,0.248,9382,0.000,0.051,3185,2250,2600,2665,2535,0,0,0,0,0,0,14.11,14.00,13.85
$GC,11333,0.70,119.9,3186,2250,2666,2547,906.4,7.4,435,11354,0.20,2.62,12.90,2.097,12708,0.222,0.103,3128,3653,2566,2633,2499,0,0,0,0,0,0,14.14,14.29,13.29
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$STATE,22467,end climb,SURFACE_DEPTH_REACHED
$STATE,22467,begin surface coast
$FINISH,-0.8,1.021621
$STATE,22498,end surface coast,CONTROL_FINISHED_OK
$STATE,22498,begin surface
$SM_CCo,22520,39.05,0.159,0,0,1057,500.14
$SM_GC,-1.20,9.10,0.88,39.05,0.070,0.083,0.159,182,2765,1057,-8.38,-0.82,500.14,0,0,0,0,0,0,14.47,14.35,14.16
$IRIDIUM_FIX,1002.64,-12446.42,231216,121521
$TT8_MAMPS,0.03745,0.429177
$HUMID,56.53
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.20
$XPDR_PINGS,0
$SC_FREEKB,3734240
$PM_FREEKB,54515904
$24V_AH,12.83,161.478
$10V_AH,12.53,0.000
$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
$DEVICE_SECS,24.150,193.200,492.475,39.050,0.000,0.000,0.000,549.625,0.000,0.000,4.769,0.000,19376.014,839.410,2724.889,528.450,0.000,2170.192,0.000,1617.401,0.000,1.132,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22561.000,22506.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.516,2.418,0.000,0.000
$MEM,334692
$DATA_FILE_SIZE,33401,893
$CAP_FILE_SIZE,168175,0
$CFSIZE,1024409600,938704896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,577.66,0x233bae,0,24
$CURRENT,0.049,321.81,1
$GPS,231216,184256,1008.014,-12449.812,31,1.9,31,9.0,0.3,200.1,5,8.7