version: 66.13
glider: 220
mission: 6
dive: 473
start: 12 27 116 6 31 13
data:
$ID,220
$MISSION,6
$DIVE,473
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,800
$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,345
$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,55
$R_STBD_OVSHOOT,20
$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
$GPS1,271216,061936,1005.9193,-12511.1826,45,0.8,45,9.0,1.0,54.4,9,6.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.49
$_SM_ANGLEo,-71.8
$GPS2,271216,063052,1005.9418,-12511.0527,3,0.9,5,9.0,1.4,68.1,8,7.1
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,225.1,18769,-17.5,-7.729,-24.20,2052
$D_GRID,800
$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,-107.1,105,2783,1104,1012,0.0,0.0,0,100,0.00,0.00,-81.72,0.000,16390,0.000,0.000,104,2782,3478,3470,3487,0,0,0,0,0,0,14.66,12.54,14.64
$GC,104,-0.93,-107.1,105,2781,3471,3487,0.5,-10.3,3,121,11.88,2.40,0.00,0.000,2564,0.383,0.037,2597,1371,3479,3472,3487,0,0,0,0,0,0,13.97,14.34,14.23
$GC,191,-0.74,-107.1,2590,1371,3474,3486,28.3,-14.9,16,197,0.22,2.55,0.00,0.000,3206,0.224,0.070,2656,2765,3480,3474,3487,0,0,0,0,0,0,14.07,14.27,14.35
$GC,521,-0.74,-107.1,2656,2766,3478,3487,62.0,-9.4,30,526,0.00,1.98,0.00,0.000,260,0.000,0.112,2648,3831,3482,3478,3487,0,0,0,0,0,0,14.85,14.28,14.84
$GC,674,-0.74,-107.1,2648,3832,3480,3484,76.3,-12.3,52,680,0.00,1.80,0.00,0.000,1030,0.000,0.040,2647,2750,3482,3478,3487,0,0,0,0,0,0,14.57,14.54,14.57
$GC,997,-0.74,-107.1,2649,2750,3480,3488,94.1,-6.7,65,1003,0.00,2.05,0.00,0.000,292,0.000,0.109,2640,3833,3482,3479,3486,0,0,0,0,0,0,14.87,14.30,14.87
$GC,1045,-0.74,-107.1,2640,3834,3479,3485,109.4,-7.8,72,1052,0.00,1.77,0.00,0.000,1030,0.000,0.040,2639,2766,3483,3479,3487,0,0,0,0,0,0,14.59,14.57,14.60
$GC,1389,-0.74,-107.1,2634,2767,3481,3486,138.4,-8.7,79,1394,0.00,2.35,0.00,0.000,516,0.000,0.044,2639,1387,3482,3479,3485,0,0,0,0,0,0,14.90,14.49,14.90
$GC,1445,-0.74,-107.1,2640,1386,3480,3486,143.4,-8.7,87,1450,0.10,2.47,0.00,0.000,3078,0.236,0.070,2660,2777,3482,3480,3485,0,0,0,0,0,0,14.24,14.40,14.47
$GC,1781,-0.74,-107.1,2660,2777,3480,3482,174.1,-9.4,100,1786,0.00,2.40,0.00,0.000,516,0.000,0.044,2660,1388,3479,3478,3481,0,0,0,0,0,0,14.90,14.49,14.90
$GC,1815,-0.74,-107.1,2660,1388,3480,3482,177.3,-9.4,105,1822,0.00,2.53,0.00,0.000,1030,0.000,0.070,2651,2763,3480,3479,3481,0,0,0,0,0,0,14.45,14.35,14.50
$GC,2173,-0.74,-107.1,2651,2763,3480,3476,208.4,-8.5,114,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2763,3477,3479,3476,0,0,0,0,0,0,14.92,14.92,14.92
$GC,2509,-0.74,-107.1,2659,2764,3480,3470,234.7,-7.6,120,2514,0.00,2.40,0.00,0.000,548,0.000,0.046,2651,1392,3474,3479,3470,0,0,0,0,0,0,14.93,14.47,14.94
$GC,2536,-0.74,-107.1,2652,1392,3480,3472,236.9,-7.7,124,2542,0.00,2.55,0.00,0.000,1062,0.000,0.072,2644,2769,3474,3479,3470,0,0,0,0,0,0,14.43,14.33,14.48
$GC,2901,-0.74,-107.1,2648,2769,3480,3469,266.6,-8.3,134,2906,0.00,2.40,0.00,0.000,516,0.000,0.046,2644,1392,3473,3479,3468,0,0,0,0,0,0,14.93,14.48,14.93
$GC,2984,-0.74,-107.1,2644,1392,3479,3468,273.6,-8.4,146,2990,0.00,2.50,0.00,0.000,1030,0.000,0.072,2636,2755,3472,3479,3466,0,0,0,0,0,0,14.42,14.32,14.47
$GC,3349,-0.74,-107.1,2636,2757,3480,3461,303.3,-8.0,156,3354,0.00,2.38,0.00,0.000,516,0.000,0.043,2636,1386,3470,3479,3462,0,0,0,0,0,0,14.92,14.48,14.91
$GC,3461,-0.74,-107.1,2636,1385,3480,3462,312.2,-7.7,172,3466,0.10,2.47,0.00,0.000,3078,0.236,0.072,2657,2753,3470,3479,3461,0,0,0,0,0,0,14.21,14.36,14.45
$GC,3797,-0.74,-107.1,2655,2753,3480,3458,339.3,-8.4,185,3803,0.00,2.35,0.00,0.000,516,0.000,0.043,2656,1393,3467,3478,3457,0,0,0,0,0,0,14.90,14.48,14.92
$GC,3974,-0.74,-107.1,2655,1393,3480,3457,354.4,-8.6,210,3978,0.00,2.42,0.00,0.000,1030,0.000,0.070,2647,2739,3467,3479,3455,0,0,0,0,0,0,14.53,14.35,14.57
$GC,4301,-0.74,-107.1,2646,2739,3480,3453,383.4,-8.8,222,4306,0.00,2.35,0.00,0.000,516,0.000,0.043,2647,1385,3465,3478,3452,0,0,0,0,0,0,14.90,14.47,14.90
$GC,4454,-0.74,-107.1,2646,1385,3478,3453,395.8,-7.9,244,4460,0.00,2.47,0.00,0.000,1030,0.000,0.071,2639,2725,3465,3479,3451,0,0,0,0,0,0,14.38,14.28,14.44
$GC,4805,-0.74,-107.1,2639,2726,3474,3447,424.1,-8.2,252,4810,0.00,2.33,0.00,0.000,516,0.000,0.044,2639,1386,3463,3479,3447,0,0,0,0,0,0,14.90,14.46,14.90
$GC,4909,-0.74,-107.1,2639,1388,3480,3447,432.9,-8.2,267,4917,0.08,2.45,0.00,0.000,3078,0.232,0.070,2652,2724,3463,3479,3447,0,0,0,0,0,0,14.10,14.29,14.26
$GC,5253,-0.74,-107.1,2650,2724,3479,3445,460.6,-8.1,274,5258,0.00,2.33,0.00,0.000,516,0.000,0.044,2652,1391,3462,3479,3445,0,0,0,0,0,0,14.92,14.45,14.92
$GC,5315,-0.82,-107.1,2653,1390,3479,3445,465.8,-8.1,283,5321,0.00,2.42,0.00,0.000,1158,0.000,0.070,2644,2714,3460,3479,3442,0,0,0,0,0,0,14.38,14.28,14.42
$GC,5645,-0.82,-107.1,2644,2716,3480,3441,493.6,-8.6,295,5650,0.00,2.30,0.00,0.000,516,0.000,0.043,2644,1393,3460,3479,3441,0,0,0,0,0,0,14.90,14.43,14.90
$GC,5707,-0.82,-107.1,2644,1394,3480,3441,499.1,-8.6,304,5713,0.00,2.40,0.00,0.000,1030,0.000,0.069,2636,2708,3460,3481,3440,0,0,0,0,0,0,14.39,14.29,14.45
$GC,6037,-0.82,-107.1,2637,2708,3479,3439,526.6,-8.3,316,6042,0.00,2.30,0.00,0.000,516,0.000,0.043,2636,1385,3458,3479,3438,0,0,0,0,0,0,14.90,14.44,14.90
$GC,6099,-0.82,-107.1,2637,1385,3479,3438,531.7,-8.0,325,6105,0.00,2.42,0.00,0.000,1030,0.000,0.068,2626,2711,3458,3479,3437,0,0,0,0,0,0,14.38,14.28,14.42
$GC,6429,-0.82,-107.1,2627,2711,3478,3437,558.6,-8.2,337,6435,0.00,2.30,0.00,0.000,516,0.000,0.044,2626,1390,3457,3479,3436,0,0,0,0,0,0,14.90,14.42,14.91
$GC,6485,-0.82,-107.1,2627,1391,3480,3436,563.4,-8.4,345,6491,0.00,2.40,0.00,0.000,1030,0.000,0.070,2617,2707,3457,3478,3436,0,0,0,0,0,0,14.49,14.31,14.52
$GC,6821,-0.82,-107.1,2617,2707,3480,3431,593.0,-9.0,358,6826,0.00,2.12,0.00,0.000,260,0.000,0.116,2609,3822,3456,3479,3433,0,0,0,0,0,0,14.90,14.19,14.89
$GC,6855,-0.82,-107.1,2609,3823,3484,3432,596.3,-9.6,363,6861,0.00,1.90,0.00,0.000,1030,0.000,0.044,2608,2721,3455,3478,3432,0,0,0,0,0,0,14.53,14.50,14.54
$GC,7213,-0.82,-107.1,2608,2723,3478,3432,629.3,-9.3,372,7218,0.00,2.35,0.00,0.000,516,0.000,0.044,2608,1369,3454,3477,3432,0,0,0,0,0,0,14.92,14.40,14.92
$GC,7269,-0.82,-107.1,2608,1371,3476,3433,634.3,-9.0,380,7274,0.12,2.42,0.00,0.000,3078,0.237,0.067,2634,2708,3454,3476,3432,0,0,0,0,0,0,14.08,14.31,14.34
$GC,7605,-0.82,-107.1,2634,2708,3474,3433,658.9,-7.2,393,7611,0.00,2.35,0.00,0.000,548,0.000,0.044,2634,1367,3452,3473,3432,0,0,0,0,0,0,14.88,14.40,14.88
$GC,7653,-0.82,-107.1,2634,1367,3474,3431,662.5,-7.2,400,7660,0.00,2.45,0.00,0.000,1062,0.000,0.067,2625,2701,3452,3473,3431,0,0,0,0,0,0,14.33,14.23,14.37
$GC,7997,-0.82,-107.1,2624,2702,3473,3430,687.6,-7.4,407,8002,0.00,2.15,0.00,0.000,292,0.000,0.117,2616,3826,3450,3472,3429,0,0,0,0,0,0,14.88,14.15,14.89
$GC,8045,-0.82,-107.1,2616,3821,3472,3431,691.5,-8.0,414,8052,0.00,1.95,0.00,0.000,1030,0.000,0.044,2615,2693,3451,3472,3430,0,0,0,0,0,0,14.50,14.47,14.51
$GC,8389,-0.82,-107.1,2615,2694,3473,3429,718.9,-8.2,421,8395,0.00,2.30,0.00,0.000,516,0.000,0.044,2615,1371,3449,3471,3428,0,0,0,0,0,0,14.88,14.38,14.88
$GC,8451,-0.82,-107.1,2615,1372,3473,3427,724.3,-8.5,430,8457,0.08,2.45,0.00,0.000,3078,0.229,0.067,2627,2697,3449,3472,3427,0,0,0,0,0,0,13.99,14.22,14.16
$GC,8781,-0.82,-107.1,2627,2698,3470,3427,751.9,-8.5,442,8786,0.00,2.33,0.00,0.000,516,0.000,0.044,2628,1376,3449,3471,3427,0,0,0,0,0,0,14.88,14.37,14.88
$GC,8871,-0.82,-107.1,2628,1376,3470,3428,759.9,-8.8,455,8877,0.00,2.42,0.00,0.000,1030,0.000,0.066,2619,2691,3448,3470,3426,0,0,0,0,0,0,14.29,14.20,14.34
$GC,9229,-0.82,-107.1,2620,2691,3469,3426,791.5,-8.9,464,9234,0.00,2.33,0.00,0.000,516,0.000,0.044,2618,1375,3447,3470,3425,0,0,0,0,0,0,14.88,14.36,14.88
$STATE,9323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9323,begin apogee
$GC,9332,-0.23,0.0,2613,2260,3471,3422,800.0,-8.5,478,9445,0.73,0.00,105.93,2.520,10244,0.174,0.000,2825,2260,3052,3092,3013,0,0,0,0,1,0,14.06,13.85,12.54
$STATE,9446,end apogee,CONTROL_FINISHED_OK
$STATE,9446,begin climb
$GC,9450,0.93,107.1,2825,2260,3092,3025,804.2,0.0,480,9581,1.10,2.58,121.55,1.838,10756,0.083,0.057,3187,863,2622,2681,2563,0,0,0,0,0,0,13.92,13.94,12.93
$GC,9629,0.85,147.2,3187,865,2677,2544,803.3,5.7,507,9678,0.00,2.50,43.38,1.855,9382,0.000,0.051,3186,2247,2459,2532,2386,0,0,0,0,0,0,14.16,14.09,13.06
$GC,10003,0.73,147.2,3187,2248,2531,2365,771.0,9.0,525,10009,0.15,2.62,0.00,0.000,4484,0.228,0.100,3138,3654,2447,2529,2365,0,0,0,0,0,0,14.16,14.27,14.33
$GC,10036,0.64,147.2,3139,3653,2530,2366,767.7,8.8,530,10042,0.12,2.45,0.00,0.000,5254,0.213,0.040,3113,2255,2447,2529,2365,0,0,0,0,0,0,14.14,14.43,14.47
$GC,10394,0.67,170.8,3114,2250,2529,2363,744.2,6.5,539,10426,0.00,2.53,24.23,1.869,8740,0.000,0.061,3123,861,2363,2447,2280,0,0,0,0,0,0,14.81,14.37,13.40
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$STATE,19499,end climb,SURFACE_DEPTH_REACHED
$STATE,19499,begin surface coast
$FINISH,1.1,1.021905
$STATE,19505,end surface coast,CONTROL_FINISHED_OK
$STATE,19505,begin surface
$SM_CCo,19530,53.53,0.163,0,0,1057,500.14
$SM_GC,-4.13,9.52,3.42,53.53,0.092,0.063,0.163,190,2762,1057,-8.38,-0.74,500.14,0,0,0,0,0,0,14.45,14.27,14.17
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$TT8_MAMPS,0.038948,0.430675
$HUMID,56.69
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,21.40
$XPDR_PINGS,1
$SC_FREEKB,3728128
$PM_FREEKB,54340928
$24V_AH,12.54,167.799
$10V_AH,12.48,0.000
$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
$DEVICE_SECS,25.050,218.300,449.900,53.525,0.000,0.000,0.000,361.650,0.250,0.000,6.617,0.000,16315.405,826.437,2594.340,507.941,0.000,2017.833,0.000,1669.491,0.000,0.839,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.638,2.443,0.000,0.000
$MEM,334716
$DATA_FILE_SIZE,33329,958
$CAP_FILE_SIZE,161339,0
$CFSIZE,1024409600,936411136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.047,302.66,1
$GPS,271216,115831,1005.061,-12512.494,21,0.8,21,9.0,1.0,64.2,11,3.6