version: 66.13
glider: 220
mission: 6
dive: 479
start: 12 28 116 12 38 45
data:
$ID,220
$MISSION,6
$DIVE,479
$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,35
$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
$GPS1,281216,122701,1000.1975,-12519.8457,20,1.0,20,9.0,1.1,112.1,8,4.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.28
$_SM_ANGLEo,-70.7
$GPS2,281216,123824,1000.2847,-12519.8545,2,1.2,3,9.0,0.9,348.1,8,7.9
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,123.4,51004,-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,-107.1,107,2779,982,857,0.0,0.0,0,103,0.00,0.00,-86.30,0.000,16390,0.000,0.000,105,2779,3478,3465,3492,0,0,0,0,0,0,14.65,12.50,14.66
$GC,107,-0.93,-107.1,107,2778,3467,3493,-1.7,-7.9,3,120,12.25,0.00,0.00,0.000,2054,0.389,0.000,2593,2778,3481,3470,3492,0,0,0,0,0,0,13.88,14.37,14.28
$GC,409,-0.78,-107.1,2593,2780,3476,3491,55.8,-9.9,14,414,0.17,1.98,0.00,0.000,2436,0.234,0.110,2635,3830,3482,3475,3490,0,0,0,0,0,0,14.19,14.26,14.45
$GC,605,-0.78,-107.1,2635,3831,3479,3491,71.5,-6.9,42,610,0.00,1.83,0.00,0.000,1062,0.000,0.042,2634,2724,3484,3477,3491,0,0,0,0,0,0,14.61,14.57,14.63
$GC,941,-0.78,-107.1,2634,2723,3480,3488,100.7,-8.9,57,946,0.00,2.12,0.00,0.000,260,0.000,0.108,2626,3852,3485,3479,3491,0,0,0,0,0,0,14.85,14.28,14.85
$GC,968,-0.78,-107.1,2629,3852,3479,3491,103.3,-9.3,61,974,0.00,1.83,0.00,0.000,1030,0.000,0.041,2625,2770,3484,3478,3491,0,0,0,0,0,0,14.55,14.55,14.56
$GC,1333,-0.78,-107.1,2626,2770,3479,3490,136.4,-9.1,71,1339,0.00,2.38,0.00,0.000,516,0.000,0.043,2625,1381,3483,3478,3488,0,0,0,0,0,0,14.90,14.50,14.90
$GC,1374,-0.78,-107.1,2626,1380,3479,3489,140.1,-8.8,77,1380,0.10,2.50,0.00,0.000,3078,0.210,0.068,2645,2767,3483,3478,3488,0,0,0,0,0,0,14.18,14.35,14.33
$GC,1725,-0.78,-107.1,2645,2769,3480,3486,169.3,-8.4,85,1730,0.00,1.98,0.00,0.000,260,0.000,0.110,2637,3829,3482,3478,3486,0,0,0,0,0,0,14.91,14.31,14.91
$GC,1781,-0.78,-107.1,2637,3830,3480,3486,174.3,-9.0,93,1786,0.00,1.75,0.00,0.000,1030,0.000,0.044,2637,2769,3481,3478,3485,0,0,0,0,0,0,14.64,14.58,14.66
$GC,2117,-0.78,-107.1,2638,2768,3479,3482,204.6,-9.0,106,2122,0.00,2.40,0.00,0.000,516,0.000,0.043,2637,1374,3480,3480,3481,0,0,0,0,0,0,14.89,14.48,14.89
$GC,2158,-0.78,-107.1,2638,1373,3479,3482,208.1,-8.9,112,2164,0.00,2.55,0.00,0.000,1030,0.000,0.067,2627,2774,3479,3478,3480,0,0,0,0,0,0,14.42,14.33,14.47
$GC,2509,-0.78,-107.1,2628,2774,3479,3478,240.2,-9.1,120,2514,0.00,2.40,0.00,0.000,516,0.000,0.042,2627,1385,3477,3478,3476,0,0,0,0,0,0,14.90,14.48,14.90
$GC,2543,-0.78,-107.1,2627,1387,3479,3476,243.4,-9.0,125,2549,0.08,2.53,0.00,0.000,3078,0.218,0.067,2640,2766,3477,3478,3476,0,0,0,0,0,0,14.16,14.33,14.33
$GC,2901,-0.78,-107.1,2640,2767,3479,3471,276.5,-8.7,134,2906,0.00,1.98,0.00,0.000,260,0.000,0.112,2632,3826,3474,3478,3471,0,0,0,0,0,0,14.90,14.28,14.90
$GC,2942,-0.78,-107.1,2632,3826,3475,3469,279.6,-7.6,140,2948,0.00,1.80,0.00,0.000,1062,0.000,0.044,2631,2769,3474,3478,3470,0,0,0,0,0,0,14.59,14.57,14.61
$GC,3293,-0.78,-107.1,2632,2770,3479,3469,311.1,-8.9,148,3298,0.00,2.40,0.00,0.000,516,0.000,0.043,2632,1375,3473,3478,3468,0,0,0,0,0,0,14.90,14.47,14.90
$GC,3355,-0.78,-107.1,2632,1376,3479,3466,314.5,-6.7,157,3361,0.00,2.50,0.00,0.000,1062,0.000,0.066,2622,2769,3472,3478,3467,0,0,0,0,0,0,14.54,14.38,14.58
$GC,3685,-0.78,-107.1,2622,2770,3479,3464,346.4,-9.2,169,3690,0.00,2.03,0.00,0.000,260,0.000,0.110,2614,3821,3475,3487,3464,0,0,0,0,0,0,14.90,14.23,14.90
$GC,3733,-0.78,-107.1,2615,3821,3479,3465,350.7,-12.9,176,3741,0.10,1.80,0.00,0.000,3078,0.200,0.044,2645,2774,3471,3478,3464,0,0,0,0,0,0,14.19,14.54,14.35
$GC,4077,-0.78,-107.1,2645,2775,3479,3463,378.8,-8.1,183,4083,0.00,2.42,0.00,0.000,516,0.000,0.044,2645,1372,3469,3478,3461,0,0,0,0,0,0,14.90,14.45,14.89
$GC,4153,-0.78,-107.1,2645,1372,3478,3462,384.8,-7.3,194,4159,0.00,2.55,0.00,0.000,1062,0.000,0.066,2642,2770,3469,3478,3461,0,0,0,0,0,0,14.41,14.33,14.46
$GC,4469,-0.78,-107.1,2636,2770,3479,3459,409.6,-7.9,204,4474,0.00,1.98,0.00,0.000,260,0.000,0.112,2627,3826,3468,3478,3458,0,0,0,0,0,0,14.92,14.25,14.89
$GC,4517,-0.78,-107.1,2627,3829,3477,3457,413.6,-7.9,211,4525,0.00,1.85,0.00,0.000,1030,0.000,0.045,2626,2761,3467,3478,3457,0,0,0,0,0,0,14.57,14.54,14.57
$GC,4861,-0.78,-107.1,2627,2762,3479,3453,441.2,-8.2,218,4866,0.00,2.40,0.00,0.000,516,0.000,0.044,2626,1373,3466,3478,3454,0,0,0,0,0,0,14.92,14.44,14.92
$GC,4909,-0.78,-107.1,2626,1374,3479,3455,445.4,-8.7,225,4916,0.08,2.55,0.00,0.000,3078,0.220,0.067,2640,2767,3465,3478,3453,0,0,0,0,0,0,14.10,14.28,14.26
$GC,5253,-0.78,-107.1,2640,2768,3479,3453,470.8,-7.5,232,5254,0.00,0.00,0.00,0.000,38,0.000,0.000,2640,2767,3464,3478,3451,0,0,0,0,0,0,14.91,14.91,14.91
$GC,5589,-0.78,-107.1,2640,2768,3479,3450,495.1,-7.2,238,5594,0.00,2.45,0.00,0.000,548,0.000,0.044,2640,1371,3463,3477,3449,0,0,0,0,0,0,14.91,14.42,14.91
$GC,5623,-0.78,-107.1,2640,1372,3478,3448,497.1,-6.1,243,5630,0.00,2.58,0.00,0.000,1062,0.000,0.067,2630,2766,3463,3478,3448,0,0,0,0,0,0,14.37,14.28,14.42
$GC,5981,-0.78,-107.1,2631,2766,3478,3447,523.7,-7.6,252,5982,0.00,0.00,0.00,0.000,38,0.000,0.000,2630,2766,3462,3478,3446,0,0,0,0,0,0,14.91,14.91,14.91
$GC,6317,-0.78,-107.1,2630,2767,3479,3444,549.8,-7.8,258,6322,0.00,2.00,0.00,0.000,260,0.000,0.114,2622,3826,3461,3478,3444,0,0,0,0,0,0,14.90,14.22,14.91
$GC,6373,-0.78,-107.1,2623,3826,3478,3445,554.3,-8.7,266,6378,0.00,1.83,0.00,0.000,1030,0.000,0.047,2621,2749,3460,3478,3443,0,0,0,0,0,0,14.62,14.55,14.63
$GC,6709,-0.78,-107.1,2623,2749,3478,3442,580.7,-7.9,279,6715,0.00,2.38,0.00,0.000,516,0.000,0.044,2621,1378,3459,3478,3440,0,0,0,0,0,0,14.89,14.40,14.88
$GC,6778,-0.78,-107.1,2621,1378,3479,3441,585.8,-8.4,289,6784,0.10,2.55,0.00,0.000,3078,0.203,0.067,2641,2759,3458,3477,3439,0,0,0,0,0,0,14.03,14.23,14.20
$GC,7101,-0.78,-107.1,2640,2761,3478,3438,608.4,-7.0,300,7106,0.00,2.03,0.00,0.000,292,0.000,0.116,2633,3830,3457,3477,3438,0,0,0,0,0,0,14.91,14.16,14.90
$GC,7135,-0.78,-107.1,2634,3831,3477,3440,611.2,-7.3,305,7141,0.00,1.85,0.00,0.000,1062,0.000,0.047,2633,2770,3457,3476,3438,0,0,0,0,0,0,14.50,14.46,14.51
$GC,7493,-0.78,-107.1,2633,2771,3475,3438,636.1,-6.9,314,7498,0.00,2.45,0.00,0.000,548,0.000,0.044,2633,1370,3455,3473,3438,0,0,0,0,0,0,14.88,14.39,14.88
$GC,7556,-0.85,-107.1,2633,1370,3474,3438,640.3,-6.6,323,7562,0.00,2.55,0.00,0.000,1190,0.000,0.069,2624,2768,3455,3473,3437,0,0,0,0,0,0,14.46,14.28,14.50
$GC,7885,-0.85,-107.1,2624,2768,3472,3438,662.9,-6.9,335,7891,0.00,2.03,0.00,0.000,292,0.000,0.113,2615,3830,3454,3470,3438,0,0,0,0,0,0,14.90,14.16,14.90
$GC,7919,-0.85,-107.1,2615,3831,3472,3437,665.3,-7.2,340,7925,0.00,1.88,0.00,0.000,1062,0.000,0.045,2614,2757,3454,3471,3437,0,0,0,0,0,0,14.49,14.46,14.50
$GC,8277,-0.85,-107.1,2617,2765,3472,3436,691.9,-7.3,349,8282,0.00,2.42,0.00,0.000,548,0.000,0.044,2614,1368,3453,3471,3436,0,0,0,0,0,0,14.90,14.29,14.92
$GC,8311,-0.85,-107.1,2615,1366,3471,3438,694.1,-7.0,354,8317,0.00,2.58,0.00,0.000,1062,0.000,0.067,2605,2759,3453,3471,3436,0,0,0,0,0,0,14.28,14.19,14.33
$GC,8669,-0.85,-107.1,2606,2760,3472,3436,721.6,-7.6,363,8674,0.00,2.03,0.00,0.000,292,0.000,0.113,2597,3824,3453,3470,3436,0,0,0,0,0,0,14.88,14.13,14.88
$GC,8696,-0.85,-107.1,2597,3825,3471,3434,723.7,-7.7,367,8703,0.00,1.85,0.00,0.000,1062,0.000,0.046,2597,2764,3453,3470,3436,0,0,0,0,0,0,14.47,14.45,14.51
$GC,9061,-0.85,-107.1,2597,2764,3472,3434,752.4,-7.8,377,9062,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2763,3452,3470,3435,0,0,0,0,0,0,14.90,14.90,14.90
$GC,9397,-0.85,-107.1,2599,2763,3470,3434,778.3,-7.6,383,9398,0.00,0.00,0.00,0.000,38,0.000,0.000,2597,2763,3451,3470,3432,0,0,0,0,0,0,14.86,14.86,14.86
$STATE,9730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9730,begin apogee
$GC,9738,-0.23,0.0,2597,2216,3470,3432,803.7,-7.8,389,9846,0.77,0.10,100.40,2.567,10244,0.177,0.158,2821,2272,3050,3083,3018,0,0,0,0,1,0,14.00,13.79,12.49
$STATE,9848,end apogee,CONTROL_FINISHED_OK
$STATE,9848,begin climb
$GC,9851,0.93,107.1,2822,2272,3084,3027,803.5,0.0,391,9974,1.12,2.55,108.30,2.803,10756,0.085,0.056,3187,893,2623,2677,2569,0,0,0,0,1,0,13.90,13.93,12.28
$GC,10016,0.80,117.7,3189,893,2678,2590,799.5,7.2,415,10042,0.00,2.45,19.55,1.986,9382,0.000,0.050,3188,2249,2575,2633,2517,0,0,0,0,0,0,14.03,13.91,12.89
$GC,10352,0.67,117.7,3187,2251,2629,2499,770.7,8.5,428,10358,0.22,2.60,0.00,0.000,4484,0.220,0.096,3118,3650,2566,2632,2500,0,0,0,0,0,0,14.13,14.26,14.30
$GC,10393,0.70,141.8,3118,3651,2633,2500,767.7,6.5,434,10427,0.00,2.42,26.35,1.936,9254,0.000,0.041,3129,2265,2478,2549,2407,0,0,0,0,0,0,14.45,14.41,13.25
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$STATE,20073,end climb,SURFACE_DEPTH_REACHED
$STATE,20073,begin surface coast
$FINISH,-1.2,1.021874
$STATE,20101,end surface coast,CONTROL_FINISHED_OK
$STATE,20101,begin surface
$SM_CCo,20127,27.88,0.173,0,0,1058,500.39
$SM_GC,-7.27,9.40,0.98,27.88,0.083,0.084,0.173,184,2765,1058,-8.40,-0.74,500.39,0,0,0,0,0,0,14.45,14.31,14.14
$IRIDIUM_FIX,958.26,-12505.26,281216,080208
$TT8_MAMPS,0.038948,0.447902
$HUMID,59.80
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,19.30
$XPDR_PINGS,2
$SC_FREEKB,3725824
$PM_FREEKB,54281792
$24V_AH,12.28,170.084
$10V_AH,12.43,0.000
$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,25.050,190.825,483.275,27.875,0.000,0.000,0.000,384.825,0.500,0.000,5.165,0.000,17113.771,813.064,2394.897,501.914,0.000,1948.024,0.000,1492.938,0.000,0.836,0.000
$DEVICE_MAMPS,388.620,158.355,2802.960,172.890,0.000,0.000,0.000,169.830,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20151.000,20112.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.589,2.446,0.000,0.000
$MEM,334676
$DATA_FILE_SIZE,30107,829
$CAP_FILE_SIZE,153459,0
$CFSIZE,1024409600,935559168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.077,98.24,1
$GPS,281216,181539,959.075,-12517.609,19,0.8,27,9.0,0.4,39.2,11,5.4