version: 66.13
glider: 220
mission: 6
dive: 246
start: 10 26 116 18 34 21
data:
$ID,220
$MISSION,6
$DIVE,246
$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,67
$R_STBD_OVSHOOT,27
$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,7
$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
$GPS1,261016,182031,1000.2984,-12518.9082,40,0.8,40,9.1,1.3,78.9,11,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.69
$_SM_ANGLEo,-72.1
$GPS2,261016,183401,1000.2469,-12518.5967,2,0.7,3,9.1,1.3,132.6,12,6.6
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,123.6,49347,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.93,-107.1,152,2763,1108,1015,0.0,0.0,0,96,0.00,0.00,-74.60,0.000,16390,0.000,0.000,151,2764,3476,3470,3483,0,0,0,0,0,0,14.63,12.88,14.63
$GC,99,-0.93,-107.1,152,2764,3471,3486,-0.9,-5.6,2,115,11.85,2.00,0.00,0.000,2308,0.398,0.094,2582,3824,3478,3472,3485,0,0,0,0,0,0,14.09,14.35,14.42
$GC,345,-0.64,-107.1,2583,3825,3477,3484,72.9,-18.4,38,352,0.38,1.75,0.00,0.000,3206,0.233,0.036,2686,2761,3478,3476,3480,0,0,0,0,0,0,14.16,14.52,14.50
$GC,681,-0.64,-107.1,2686,2757,3481,3486,101.1,-9.1,53,688,0.00,2.00,0.00,0.000,260,0.000,0.103,2678,3816,3481,3479,3484,0,0,0,0,0,0,14.82,14.36,14.81
$GC,918,-0.64,-107.1,2682,3816,3479,3486,121.2,-10.4,87,926,0.00,1.75,0.00,0.000,1030,0.000,0.038,2678,2765,3481,3479,3484,0,0,0,0,0,0,14.66,14.60,14.68
$GC,1241,-0.64,-107.1,2679,2765,3479,3485,148.2,-8.4,98,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2765,3481,3478,3484,0,0,0,0,0,0,14.87,14.87,14.87
$GC,1577,-0.64,-107.1,2678,2766,3480,3479,175.8,-8.2,104,1585,0.00,2.30,0.00,0.000,516,0.000,0.041,2678,1390,3479,3479,3479,0,0,0,0,0,0,14.88,14.53,14.89
$GC,1625,-0.64,-107.1,2679,1385,3477,3480,179.9,-8.3,111,1634,0.00,2.45,0.00,0.000,1030,0.000,0.064,2667,2771,3479,3479,3479,0,0,0,0,0,0,14.55,14.46,14.59
$GC,1969,-0.64,-107.1,2669,2769,3479,3475,208.7,-8.4,118,1976,0.00,2.35,0.00,0.000,516,0.000,0.041,2668,1380,3475,3478,3473,0,0,0,0,0,0,14.90,14.58,14.93
$GC,1996,-0.64,-107.1,2668,1381,3480,3474,211.1,-8.5,122,2004,0.10,2.45,0.00,0.000,3078,0.216,0.064,2688,2762,3476,3478,3474,0,0,0,0,0,0,14.32,14.46,14.47
$GC,2361,-0.64,-107.1,2688,2763,3479,3468,239.0,-7.7,132,2368,0.00,1.98,0.00,0.000,292,0.000,0.108,2680,3818,3473,3478,3468,0,0,0,0,0,0,14.91,14.37,14.91
$GC,2444,-0.64,-107.1,2681,3819,3479,3467,245.7,-8.0,144,2453,0.00,1.75,0.00,0.000,1030,0.000,0.040,2680,2767,3472,3478,3466,0,0,0,0,0,0,14.67,14.65,14.68
$GC,2809,-0.64,-107.1,2678,2766,3479,3463,273.1,-7.5,154,2822,0.00,2.33,0.00,0.000,548,0.000,0.041,2680,1378,3469,3478,3461,0,0,0,0,0,0,14.90,14.59,14.90
$GC,2855,-0.64,-107.1,2685,1379,3480,3461,276.5,-7.3,160,2869,0.00,2.45,0.00,0.000,1062,0.000,0.065,2670,2771,3469,3478,3461,0,0,0,0,0,0,14.66,14.50,14.69
$GC,3211,-0.64,-107.1,2669,2771,3480,3457,302.2,-7.2,168,3224,0.00,0.00,0.00,0.000,38,0.000,0.000,2671,2771,3466,3478,3455,0,0,0,0,0,0,14.90,14.90,14.90
$GC,3547,-0.64,-107.1,2669,2772,3479,3451,327.5,-7.6,174,3560,0.00,2.35,0.00,0.000,548,0.000,0.042,2670,1386,3465,3478,3452,0,0,0,0,0,0,14.90,14.59,14.90
$GC,3600,-0.64,-107.1,2670,1386,3479,3451,331.9,-8.2,181,3614,0.10,2.45,0.00,0.000,3078,0.246,0.067,2689,2782,3464,3478,3450,0,0,0,0,0,0,14.34,14.51,14.57
$GC,3944,-0.64,-107.1,2689,2775,3479,3446,358.6,-7.9,188,3957,0.00,1.92,0.00,0.000,260,0.000,0.111,2682,3819,3462,3478,3446,0,0,0,0,0,0,14.90,14.35,14.90
$GC,3983,-0.64,-107.1,2682,3820,3479,3446,361.9,-8.8,193,3996,0.00,1.73,0.00,0.000,1030,0.000,0.044,2681,2768,3461,3478,3445,0,0,0,0,0,0,14.74,14.69,14.76
$GC,4345,-0.64,-107.1,2681,2768,3479,3443,390.5,-7.8,202,4358,0.00,2.35,0.00,0.000,516,0.000,0.043,2681,1372,3460,3478,3442,0,0,0,0,0,0,14.92,14.57,14.93
$GC,4384,-0.64,-107.1,2682,1371,3479,3443,393.7,-8.1,207,4397,0.00,2.47,0.00,0.000,1030,0.000,0.067,2671,2773,3459,3478,3441,0,0,0,0,0,0,14.65,14.48,14.69
$GC,4747,-0.64,-107.1,2671,2773,3479,3438,420.9,-7.5,216,4760,0.00,1.95,0.00,0.000,292,0.000,0.110,2662,3824,3457,3478,3437,0,0,0,0,0,0,14.90,14.39,14.90
$GC,4828,-0.64,-107.1,2663,3825,3479,3437,427.4,-8.0,227,4841,0.10,1.75,0.00,0.000,3078,0.221,0.043,2693,2757,3457,3477,3437,0,0,0,0,0,0,14.36,14.67,14.58
$GC,5150,-0.72,-107.1,2694,2757,3478,3436,448.9,-6.7,237,5163,0.00,2.33,0.00,0.000,676,0.000,0.043,2693,1373,3456,3478,3434,0,0,0,0,0,0,14.89,14.57,14.89
$GC,5217,-0.82,-107.1,2694,1374,3479,3434,453.6,-6.8,246,5230,0.10,2.45,0.00,0.000,5286,0.121,0.067,2617,2772,3455,3478,3433,0,0,0,0,0,0,14.57,14.47,14.65
$GC,5551,-0.82,-107.1,2620,2772,3478,3432,485.4,-9.8,258,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2772,3454,3477,3431,0,0,0,0,0,0,14.90,14.90,14.90
$GC,5887,-0.82,-107.1,2617,2773,3478,3428,518.7,-9.8,264,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2772,3453,3476,3430,0,0,0,0,0,0,14.92,14.92,14.92
$GC,6223,-0.82,-107.1,2617,2773,3478,3426,551.4,-9.8,270,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2773,3451,3477,3426,0,0,0,0,0,0,14.92,14.92,14.96
$GC,6559,-0.82,-107.1,2617,2773,3475,3425,584.0,-9.7,276,6572,0.00,1.95,0.00,0.000,260,0.000,0.112,2609,3820,3449,3473,3425,0,0,0,0,0,0,14.90,14.34,14.90
$GC,6612,-0.82,-107.1,2609,3818,3474,3433,589.4,-10.3,283,6626,0.00,1.77,0.00,0.000,1030,0.000,0.044,2609,2760,3449,3473,3425,0,0,0,0,0,0,14.68,14.62,14.70
$GC,6956,-0.82,-107.1,2609,2761,3473,3424,623.9,-10.1,290,6969,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2760,3448,3472,3424,0,0,0,0,0,0,14.90,14.90,14.90
$GC,7292,-0.82,-107.1,2609,2761,3473,3421,657.6,-10.0,296,7306,0.00,2.35,0.00,0.000,516,0.000,0.043,2610,1375,3446,3471,3421,0,0,0,0,0,0,14.90,14.51,14.88
$GC,7324,-0.82,-107.1,2609,1374,3469,3422,660.8,-9.6,300,7338,0.12,2.47,0.00,0.000,3078,0.254,0.067,2632,2769,3446,3471,3421,0,0,0,0,0,0,14.20,14.43,14.48
$GC,7694,-0.82,-107.1,2633,2772,3472,3420,692.5,-8.5,310,7707,0.00,1.98,0.00,0.000,260,0.000,0.112,2625,3826,3445,3471,3419,0,0,0,0,0,0,14.91,14.32,14.91
$GC,7761,-0.82,-107.1,2626,3825,3471,3419,698.2,-8.6,319,7774,0.00,1.77,0.00,0.000,1030,0.000,0.044,2624,2757,3444,3470,3419,0,0,0,0,0,0,14.67,14.62,14.69
$GC,8095,-0.82,-107.1,2624,2757,3470,3420,724.3,-8.0,331,8108,0.00,2.35,0.00,0.000,516,0.000,0.044,2624,1377,3444,3470,3418,0,0,0,0,0,0,14.88,14.48,14.88
$GC,8141,-0.82,-107.1,2623,1377,3471,3419,730.3,-8.7,337,8154,0.00,2.47,0.00,0.000,1030,0.000,0.067,2615,2766,3444,3470,3418,0,0,0,0,0,0,14.58,14.42,14.62
$GC,8496,-0.82,-107.1,2615,2767,3471,3417,760.7,-8.7,345,8509,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2767,3443,3470,3417,0,0,0,0,0,0,14.89,14.90,14.90
$GC,8832,-0.82,-107.1,2616,2766,3468,3417,789.8,-8.7,351,8845,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2767,3441,3467,3416,0,0,0,0,0,0,14.90,14.90,14.90
$GC,9168,-0.82,-107.1,2615,2767,3467,3414,819.2,-8.9,357,9181,0.00,2.40,0.00,0.000,516,0.000,0.044,2612,1378,3440,3466,3414,0,0,0,0,0,0,14.90,14.47,14.90
$GC,9221,-0.82,-107.1,2615,1380,3467,3416,824.1,-9.2,364,9236,0.10,2.50,0.00,0.000,3078,0.264,0.069,2631,2775,3440,3466,3414,0,0,0,0,0,0,14.16,14.39,14.44
$GC,9565,-0.82,-107.1,2633,2775,3466,3410,852.7,-8.2,371,9578,0.00,1.98,0.00,0.000,260,0.000,0.115,2623,3824,3439,3466,3412,0,0,0,0,0,0,14.87,14.27,14.87
$GC,9626,-0.82,-107.1,2624,3825,3465,3411,858.0,-8.8,379,9639,0.00,1.80,0.00,0.000,1030,0.000,0.045,2623,2757,3438,3465,3411,0,0,0,0,0,0,14.68,14.59,14.66
$GC,9967,-0.82,-107.1,2623,2759,3464,3411,886.0,-8.1,392,9980,0.00,2.38,0.00,0.000,516,0.000,0.045,2622,1368,3437,3464,3411,0,0,0,0,0,0,14.85,14.45,14.85
$GC,9999,-0.82,-107.1,2623,1369,3465,3411,889.3,-9.1,396,10012,0.00,2.53,0.00,0.000,1030,0.000,0.069,2613,2774,3437,3464,3411,0,0,0,0,0,0,14.57,14.38,14.60
$GC,10368,-0.82,-107.1,2614,2775,3465,3410,918.8,-8.0,406,10381,0.00,2.00,0.00,0.000,260,0.000,0.114,2605,3832,3437,3464,3410,0,0,0,0,0,0,14.86,14.25,14.86
$GC,10407,-0.82,-107.1,2606,3833,3464,3411,922.2,-6.1,411,10421,0.10,1.80,0.00,0.000,3110,0.249,0.046,2633,2763,3436,3463,3410,0,0,0,0,0,0,14.18,14.56,14.43
$STATE,10543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10543,begin apogee
$GC,10549,-0.23,0.0,2633,2232,3465,3417,932.3,-6.8,416,10665,0.65,0.00,106.35,1.961,10244,0.182,0.000,2822,2231,3050,3094,3006,0,0,0,0,0,0,14.21,14.02,13.24
$STATE,10666,end apogee,CONTROL_FINISHED_OK
$STATE,10667,begin climb
$GC,10669,0.93,107.1,2824,2232,3091,2998,935.2,0.0,418,10797,1.10,0.00,114.28,1.931,11270,0.105,0.000,3179,2231,2626,2693,2559,0,0,0,0,0,0,14.00,14.23,13.05
$GC,11111,0.78,107.1,3180,2233,2683,2536,900.5,9.7,447,11123,0.00,0.00,0.00,0.000,134,0.000,0.000,3179,2230,2608,2681,2536,0,0,0,0,0,0,14.56,14.56,14.56
$GC,11447,0.64,107.1,3180,2232,2683,2535,869.2,9.2,453,11460,0.22,2.67,0.00,0.000,4484,0.230,0.096,3112,3659,2608,2682,2534,0,0,0,0,0,0,14.12,14.29,14.29
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$STATE,22984,end climb,SURFACE_DEPTH_REACHED
$STATE,22984,begin surface coast
$FINISH,-2.5,1.020512
$STATE,23016,end surface coast,CONTROL_FINISHED_OK
$STATE,23016,begin surface
$SM_CCo,23038,22.12,0.157,0,0,1057,500.14
$SM_GC,-3.12,9.43,0.82,22.12,0.084,0.088,0.157,188,2770,1057,-8.39,-0.62,500.14,0,0,0,0,0,0,14.54,14.45,14.35
$IRIDIUM_FIX,953.88,-12518.00,261016,112542
$TT8_MAMPS,0.038948,0.326564
$HUMID,50.86
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3815296
$PM_FREEKB,57108288
$TM_FREEKB,5654336
$24V_AH,12.88,95.077
$10V_AH,12.85,0.000
$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,25.150,187.875,463.950,22.125,0.000,0.000,0.000,498.025,0.000,0.000,5.249,0.000,19130.871,738.168,3625.423,354.646,0.000,2863.235,0.000,1692.304,0.000,0.840,0.000
$DEVICE_MAMPS,397.800,114.750,2067.030,156.825,0.000,0.000,0.000,183.600,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23068.000,23016.000,3202.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.474,2.398,5.267,0.000
$MEM,334712
$DATA_FILE_SIZE,33372,944
$CAP_FILE_SIZE,186325,0
$CFSIZE,1024409600,970145792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,128.55,1
$GPS,271016,005945,958.239,-12516.125,21,1.8,27,9.0,0.7,80.5,4,10.0