version: 66.13
glider: 220
mission: 6
dive: 93
start: 9 14 116 1 51 19
data:
$ID,220
$MISSION,6
$DIVE,93
$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,120
$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,9
$N_NOCOMM,1
$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,0.015
$PITCH_ADJ_DBAND,3
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2765
$C_ROLL_CLIMB,2290
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,24
$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,49
$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
$GPS1,140916,014001,1017.2663,-12458.8809,45,0.8,45,9.1,0.9,91.8,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-73.0
$GPS2,140916,015100,1017.3657,-12458.6289,2,0.8,3,9.1,0.5,35.8,11,8.4
$SPEED_LIMITS,0.134,0.179
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,320.6,4054,-24.5,-7.750,-30.00,1225
$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,17,-1.19,-63.1,187,2785,1110,1010,0.0,0.0,0,93,0.00,0.00,-72.85,0.000,16390,0.000,0.000,186,2785,3301,3295,3307,0,0,0,0,0,0,14.70,13.52,14.70
$GC,95,-1.19,-63.1,188,2784,3296,3309,1.9,-5.1,2,117,10.90,2.38,0.00,0.000,2564,0.397,0.034,2507,1354,3303,3298,3308,0,0,0,0,0,0,14.28,14.52,14.54
$GC,171,-1.02,-63.1,2508,1354,3300,3309,33.8,-29.7,14,178,0.28,2.50,0.00,0.000,3206,0.305,0.074,2576,2755,3303,3299,3307,0,0,0,0,0,0,14.34,14.49,14.57
$GC,507,-0.95,-63.1,2576,2758,3308,3307,99.5,-14.6,29,515,0.00,1.95,0.00,0.000,388,0.000,0.107,2569,3821,3305,3302,3308,0,0,0,0,0,0,14.82,14.55,14.82
$GC,632,-0.88,-79.4,2569,3820,3305,3309,109.4,-6.4,47,640,0.15,1.75,0.00,0.000,3238,0.274,0.037,2607,2759,3306,3304,3308,0,0,0,0,0,0,14.48,14.69,14.68
$GC,955,-0.88,-79.4,2606,2762,3306,3302,136.7,-8.6,58,962,0.00,2.25,0.00,0.000,516,0.000,0.044,2608,1391,3306,3305,3308,0,0,0,0,0,0,14.88,14.68,14.88
$GC,1017,-0.88,-79.4,2608,1391,3306,3308,142.4,-9.2,67,1025,0.00,2.45,0.00,0.000,1030,0.000,0.070,2598,2789,3306,3305,3308,0,0,0,0,0,0,14.71,14.64,14.74
$GC,1346,-0.88,-79.4,2599,2787,3306,3306,173.0,-9.4,79,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2787,3305,3305,3306,0,0,0,0,0,0,14.91,14.92,14.92
$GC,1683,-0.88,-79.4,2599,2788,3305,3303,204.9,-9.6,85,1691,0.00,2.38,0.00,0.000,516,0.000,0.046,2597,1389,3303,3305,3302,0,0,0,0,0,0,14.93,14.67,14.93
$GC,1739,-0.88,-79.4,2598,1389,3305,3303,210.3,-9.4,93,1747,0.00,2.50,0.00,0.000,1030,0.000,0.071,2588,2801,3303,3305,3302,0,0,0,0,0,0,14.75,14.67,14.77
$GC,2075,-0.88,-79.4,2588,2802,3306,3297,243.6,-10.0,106,2082,0.00,2.40,0.00,0.000,516,0.000,0.045,2586,1395,3300,3305,3296,0,0,0,0,0,0,14.93,14.71,14.94
$GC,2108,-0.88,-79.4,2587,1395,3306,3295,247.2,-10.2,111,2117,0.10,2.50,0.00,0.000,3078,0.291,0.071,2609,2797,3299,3304,3295,0,0,0,0,0,0,14.56,14.69,14.71
$GC,2466,-0.88,-79.4,2610,2797,3305,3291,281.6,-9.6,120,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2797,3295,3300,3290,0,0,0,0,0,0,14.97,14.97,14.97
$GC,2803,-0.88,-79.4,2609,2797,3305,3287,312.8,-9.1,126,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2797,3294,3304,3285,0,0,0,0,0,0,14.99,15.00,15.00
$GC,3138,-0.88,-79.4,2609,2796,3305,3282,343.9,-9.3,132,3152,0.00,1.88,0.00,0.000,260,0.000,0.117,2602,3827,3292,3304,3280,0,0,0,0,0,0,15.01,14.71,15.02
$GC,3169,-0.88,-79.4,2602,3828,3304,3280,347.1,-9.9,136,3183,0.00,1.67,0.00,0.000,1030,0.000,0.047,2602,2787,3293,3306,3280,0,0,0,0,0,0,14.92,14.85,14.90
$GC,3538,-0.88,-79.4,2602,2788,3306,3268,382.1,-9.6,146,3551,0.00,2.35,0.00,0.000,516,0.000,0.049,2602,1371,3290,3306,3274,0,0,0,0,0,0,15.01,14.79,15.01
$GC,3618,-0.88,-79.4,2603,1370,3305,3276,389.8,-9.5,157,3631,0.00,2.47,0.00,0.000,1030,0.000,0.076,2592,2793,3289,3305,3274,0,0,0,0,0,0,14.88,14.76,14.89
$GC,3937,-0.88,-79.4,2592,2792,3306,3270,421.1,-9.9,167,3950,0.00,1.88,0.00,0.000,260,0.000,0.118,2584,3826,3287,3304,3270,0,0,0,0,0,0,15.01,14.73,15.01
$GC,4059,-0.88,-79.4,2585,3826,3304,3273,434.9,-11.2,184,4072,0.10,1.67,0.00,0.000,3078,0.284,0.047,2609,2792,3284,3304,3265,0,0,0,0,0,0,14.62,14.85,14.83
$GC,4392,-0.88,-79.4,2610,2792,3305,3266,466.9,-9.6,196,4405,0.00,2.35,0.00,0.000,516,0.000,0.046,2609,1372,3284,3304,3264,0,0,0,0,0,0,15.01,14.80,15.03
$GC,4486,-0.93,-79.4,2609,1374,3305,3263,476.1,-9.3,209,4500,0.00,2.47,0.00,0.000,1158,0.000,0.075,2600,2790,3283,3304,3263,0,0,0,0,0,0,14.87,14.75,14.89
$GC,4848,-0.93,-79.4,2601,2790,3305,3259,509.9,-9.2,218,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2790,3282,3304,3260,0,0,0,0,0,0,15.01,15.02,15.00
$GC,5184,-0.93,-79.4,2601,2790,3306,3257,538.1,-8.2,224,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2790,3280,3304,3256,0,0,0,0,0,0,15.02,15.02,15.01
$GC,5520,-0.93,-79.4,2602,2790,3305,3254,565.9,-8.3,230,5533,0.00,2.40,0.00,0.000,516,0.000,0.048,2599,1371,3278,3304,3253,0,0,0,0,0,0,15.01,14.80,15.02
$GC,5580,-0.93,-79.4,2600,1368,3304,3254,571.1,-8.4,238,5593,0.00,2.50,0.00,0.000,1030,0.000,0.075,2590,2791,3278,3304,3252,0,0,0,0,0,0,14.87,14.74,14.89
$GC,5920,-0.93,-79.4,2590,2791,3301,3252,600.9,-8.8,251,5934,0.00,1.90,0.00,0.000,260,0.000,0.120,2582,3832,3276,3300,3252,0,0,0,0,0,0,15.01,14.71,15.01
$GC,6015,-0.93,-79.4,2582,3833,3300,3252,609.8,-9.5,264,6028,0.00,1.70,0.00,0.000,1030,0.000,0.047,2581,2786,3275,3299,3252,0,0,0,0,0,0,14.89,14.83,14.90
$GC,6376,-0.93,-79.4,2581,2786,3298,3253,645.1,-10.0,273,6389,0.00,2.35,0.00,0.000,516,0.000,0.047,2580,1367,3274,3297,3252,0,0,0,0,0,0,15.00,14.79,15.00
$GC,6436,-0.93,-79.4,2580,1367,3298,3252,650.9,-9.6,281,6449,0.00,2.47,0.00,0.000,1030,0.000,0.073,2571,2789,3274,3298,3251,0,0,0,0,0,0,14.86,14.73,14.88
$GC,6776,-0.93,-79.4,2569,2792,3293,3249,684.6,-10.0,294,6789,0.08,2.38,0.00,0.000,2564,0.322,0.045,2594,1369,3271,3295,3248,0,0,0,0,0,0,14.57,14.78,14.74
$GC,6808,-0.93,-79.4,2594,1370,3297,3248,687.6,-9.3,298,6821,0.00,2.50,0.00,0.000,1030,0.000,0.076,2585,2798,3272,3296,3248,0,0,0,0,0,0,14.85,14.73,14.87
$GC,7176,-0.93,-79.4,2585,2800,3297,3246,722.0,-9.2,308,7189,0.00,1.88,0.00,0.000,260,0.000,0.120,2577,3827,3270,3296,3245,0,0,0,0,0,0,15.00,14.70,15.00
$GC,7263,-0.93,-79.4,2578,3829,3297,3245,730.0,-9.2,320,7276,0.00,1.75,0.00,0.000,1030,0.000,0.048,2576,2787,3270,3296,3245,0,0,0,0,0,0,14.88,14.81,14.89
$GC,7631,-0.93,-79.4,2577,2788,3297,3243,761.7,-8.5,330,7644,0.00,2.38,0.00,0.000,516,0.000,0.048,2576,1362,3268,3295,3241,0,0,0,0,0,0,15.00,14.76,15.00
$GC,7676,-0.93,-79.4,2576,1363,3297,3241,765.7,-8.5,336,7689,0.10,2.53,0.00,0.000,3078,0.291,0.076,2596,2802,3270,3299,3241,0,0,0,0,0,0,14.56,14.71,14.80
$GC,8030,-0.93,-79.4,2593,2803,3297,3239,793.2,-7.8,344,8043,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2802,3267,3295,3239,0,0,0,0,0,0,15.00,15.00,15.00
$GC,8367,-0.93,-79.4,2593,2803,3296,3240,819.6,-7.9,350,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2803,3267,3296,3238,0,0,0,0,0,0,14.99,15.00,15.00
$GC,8702,-0.93,-79.4,2593,2802,3294,3238,848.5,-8.7,356,8715,0.00,2.42,0.00,0.000,516,0.000,0.050,2593,1373,3265,3293,3238,0,0,0,0,0,0,14.99,14.75,14.99
$GC,8734,-0.98,-79.4,2593,1372,3293,3238,851.1,-8.2,360,8747,0.00,2.47,0.00,0.000,1158,0.000,0.077,2584,2786,3266,3292,3241,0,0,0,0,0,0,14.84,14.70,14.86
$GC,9102,-0.98,-79.4,2584,2787,3292,3238,883.6,-8.7,370,9115,0.00,2.40,0.00,0.000,516,0.000,0.050,2582,1365,3263,3290,3237,0,0,0,0,0,0,15.00,14.74,14.99
$GC,9203,-0.98,-79.4,2583,1366,3292,3237,892.4,-8.4,384,9216,0.00,2.50,0.00,0.000,1030,0.000,0.079,2574,2788,3263,3291,3236,0,0,0,0,0,0,14.83,14.69,14.83
$GC,9557,-0.98,-79.4,2573,2788,3291,3236,922.8,-8.6,392,9570,0.00,1.92,0.00,0.000,260,0.000,0.123,2566,3836,3262,3290,3234,0,0,0,0,0,0,14.97,14.65,14.98
$STATE,9636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9636,begin apogee
$GC,9642,-0.23,0.0,2565,2289,3294,3236,930.3,-9.4,403,9710,0.93,0.00,57.97,2.008,10244,0.235,0.000,2823,2286,3051,3092,3011,0,0,0,0,0,0,14.54,14.33,13.62
$STATE,9711,end apogee,CONTROL_FINISHED_OK
$STATE,9711,begin climb
$GC,9713,1.21,79.4,2825,2286,3090,3005,932.9,0.0,404,9813,1.40,2.42,82.82,1.952,10756,0.113,0.060,3276,899,2730,2782,2678,0,0,0,0,0,0,14.28,14.29,13.38
$GC,9880,1.13,79.4,3275,899,2776,2670,923.0,9.2,430,9893,0.00,2.47,0.00,0.000,1158,0.000,0.061,3275,2301,2721,2775,2668,0,0,0,0,0,0,14.34,14.25,14.35
$GC,10206,1.05,79.4,3275,2301,2776,2666,891.7,9.6,441,10220,0.10,2.53,0.00,0.000,4484,0.314,0.107,3245,3707,2720,2775,2665,0,0,0,0,0,0,14.32,14.45,14.50
$GC,10316,0.94,79.4,3245,3705,2780,2665,881.0,9.7,456,10330,0.20,2.40,0.00,0.000,5254,0.298,0.046,3205,2291,2719,2776,2663,0,0,0,0,0,0,14.36,14.58,14.60
$GC,10659,0.95,88.0,3205,2295,2777,2662,856.3,7.0,463,10677,0.00,2.40,3.62,1.631,8740,0.000,0.062,3216,900,2702,2757,2648,0,0,0,0,0,0,14.84,14.61,13.57
$GC,10780,0.95,90.4,3216,900,2759,2660,847.1,7.5,480,10799,0.00,2.40,4.03,1.787,9254,0.000,0.063,3214,2302,2691,2744,2638,0,0,0,0,0,0,14.72,14.60,13.57
$GC,11112,0.95,90.4,3215,2298,2746,2649,819.7,8.5,492,11125,0.00,2.42,0.00,0.000,516,0.000,0.062,3225,892,2698,2746,2650,0,0,0,0,0,0,14.85,14.63,14.85
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$STATE,21880,end climb,SURFACE_DEPTH_REACHED
$STATE,21880,begin surface coast
$FINISH,-1.6,1.021049
$STATE,21909,end surface coast,CONTROL_FINISHED_OK
$STATE,21909,begin surface
$SM_CCo,21928,81.43,0.155,0,0,1058,500.14
$SM_GC,-0.86,8.93,0.82,81.43,0.060,0.095,0.155,181,2773,1058,-8.41,-0.54,500.14,0,0,0,0,0,0,14.74,14.68,14.56
$IRIDIUM_FIX,1009.21,-12457.37,130916,185810
$TT8_MAMPS,0.038948,0.474866
$HUMID,47.20
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.40
$XPDR_PINGS,5
$SC_FREEKB,3874048
$PM_FREEKB,58991104
$TM_FREEKB,6858848
$24V_AH,13.38,40.359
$10V_AH,13.45,0.000
$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,24.125,189.150,299.975,81.425,0.000,0.000,0.000,404.525,1.250,0.000,4.601,0.000,18313.123,649.297,3508.541,185.516,0.000,2620.803,0.000,1696.028,0.000,0.841,0.000
$DEVICE_MAMPS,397.035,123.165,2050.965,154.530,0.000,0.000,0.000,194.310,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21952.000,21909.000,2844.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.511,2.403,19.433,0.000
$MEM,334720
$DATA_FILE_SIZE,33311,956
$CAP_FILE_SIZE,180616,0
$CFSIZE,1024409600,999915520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.012,308.07,1
$GPS,140916,075901,1018.758,-12459.494,19,0.8,19,9.1,0.2,33.2,10,3.2