version: 66.13
glider: 220
mission: 6
dive: 152
start: 9 30 116 11 6 47
data:
$ID,220
$MISSION,6
$DIVE,152
$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,0.025
$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,53
$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,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
$GPS1,300916,105431,1000.2252,-12518.3799,24,0.8,24,9.1,0.9,85.5,10,3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.43
$_SM_ANGLEo,-74.2
$GPS2,300916,110627,1000.3483,-12518.2461,2,0.7,2,9.1,0.6,345.8,11,9.4
$SPEED_LIMITS,0.134,0.179
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,252.2,2183,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.19,-63.1,172,2780,1101,1019,0.0,0.0,0,92,0.00,0.00,-71.30,0.000,16390,0.000,0.000,170,2782,3303,3297,3310,0,0,0,0,0,0,14.65,13.24,14.65
$GC,94,-1.19,-63.1,171,2781,3298,3311,1.4,-5.3,2,115,11.10,2.35,0.00,0.000,2820,0.396,0.034,2507,1356,3305,3299,3311,0,0,0,0,0,0,14.19,14.46,14.48
$GC,198,-0.91,-63.1,2507,1356,3301,3313,44.5,-26.5,18,206,0.38,2.50,0.00,0.000,3206,0.304,0.067,2599,2762,3306,3300,3312,0,0,0,0,0,0,14.21,14.40,14.49
$GC,534,-0.84,-63.1,2600,2761,3310,3312,93.5,-9.9,33,542,0.10,1.92,0.00,0.000,2436,0.296,0.099,2621,3824,3308,3305,3312,0,0,0,0,0,0,14.32,14.46,14.56
$GC,771,-0.84,-63.1,2617,3825,3308,3311,114.8,-8.8,67,779,0.00,1.80,0.00,0.000,1030,0.000,0.039,2617,2738,3309,3306,3312,0,0,0,0,0,0,14.71,14.66,14.73
$GC,1094,-0.84,-63.1,2617,2739,3308,3311,141.9,-8.5,78,1101,0.00,2.03,0.00,0.000,260,0.000,0.099,2610,3827,3309,3307,3311,0,0,0,0,0,0,14.85,14.51,14.85
$GC,1150,-0.84,-63.1,2610,3827,3308,3313,147.6,-10.4,86,1157,0.00,1.77,0.00,0.000,1030,0.000,0.040,2609,2752,3309,3307,3311,0,0,0,0,0,0,14.68,14.65,14.70
$GC,1486,-0.84,-63.1,2610,2752,3307,3309,179.1,-9.4,99,1493,0.00,2.30,0.00,0.000,516,0.000,0.043,2609,1389,3306,3307,3306,0,0,0,0,0,0,14.87,14.59,14.87
$GC,1534,-0.84,-63.1,2609,1390,3308,3307,183.8,-9.6,106,1543,0.00,2.42,0.00,0.000,1030,0.000,0.063,2600,2760,3307,3307,3307,0,0,0,0,0,0,14.64,14.57,14.67
$GC,1878,-0.84,-63.1,2600,2760,3308,3305,218.9,-10.3,113,1886,0.10,1.95,0.00,0.000,2308,0.286,0.102,2617,3828,3305,3307,3303,0,0,0,0,0,0,14.42,14.52,14.66
$GC,1990,-0.84,-63.1,2618,3828,3308,3303,230.0,-9.9,129,1998,0.00,1.77,0.00,0.000,1030,0.000,0.042,2617,2762,3304,3307,3302,0,0,0,0,0,0,14.71,14.68,14.71
$GC,2326,-0.84,-63.1,2615,2763,3308,3296,260.5,-8.9,142,2339,0.00,2.30,0.00,0.000,516,0.000,0.044,2617,1378,3301,3307,3296,0,0,0,0,0,0,14.91,14.66,14.92
$GC,2371,-0.84,-63.1,2617,1378,3307,3297,264.6,-8.9,148,2385,0.00,2.42,0.00,0.000,1030,0.000,0.064,2607,2766,3301,3307,3295,0,0,0,0,0,0,14.76,14.62,14.77
$GC,2726,-0.84,-63.1,2607,2767,3307,3290,298.1,-9.6,156,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2766,3298,3307,3289,0,0,0,0,0,0,14.95,14.94,14.94
$GC,3062,-0.84,-63.1,2606,2767,3308,3288,331.3,-9.9,162,3075,0.00,2.35,0.00,0.000,516,0.000,0.045,2607,1378,3296,3306,3286,0,0,0,0,0,0,14.95,14.69,14.95
$GC,3108,-0.84,-63.1,2607,1374,3307,3285,336.1,-10.2,168,3121,0.10,2.40,0.00,0.000,3078,0.285,0.067,2623,2753,3295,3306,3285,0,0,0,0,0,0,14.46,14.65,14.71
$GC,3463,-0.92,-63.1,2624,2753,3306,3282,368.7,-9.1,176,3476,0.00,0.00,0.00,0.000,134,0.000,0.000,2622,2753,3294,3307,3281,0,0,0,0,0,0,14.96,14.95,14.95
$GC,3798,-1.01,-63.1,2623,2754,3308,3276,397.3,-8.3,182,3812,0.08,2.33,0.00,0.000,4740,0.148,0.044,2559,1377,3291,3306,3276,0,0,0,0,0,0,14.74,14.71,14.77
$GC,3837,-1.01,-63.1,2559,1377,3308,3275,401.1,-10.5,187,3850,0.00,2.40,0.00,0.000,1030,0.000,0.067,2550,2755,3291,3306,3276,0,0,0,0,0,0,14.79,14.65,14.81
$GC,4198,-1.01,-63.1,2551,2755,3307,3272,440.6,-11.1,196,4212,0.00,1.95,0.00,0.000,260,0.000,0.106,2542,3833,3290,3307,3273,0,0,0,0,0,0,14.97,14.60,14.97
$GC,4357,-0.93,-63.1,2542,3831,3307,3272,459.1,-11.8,218,4371,0.20,1.75,0.00,0.000,3206,0.263,0.045,2594,2755,3288,3306,3270,0,0,0,0,0,0,14.44,14.78,14.71
$GC,4712,-0.93,-63.1,2594,2755,3307,3268,493.0,-9.6,226,4725,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2755,3286,3306,3267,0,0,0,0,0,0,14.97,14.97,14.97
$GC,5048,-0.93,-63.1,2595,2755,3306,3264,526.4,-10.2,232,5061,0.00,2.33,0.00,0.000,516,0.000,0.047,2594,1372,3284,3306,3262,0,0,0,0,0,0,14.97,14.69,14.97
$GC,5101,-0.93,-63.1,2594,1372,3307,3263,532.1,-10.5,239,5114,0.00,2.45,0.00,0.000,1030,0.000,0.068,2584,2755,3284,3306,3262,0,0,0,0,0,0,14.78,14.64,14.80
$GC,5445,-0.93,-63.1,2586,2755,3307,3260,568.8,-10.7,246,5458,0.00,1.95,0.00,0.000,260,0.000,0.109,2577,3823,3282,3306,3259,0,0,0,0,0,0,14.97,14.57,14.95
$GC,5518,-0.93,-63.1,2577,3824,3306,3259,577.3,-11.6,256,5531,0.00,1.75,0.00,0.000,1030,0.000,0.046,2576,2756,3281,3304,3259,0,0,0,0,0,0,14.81,14.76,14.82
$GC,5845,-0.93,-63.1,2576,2758,3303,3267,610.2,-9.9,267,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2756,3279,3300,3259,0,0,0,0,0,0,14.95,14.95,14.95
$GC,6181,-0.93,-63.1,2576,2756,3300,3258,641.3,-9.2,273,6194,0.00,2.33,0.00,0.000,516,0.000,0.047,2576,1372,3278,3299,3257,0,0,0,0,0,0,14.95,14.67,14.95
$GC,6220,-0.93,-63.1,2576,1371,3300,3259,645.0,-9.5,278,6233,0.10,2.42,0.00,0.000,3078,0.277,0.069,2591,2757,3278,3299,3257,0,0,0,0,0,0,14.42,14.62,14.69
$GC,6582,-0.93,-63.1,2592,2758,3300,3255,675.1,-8.3,287,6595,0.00,1.95,0.00,0.000,260,0.000,0.110,2585,3824,3278,3299,3258,0,0,0,0,0,0,14.96,14.56,14.96
$GC,6690,-0.93,-63.1,2585,3825,3299,3254,684.6,-8.8,302,6704,0.00,1.80,0.00,0.000,1030,0.000,0.046,2585,2759,3276,3298,3254,0,0,0,0,0,0,14.74,14.71,14.76
$GC,7034,-0.93,-63.1,2585,2760,3298,3253,713.7,-8.5,309,7047,0.00,2.33,0.00,0.000,516,0.000,0.047,2585,1374,3275,3297,3253,0,0,0,0,0,0,14.95,14.66,14.96
$GC,7073,-0.93,-63.1,2585,1376,3299,3253,717.2,-9.3,314,7086,0.00,2.45,0.00,0.000,1030,0.000,0.070,2574,2769,3276,3300,3253,0,0,0,0,0,0,14.76,14.60,14.79
$GC,7434,-0.93,-63.1,2575,2771,3298,3251,749.8,-9.2,323,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2769,3274,3297,3251,0,0,0,0,0,0,14.95,14.95,14.95
$GC,7770,-0.93,-63.1,2575,2770,3295,3251,780.7,-9.3,329,7783,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2769,3274,3297,3251,0,0,0,0,0,0,14.95,14.95,14.97
$GC,8106,-0.93,-63.1,2575,2769,3294,3249,812.4,-9.3,335,8119,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2769,3270,3293,3248,0,0,0,0,0,0,14.95,14.95,14.95
$GC,8442,-0.93,-63.1,2575,2771,3294,3246,844.1,-9.5,341,8455,0.00,2.40,0.00,0.000,516,0.000,0.049,2574,1370,3269,3293,3246,0,0,0,0,0,0,14.95,14.65,14.95
$GC,8481,-0.93,-64.4,2575,1371,3293,3246,847.9,-7.6,346,8495,0.12,2.47,0.00,0.000,3110,0.273,0.071,2596,2767,3269,3292,3246,0,0,0,0,0,0,14.37,14.59,14.65
$GC,8843,-1.02,-64.4,2596,2767,3290,3247,879.7,-8.8,355,8856,0.00,0.00,0.00,0.000,134,0.000,0.000,2596,2767,3268,3291,3245,0,0,0,0,0,0,14.93,14.93,14.94
$GC,9179,-1.10,-64.4,2597,2767,3291,3246,908.5,-8.7,361,9193,0.08,2.38,0.00,0.000,4740,0.149,0.045,2540,1373,3267,3290,3244,0,0,0,0,0,0,14.66,14.64,14.70
$GC,9253,-1.10,-64.4,2541,1373,3291,3244,916.0,-10.2,371,9266,0.00,2.45,0.00,0.000,1030,0.000,0.070,2531,2765,3270,3296,3244,0,0,0,0,0,0,14.73,14.57,14.76
$STATE,9410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9410,begin apogee
$GC,9415,-0.23,0.0,2531,2233,3291,3243,932.5,-10.5,379,9487,1.05,0.00,61.58,1.962,10244,0.241,0.000,2824,2232,3049,3089,3010,0,0,0,0,0,0,14.36,14.28,13.56
$STATE,9488,end apogee,CONTROL_FINISHED_OK
$STATE,9488,begin climb
$GC,9490,1.19,64.4,2819,2232,3083,3003,935.6,0.0,380,9572,1.40,0.00,66.43,1.988,11270,0.120,0.000,3267,2232,2789,2839,2739,0,0,0,0,0,0,14.23,14.46,13.33
$GC,9920,1.05,64.4,3267,2233,2840,2726,906.2,8.0,402,9933,0.08,2.35,0.00,0.000,4740,0.314,0.058,3253,879,2779,2834,2725,0,0,0,0,0,0,14.17,14.40,14.35
$GC,9994,0.93,66.4,3254,879,2839,2726,900.4,7.6,412,10008,0.17,2.40,0.00,0.000,5286,0.281,0.057,3202,2260,2781,2839,2724,0,0,0,0,0,0,14.19,14.43,14.47
$GC,10321,0.95,76.0,3207,2262,2839,2724,877.8,6.9,423,10341,0.00,0.00,10.82,2.137,8230,0.000,0.000,3207,2262,2747,2806,2689,0,0,0,0,0,0,14.78,14.55,13.83
$GC,10657,0.95,78.6,3207,2263,2803,2677,852.7,7.5,429,10670,0.00,2.58,0.00,0.000,292,0.000,0.102,3206,3660,2739,2802,2677,0,0,0,0,0,0,14.78,14.45,14.79
$GC,10696,0.84,78.6,3206,3660,2803,2677,849.5,10.0,434,10709,0.15,2.38,0.00,0.000,5254,0.288,0.044,3179,2256,2739,2802,2677,0,0,0,0,0,0,14.27,14.58,14.56
$GC,11058,0.86,90.8,3179,2254,2801,2676,825.1,6.7,443,11082,0.00,0.00,15.77,2.033,8230,0.000,0.000,3180,2255,2689,2750,2628,0,0,0,0,0,0,14.83,14.56,13.86
$GC,11394,0.86,92.1,3178,2256,2744,2616,799.6,7.6,449,11407,0.00,2.62,0.00,0.000,292,0.000,0.100,3179,3658,2678,2742,2615,0,0,0,0,0,0,14.79,14.45,14.79
$GC,11440,0.86,92.1,3180,3658,2743,2617,795.7,8.8,455,11453,0.00,2.40,0.00,0.000,1030,0.000,0.044,3189,2244,2678,2742,2615,0,0,0,0,0,0,14.66,14.59,14.67
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$STATE,21783,end climb,SURFACE_DEPTH_REACHED
$STATE,21783,begin surface coast
$FINISH,-1.4,1.020309
$STATE,21812,end surface coast,CONTROL_FINISHED_OK
$STATE,21812,begin surface
$SM_CCo,21834,64.35,0.152,0,0,1057,500.14
$SM_GC,-0.48,9.20,1.00,64.35,0.066,0.086,0.152,191,2774,1057,-8.40,-0.54,500.14,0,0,0,0,0,0,14.64,14.59,14.49
$IRIDIUM_FIX,956.07,-12510.11,300916,042529
$TT8_MAMPS,0.036701,0.450149
$HUMID,47.79
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.50
$XPDR_PINGS,2
$SC_FREEKB,3851392
$PM_FREEKB,58265472
$TM_FREEKB,6325440
$24V_AH,13.24,60.953
$10V_AH,13.24,0.000
$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,25.750,189.525,315.675,64.350,0.000,0.000,0.000,426.725,0.500,0.000,4.148,0.000,18131.898,650.868,3558.174,259.496,0.000,2658.060,0.000,1715.406,0.000,0.839,0.000
$DEVICE_MAMPS,395.505,110.160,2136.645,152.235,0.000,0.000,0.000,198.135,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21858.000,21811.000,2886.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.480,2.409,16.725,0.000
$MEM,334676
$DATA_FILE_SIZE,36644,973
$CAP_FILE_SIZE,181649,0
$CFSIZE,1024409600,988282880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,79.02,1
$GPS,300916,171255,1000.235,-12518.979,35,0.9,35,9.1,0.7,36.2,10,4.3