version: 66.13
glider: 220
mission: 6
dive: 161
start: 10 2 116 22 41 21
data:
$ID,220
$MISSION,6
$DIVE,161
$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,61
$R_STBD_OVSHOOT,23
$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
$GPS1,021016,222831,943.2424,-12501.1631,31,0.8,31,9.0,0.9,68.1,10,6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.83
$_SM_ANGLEo,-72.8
$GPS2,021016,224101,943.2527,-12500.9062,2,0.7,3,9.0,0.8,59.5,12,9.9
$SPEED_LIMITS,0.134,0.179
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,182.1,4644,-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,-63.1,172,2776,1106,1015,0.0,0.0,0,93,0.00,0.00,-71.40,0.000,16390,0.000,0.000,167,2777,3304,3296,3312,0,0,0,0,0,0,14.65,13.20,14.65
$GC,95,-1.19,-63.1,165,2776,3296,3312,1.0,-5.9,2,111,11.07,0.00,0.00,0.000,2566,0.394,0.000,2510,2777,3305,3298,3312,0,0,0,0,0,0,14.21,14.52,14.48
$GC,425,-0.97,-63.1,2516,2777,3302,3310,92.6,-13.7,17,432,0.28,1.88,0.00,0.000,2436,0.281,0.092,2574,3832,3306,3301,3312,0,0,0,0,0,0,14.31,14.47,14.56
$GC,662,-0.88,-89.3,2574,3832,3304,3313,111.5,-5.6,51,670,0.10,1.77,0.00,0.000,3238,0.283,0.037,2604,2756,3308,3304,3312,0,0,0,0,0,0,14.33,14.66,14.55
$GC,985,-0.91,-114.9,2608,2757,3306,3311,128.9,-5.6,62,992,0.00,1.98,0.00,0.000,292,0.000,0.096,2597,3826,3306,3302,3311,0,0,0,0,0,0,14.88,14.51,14.85
$GC,1221,-0.91,-114.9,2597,3826,3306,3312,160.6,-9.6,96,1231,0.00,1.77,0.00,0.000,1030,0.000,0.038,2598,2750,3308,3306,3310,0,0,0,0,0,0,14.74,14.70,14.76
$GC,1544,-0.91,-114.9,2596,2751,3306,3306,190.9,-9.6,107,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2750,3305,3305,3306,0,0,0,0,0,0,14.88,14.88,14.88
$GC,1881,-0.91,-114.9,2598,2749,3305,3303,225.0,-10.3,113,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2753,3302,3302,3302,0,0,0,0,0,0,14.89,14.89,14.89
$GC,2217,-0.91,-114.9,2597,2750,3306,3298,260.3,-10.5,119,2230,0.00,1.98,0.00,0.000,260,0.000,0.099,2587,3831,3300,3305,3295,0,0,0,0,0,0,14.92,14.58,14.92
$GC,2325,-0.91,-114.9,2589,3833,3305,3295,272.5,-11.1,134,2339,0.00,1.75,0.00,0.000,1030,0.000,0.042,2588,2770,3299,3305,3294,0,0,0,0,0,0,14.72,14.71,14.76
$GC,2669,-0.91,-114.9,2588,2770,3306,3289,309.0,-10.6,141,2682,0.00,1.92,0.00,0.000,260,0.000,0.100,2581,3823,3297,3305,3289,0,0,0,0,0,0,14.94,14.59,14.95
$GC,2715,-0.91,-114.9,2580,3824,3306,3288,314.2,-11.2,147,2728,0.00,1.73,0.00,0.000,1030,0.000,0.041,2580,2746,3297,3305,3289,0,0,0,0,0,0,14.81,14.76,14.81
$GC,3069,-0.91,-114.9,2581,2745,3305,3284,353.1,-11.1,155,3082,0.00,1.98,0.00,0.000,260,0.000,0.099,2572,3830,3294,3305,3283,0,0,0,0,0,0,14.97,14.61,14.97
$GC,3136,-0.91,-114.9,2572,3831,3306,3280,360.8,-11.6,164,3149,0.12,1.73,0.00,0.000,3078,0.265,0.042,2605,2758,3293,3305,3282,0,0,0,0,0,0,14.46,14.78,14.71
$GC,3469,-0.91,-114.9,2605,2761,3306,3278,392.6,-9.3,176,3482,0.00,2.28,0.00,0.000,516,0.000,0.044,2602,1381,3291,3305,3277,0,0,0,0,0,0,14.95,14.71,14.96
$GC,3501,-0.91,-114.9,2605,1383,3305,3278,395.5,-8.9,180,3514,0.00,2.38,0.00,0.000,1030,0.000,0.063,2596,2765,3291,3305,3277,0,0,0,0,0,0,14.78,14.65,14.83
$GC,3869,-0.91,-114.9,2596,2765,3305,3275,427.1,-8.3,190,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2765,3289,3305,3274,0,0,0,0,0,0,14.97,14.97,14.97
$GC,4206,-0.91,-114.9,2596,2765,3304,3270,455.8,-8.5,196,4219,0.00,1.92,0.00,0.000,260,0.000,0.104,2587,3830,3287,3305,3269,0,0,0,0,0,0,14.97,14.60,14.97
$GC,4251,-0.91,-114.9,2588,3830,3305,3270,460.2,-9.8,202,4264,0.00,1.73,0.00,0.000,1030,0.000,0.044,2586,2770,3286,3304,3268,0,0,0,0,0,0,14.83,14.77,14.83
$GC,4606,-0.91,-114.9,2586,2770,3305,3266,494.8,-10.1,210,4619,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2769,3284,3305,3264,0,0,0,0,0,0,14.96,14.96,14.96
$GC,4941,-0.91,-114.9,2586,2771,3305,3261,528.5,-10.0,216,4955,0.00,1.95,0.00,0.000,260,0.000,0.103,2579,3825,3282,3305,3259,0,0,0,0,0,0,14.96,14.58,14.97
$GC,5036,-0.91,-114.9,2580,3825,3304,3262,538.7,-10.4,229,5049,0.00,1.75,0.00,0.000,1030,0.000,0.044,2579,2749,3281,3303,3260,0,0,0,0,0,0,14.81,14.77,14.83
$GC,5397,-0.91,-114.9,2579,2749,3300,3262,573.6,-9.5,238,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2749,3279,3299,3260,0,0,0,0,0,0,14.97,14.97,14.97
$GC,5734,-0.91,-114.9,2580,2750,3300,3257,604.9,-9.2,244,5747,0.00,2.30,0.00,0.000,516,0.000,0.046,2579,1376,3277,3298,3256,0,0,0,0,0,0,14.97,14.64,14.97
$GC,5765,-0.91,-114.9,2579,1375,3299,3257,607.9,-9.5,248,5779,0.12,2.45,0.00,0.000,3078,0.278,0.067,2600,2770,3277,3299,3256,0,0,0,0,0,0,14.40,14.62,14.68
$GC,6134,-0.91,-114.9,2601,2771,3300,3253,639.2,-8.5,258,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2770,3275,3298,3253,0,0,0,0,0,0,14.95,14.95,14.94
$GC,6470,-0.91,-114.9,2601,2770,3298,3254,668.1,-8.6,264,6484,0.00,1.92,0.00,0.000,260,0.000,0.106,2594,3821,3275,3297,3253,0,0,0,0,0,0,14.95,14.54,14.95
$GC,6509,-0.91,-114.9,2594,3822,3299,3253,671.8,-9.3,269,6522,0.00,1.75,0.00,0.000,1030,0.000,0.044,2592,2755,3275,3298,3253,0,0,0,0,0,0,14.80,14.74,14.81
$GC,6871,-0.91,-114.9,2592,2756,3297,3251,705.3,-9.3,278,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2755,3273,3295,3251,0,0,0,0,0,0,14.95,14.95,14.95
$GC,7207,-0.91,-114.9,2593,2755,3296,3249,736.2,-9.0,284,7220,0.00,2.00,0.00,0.000,260,0.000,0.106,2585,3824,3271,3295,3248,0,0,0,0,0,0,14.95,14.52,14.94
$GC,7294,-0.91,-114.9,2586,3824,3295,3249,744.6,-9.5,296,7307,0.00,1.75,0.00,0.000,1030,0.000,0.046,2585,2762,3271,3294,3248,0,0,0,0,0,0,14.76,14.69,14.78
$GC,7663,-0.91,-114.9,2586,2763,3291,3248,777.9,-8.9,306,7676,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2762,3269,3291,3247,0,0,0,0,0,0,14.94,14.94,14.95
$GC,7999,-0.91,-114.9,2583,2762,3292,3246,807.8,-8.9,312,8012,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2763,3268,3291,3245,0,0,0,0,0,0,14.95,14.95,14.95
$GC,8335,-0.91,-114.9,2585,2763,3292,3242,837.6,-8.9,318,8348,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2762,3266,3291,3241,0,0,0,0,0,0,14.94,14.94,14.94
$GC,8671,-0.91,-114.9,2585,2762,3288,3245,868.2,-9.1,324,8684,0.00,2.00,0.00,0.000,260,0.000,0.109,2577,3828,3264,3287,3241,0,0,0,0,0,0,14.93,14.51,14.94
$GC,8724,-0.91,-114.9,2578,3828,3289,3244,873.1,-9.2,331,8737,0.00,1.77,0.00,0.000,1030,0.000,0.047,2576,2770,3266,3289,3243,0,0,0,0,0,0,14.76,14.70,14.78
$GC,9068,-0.91,-114.9,2576,2771,3289,3240,904.0,-8.9,338,9081,0.00,2.38,0.00,0.000,516,0.000,0.047,2575,1360,3264,3288,3241,0,0,0,0,0,0,14.95,14.62,14.94
$GC,9120,-0.91,-114.9,2576,1361,3290,3240,908.9,-9.0,345,9134,0.12,2.50,0.00,0.000,3078,0.274,0.067,2599,2763,3264,3288,3240,0,0,0,0,0,0,14.32,14.54,14.61
$STATE,9406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9406,begin apogee
$GC,9412,-0.23,0.0,2599,2228,3289,3239,932.0,-7.9,351,9481,0.77,0.00,59.67,1.987,10244,0.213,0.000,2820,2226,3049,3089,3009,0,0,0,0,0,0,14.37,14.29,13.54
$STATE,9483,end apogee,CONTROL_FINISHED_OK
$STATE,9483,begin climb
$GC,9485,1.25,114.9,2821,2226,3086,3004,934.6,0.0,352,9624,1.45,2.40,119.47,1.974,10756,0.112,0.057,3283,881,2586,2646,2527,0,0,0,0,0,0,14.24,14.25,13.23
$GC,9629,1.04,114.9,3285,882,2646,2523,927.1,11.2,375,9643,0.17,2.47,0.00,0.000,5254,0.292,0.053,3242,2258,2583,2645,2521,0,0,0,0,0,0,13.88,14.01,14.07
$GC,9973,0.96,114.9,3242,2260,2646,2511,887.9,11.4,382,9987,0.08,2.58,0.00,0.000,4484,0.326,0.095,3218,3660,2578,2645,2511,0,0,0,0,0,0,14.16,14.32,14.35
$GC,10012,0.85,114.9,3218,3660,2646,2512,883.3,12.6,387,10025,0.17,2.35,0.00,0.000,5254,0.282,0.042,3182,2275,2578,2645,2511,0,0,0,0,0,0,14.18,14.47,14.46
$GC,10374,0.85,114.9,3183,2271,2645,2510,849.7,9.2,396,10387,0.00,2.42,0.00,0.000,516,0.000,0.060,3192,860,2577,2645,2509,0,0,0,0,0,0,14.78,14.48,14.78
$GC,10483,0.85,114.9,3193,860,2646,2509,839.8,8.7,411,10496,0.00,2.42,0.00,0.000,1030,0.000,0.056,3192,2258,2576,2645,2508,0,0,0,0,0,0,14.62,14.50,14.64
$GC,10826,0.85,114.9,3192,2258,2645,2508,807.6,9.3,418,10839,0.00,2.58,0.00,0.000,260,0.000,0.101,3192,3661,2576,2645,2507,0,0,0,0,0,0,14.83,14.45,14.83
$GC,10879,0.85,114.9,3192,3661,2646,2507,801.5,11.8,425,10894,0.00,2.40,0.00,0.000,1030,0.000,0.042,3203,2233,2576,2645,2507,0,0,0,0,0,0,14.67,14.60,14.69
$GC,11223,0.85,114.9,3204,2231,2653,2507,766.5,10.3,432,11236,0.00,2.35,0.00,0.000,516,0.000,0.062,3213,860,2575,2645,2505,0,0,0,0,0,0,14.87,14.54,14.87
$GC,11268,0.85,114.9,3214,861,2643,2504,761.8,10.2,438,11282,0.12,2.40,0.00,0.000,5126,0.278,0.057,3182,2257,2575,2645,2505,0,0,0,0,0,0,14.28,14.55,14.62
$GC,11623,0.85,114.9,3182,2263,2646,2506,728.2,9.4,446,11636,0.00,2.58,0.00,0.000,260,0.000,0.102,3182,3660,2574,2645,2504,0,0,0,0,0,0,14.89,14.47,14.88
$GC,11675,0.85,114.9,3183,3661,2647,2503,722.8,10.3,453,11690,0.00,2.40,0.00,0.000,1030,0.000,0.041,3193,2233,2575,2648,2503,0,0,0,0,0,0,14.72,14.64,14.73
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$STATE,20890,end climb,SURFACE_DEPTH_REACHED
$STATE,20890,begin surface coast
$FINISH,1.3,1.020397
$STATE,20896,end surface coast,CONTROL_FINISHED_OK
$STATE,20896,begin surface
$SM_CCo,20919,67.03,0.150,0,0,1057,500.14
$SM_GC,-0.71,9.70,1.50,67.03,0.110,0.040,0.150,197,2754,1057,-8.38,1.47,500.14,0,0,0,0,0,0,14.62,14.70,14.47
$IRIDIUM_FIX,940.75,-12502.75,021016,160030
$TT8_MAMPS,0.038948,0.317576
$HUMID,47.20
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.30
$XPDR_PINGS,0
$SC_FREEKB,3847936
$PM_FREEKB,58157056
$TM_FREEKB,6249952
$24V_AH,13.20,63.987
$10V_AH,13.20,0.000
$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
$DEVICE_SECS,25.200,168.550,301.775,67.025,0.000,0.000,0.000,453.525,0.000,0.000,5.140,0.000,17420.760,624.804,3415.688,260.044,0.000,2582.269,0.000,1611.752,0.000,0.840,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20943.000,20894.000,2814.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.507,2.410,16.893,0.000
$MEM,334712
$DATA_FILE_SIZE,33341,908
$CAP_FILE_SIZE,167494,0
$CFSIZE,1024409600,986529792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113,118.17,1
$GPS,031016,043201,941.195,-12500.213,19,0.7,19,9.0,0.4,109.2,12,3.1