version: 66.13
glider: 220
mission: 6
dive: 210
start: 10 16 116 15 3 14
data:
$ID,220
$MISSION,6
$DIVE,210
$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,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,52
$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,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
$GPS1,161016,145031,942.1230,-12500.2666,28,0.9,28,9.0,0.5,46.6,9,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.84
$_SM_ANGLEo,-72.6
$GPS2,161016,150254,942.2012,-12500.1553,2,0.7,3,9.0,0.2,79.8,11,6.6
$SPEED_LIMITS,0.134,0.179
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,188.5,2408,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.19,-63.1,162,2779,1098,1017,0.0,0.0,0,96,0.00,0.00,-73.40,0.000,16390,0.000,0.000,161,2782,3304,3297,3311,0,0,0,0,0,0,14.57,13.09,14.53
$GC,98,-1.19,-63.1,162,2782,3298,3313,-2.7,-2.9,2,115,11.30,0.00,0.00,0.000,2566,0.396,0.000,2508,2782,3305,3298,3312,0,0,0,0,0,0,14.11,14.43,14.40
$GC,429,-0.98,-63.1,2509,2781,3304,3313,87.6,-11.7,17,435,0.28,1.90,0.00,0.000,2436,0.275,0.093,2570,3823,3308,3305,3312,0,0,0,0,0,0,14.11,14.30,14.35
$GC,665,-0.86,-63.1,2571,3823,3306,3313,110.3,-17.2,51,673,0.17,1.83,0.00,0.000,3206,0.246,0.035,2616,2733,3309,3306,3312,0,0,0,0,0,0,14.14,14.45,14.32
$GC,988,-0.86,-63.1,2617,2732,3307,3313,136.9,-8.1,62,995,0.00,2.05,0.00,0.000,260,0.000,0.096,2603,3817,3309,3306,3312,0,0,0,0,0,0,14.66,14.30,14.66
$GC,1225,-0.86,-63.1,2609,3818,3307,3311,158.9,-9.6,96,1234,0.00,1.80,0.00,0.000,1030,0.000,0.037,2609,2742,3308,3306,3310,0,0,0,0,0,0,14.53,14.49,14.54
$GC,1548,-0.86,-63.1,2609,2743,3307,3307,189.1,-9.5,107,1555,0.00,2.28,0.00,0.000,516,0.000,0.041,2610,1390,3306,3306,3307,0,0,0,0,0,0,14.66,14.40,14.66
$GC,1596,-0.86,-63.1,2608,1391,3306,3306,193.9,-9.8,114,1606,0.00,2.45,0.00,0.000,1030,0.000,0.061,2599,2758,3306,3306,3306,0,0,0,0,0,0,14.41,14.34,14.45
$GC,1940,-0.86,-63.1,2599,2759,3307,3301,229.5,-10.5,121,1947,0.00,2.00,0.00,0.000,260,0.000,0.099,2590,3826,3301,3301,3302,0,0,0,0,0,0,14.66,14.28,14.66
$GC,2131,-0.86,-63.1,2591,3826,3306,3301,250.5,-11.0,148,2145,0.10,1.73,0.00,0.000,3078,0.267,0.041,2616,2774,3302,3306,3299,0,0,0,0,0,0,14.26,14.58,14.51
$GC,2452,-0.86,-63.1,2617,2774,3307,3295,280.0,-8.9,158,2465,0.00,2.35,0.00,0.000,516,0.000,0.043,2617,1377,3300,3306,3294,0,0,0,0,0,0,14.85,14.56,14.85
$GC,2547,-0.95,-63.1,2617,1377,3307,3292,288.0,-8.0,171,2560,0.00,2.45,0.00,0.000,1158,0.000,0.064,2608,2771,3299,3306,3293,0,0,0,0,0,0,14.66,14.51,14.68
$GC,2909,-0.95,-63.1,2608,2773,3307,3288,317.9,-8.3,180,2922,0.00,1.92,0.00,0.000,260,0.000,0.103,2599,3827,3296,3306,3287,0,0,0,0,0,0,14.89,14.47,14.89
$GC,2969,-0.95,-63.1,2600,3827,3307,3288,323.4,-9.3,188,2982,0.00,1.75,0.00,0.000,1030,0.000,0.043,2599,2761,3296,3306,3287,0,0,0,0,0,0,14.69,14.64,14.70
$GC,3310,-0.95,-63.1,2599,2762,3307,3282,355.1,-9.5,201,3323,0.00,2.33,0.00,0.000,516,0.000,0.044,2598,1379,3294,3306,3282,0,0,0,0,0,0,14.90,14.61,14.90
$GC,3384,-0.95,-63.1,2598,1379,3307,3281,362.3,-9.5,211,3397,0.00,2.42,0.00,0.000,1030,0.000,0.066,2589,2759,3293,3306,3281,0,0,0,0,0,0,14.69,14.54,14.71
$GC,3710,-0.95,-63.1,2590,2759,3311,3277,395.8,-10.3,222,3724,0.00,1.95,0.00,0.000,260,0.000,0.103,2581,3826,3289,3306,3273,0,0,0,0,0,0,14.92,14.48,14.92
$GC,3784,-0.95,-63.1,2582,3822,3306,3277,404.1,-11.4,232,3797,0.00,1.75,0.00,0.000,1030,0.000,0.043,2581,2754,3291,3306,3277,0,0,0,0,0,0,14.73,14.69,14.76
$GC,4111,-0.95,-63.1,2581,2755,3307,3274,437.6,-10.0,243,4124,0.00,2.30,0.00,0.000,516,0.000,0.043,2581,1382,3289,3306,3273,0,0,0,0,0,0,14.93,14.61,14.93
$GC,4164,-0.95,-63.1,2581,1379,3307,3272,442.7,-9.1,250,4177,0.00,2.45,0.00,0.000,1030,0.000,0.066,2571,2768,3288,3305,3272,0,0,0,0,0,0,14.71,14.53,14.71
$GC,4508,-0.95,-63.1,2571,2769,3304,3266,473.9,-9.1,257,4521,0.00,1.92,0.00,0.000,260,0.000,0.105,2563,3821,3286,3305,3267,0,0,0,0,0,0,14.91,14.50,14.91
$GC,4701,-0.95,-63.1,2563,3822,3307,3265,492.5,-9.0,284,4714,0.10,1.77,0.00,0.000,3078,0.269,0.041,2588,2741,3286,3306,3266,0,0,0,0,0,0,14.31,14.67,14.59
$GC,5021,-0.95,-63.1,2587,2740,3305,3264,519.4,-8.7,294,5034,0.00,2.03,0.00,0.000,260,0.000,0.103,2580,3825,3283,3304,3262,0,0,0,0,0,0,14.93,14.45,14.93
$GC,5060,-0.95,-63.1,2581,3824,3305,3263,523.1,-9.7,299,5073,0.00,1.75,0.00,0.000,1030,0.000,0.042,2580,2761,3283,3304,3262,0,0,0,0,0,0,14.70,14.64,14.71
$GC,5421,-0.95,-63.1,2580,2762,3306,3256,558.6,-10.1,308,5434,0.00,2.35,0.00,0.000,516,0.000,0.044,2580,1365,3281,3304,3259,0,0,0,0,0,0,14.95,14.59,14.91
$GC,5482,-0.95,-63.1,2583,1374,3306,3259,564.9,-10.4,316,5495,0.00,2.47,0.00,0.000,1030,0.000,0.067,2570,2771,3285,3312,3259,0,0,0,0,0,0,14.69,14.52,14.71
$GC,5823,-0.95,-63.1,2570,2772,3305,3255,600.3,-10.4,329,5836,0.00,1.92,0.00,0.000,260,0.000,0.106,2562,3821,3279,3304,3255,0,0,0,0,0,0,14.91,14.44,14.91
$GC,5861,-0.95,-63.1,2562,3822,3304,3258,604.5,-11.0,334,5875,0.10,1.75,0.00,0.000,3078,0.269,0.044,2588,2760,3279,3303,3255,0,0,0,0,0,0,14.30,14.69,14.57
$GC,6223,-0.95,-63.1,2588,2759,3300,3256,637.2,-8.9,343,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2760,3277,3300,3255,0,0,0,0,0,0,14.92,14.92,14.92
$GC,6560,-0.95,-63.1,2586,2760,3302,3252,665.6,-8.4,349,6573,0.00,2.35,0.00,0.000,516,0.000,0.046,2586,1376,3276,3300,3252,0,0,0,0,0,0,14.92,14.57,14.92
$GC,6591,-0.95,-63.1,2587,1376,3300,3252,668.3,-8.5,353,6605,0.00,2.47,0.00,0.000,1030,0.000,0.068,2578,2774,3276,3300,3252,0,0,0,0,0,0,14.67,14.50,14.69
$GC,6960,-0.95,-63.1,2579,2767,3298,3252,700.4,-8.8,363,6974,0.00,1.98,0.00,0.000,260,0.000,0.109,2571,3824,3274,3297,3251,0,0,0,0,0,0,14.90,14.41,14.90
$GC,7055,-0.95,-63.1,2571,3825,3298,3249,709.7,-10.0,376,7068,0.00,1.75,0.00,0.000,1030,0.000,0.044,2570,2766,3280,3297,3263,0,0,0,0,0,0,14.72,14.66,14.70
$GC,7417,-0.95,-63.1,2570,2765,3298,3250,743.7,-9.5,385,7430,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2765,3272,3297,3248,0,0,0,0,0,0,14.90,14.90,14.90
$GC,7753,-0.95,-63.1,2577,2765,3297,3247,775.8,-9.6,391,7766,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2766,3271,3296,3246,0,0,0,0,0,0,14.92,14.92,14.92
$GC,8089,-0.95,-63.1,2570,2766,3294,3252,808.7,-9.9,397,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2765,3269,3293,3246,0,0,0,0,0,0,14.92,14.92,14.92
$GC,8425,-0.95,-63.1,2570,2765,3293,3246,839.5,-9.2,403,8438,0.00,2.00,0.00,0.000,260,0.000,0.107,2562,3821,3268,3292,3244,0,0,0,0,0,0,14.91,14.38,14.93
$GC,8478,-0.95,-63.1,2559,3822,3293,3244,844.8,-9.9,410,8492,0.10,1.77,0.00,0.000,3078,0.267,0.044,2587,2771,3268,3292,3244,0,0,0,0,0,0,14.23,14.63,14.52
$GC,8822,-0.95,-63.1,2588,2773,3293,3243,873.5,-8.3,417,8835,0.00,2.40,0.00,0.000,516,0.000,0.045,2587,1364,3266,3291,3241,0,0,0,0,0,0,14.90,14.52,14.90
$GC,8883,-1.03,-63.1,2588,1365,3293,3241,878.1,-7.9,425,8897,0.00,2.50,0.00,0.000,1158,0.000,0.067,2579,2769,3266,3292,3241,0,0,0,0,0,0,14.62,14.45,14.66
$GC,9224,-1.03,-63.1,2580,2770,3292,3240,906.2,-8.2,438,9237,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2769,3265,3291,3240,0,0,0,0,0,0,14.88,14.88,14.88
$STATE,9559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9559,begin apogee
$GC,9564,-0.23,0.0,2579,2227,3291,3241,933.7,-8.2,444,9636,0.88,0.00,61.83,1.974,10244,0.216,0.000,2822,2227,3049,3090,3008,0,0,0,0,0,0,14.24,14.23,13.47
$STATE,9638,end apogee,CONTROL_FINISHED_OK
$STATE,9638,begin climb
$GC,9640,1.19,63.1,2823,2228,3086,3001,935.7,0.0,445,9719,1.42,0.00,66.88,2.007,11270,0.110,0.000,3280,2226,2797,2847,2747,0,0,0,0,0,0,14.19,14.44,13.21
$GC,10068,1.03,64.7,3280,2227,2844,2729,907.6,7.6,467,10081,0.17,0.00,0.00,0.000,4262,0.292,0.000,3244,2225,2785,2842,2729,0,0,0,0,0,0,14.02,14.40,14.33
$GC,10404,0.95,82.5,3238,2226,2843,2729,885.9,6.3,473,10434,0.12,0.00,20.60,2.006,12454,0.288,0.000,3205,2226,2720,2781,2660,0,0,0,0,0,0,14.11,14.42,13.69
$GC,10740,0.96,86.6,3205,2225,2773,2649,862.2,7.4,479,10753,0.00,2.70,0.00,0.000,292,0.000,0.096,3205,3667,2710,2773,2648,0,0,0,0,0,0,14.71,14.36,14.71
$GC,10793,0.85,86.6,3205,3664,2774,2647,857.8,8.2,486,10807,0.15,2.40,0.00,0.000,5254,0.275,0.041,3178,2267,2710,2772,2648,0,0,0,0,0,0,14.12,14.48,14.42
$GC,11137,0.86,96.5,3178,2261,2774,2646,834.0,6.9,493,11163,0.00,2.50,14.15,2.059,8740,0.000,0.059,3188,861,2660,2724,2597,0,0,0,0,0,0,14.77,14.48,13.77
$GC,11203,0.86,96.5,3186,861,2723,2592,829.0,7.8,502,11216,0.00,2.42,0.00,0.000,1030,0.000,0.054,3188,2257,2656,2721,2591,0,0,0,0,0,0,14.52,14.40,14.54
$GC,11529,0.86,96.5,3188,2257,2724,2589,802.3,8.3,513,11543,0.00,2.58,0.00,0.000,260,0.000,0.099,3188,3650,2655,2722,2589,0,0,0,0,0,0,14.76,14.35,14.76
$GC,11610,0.86,96.5,3188,3651,2723,2588,795.0,9.2,524,11624,0.00,2.40,0.00,0.000,1030,0.000,0.041,3198,2237,2655,2722,2589,0,0,0,0,0,0,14.59,14.51,14.61
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$STATE,21737,end climb,SURFACE_DEPTH_REACHED
$STATE,21737,begin surface coast
$FINISH,-2.8,1.020669
$STATE,21765,end surface coast,CONTROL_FINISHED_OK
$STATE,21765,begin surface
$SM_CCo,21787,68.93,0.152,0,0,1056,500.14
$SM_GC,-3.25,9.70,0.93,68.93,0.107,0.076,0.152,189,2777,1056,-8.40,-0.57,500.14,0,0,0,0,0,0,14.55,14.50,14.38
$IRIDIUM_FIX,940.75,-12459.70,161016,081144
$TT8_MAMPS,0.038199,0.349034
$HUMID,48.97
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3829120
$PM_FREEKB,57554048
$TM_FREEKB,5820224
$24V_AH,13.09,82.323
$10V_AH,13.05,0.000
$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,25.650,186.125,319.625,68.925,0.000,0.000,0.000,422.300,0.000,0.000,5.198,0.000,17958.004,663.987,3634.785,325.594,0.000,2691.706,0.000,1786.993,0.000,0.840,0.000
$DEVICE_MAMPS,395.505,108.630,2058.615,152.235,0.000,0.000,0.000,200.430,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21814.000,21765.000,2795.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.527,2.404,53.376,0.000
$MEM,334676
$DATA_FILE_SIZE,36692,1023
$CAP_FILE_SIZE,182073,0
$CFSIZE,1024409600,976846848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054,126.09,1
$GPS,161016,210831,940.428,-12500.139,24,0.8,24,9.0,0.6,145.0,10,9.1