version: 66.13
glider: 220
mission: 6
dive: 232
start: 10 22 116 19 20 36
data:
$ID,220
$MISSION,6
$DIVE,232
$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,47
$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,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
$GPS1,221016,190601,1017.4791,-12458.9229,21,0.8,21,9.1,0.2,119.9,11,7.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.31
$_SM_ANGLEo,-70.5
$GPS2,221016,192015,1017.6302,-12458.8184,2,0.8,4,9.1,0.2,22.6,11,6.9
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,307.3,3456,-21.9,-7.750,-27.75,1473
$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,-1.09,-76.2,109,2778,1100,1015,0.0,0.0,0,93,0.00,0.00,-71.82,0.000,16390,0.000,0.000,109,2776,3355,3346,3365,0,0,0,0,0,0,14.59,12.99,14.58
$GC,95,-1.09,-76.2,110,2778,3347,3366,-1.3,-6.5,2,117,11.73,2.40,0.00,0.000,2564,0.393,0.035,2541,1351,3357,3349,3366,0,0,0,0,0,0,14.09,14.35,14.40
$GC,290,-0.84,-76.2,2541,1351,3351,3367,55.9,-15.4,31,298,0.35,2.55,0.00,0.000,3206,0.256,0.069,2624,2761,3358,3351,3366,0,0,0,0,0,0,14.10,14.32,14.30
$GC,620,-0.84,-76.2,2622,2762,3356,3366,86.9,-10.4,45,627,0.00,1.98,0.00,0.000,260,0.000,0.103,2615,3821,3360,3354,3366,0,0,0,0,0,0,14.73,14.32,14.73
$GC,857,-0.76,-76.2,2615,3820,3355,3367,108.6,-9.1,79,865,0.12,1.77,0.00,0.000,3206,0.224,0.037,2650,2751,3360,3355,3366,0,0,0,0,0,0,14.23,14.56,14.40
$GC,1180,-0.76,-76.2,2650,2752,3356,3366,134.5,-7.9,90,1187,0.00,2.00,0.00,0.000,260,0.000,0.102,2642,3826,3360,3356,3365,0,0,0,0,0,0,14.78,14.38,14.78
$GC,1362,-0.76,-76.2,2642,3828,3357,3359,152.6,-9.5,116,1369,0.00,1.77,0.00,0.000,1030,0.000,0.039,2642,2755,3359,3355,3364,0,0,0,0,0,0,14.58,14.55,14.59
$GC,1684,-0.76,-76.2,2642,2756,3358,3359,181.1,-8.8,127,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2755,3357,3355,3359,0,0,0,0,0,0,14.80,14.80,14.80
$GC,2020,-0.76,-76.2,2642,2755,3356,3355,210.7,-8.9,133,2027,0.00,2.05,0.00,0.000,260,0.000,0.103,2634,3824,3354,3355,3354,0,0,0,0,0,0,14.81,14.35,14.81
$GC,2061,-0.76,-76.2,2633,3824,3356,3354,214.5,-9.3,139,2069,0.00,1.77,0.00,0.000,1030,0.000,0.040,2633,2770,3354,3355,3353,0,0,0,0,0,0,14.66,14.60,14.66
$GC,2412,-0.76,-76.2,2634,2770,3356,3349,246.4,-9.2,147,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2770,3351,3355,3348,0,0,0,0,0,0,14.80,14.80,14.80
$GC,2748,-0.76,-76.2,2634,2769,3356,3344,277.2,-9.1,153,2761,0.00,1.98,0.00,0.000,260,0.000,0.104,2625,3825,3348,3355,3342,0,0,0,0,0,0,14.87,14.43,14.88
$GC,2809,-0.76,-76.2,2625,3826,3356,3341,283.2,-9.9,161,2822,0.00,1.73,0.00,0.000,1030,0.000,0.041,2624,2766,3347,3354,3341,0,0,0,0,0,0,14.71,14.66,14.73
$GC,3150,-0.76,-76.2,2624,2767,3366,3336,315.0,-9.3,174,3163,0.08,2.30,0.00,0.000,2564,0.275,0.042,2652,1387,3345,3355,3335,0,0,0,0,0,0,14.34,14.57,14.49
$GC,3217,-0.85,-76.2,2652,1388,3356,3335,320.6,-7.9,183,3230,0.00,2.42,0.00,0.000,1158,0.000,0.068,2642,2772,3344,3355,3334,0,0,0,0,0,0,14.65,14.50,14.69
$GC,3551,-0.85,-76.2,2642,2772,3356,3333,347.7,-8.1,195,3564,0.00,2.35,0.00,0.000,516,0.000,0.043,2642,1386,3346,3355,3337,0,0,0,0,0,0,14.90,14.59,14.90
$GC,3590,-0.85,-76.2,2642,1385,3356,3331,350.9,-8.1,200,3603,0.00,2.42,0.00,0.000,1030,0.000,0.068,2632,2767,3342,3355,3329,0,0,0,0,0,0,14.68,14.51,14.69
$GC,3951,-0.85,-76.2,2633,2770,3356,3329,382.0,-8.7,209,3965,0.00,1.95,0.00,0.000,260,0.000,0.106,2622,3831,3341,3355,3327,0,0,0,0,0,0,14.91,14.43,14.91
$GC,4053,-0.85,-76.2,2624,3832,3356,3326,391.1,-9.1,223,4066,0.00,1.77,0.00,0.000,1030,0.000,0.042,2623,2736,3338,3355,3321,0,0,0,0,0,0,14.72,14.66,14.73
$GC,4408,-0.85,-76.2,2623,2736,3354,3323,421.7,-8.8,231,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2736,3338,3355,3322,0,0,0,0,0,0,14.91,14.91,14.90
$GC,4744,-0.85,-76.2,2624,2736,3358,3320,451.5,-8.7,237,4758,0.00,2.05,0.00,0.000,260,0.000,0.106,2615,3831,3337,3355,3319,0,0,0,0,0,0,14.91,14.41,14.91
$GC,4825,-0.85,-76.2,2615,3833,3356,3317,458.5,-8.8,248,4838,0.00,1.73,0.00,0.000,1030,0.000,0.043,2615,2774,3335,3354,3317,0,0,0,0,0,0,14.73,14.69,14.75
$GC,5145,-0.85,-76.2,2615,2774,3355,3316,486.1,-8.4,258,5158,0.00,2.35,0.00,0.000,516,0.000,0.043,2615,1376,3334,3354,3314,0,0,0,0,0,0,14.90,14.56,14.91
$GC,5240,-0.85,-76.2,2615,1378,3354,3314,494.1,-8.4,271,5253,0.00,2.47,0.00,0.000,1030,0.000,0.067,2606,2774,3333,3354,3313,0,0,0,0,0,0,14.65,14.50,14.69
$GC,5602,-0.85,-76.2,2605,2775,3353,3312,525.0,-8.7,280,5615,0.00,1.95,0.00,0.000,260,0.000,0.106,2597,3830,3332,3355,3310,0,0,0,0,0,0,14.90,14.42,14.90
$GC,5626,-0.85,-76.2,2596,3831,3355,3310,527.3,-8.7,283,5640,0.00,1.75,0.00,0.000,1030,0.000,0.043,2595,2763,3332,3353,3311,0,0,0,0,0,0,14.73,14.68,14.76
$GC,5946,-0.85,-76.2,2594,2763,3351,3311,556.7,-9.5,293,5960,0.08,2.33,0.00,0.000,2564,0.297,0.041,2619,1379,3330,3350,3310,0,0,0,0,0,0,14.26,14.51,14.42
$GC,5978,-0.85,-76.2,2620,1379,3351,3311,559.5,-8.7,297,5992,0.00,2.47,0.00,0.000,1030,0.000,0.069,2610,2774,3330,3350,3310,0,0,0,0,0,0,14.66,14.47,14.67
$GC,6348,-0.85,-76.2,2610,2776,3352,3308,592.9,-9.2,307,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2776,3328,3350,3307,0,0,0,0,0,0,14.90,14.90,14.90
$GC,6684,-0.85,-76.2,2610,2777,3351,3304,624.1,-8.8,313,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2776,3327,3350,3304,0,0,0,0,0,0,14.90,14.90,14.89
$GC,7020,-0.85,-76.2,2614,2777,3350,3302,653.9,-8.8,319,7033,0.00,1.95,0.00,0.000,260,0.000,0.108,2602,3824,3325,3349,3302,0,0,0,0,0,0,14.92,14.38,14.92
$GC,7094,-0.85,-76.2,2603,3824,3349,3304,661.0,-9.6,329,7107,0.00,1.75,0.00,0.000,1030,0.000,0.044,2599,2769,3325,3349,3302,0,0,0,0,0,0,14.70,14.64,14.71
$GC,7421,-0.85,-76.2,2601,2768,3345,3305,690.9,-9.1,340,7434,0.00,2.38,0.00,0.000,516,0.000,0.044,2600,1369,3323,3345,3302,0,0,0,0,0,0,14.91,14.52,14.91
$GC,7509,-0.85,-76.2,2600,1369,3346,3303,698.9,-8.8,352,7522,0.10,2.50,0.00,0.000,3078,0.273,0.070,2616,2773,3324,3346,3302,0,0,0,0,0,0,14.14,14.39,14.44
$GC,7878,-0.85,-76.2,2617,2772,3346,3300,728.9,-8.1,362,7891,0.00,1.95,0.00,0.000,260,0.000,0.108,2609,3821,3322,3345,3299,0,0,0,0,0,0,14.90,14.35,14.94
$GC,7916,-0.85,-76.2,2610,3820,3345,3301,732.3,-9.4,367,7930,0.00,1.77,0.00,0.000,1030,0.000,0.044,2609,2751,3322,3345,3300,0,0,0,0,0,0,14.66,14.59,14.69
$GC,8278,-0.85,-76.2,2609,2752,3344,3299,762.5,-8.4,376,8292,0.00,2.35,0.00,0.000,516,0.000,0.045,2607,1367,3318,3343,3293,0,0,0,0,0,0,14.90,14.50,14.90
$GC,8310,-0.85,-76.2,2609,1369,3339,3299,765.3,-8.6,380,8323,0.00,2.50,0.00,0.000,1030,0.000,0.070,2599,2775,3321,3343,3299,0,0,0,0,0,0,14.61,14.43,14.64
$GC,8679,-0.85,-76.2,2599,2773,3347,3296,796.9,-8.5,390,8692,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2771,3319,3343,3296,0,0,0,0,0,0,14.88,14.88,14.88
$GC,9015,-0.85,-76.2,2600,2772,3342,3297,825.3,-8.4,396,9029,0.00,2.40,0.00,0.000,516,0.000,0.045,2598,1379,3317,3341,3293,0,0,0,0,0,0,14.90,14.47,14.90
$GC,9068,-0.85,-76.2,2597,1380,3343,3295,830.0,-8.6,403,9082,0.12,2.50,0.00,0.000,3078,0.260,0.070,2621,2768,3318,3341,3295,0,0,0,0,0,0,14.12,14.41,14.40
$GC,9413,-0.86,-82.0,2621,2768,3342,3304,855.6,-7.3,410,9426,0.00,0.00,0.00,0.000,38,0.000,0.000,2621,2768,3318,3341,3296,0,0,0,0,0,0,14.87,14.87,14.86
$GC,9749,-0.95,-89.0,2620,2769,3347,3293,880.0,-7.3,416,9762,0.00,2.40,0.00,0.000,676,0.000,0.044,2621,1381,3319,3346,3292,0,0,0,0,0,0,14.89,14.46,14.89
$GC,9830,-1.05,-101.8,2622,1380,3342,3293,885.5,-6.9,427,9843,0.10,2.47,0.00,0.000,5286,0.119,0.070,2554,2768,3316,3341,3291,0,0,0,0,0,0,14.50,14.39,14.59
$GC,10150,-1.05,-101.8,2554,2768,3340,3292,914.7,-9.3,437,10163,0.00,1.98,0.00,0.000,260,0.000,0.109,2546,3828,3315,3339,3291,0,0,0,0,0,0,14.86,14.32,14.87
$GC,10189,-1.06,-106.1,2546,3827,3339,3292,918.0,-7.5,442,10202,0.00,1.77,0.00,0.000,1062,0.000,0.044,2545,2755,3314,3338,3291,0,0,0,0,0,0,14.64,14.61,14.68
$STATE,10325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10325,begin apogee
$GC,10330,-0.23,0.0,2546,2230,3340,3291,930.9,-9.0,447,10415,1.00,0.00,74.72,1.984,10244,0.220,0.000,2820,2228,3049,3090,3008,0,0,0,0,0,0,14.16,14.14,13.35
$STATE,10417,end apogee,CONTROL_FINISHED_OK
$STATE,10417,begin climb
$GC,10419,1.12,106.1,2821,2228,3087,3002,933.5,0.0,448,10549,1.35,0.00,113.32,1.965,11270,0.108,0.000,3257,2228,2622,2682,2563,0,0,0,0,0,0,14.11,14.35,13.10
$GC,10891,0.95,106.1,3257,2228,2682,2546,891.0,10.6,478,10904,0.17,0.00,0.00,0.000,4230,0.272,0.000,3212,2233,2613,2681,2545,0,0,0,0,0,0,14.00,14.38,14.33
$GC,11227,0.85,106.1,3211,2229,2682,2544,860.3,8.9,484,11240,0.12,0.00,0.00,0.000,4230,0.278,0.000,3181,2227,2612,2681,2543,0,0,0,0,0,0,14.09,14.48,14.42
$GC,11563,0.85,106.1,3180,2229,2681,2542,831.6,8.6,490,11576,0.00,2.40,0.00,0.000,516,0.000,0.062,3191,857,2611,2681,2542,0,0,0,0,0,0,14.76,14.34,14.76
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$STATE,22252,end climb,SURFACE_DEPTH_REACHED
$STATE,22252,begin surface coast
$FINISH,0.9,1.020542
$STATE,22258,end surface coast,CONTROL_FINISHED_OK
$STATE,22258,begin surface
$SM_CCo,22286,56.70,0.161,0,0,1056,500.14
$SM_GC,-4.60,9.43,3.35,56.70,0.089,0.064,0.161,190,2761,1056,-8.39,-0.85,500.14,0,0,0,0,0,0,14.54,14.42,14.34
$IRIDIUM_FIX,1009.21,-12458.62,221016,122516
$TT8_MAMPS,0.035952,0.268142
$HUMID,49.64
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,3820672
$PM_FREEKB,57284672
$TM_FREEKB,5720416
$24V_AH,12.99,90.247
$10V_AH,12.94,0.000
$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
$DEVICE_SECS,25.575,181.850,374.475,56.700,0.000,0.000,0.000,497.450,0.000,0.000,6.284,0.000,18620.266,670.610,3555.312,332.865,0.000,2742.437,0.000,1665.996,0.000,0.839,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22309.000,22261.000,3115.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.547,2.398,21.068,0.000
$MEM,334716
$DATA_FILE_SIZE,33354,932
$CAP_FILE_SIZE,183897,0
$CFSIZE,1024409600,972816384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052,104.97,1
$GPS,231016,013401,1018.710,-12459.382,27,0.8,27,9.1,0.5,96.8,10,8.2