version: 66.13
glider: 220
mission: 6
dive: 384
start: 12 3 116 13 51 49
data:
$ID,220
$MISSION,6
$DIVE,384
$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,60
$R_STBD_OVSHOOT,18
$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,3
$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
$GPS1,031216,134031,1007.4893,-12509.3115,28,0.8,28,9.0,0.9,10.3,11,3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.10
$_SM_ANGLEo,-73.2
$GPS2,031216,135126,1007.5649,-12509.2246,2,0.8,2,9.0,0.6,55.8,11,9.8
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,220.0,23238,-17.6,-7.750,-24.23,2047
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.93,-107.1,140,2783,1093,1016,0.0,0.0,0,93,0.00,0.00,-77.35,0.000,16390,0.000,0.000,133,2784,3478,3470,3486,0,0,0,0,0,0,14.67,12.59,14.66
$GC,96,-0.93,-107.1,134,2785,3471,3487,0.3,-4.2,2,116,11.82,2.40,0.00,0.000,2564,0.386,0.034,2592,1367,3479,3472,3487,0,0,0,0,0,0,13.97,14.40,14.35
$GC,236,-0.71,-107.1,2591,1368,3476,3487,45.2,-18.2,23,241,0.30,2.47,0.00,0.000,3206,0.244,0.067,2664,2768,3480,3475,3486,0,0,0,0,0,0,14.11,14.37,14.38
$GC,564,-0.71,-107.1,2664,2769,3481,3486,74.7,-8.0,37,570,0.00,2.38,0.00,0.000,516,0.000,0.041,2663,1373,3483,3479,3487,0,0,0,0,0,0,14.85,14.50,14.84
$GC,689,-0.71,-107.1,2664,1374,3481,3487,85.3,-7.9,55,695,0.00,2.47,0.00,0.000,1030,0.000,0.064,2654,2764,3483,3480,3487,0,0,0,0,0,0,14.49,14.39,14.53
$GC,1012,-0.71,-107.1,2654,2765,3481,3487,109.9,-8.1,66,1017,0.00,1.95,0.00,0.000,260,0.000,0.107,2645,3825,3483,3479,3487,0,0,0,0,0,0,14.89,14.37,14.90
$GC,1158,-0.71,-107.1,2646,3826,3480,3486,123.1,-10.8,87,1164,0.00,1.77,0.00,0.000,1030,0.000,0.037,2645,2751,3482,3479,3486,0,0,0,0,0,0,14.62,14.57,14.63
$GC,1516,-0.71,-107.1,2646,2752,3481,3483,154.0,-9.0,96,1521,0.00,2.05,0.00,0.000,260,0.000,0.106,2637,3818,3481,3479,3483,0,0,0,0,0,0,14.92,14.35,14.92
$GC,1613,-0.71,-107.1,2638,3817,3480,3485,165.5,-9.8,110,1620,0.08,1.77,0.00,0.000,3078,0.243,0.040,2665,2761,3480,3479,3482,0,0,0,0,0,0,14.36,14.68,14.50
$GC,1964,-0.71,-107.1,2666,2761,3480,3487,193.4,-7.9,118,1969,0.00,2.33,0.00,0.000,516,0.000,0.044,2665,1383,3478,3479,3478,0,0,0,0,0,0,14.92,14.54,14.92
$GC,2020,-0.71,-107.1,2666,1384,3480,3477,197.8,-8.3,126,2025,0.00,2.45,0.00,0.000,1030,0.000,0.066,2656,2766,3476,3475,3477,0,0,0,0,0,0,14.63,14.47,14.66
$GC,2356,-0.71,-107.1,2657,2767,3480,3472,226.3,-8.4,139,2361,0.00,2.00,0.00,0.000,260,0.000,0.107,2648,3819,3475,3479,3472,0,0,0,0,0,0,14.93,14.35,14.92
$GC,2439,-0.71,-107.1,2649,3819,3480,3472,233.8,-9.0,151,2445,0.00,1.77,0.00,0.000,1030,0.000,0.041,2648,2770,3475,3479,3471,0,0,0,0,0,0,14.73,14.68,14.74
$GC,2804,-0.71,-107.1,2648,2771,3480,3467,265.7,-8.7,161,2810,0.00,2.35,0.00,0.000,516,0.000,0.043,2648,1379,3473,3479,3467,0,0,0,0,0,0,14.95,14.56,14.95
$GC,2852,-0.71,-107.1,2648,1380,3481,3466,270.0,-8.9,168,2860,0.10,2.50,0.00,0.000,3078,0.216,0.067,2668,2767,3472,3479,3466,0,0,0,0,0,0,14.25,14.42,14.40
$GC,3196,-0.71,-107.1,2670,2768,3481,3462,297.3,-7.9,175,3201,0.00,2.38,0.00,0.000,516,0.000,0.043,2669,1382,3471,3480,3462,0,0,0,0,0,0,14.95,14.55,14.94
$GC,3237,-0.71,-107.1,2669,1383,3479,3461,300.8,-8.2,181,3244,0.00,2.47,0.00,0.000,1030,0.000,0.065,2660,2763,3469,3477,3461,0,0,0,0,0,0,14.52,14.42,14.56
$GC,3588,-0.71,-107.1,2660,2763,3480,3458,330.0,-8.4,189,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2763,3468,3479,3457,0,0,0,0,0,0,14.96,14.95,14.95
$GC,3924,-0.71,-107.1,2659,2764,3480,3453,359.0,-8.6,195,3924,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2763,3466,3479,3453,0,0,0,0,0,0,14.96,14.96,14.96
$GC,4260,-0.71,-107.1,2660,2765,3478,3451,387.7,-8.5,201,4266,0.00,2.38,0.00,0.000,516,0.000,0.044,2659,1388,3464,3479,3450,0,0,0,0,0,0,14.94,14.53,14.94
$GC,4287,-0.71,-107.1,2660,1389,3480,3450,390.0,-8.5,205,4294,0.00,2.50,0.00,0.000,1030,0.000,0.068,2651,2756,3464,3479,3450,0,0,0,0,0,0,14.50,14.40,14.54
$GC,4652,-0.71,-107.1,2651,2758,3480,3446,419.7,-8.0,215,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2757,3462,3479,3446,0,0,0,0,0,0,14.94,14.94,14.93
$GC,4988,-0.71,-107.1,2652,2757,3479,3445,445.5,-7.8,221,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2757,3462,3481,3443,0,0,0,0,0,0,14.92,14.93,14.92
$GC,5324,-0.71,-107.1,2652,2758,3479,3442,472.2,-7.9,227,5325,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2757,3460,3479,3441,0,0,0,0,0,0,14.92,14.93,14.93
$GC,5660,-0.71,-107.1,2652,2758,3480,3438,499.7,-8.2,233,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2757,3458,3479,3438,0,0,0,0,0,0,14.96,14.97,14.95
$GC,5996,-0.71,-107.1,2651,2757,3480,3435,527.4,-8.2,239,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2757,3457,3479,3436,0,0,0,0,0,0,14.95,14.95,14.95
$GC,6332,-0.71,-107.1,2651,2758,3476,3432,554.0,-7.8,245,6338,0.00,2.40,0.00,0.000,516,0.000,0.046,2651,1384,3455,3479,3432,0,0,0,0,0,0,14.95,14.50,14.94
$GC,6394,-0.71,-107.1,2651,1385,3480,3432,559.0,-7.8,254,6400,0.00,2.53,0.00,0.000,1030,0.000,0.070,2641,2758,3455,3479,3432,0,0,0,0,0,0,14.44,14.38,14.49
$GC,6724,-0.71,-107.1,2642,2759,3479,3431,584.1,-7.6,266,6729,0.00,2.05,0.00,0.000,292,0.000,0.112,2633,3823,3453,3478,3429,0,0,0,0,0,0,14.92,14.24,14.92
$GC,6765,-0.71,-107.1,2634,3824,3479,3430,587.4,-8.1,272,6771,0.08,1.83,0.00,0.000,3078,0.247,0.045,2663,2774,3453,3477,3429,0,0,0,0,0,0,14.26,14.62,14.40
$GC,7116,-0.79,-107.1,2667,2775,3476,3428,611.2,-6.8,280,7121,0.00,2.42,0.00,0.000,676,0.000,0.046,2663,1370,3451,3475,3427,0,0,0,0,0,0,14.92,14.48,14.92
$GC,7178,-0.88,-107.1,2664,1370,3475,3431,615.8,-7.3,289,7185,0.05,2.55,0.00,0.000,5286,0.124,0.070,2601,2760,3449,3474,3424,0,0,0,0,0,0,14.33,14.33,14.42
$GC,7508,-0.88,-107.1,2601,2762,3472,3429,647.3,-9.8,301,7514,0.00,2.05,0.00,0.000,260,0.000,0.111,2593,3820,3450,3472,3429,0,0,0,0,0,0,14.91,14.23,14.92
$GC,7535,-0.88,-107.1,2593,3821,3473,3429,650.2,-10.5,305,7542,0.00,1.85,0.00,0.000,1030,0.000,0.043,2592,2758,3451,3471,3431,0,0,0,0,0,0,14.66,14.61,14.67
$GC,7900,-0.88,-107.1,2592,2752,3472,3428,688.7,-10.7,315,7905,0.00,2.10,0.00,0.000,260,0.000,0.110,2584,3825,3449,3471,3427,0,0,0,0,0,0,14.91,14.21,14.91
$GC,7934,-0.88,-107.1,2585,3825,3472,3429,692.7,-11.6,320,7940,0.10,1.85,0.00,0.000,3078,0.211,0.044,2607,2759,3449,3472,3427,0,0,0,0,0,0,14.19,14.61,14.33
$GC,8292,-0.88,-107.1,2613,2761,3472,3424,727.7,-9.8,329,8298,0.00,2.42,0.00,0.000,516,0.000,0.046,2613,1384,3447,3470,3425,0,0,0,0,0,0,14.91,14.40,14.91
$GC,8319,-0.88,-107.1,2613,1378,3471,3427,730.5,-9.9,333,8326,0.00,2.53,0.00,0.000,1030,0.000,0.067,2604,2762,3448,3471,3426,0,0,0,0,0,0,14.40,14.31,14.45
$GC,8684,-0.88,-107.1,2604,2762,3471,3426,764.8,-9.3,343,8689,0.00,2.05,0.00,0.000,260,0.000,0.112,2595,3826,3447,3470,3425,0,0,0,0,0,0,14.90,14.19,14.90
$GC,8740,-0.88,-107.1,2596,3826,3473,3426,770.1,-9.5,351,8745,0.00,1.85,0.00,0.000,1030,0.000,0.044,2594,2753,3447,3469,3425,0,0,0,0,0,0,14.53,14.50,14.54
$GC,9076,-0.88,-107.1,2594,2752,3470,3424,799.4,-8.8,364,9081,0.00,2.40,0.00,0.000,516,0.000,0.046,2594,1376,3448,3473,3423,0,0,0,0,0,0,14.92,14.43,14.92
$GC,9103,-0.88,-107.1,2595,1376,3470,3424,801.9,-9.0,368,9109,0.08,2.55,0.00,0.000,3078,0.229,0.067,2606,2764,3446,3470,3422,0,0,0,0,0,0,14.07,14.28,14.23
$GC,9468,-0.88,-107.1,2605,2765,3470,3421,831.2,-8.2,378,9473,0.00,2.05,0.00,0.000,260,0.000,0.112,2599,3827,3444,3469,3420,0,0,0,0,0,0,14.90,14.11,14.90
$GC,9530,-0.88,-107.1,2600,3827,3469,3421,836.9,-8.7,387,9536,0.00,1.88,0.00,0.000,1030,0.000,0.044,2599,2751,3445,3470,3421,0,0,0,0,0,0,14.63,14.57,14.64
$GC,9860,-0.88,-107.1,2599,2752,3467,3420,865.4,-8.7,399,9861,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2751,3443,3467,3420,0,0,0,0,0,0,14.90,14.90,14.90
$GC,10196,-0.88,-107.1,2599,2753,3468,3419,896.0,-9.2,405,10197,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2751,3445,3467,3423,0,0,0,0,0,0,14.92,14.92,14.92
$GC,10532,-0.88,-107.1,2599,2751,3466,3420,927.2,-9.3,411,10533,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2751,3442,3465,3419,0,0,0,0,0,0,14.92,14.92,14.92
$STATE,10585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10585,begin apogee
$GC,10592,-0.23,0.0,2600,2218,3466,3420,932.3,-9.3,412,10705,0.77,0.10,111.00,1.990,10244,0.181,0.156,2823,2281,3050,3092,3008,0,0,0,0,0,0,14.07,13.93,12.97
$STATE,10707,end apogee,CONTROL_FINISHED_OK
$STATE,10707,begin climb
$GC,10710,0.93,107.1,2824,2282,3091,3003,936.2,0.0,414,10841,1.12,2.62,117.88,1.958,10756,0.090,0.057,3187,845,2618,2680,2556,0,0,0,0,0,0,13.97,14.00,12.84
$GC,10869,0.81,107.1,3187,846,2682,2549,931.2,8.1,438,10874,0.00,2.50,0.00,0.000,1158,0.000,0.050,3187,2239,2614,2680,2548,0,0,0,0,0,0,14.05,13.95,14.07
$GC,11205,0.68,107.1,3187,2238,2681,2545,903.4,8.6,451,11210,0.25,2.62,0.00,0.000,4484,0.221,0.096,3117,3651,2611,2680,2543,0,0,0,0,0,0,14.15,14.28,14.41
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$STATE,22913,end climb,SURFACE_DEPTH_REACHED
$STATE,22913,begin surface coast
$FINISH,-1.7,1.020530
$STATE,22941,end surface coast,CONTROL_FINISHED_OK
$STATE,22941,begin surface
$SM_CCo,22965,18.85,0.161,0,0,1059,500.39
$SM_GC,-0.74,9.15,0.93,18.85,0.050,0.096,0.161,177,2769,1059,-8.40,-0.59,500.39,0,0,0,0,0,0,14.53,14.38,14.22
$IRIDIUM_FIX,1002.64,-12507.06,031216,071930
$TT8_MAMPS,0.038948,0.309337
$HUMID,54.44
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,21.60
$XPDR_PINGS,1
$SC_FREEKB,3762272
$PM_FREEKB,55411776
$24V_AH,12.59,138.298
$10V_AH,12.29,0.000
$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,24.750,192.625,484.425,18.850,0.000,0.000,0.000,369.500,0.250,0.000,3.956,0.000,19697.148,831.606,2639.566,455.397,0.000,2010.544,0.000,1689.773,0.000,0.838,0.000
$DEVICE_MAMPS,386.325,156.060,2029.545,161.415,0.000,0.000,0.000,178.245,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22999.000,22948.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.519,2.405,0.000,0.000
$MEM,334708
$DATA_FILE_SIZE,33347,938
$CAP_FILE_SIZE,166584,0
$CFSIZE,1024409600,949501952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.019,312.55,1
$GPS,031216,201601,1006.330,-12510.901,36,0.8,36,9.0,0.2,0.0,9,7.2