version: 66.13
glider: 220
mission: 6
dive: 391
start: 12 5 116 12 9 19
data:
$ID,220
$MISSION,6
$DIVE,391
$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,45
$R_STBD_OVSHOOT,20
$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
$GPS1,051216,115301,1000.6842,-12518.3281,26,1.5,26,9.0,0.3,0.0,6,5.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.00
$_SM_ANGLEo,-69.3
$GPS2,051216,120857,1000.7915,-12518.1738,2,1.6,4,9.0,0.4,80.3,6,5.8
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,218.2,2658,-19.3,-7.750,-25.64,1784
$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,15,-0.99,-92.8,105,2774,1100,1013,0.0,0.0,0,92,0.00,0.00,-75.72,0.000,16390,0.000,0.000,104,2773,3421,3408,3434,0,0,0,0,0,0,14.69,12.62,14.68
$GC,95,-0.99,-92.8,106,2774,3410,3436,0.3,-4.1,2,116,11.73,2.38,0.00,0.000,2564,0.383,0.032,2572,1355,3423,3412,3435,0,0,0,0,0,0,14.00,14.41,14.39
$GC,212,-0.74,-92.8,2573,1355,3413,3434,40.7,-22.2,20,220,0.30,2.58,0.00,0.000,3206,0.251,0.067,2655,2771,3423,3413,3434,0,0,0,0,0,0,14.07,14.26,14.38
$GC,535,-0.74,-93.9,2654,2771,3416,3435,70.0,-7.7,33,536,0.00,0.00,0.00,0.000,38,0.000,0.000,2655,2771,3425,3416,3434,0,0,0,0,0,0,14.85,14.85,14.85
$GC,843,-0.74,-93.9,2656,2772,3418,3434,94.3,-8.0,44,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2771,3425,3416,3434,0,0,0,0,0,0,14.89,14.89,14.89
$GC,1151,-0.75,-98.6,2655,2773,3418,3432,118.2,-7.5,51,1156,0.00,2.42,0.00,0.000,548,0.000,0.044,2655,1355,3424,3416,3432,0,0,0,0,0,0,14.92,14.57,14.91
$GC,1199,-0.75,-101.7,2656,1356,3418,3433,122.0,-7.6,58,1207,0.00,2.50,0.00,0.000,1062,0.000,0.065,2645,2763,3424,3417,3432,0,0,0,0,0,0,14.53,14.45,14.58
$GC,1543,-0.75,-101.7,2646,2762,3417,3430,149.1,-8.0,65,1548,0.00,2.00,0.00,0.000,260,0.000,0.109,2637,3822,3422,3416,3429,0,0,0,0,0,0,14.95,14.35,14.95
$GC,1599,-0.75,-101.7,2637,3825,3417,3428,154.1,-8.9,73,1604,0.00,1.83,0.00,0.000,1030,0.000,0.040,2637,2714,3422,3417,3428,0,0,0,0,0,0,14.66,14.64,14.68
$GC,1935,-0.75,-101.7,2637,2714,3417,3424,183.4,-9.0,86,1940,0.00,2.10,0.00,0.000,260,0.000,0.107,2628,3835,3420,3417,3423,0,0,0,0,0,0,14.95,14.41,14.95
$GC,2025,-0.75,-101.7,2628,3833,3417,3420,192.2,-9.7,99,2031,0.00,1.85,0.00,0.000,1030,0.000,0.040,2622,2732,3418,3416,3421,0,0,0,0,0,0,14.74,14.71,14.74
$GC,2383,-0.75,-101.7,2628,2733,3417,3417,225.7,-9.3,108,2389,0.00,2.28,0.00,0.000,516,0.000,0.043,2627,1386,3416,3416,3417,0,0,0,0,0,0,14.93,14.57,14.94
$GC,2410,-0.75,-101.7,2628,1386,3417,3418,228.3,-9.3,112,2418,0.10,2.50,0.00,0.000,3078,0.216,0.067,2648,2773,3416,3416,3417,0,0,0,0,0,0,14.28,14.46,14.45
$GC,2775,-0.75,-101.7,2649,2772,3417,3412,258.2,-8.2,122,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2773,3414,3417,3411,0,0,0,0,0,0,14.94,14.94,14.94
$GC,3111,-0.75,-101.7,2649,2774,3416,3406,286.1,-8.3,128,3117,0.00,2.40,0.00,0.000,516,0.000,0.044,2648,1382,3410,3416,3405,0,0,0,0,0,0,14.94,14.58,14.95
$GC,3159,-0.75,-101.7,2648,1380,3417,3405,290.3,-8.6,135,3167,0.00,2.50,0.00,0.000,1030,0.000,0.067,2639,2769,3410,3416,3404,0,0,0,0,0,0,14.53,14.43,14.57
$GC,3503,-0.75,-101.7,2639,2770,3417,3399,320.3,-8.9,142,3508,0.00,2.00,0.00,0.000,260,0.000,0.111,2631,3820,3408,3416,3400,0,0,0,0,0,0,14.94,14.34,14.94
$GC,3551,-0.75,-101.7,2631,3820,3417,3401,324.7,-9.1,149,3559,0.00,1.80,0.00,0.000,1030,0.000,0.041,2631,2766,3408,3416,3400,0,0,0,0,0,0,14.73,14.70,14.72
$GC,3895,-0.75,-101.7,2631,2767,3416,3397,355.9,-9.1,156,3901,0.00,2.40,0.00,0.000,516,0.000,0.044,2630,1380,3406,3416,3396,0,0,0,0,0,0,14.94,14.51,14.94
$GC,3929,-0.75,-101.7,2630,1382,3418,3396,359.1,-9.4,161,3936,0.10,2.50,0.00,0.000,3078,0.220,0.067,2651,2766,3405,3416,3395,0,0,0,0,0,0,14.26,14.42,14.42
$GC,4287,-0.75,-101.7,2651,2765,3417,3392,388.1,-8.1,170,4292,0.00,2.03,0.00,0.000,260,0.000,0.111,2643,3829,3404,3417,3391,0,0,0,0,0,0,14.96,14.33,14.96
$GC,4335,-0.75,-101.7,2641,3830,3417,3393,392.4,-8.8,177,4343,0.00,1.83,0.00,0.000,1030,0.000,0.042,2642,2762,3403,3416,3390,0,0,0,0,0,0,14.69,14.67,14.70
$GC,4679,-0.75,-101.7,2643,2763,3417,3387,422.2,-8.8,184,4685,0.00,2.40,0.00,0.000,516,0.000,0.043,2642,1378,3401,3416,3387,0,0,0,0,0,0,14.94,14.50,14.93
$GC,4735,-0.75,-101.7,2642,1378,3417,3389,427.3,-9.2,192,4741,0.00,2.47,0.00,0.000,1030,0.000,0.066,2633,2771,3401,3416,3387,0,0,0,0,0,0,14.61,14.45,14.64
$GC,5071,-0.75,-101.7,2633,2772,3416,3383,459.2,-9.4,205,5076,0.00,2.40,0.00,0.000,516,0.000,0.042,2632,1380,3399,3416,3383,0,0,0,0,0,0,14.93,14.54,14.93
$GC,5112,-0.75,-101.7,2632,1380,3417,3383,463.2,-9.5,211,5119,0.10,2.50,0.00,0.000,3078,0.223,0.066,2652,2759,3399,3415,3383,0,0,0,0,0,0,14.16,14.33,14.33
$GC,5463,-0.84,-101.7,2652,2759,3415,3381,491.5,-7.9,219,5464,0.00,0.00,0.00,0.000,134,0.000,0.000,2651,2758,3398,3417,3380,0,0,0,0,0,0,14.92,14.92,14.91
$GC,5800,-0.93,-107.1,2652,2760,3417,3376,515.2,-6.9,225,5805,0.10,2.38,0.00,0.000,4772,0.114,0.043,2575,1376,3396,3417,3376,0,0,0,0,0,0,14.66,14.53,14.71
$GC,5840,-0.93,-107.1,2574,1376,3415,3377,518.8,-9.1,231,5847,0.10,2.53,0.00,0.000,3078,0.231,0.067,2589,2771,3396,3416,3376,0,0,0,0,0,0,14.16,14.41,14.35
$GC,6191,-0.93,-107.1,2593,2772,3417,3374,549.6,-8.7,239,6196,0.00,2.00,0.00,0.000,260,0.000,0.109,2586,3821,3395,3416,3374,0,0,0,0,0,0,14.95,14.31,14.95
$GC,6253,-0.93,-107.1,2587,3822,3415,3375,555.7,-9.7,248,6260,0.00,1.83,0.00,0.000,1030,0.000,0.041,2585,2751,3394,3415,3374,0,0,0,0,0,0,14.70,14.65,14.71
$GC,6583,-0.93,-107.1,2585,2752,3414,3374,586.3,-9.4,260,6589,0.00,2.05,0.00,0.000,260,0.000,0.108,2577,3829,3393,3413,3374,0,0,0,0,0,0,14.94,14.33,14.94
$GC,6617,-0.93,-107.1,2577,3829,3413,3379,589.7,-10.0,265,6624,0.00,1.80,0.00,0.000,1030,0.000,0.043,2577,2772,3393,3412,3374,0,0,0,0,0,0,14.64,14.62,14.64
$GC,6975,-0.93,-107.1,2578,2772,3411,3375,625.0,-9.9,274,6976,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2772,3391,3409,3373,0,0,0,0,0,0,14.92,14.92,14.92
$GC,7311,-0.93,-107.1,2578,2772,3409,3374,659.6,-10.4,280,7317,0.00,2.05,0.00,0.000,260,0.000,0.110,2569,3820,3390,3408,3373,0,0,0,0,0,0,14.95,14.26,14.95
$GC,7345,-0.93,-107.1,2570,3820,3409,3374,663.5,-11.3,285,7352,0.08,1.80,0.00,0.000,3078,0.224,0.042,2590,2772,3390,3408,3373,0,0,0,0,0,0,14.23,14.62,14.40
$GC,7703,-0.93,-107.1,2590,2772,3409,3371,700.1,-10.3,294,7708,0.00,2.42,0.00,0.000,516,0.000,0.044,2589,1365,3387,3408,3366,0,0,0,0,0,0,14.92,14.47,14.92
$GC,7730,-0.93,-107.1,2590,1365,3408,3370,703.1,-10.8,298,7737,0.00,2.53,0.00,0.000,1030,0.000,0.066,2577,2757,3388,3408,3368,0,0,0,0,0,0,14.45,14.35,14.51
$GC,8095,-0.93,-107.1,2581,2759,3403,3366,741.4,-10.5,308,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2757,3387,3407,3367,0,0,0,0,0,0,14.94,14.94,14.93
$GC,8431,-0.93,-107.1,2581,2759,3406,3366,775.8,-10.1,314,8436,0.00,2.05,0.00,0.000,260,0.000,0.110,2573,3825,3385,3404,3366,0,0,0,0,0,0,14.91,14.23,14.91
$GC,8465,-0.93,-107.1,2573,3826,3404,3369,779.4,-10.6,319,8472,0.00,1.85,0.00,0.000,1030,0.000,0.044,2571,2751,3385,3404,3366,0,0,0,0,0,0,14.65,14.62,14.66
$GC,8823,-0.93,-107.1,2571,2752,3405,3366,814.2,-9.7,328,8829,0.00,2.38,0.00,0.000,516,0.000,0.044,2571,1374,3384,3404,3365,0,0,0,0,0,0,14.90,14.44,14.90
$GC,8857,-0.93,-107.1,2571,1375,3406,3365,817.6,-9.9,333,8864,0.10,2.53,0.00,0.000,3078,0.232,0.065,2589,2757,3384,3404,3365,0,0,0,0,0,0,14.08,14.30,14.26
$GC,9215,-0.93,-107.1,2590,2757,3403,3365,847.8,-8.5,342,9220,0.00,2.05,0.00,0.000,260,0.000,0.112,2583,3828,3384,3404,3365,0,0,0,0,0,0,14.92,14.19,14.93
$GC,9256,-0.93,-107.1,2583,3829,3405,3363,851.5,-9.0,348,9263,0.00,1.85,0.00,0.000,1030,0.000,0.044,2582,2750,3383,3404,3363,0,0,0,0,0,0,14.58,14.57,14.60
$GC,9607,-0.93,-107.1,2582,2751,3403,3363,881.2,-8.5,356,9608,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2749,3382,3401,3363,0,0,0,0,0,0,14.90,14.90,14.90
$GC,9943,-0.93,-107.1,2583,2749,3407,3362,909.5,-8.3,362,9948,0.00,2.10,0.00,0.000,260,0.000,0.109,2575,3825,3379,3401,3357,0,0,0,0,0,0,14.92,14.16,14.92
$GC,10033,-0.93,-107.1,2575,3824,3401,3362,917.7,-9.0,375,10040,0.00,1.85,0.00,0.000,1030,0.000,0.044,2574,2768,3380,3400,3361,0,0,0,0,0,0,14.60,14.57,14.60
$STATE,10220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10220,begin apogee
$GC,10228,-0.23,0.0,2575,2210,3401,3360,934.3,-8.5,381,10324,0.88,0.10,93.35,1.986,10244,0.190,0.158,2823,2272,3051,3090,3012,0,0,0,0,0,0,14.07,13.98,13.02
$STATE,10325,end apogee,CONTROL_FINISHED_OK
$STATE,10325,begin climb
$GC,10328,1.01,107.1,2824,2273,3088,3005,936.5,0.0,382,10456,1.17,2.53,116.75,1.959,10756,0.090,0.056,3208,889,2619,2678,2560,0,0,0,0,0,0,14.03,14.06,12.90
$GC,10476,0.86,107.1,3208,891,2678,2553,930.9,9.2,410,10483,0.10,2.45,0.00,0.000,5254,0.226,0.049,3182,2236,2613,2677,2549,0,0,0,0,0,0,13.78,13.93,13.93
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$STATE,22374,end climb,SURFACE_DEPTH_REACHED
$STATE,22374,begin surface coast
$FINISH,0.8,1.021165
$STATE,22383,end surface coast,CONTROL_FINISHED_OK
$STATE,22383,begin surface
$SM_CCo,22407,51.80,0.156,0,0,1056,500.14
$SM_GC,-0.99,9.52,3.38,51.80,0.084,0.060,0.156,185,2766,1056,-8.40,-0.71,500.14,0,0,0,0,0,0,14.55,14.38,14.24
$IRIDIUM_FIX,956.07,-12514.95,051216,115759
$TT8_MAMPS,0.03745,0.455392
$HUMID,54.29
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,22.60
$XPDR_PINGS,0
$SC_FREEKB,3759584
$PM_FREEKB,55325632
$24V_AH,12.62,140.499
$10V_AH,12.63,0.000
$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,25.350,204.925,429.000,51.800,0.000,0.000,0.000,598.800,0.000,0.000,5.527,0.000,19265.518,808.804,2850.304,471.532,0.000,2226.127,0.000,1674.027,0.000,1.133,0.000
$DEVICE_MAMPS,383.265,158.355,2049.435,156.060,0.000,0.000,0.000,157.590,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22446.000,22390.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.546,2.401,0.000,0.000
$MEM,334676
$DATA_FILE_SIZE,33410,934
$CAP_FILE_SIZE,174419,0
$CFSIZE,1024409600,948469760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.017,84.78,1
$GPS,051216,182501,959.394,-12519.279,52,0.8,52,9.0,0.6,32.8,12,5.0