version: 66.13
glider: 220
mission: 6
dive: 463
start: 12 25 116 2 5 26
data:
$ID,220
$MISSION,6
$DIVE,463
$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,50
$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,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
$GPS1,251216,015231,1017.6205,-12458.8418,19,1.0,19,9.1,0.7,177.8,9,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.55
$_SM_ANGLEo,-70.0
$GPS2,251216,020502,1017.5898,-12458.8770,2,1.0,2,9.1,0.6,327.8,10,9.6
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,322.7,3450,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-1.19,-63.1,107,2786,1096,1015,0.0,0.0,0,93,0.00,0.00,-76.70,0.000,16390,0.000,0.000,107,2786,3302,3290,3315,0,0,0,0,0,0,14.65,12.51,14.65
$GC,97,-1.19,-63.1,107,2787,3292,3315,0.4,-2.8,2,112,11.60,1.95,0.00,0.000,2308,0.383,0.083,2499,3835,3304,3292,3316,0,0,0,0,0,0,13.91,14.31,14.31
$GC,343,-0.95,-63.1,2498,3838,3299,3316,54.8,-10.5,38,348,0.30,1.83,0.00,0.000,3206,0.257,0.037,2587,2750,3307,3298,3316,0,0,0,0,0,0,13.97,14.42,14.29
$GC,679,-0.95,-63.1,2587,2751,3300,3316,83.8,-9.6,53,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2750,3307,3299,3316,0,0,0,0,0,0,14.83,14.83,14.83
$GC,987,-0.95,-63.1,2587,2749,3300,3317,112.1,-9.7,62,991,0.00,2.03,0.00,0.000,260,0.000,0.106,2580,3833,3307,3299,3316,0,0,0,0,0,0,14.87,14.31,14.87
$GC,1140,-0.95,-63.1,2580,3833,3300,3317,129.8,-11.9,84,1146,0.00,1.80,0.00,0.000,1030,0.000,0.040,2579,2750,3307,3299,3315,0,0,0,0,0,0,14.61,14.58,14.62
$GC,1491,-0.95,-63.1,2580,2750,3300,3313,169.8,-11.5,92,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2750,3305,3299,3312,0,0,0,0,0,0,14.91,14.91,14.89
$GC,1827,-0.95,-63.1,2580,2750,3300,3310,203.9,-9.9,98,1832,0.00,2.03,0.00,0.000,260,0.000,0.107,2571,3826,3303,3299,3308,0,0,0,0,0,0,14.90,14.33,14.90
$GC,1883,-0.95,-63.1,2571,3829,3300,3308,209.6,-10.4,106,1888,0.00,1.77,0.00,0.000,1030,0.000,0.043,2570,2770,3304,3300,3308,0,0,0,0,0,0,14.54,14.51,14.54
$GC,2219,-0.95,-63.1,2570,2771,3301,3304,243.6,-10.2,119,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2770,3301,3299,3304,0,0,0,0,0,0,14.92,14.92,14.95
$GC,2555,-0.95,-63.1,2571,2770,3300,3301,276.5,-9.6,125,2560,0.00,1.98,0.00,0.000,260,0.000,0.108,2563,3822,3299,3299,3299,0,0,0,0,0,0,14.88,14.33,14.88
$GC,2638,-0.95,-63.1,2563,3823,3300,3299,284.9,-10.0,137,2644,0.00,1.77,0.00,0.000,1030,0.000,0.043,2563,2769,3299,3299,3299,0,0,0,0,0,0,14.62,14.59,14.64
$GC,3003,-0.95,-63.1,2563,2768,3300,3295,322.3,-10.5,147,3008,0.10,2.35,0.00,0.000,2564,0.259,0.042,2589,1382,3296,3298,3295,0,0,0,0,0,0,14.31,14.50,14.54
$GC,3037,-1.03,-63.1,2589,1383,3299,3295,325.9,-10.3,152,3044,0.00,2.50,0.00,0.000,1158,0.000,0.066,2581,2765,3297,3299,3295,0,0,0,0,0,0,14.45,14.37,14.52
$GC,3395,-1.03,-63.1,2581,2766,3301,3289,362.2,-10.3,161,3399,0.00,1.98,0.00,0.000,260,0.000,0.109,2573,3831,3294,3299,3289,0,0,0,0,0,0,14.90,14.31,14.90
$GC,3436,-1.03,-63.1,2572,3831,3299,3290,366.9,-11.4,167,3442,0.00,1.80,0.00,0.000,1030,0.000,0.042,2572,2769,3294,3299,3289,0,0,0,0,0,0,14.60,14.58,14.62
$GC,3787,-1.03,-63.1,2572,2768,3300,3288,405.4,-11.1,175,3791,0.00,2.00,0.00,0.000,260,0.000,0.106,2564,3831,3292,3299,3286,0,0,0,0,0,0,14.90,14.30,14.90
$GC,3814,-1.03,-63.1,2565,3832,3297,3286,408.7,-11.8,179,3820,0.00,1.83,0.00,0.000,1030,0.000,0.041,2564,2746,3292,3299,3286,0,0,0,0,0,0,14.60,14.57,14.62
$GC,4179,-1.03,-63.1,2564,2747,3300,3282,447.8,-10.4,189,4184,0.00,2.03,0.00,0.000,260,0.000,0.108,2556,3818,3290,3299,3281,0,0,0,0,0,0,14.92,14.29,14.92
$GC,4213,-1.03,-63.1,2556,3819,3299,3282,451.5,-10.9,194,4219,0.00,1.77,0.00,0.000,1030,0.000,0.041,2555,2767,3290,3299,3282,0,0,0,0,0,0,14.53,14.51,14.54
$GC,4571,-1.03,-63.1,2555,2768,3300,3278,484.1,-8.6,203,4576,0.00,2.38,0.00,0.000,516,0.000,0.041,2555,1375,3289,3299,3279,0,0,0,0,0,0,14.90,14.47,14.90
$GC,4598,-1.03,-63.1,2554,1375,3298,3279,486.4,-8.5,207,4604,0.00,2.55,0.00,0.000,1030,0.000,0.065,2546,2769,3287,3298,3277,0,0,0,0,0,0,14.42,14.32,14.46
$GC,4963,-1.03,-63.1,2547,2769,3300,3276,519.3,-9.2,217,4968,0.00,2.00,0.00,0.000,260,0.000,0.109,2538,3823,3286,3299,3274,0,0,0,0,0,0,14.89,14.21,14.89
$GC,5011,-1.03,-63.1,2538,3823,3299,3276,524.1,-9.6,224,5020,0.08,1.77,0.00,0.000,3078,0.257,0.042,2558,2785,3286,3299,3274,0,0,0,0,0,0,14.13,14.55,14.30
$GC,5355,-1.03,-63.1,2558,2786,3300,3276,557.7,-9.9,231,5360,0.00,2.42,0.00,0.000,516,0.000,0.043,2557,1372,3284,3298,3271,0,0,0,0,0,0,14.90,14.45,14.90
$GC,5382,-1.03,-63.1,2558,1371,3299,3272,560.7,-10.7,235,5388,0.00,2.55,0.00,0.000,1030,0.000,0.065,2548,2775,3284,3298,3270,0,0,0,0,0,0,14.40,14.31,14.45
$GC,5747,-1.03,-63.1,2549,2775,3298,3269,599.7,-10.6,245,5752,0.00,2.00,0.00,0.000,260,0.000,0.110,2534,3823,3283,3299,3268,0,0,0,0,0,0,14.89,14.19,14.89
$GC,5795,-1.03,-63.1,2541,3824,3298,3269,605.4,-12.0,252,5803,0.00,1.83,0.00,0.000,1030,0.000,0.043,2540,2748,3282,3298,3267,0,0,0,0,0,0,14.56,14.54,14.57
$GC,6139,-1.03,-63.1,2539,2748,3300,3266,642.6,-10.7,259,6144,0.00,2.05,0.00,0.000,260,0.000,0.108,2532,3826,3281,3299,3264,0,0,0,0,0,0,14.91,14.24,14.91
$GC,6257,-1.03,-63.1,2532,3827,3308,3264,655.0,-11.1,276,6264,0.10,1.77,0.00,0.000,3078,0.247,0.044,2554,2793,3281,3299,3263,0,0,0,0,0,0,14.07,14.53,14.26
$GC,6587,-1.03,-63.1,2561,2794,3300,3261,686.5,-9.5,288,6592,0.00,2.47,0.00,0.000,516,0.000,0.042,2559,1360,3280,3299,3261,0,0,0,0,0,0,14.88,14.41,14.88
$GC,6656,-1.03,-63.1,2559,1359,3299,3261,692.6,-9.2,298,6661,0.00,2.60,0.00,0.000,1030,0.000,0.066,2549,2777,3279,3298,3260,0,0,0,0,0,0,14.38,14.24,14.40
$GC,6979,-1.03,-63.1,2546,2778,3299,3258,721.1,-8.9,309,6979,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2777,3278,3298,3258,0,0,0,0,0,0,14.90,14.91,14.90
$GC,7315,-1.03,-63.1,2550,2777,3297,3259,750.2,-8.8,315,7320,0.00,2.47,0.00,0.000,516,0.000,0.044,2549,1357,3276,3296,3257,0,0,0,0,0,0,14.88,14.40,14.87
$GC,7391,-1.03,-63.1,2550,1359,3296,3259,756.5,-9.4,326,7397,0.00,2.60,0.00,0.000,1030,0.000,0.067,2539,2768,3277,3297,3258,0,0,0,0,0,0,14.34,14.24,14.38
$GC,7707,-1.03,-63.1,2540,2767,3294,3259,784.8,-9.5,336,7713,0.00,2.03,0.00,0.000,260,0.000,0.111,2528,3818,3275,3292,3258,0,0,0,0,0,0,14.88,14.11,14.88
$GC,7846,-1.03,-63.1,2532,3819,3293,3258,799.0,-11.4,356,7853,0.10,1.83,0.00,0.000,3078,0.248,0.043,2557,2763,3274,3291,3258,0,0,0,0,0,0,13.98,14.47,14.18
$GC,8211,-1.03,-63.1,2558,2763,3291,3259,833.1,-9.8,366,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2763,3274,3290,3258,0,0,0,0,0,0,14.87,14.87,14.88
$GC,8547,-1.03,-63.1,2558,2763,3291,3257,865.5,-9.6,372,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2763,3272,3290,3255,0,0,0,0,0,0,14.88,14.88,14.88
$GC,8883,-1.03,-63.1,2558,2764,3291,3254,896.3,-9.2,378,8884,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2763,3272,3290,3254,0,0,0,0,0,0,14.86,14.86,14.86
$GC,9219,-1.04,-72.4,2558,2764,3291,3252,816.9,-7.0,384,9225,0.00,2.45,0.00,0.000,548,0.000,0.044,2558,1361,3270,3290,3251,0,0,0,0,0,0,14.87,14.35,14.87
$GC,9260,-1.16,-107.1,2558,1362,3291,3252,780.0,134.3,390,9266,0.00,2.60,0.00,0.000,1190,0.000,0.067,2548,2776,3271,3290,3252,0,0,0,0,0,0,14.40,14.19,14.43
$GC,9611,-1.16,-107.1,2549,2777,3289,3252,789.7,-4.1,398,9612,0.00,0.00,0.00,0.000,38,0.000,0.000,2549,2777,3266,3288,3245,0,0,0,0,0,0,14.86,14.86,14.86
$GC,9947,-1.16,-107.1,2548,2777,3288,3252,815.8,-8.2,404,9948,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2777,3269,3287,3251,0,0,0,0,0,0,14.86,14.86,14.86
$GC,10283,-1.16,-107.1,2549,2778,3288,3249,840.6,-6.5,410,10288,0.00,2.50,0.00,0.000,548,0.000,0.044,2548,1365,3268,3287,3249,0,0,0,0,0,0,14.86,14.31,14.86
$GC,10339,-1.16,-107.1,2548,1366,3288,3248,848.5,-1.6,418,10344,0.00,2.58,0.00,0.000,1062,0.000,0.068,2538,2777,3267,3287,3248,0,0,0,0,0,0,14.39,14.21,14.44
$GC,10675,-1.16,-107.1,2539,2777,3286,3249,874.7,-8.3,431,10676,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2777,3267,3286,3248,0,0,0,0,0,0,14.85,14.85,14.85
$GC,11011,-1.56,-107.1,2539,2778,3285,3249,886.2,-2.6,437,11016,0.32,2.47,0.00,0.000,4772,0.063,0.043,2386,1372,3264,3280,3248,0,0,0,0,0,0,14.39,14.28,14.41
$GC,11235,-1.67,-107.1,2395,1371,3285,3246,912.7,-25.6,469,11240,0.00,2.58,0.00,0.000,1158,0.000,0.070,2376,2770,3265,3284,3247,0,0,0,0,0,0,14.34,14.15,14.38
$STATE,11456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11456,begin apogee
$GC,11464,-0.23,0.0,2375,2223,3286,3246,932.3,-10.1,480,11534,1.60,0.08,66.90,2.202,10244,0.196,0.184,2819,2252,3050,3082,3019,0,0,0,0,0,0,13.83,13.97,12.86
$STATE,11536,end apogee,CONTROL_FINISHED_OK
$STATE,11536,begin climb
$GC,11539,1.24,107.1,2820,2253,3079,3012,927.7,0.0,481,11657,1.40,2.72,107.62,2.157,10498,0.047,0.103,3317,3659,2681,2714,2649,0,0,0,0,0,0,14.12,14.02,14.16
$STATE,11657,end climb,ABORT_DEPTH_EXCEEDED
$SM_CCo,11669,473.62,2.572,50,1,1239,454.42
$SM_CCo,12398,245.65,2.539,26,0,500,640.56
$SM_GC,0.05,8.90,2.40,0.00,0.047,0.036,0.000,191,2289,494,-8.40,2.04,642.07,0,0,0,0,0,0,14.57,14.62,14.64
$IRIDIUM_FIX,1011.40,-12458.62,241216,193638
$TT8_MAMPS,0.04494,0.25466
$HUMID,70.08
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,14.90
$XPDR_PINGS,4
$SC_FREEKB,3731968
$PM_FREEKB,54451712
$24V_AH,12.15,164.031
$10V_AH,12.04,0.000
$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,24.500,88.000,174.525,719.275,0.000,0.000,0.000,435.975,1.000,0.000,4.118,0.000,13060.080,1456.381,1744.530,399.315,0.000,2400.168,0.000,893.590,0.000,0.836,0.000
$DEVICE_MAMPS,383.265,184.365,2202.435,2571.930,0.000,0.000,0.000,174.420,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11599.000,11551.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.297,2.423,0.000,0.000
$MEM,334736
$DATA_FILE_SIZE,16730,501
$CAP_FILE_SIZE,113151,8
$CFSIZE,1024409600,937918464
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,0,76,0,0
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$GPS,251216,063209,1018.874,-12459.594,43,0.8,43,9.1,0.3,298.5,9,7.1