version: 66.13
glider: 220
mission: 6
dive: 486
start: 12 30 116 2 8 52
data:
$ID,220
$MISSION,6
$DIVE,486
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,800
$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,345
$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,41
$R_STBD_OVSHOOT,26
$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
$GPS1,301216,015731,949.3758,-12508.0225,23,0.8,23,9.0,0.4,55.1,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.42
$_SM_ANGLEo,-72.9
$GPS2,301216,020831,949.3026,-12507.8096,2,0.9,3,9.0,1.2,86.6,10,7.4
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,127.0,21092,-17.5,-7.729,-24.20,2052
$D_GRID,800
$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,12,begin dive
$GC,15,-0.93,-107.1,107,2780,1098,1019,0.0,0.0,0,100,0.00,0.00,-80.88,0.000,16390,0.000,0.000,105,2781,3479,3469,3490,0,0,0,0,0,0,14.67,12.55,14.64
$GC,104,-0.93,-107.1,105,2782,3470,3492,5.1,-11.2,3,117,12.10,0.00,0.00,0.000,2054,0.387,0.000,2592,2781,3481,3471,3491,0,0,0,0,0,0,13.99,14.44,14.36
$GC,409,-0.77,-107.1,2592,2783,3478,3489,64.6,-12.1,14,414,0.15,2.42,0.00,0.000,2692,0.239,0.040,2642,1361,3483,3477,3489,0,0,0,0,0,0,14.16,14.40,14.31
$GC,646,-0.77,-107.1,2642,1360,3480,3490,86.0,-8.7,48,652,0.00,2.55,0.00,0.000,1030,0.000,0.067,2632,2771,3484,3479,3489,0,0,0,0,0,0,14.40,14.33,14.44
$GC,969,-0.77,-107.1,2632,2771,3480,3490,117.0,-9.7,58,974,0.00,1.95,0.00,0.000,260,0.000,0.109,2623,3823,3483,3479,3488,0,0,0,0,0,0,14.88,14.29,14.88
$GC,1025,-0.77,-107.1,2623,3826,3480,3489,123.2,-11.5,66,1030,0.00,1.77,0.00,0.000,1030,0.000,0.040,2623,2723,3484,3479,3489,0,0,0,0,0,0,14.63,14.57,14.64
$GC,1361,-0.77,-107.1,2623,2723,3480,3487,159.3,-10.3,79,1366,0.00,2.22,0.00,0.000,516,0.000,0.041,2623,1402,3482,3479,3486,0,0,0,0,0,0,14.92,14.52,14.92
$GC,1409,-0.77,-107.1,2623,1402,3479,3488,163.9,-9.3,86,1417,0.10,2.47,0.00,0.000,3078,0.208,0.069,2644,2770,3482,3479,3486,0,0,0,0,0,0,14.17,14.34,14.33
$GC,1753,-0.77,-107.1,2645,2770,3480,3484,195.7,-9.5,93,1759,0.00,1.98,0.00,0.000,260,0.000,0.113,2636,3829,3480,3478,3482,0,0,0,0,0,0,14.90,14.28,14.90
$GC,1787,-0.77,-107.1,2644,3830,3478,3481,199.3,-10.3,98,1793,0.00,1.75,0.00,0.000,1030,0.000,0.042,2635,2793,3480,3479,3481,0,0,0,0,0,0,14.61,14.59,14.62
$GC,2145,-0.77,-107.1,2636,2791,3479,3477,234.9,-9.9,107,2150,0.00,2.40,0.00,0.000,516,0.000,0.042,2636,1382,3478,3479,3477,0,0,0,0,0,0,14.92,14.49,14.93
$GC,2221,-0.77,-107.1,2636,1381,3479,3477,242.3,-9.3,118,2227,0.00,2.53,0.00,0.000,1030,0.000,0.067,2625,2773,3481,3488,3475,0,0,0,0,0,0,14.42,14.33,14.47
$GC,2537,-0.77,-107.1,2626,2774,3480,3470,273.0,-9.7,128,2542,0.00,2.00,0.00,0.000,260,0.000,0.113,2618,3824,3474,3479,3470,0,0,0,0,0,0,14.93,14.22,14.93
$GC,2593,-0.77,-107.1,2617,3824,3477,3471,278.6,-10.0,136,2598,0.08,1.80,0.00,0.000,3078,0.210,0.043,2641,2771,3474,3479,3470,0,0,0,0,0,0,14.21,14.53,14.35
$GC,2929,-0.77,-107.1,2641,2770,3476,3468,308.3,-8.9,149,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2771,3472,3478,3466,0,0,0,0,0,0,14.94,14.93,14.93
$GC,3265,-0.77,-107.1,2640,2772,3480,3462,339.7,-9.4,155,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2771,3470,3478,3462,0,0,0,0,0,0,14.93,14.93,14.93
$GC,3601,-0.77,-107.1,2642,2771,3479,3461,370.9,-9.3,161,3607,0.00,2.42,0.00,0.000,516,0.000,0.044,2641,1368,3468,3479,3458,0,0,0,0,0,0,14.93,14.47,14.93
$GC,3642,-0.77,-107.1,2642,1368,3479,3459,374.7,-9.2,167,3648,0.00,2.55,0.00,0.000,1030,0.000,0.067,2632,2767,3468,3478,3458,0,0,0,0,0,0,14.40,14.33,14.45
$GC,3993,-0.77,-107.1,2632,2768,3480,3451,407.5,-9.4,175,3998,0.00,2.42,0.00,0.000,516,0.000,0.043,2632,1373,3466,3478,3454,0,0,0,0,0,0,14.91,14.45,14.91
$GC,4034,-0.77,-107.1,2632,1375,3480,3453,411.4,-9.3,181,4041,0.00,2.58,0.00,0.000,1030,0.000,0.068,2622,2774,3465,3478,3453,0,0,0,0,0,0,14.39,14.28,14.43
$GC,4385,-0.77,-107.1,2623,2774,3479,3457,444.4,-9.4,189,4391,0.00,1.98,0.00,0.000,260,0.000,0.112,2614,3824,3465,3479,3451,0,0,0,0,0,0,14.90,14.22,14.90
$GC,4461,-0.77,-107.1,2613,3825,3483,3450,451.5,-9.1,200,4467,0.10,1.80,0.00,0.000,3078,0.203,0.044,2645,2769,3464,3478,3450,0,0,0,0,0,0,14.18,14.55,14.33
$GC,4777,-0.77,-107.1,2644,2770,3479,3446,474.8,-7.3,210,4782,0.00,2.40,0.00,0.000,548,0.000,0.042,2642,1372,3462,3478,3446,0,0,0,0,0,0,14.90,14.45,14.90
$GC,4860,-0.77,-107.1,2645,1371,3479,3447,480.5,-6.6,222,4866,0.00,2.55,0.00,0.000,1062,0.000,0.067,2636,2769,3462,3479,3445,0,0,0,0,0,0,14.38,14.30,14.42
$GC,5225,-0.77,-107.1,2636,2770,3479,3443,506.5,-7.3,232,5226,0.00,0.00,0.00,0.000,38,0.000,0.000,2636,2769,3460,3478,3443,0,0,0,0,0,0,14.92,14.95,14.92
$GC,5561,-0.77,-107.1,2636,2770,3488,3440,534.0,-8.4,238,5566,0.00,2.45,0.00,0.000,516,0.000,0.043,2635,1368,3459,3478,3440,0,0,0,0,0,0,14.92,14.43,14.92
$GC,5609,-0.77,-107.1,2635,1368,3480,3440,538.3,-8.7,245,5617,0.00,2.58,0.00,0.000,1030,0.000,0.067,2626,2769,3458,3478,3439,0,0,0,0,0,0,14.35,14.25,14.39
$GC,5953,-0.77,-107.1,2626,2769,3479,3436,568.0,-8.5,252,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2769,3457,3478,3437,0,0,0,0,0,0,14.88,14.90,14.90
$GC,6289,-0.77,-107.1,2626,2769,3479,3436,595.1,-8.0,258,6290,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2769,3456,3478,3435,0,0,0,0,0,0,14.89,14.90,14.89
$GC,6625,-0.77,-107.1,2626,2770,3480,3432,624.4,-8.9,264,6630,0.00,2.42,0.00,0.000,516,0.000,0.044,2625,1372,3454,3478,3431,0,0,0,0,0,0,14.92,14.39,14.92
$GC,6666,-0.77,-107.1,2626,1371,3479,3433,628.2,-9.1,270,6672,0.10,2.58,0.00,0.000,3078,0.213,0.068,2644,2771,3455,3478,3432,0,0,0,0,0,0,14.01,14.21,14.18
$GC,7017,-0.77,-107.1,2645,2772,3479,3429,658.0,-8.5,278,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2771,3453,3478,3429,0,0,0,0,0,0,14.89,14.89,14.89
$GC,7353,-0.77,-107.1,2646,2771,3475,3429,686.6,-8.4,284,7358,0.00,2.42,0.00,0.000,516,0.000,0.044,2645,1372,3452,3476,3428,0,0,0,0,0,0,14.89,14.38,14.89
$GC,7380,-0.86,-107.1,2645,1374,3477,3428,688.9,-8.4,288,7386,0.00,2.55,0.00,0.000,1158,0.000,0.067,2637,2759,3451,3475,3428,0,0,0,0,0,0,14.30,14.19,14.35
$GC,7745,-0.86,-107.1,2637,2760,3474,3428,718.6,-8.1,298,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2759,3450,3472,3428,0,0,0,0,0,0,14.88,14.88,14.88
$GC,8081,-0.86,-107.1,2638,2759,3472,3429,744.8,-7.8,304,8086,0.00,2.42,0.00,0.000,516,0.000,0.045,2636,1373,3448,3469,3427,0,0,0,0,0,0,14.88,14.35,14.88
$GC,8137,-0.94,-107.1,2636,1373,3471,3428,749.4,-8.1,312,8142,0.00,2.55,0.00,0.000,1158,0.000,0.070,2628,2776,3448,3470,3427,0,0,0,0,0,0,14.35,14.19,14.40
$GC,8473,-0.94,-107.1,2627,2777,3471,3427,777.6,-8.5,325,8479,0.00,2.45,0.00,0.000,516,0.000,0.044,2626,1369,3448,3471,3425,0,0,0,0,0,0,14.88,14.35,14.86
$GC,8500,-0.94,-107.1,2626,1369,3471,3426,779.7,-8.0,329,8507,0.00,2.58,0.00,0.000,1030,0.000,0.069,2617,2759,3450,3475,3425,0,0,0,0,0,0,14.27,14.16,14.31
$STATE,8750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8750,begin apogee
$GC,8758,-0.23,0.0,2618,2229,3471,3426,801.2,-8.4,337,8869,0.70,0.00,108.97,1.867,10244,0.172,0.000,2822,2228,3049,3090,3008,0,0,0,0,0,0,14.04,14.00,12.99
$STATE,8871,end apogee,CONTROL_FINISHED_OK
$STATE,8871,begin climb
$GC,8874,0.93,107.1,2823,2229,3086,3000,804.4,0.0,339,9001,1.10,2.42,114.03,1.825,10756,0.086,0.057,3185,878,2616,2677,2555,0,0,0,0,0,0,14.04,14.06,12.97
$GC,9084,0.83,119.7,3185,876,2678,2543,797.6,7.1,370,9104,0.00,2.47,12.75,1.965,9382,0.000,0.051,3185,2256,2567,2637,2497,0,0,0,0,0,0,14.26,14.19,13.16
$GC,9427,0.70,119.7,3185,2257,2635,2484,770.1,8.0,384,9433,0.20,2.60,0.00,0.000,4484,0.220,0.099,3128,3649,2560,2636,2484,0,0,0,0,0,0,14.16,14.26,14.43
$GC,9497,0.63,125.3,3128,3649,2636,2485,764.7,7.5,394,9503,0.10,2.40,1.08,0.235,13478,0.211,0.041,3103,2258,2548,2627,2469,0,0,0,0,0,0,14.18,14.45,14.16
$GC,9819,0.69,172.5,3103,2258,2628,2487,747.1,5.4,405,9882,0.00,2.72,58.42,1.792,8484,0.000,0.100,3101,3649,2356,2434,2278,0,0,0,0,0,0,14.81,14.14,13.26
$GC,9909,0.72,197.8,3102,3650,2435,2272,741.8,6.5,411,9944,0.00,2.45,28.10,1.824,9254,0.000,0.041,3112,2258,2256,2341,2171,0,0,0,0,0,0,14.30,14.27,13.17
$GC,10260,0.73,206.1,3110,2259,2338,2152,716.5,7.3,426,10266,0.00,2.53,1.90,0.243,8740,0.000,0.061,3121,866,2230,2320,2141,0,0,0,0,0,0,14.74,14.32,13.90
$GC,10295,0.74,219.7,3121,867,2322,2153,713.9,7.1,431,10322,0.00,2.45,18.00,1.771,9254,0.000,0.053,3122,2249,2175,2264,2086,0,0,0,0,1,0,14.39,14.31,13.36
$GC,10645,0.74,219.7,3121,2250,2265,2095,685.2,8.3,446,10650,0.00,2.65,0.00,0.000,260,0.000,0.105,3121,3660,2179,2264,2095,0,0,0,0,0,0,14.78,14.26,14.78
$GC,10701,0.74,219.7,3121,3661,2264,2095,680.0,9.3,454,10706,0.00,2.40,0.00,0.000,1030,0.000,0.041,3131,2254,2179,2263,2095,0,0,0,0,0,0,14.56,14.48,14.57
$GC,11037,0.74,219.7,3131,2251,2264,2096,650.9,8.6,467,11042,0.00,2.45,0.00,0.000,516,0.000,0.063,3141,861,2178,2263,2094,0,0,0,0,0,0,14.82,14.30,14.83
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$STATE,18706,end climb,SURFACE_DEPTH_REACHED
$STATE,18706,begin surface coast
$FINISH,0.6,1.021889
$STATE,18713,end surface coast,CONTROL_FINISHED_OK
$STATE,18713,begin surface
$SM_CCo,18736,39.58,0.158,0,0,1057,500.14
$SM_GC,-1.32,9.43,1.50,39.58,0.086,0.039,0.158,184,2746,1057,-8.39,1.84,500.14,0,0,0,0,0,0,14.47,14.54,14.14
$IRIDIUM_FIX,945.12,-12508.85,291216,202459
$TT8_MAMPS,0.038199,0.371504
$HUMID,58.11
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,21.90
$XPDR_PINGS,3
$SC_FREEKB,3723136
$PM_FREEKB,54205056
$24V_AH,12.55,172.333
$10V_AH,12.56,0.000
$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,24.775,180.075,452.125,39.575,0.000,0.000,0.000,342.850,0.750,0.000,4.682,0.000,15902.544,775.650,2250.684,491.058,0.000,1817.668,0.000,1410.843,0.000,0.839,0.000
$DEVICE_MAMPS,387.090,113.220,1964.520,157.590,0.000,0.000,0.000,175.185,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.568,2.440,0.000,0.000
$MEM,334712
$DATA_FILE_SIZE,26772,787
$CAP_FILE_SIZE,141732,0
$CFSIZE,1024409600,934559744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.081,94.96,1
$GPS,301216,072255,948.124,-12505.634,34,0.8,34,9.0,1.1,168.8,11,3.3