version: 66.13
glider: 220
mission: 6
dive: 503
start: 1 2 117 22 35 40
data:
$ID,220
$MISSION,6
$DIVE,503
$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,46
$R_STBD_OVSHOOT,22
$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
$GPS1,020117,222308,1001.5930,-12443.1904,40,0.9,40,9.0,0.8,303.7,8,10.0
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.48
$_SM_ANGLEo,-65.8
$GPS2,020117,223516,1001.5923,-12443.1973,2,0.9,5,9.0,0.8,339.5,8,8.5
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,299.0,44581,-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,11,begin dive
$GC,15,-0.93,-107.1,106,2775,1099,1019,0.0,0.0,0,101,0.00,0.00,-82.30,0.000,16390,0.000,0.000,99,2775,3476,3469,3484,0,0,0,0,0,0,14.66,12.53,14.64
$GC,104,-0.93,-107.1,106,2781,3470,3488,2.2,-9.6,3,121,11.90,1.95,0.00,0.000,2308,0.383,0.092,2579,3831,3478,3470,3487,0,0,0,0,0,0,13.93,14.32,14.21
$GC,250,-0.72,-107.1,2578,3831,3476,3487,41.2,-14.8,24,255,0.30,1.80,0.00,0.000,3206,0.205,0.038,2666,2723,3480,3473,3487,0,0,0,0,0,0,14.11,14.50,14.35
$GC,577,-0.72,-107.1,2666,2723,3479,3488,70.6,-7.3,38,582,0.00,2.25,0.00,0.000,548,0.000,0.041,2665,1394,3482,3478,3487,0,0,0,0,0,0,14.82,14.43,14.83
$GC,618,-0.72,-107.1,2666,1394,3478,3488,73.5,-6.7,44,624,0.00,2.47,0.00,0.000,1062,0.000,0.067,2655,2761,3482,3477,3487,0,0,0,0,0,0,14.36,14.27,14.40
$GC,941,-0.72,-107.1,2656,2762,3477,3487,93.4,-4.8,57,947,0.00,1.98,0.00,0.000,292,0.000,0.111,2648,3828,3482,3478,3487,0,0,0,0,0,0,14.86,14.25,14.86
$GC,1073,-0.72,-107.1,2648,3829,3479,3487,104.2,-7.3,76,1079,0.00,1.75,0.00,0.000,1062,0.000,0.039,2647,2765,3482,3478,3487,0,0,0,0,0,0,14.50,14.48,14.51
$GC,1389,-0.72,-107.1,2648,2765,3479,3487,130.5,-9.0,86,1394,0.00,2.30,0.00,0.000,516,0.000,0.039,2654,1402,3482,3478,3486,0,0,0,0,0,0,14.88,14.38,14.88
$GC,1445,-0.72,-107.1,2649,1403,3480,3485,133.4,0.1,94,1450,0.00,2.47,0.00,0.000,1062,0.000,0.069,2638,2776,3484,3483,3485,0,0,0,0,0,0,14.51,14.33,14.54
$GC,1781,-0.72,-107.1,2638,2777,3480,3481,164.3,-8.8,107,1786,0.00,2.38,0.00,0.000,516,0.000,0.040,2638,1397,3479,3478,3481,0,0,0,0,0,0,14.90,14.47,14.90
$GC,1815,-0.72,-107.1,2638,1397,3479,3481,170.4,-17.1,112,1821,0.10,2.50,0.00,0.000,3078,0.210,0.067,2659,2768,3479,3478,3481,0,0,0,0,0,0,14.12,14.31,14.28
$GC,2173,-0.72,-107.1,2659,2769,3479,3474,196.7,-7.6,121,2174,0.00,0.00,0.00,0.000,38,0.000,0.000,2659,2768,3477,3478,3477,0,0,0,0,0,0,14.92,14.93,14.92
$GC,2509,-0.72,-107.1,2660,2768,3479,3474,227.1,-10.4,127,2514,0.00,2.38,0.00,0.000,516,0.000,0.040,2659,1396,3475,3478,3472,0,0,0,0,0,0,14.92,14.47,14.92
$GC,2536,-0.72,-107.1,2660,1398,3479,3471,229.7,-9.8,131,2542,0.00,2.53,0.00,0.000,1030,0.000,0.068,2651,2765,3474,3478,3471,0,0,0,0,0,0,14.37,14.28,14.40
$GC,2901,-0.72,-107.1,2652,2766,3479,3469,263.6,-10.9,141,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2766,3474,3478,3470,0,0,0,0,0,0,14.90,14.90,14.90
$GC,3237,-0.72,-107.1,2651,2766,3479,3466,293.2,-8.2,147,3242,0.00,2.38,0.00,0.000,516,0.000,0.041,2650,1402,3472,3482,3463,0,0,0,0,0,0,14.90,14.45,14.90
$GC,3271,-0.72,-107.1,2651,1402,3478,3468,294.8,-6.5,152,3277,0.00,2.50,0.00,0.000,1062,0.000,0.069,2643,2765,3470,3478,3463,0,0,0,0,0,0,14.37,14.27,14.40
$GC,3629,-0.72,-107.1,2643,2765,3479,3462,331.4,-10.9,161,3630,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2765,3469,3478,3460,0,0,0,0,0,0,14.92,14.93,14.93
$GC,3965,-0.72,-107.1,2643,2765,3478,3458,353.9,-7.4,167,3970,0.00,2.38,0.00,0.000,548,0.000,0.041,2643,1398,3471,3478,3464,0,0,0,0,0,0,14.90,14.45,14.90
$GC,4027,-0.72,-107.1,2642,1399,3483,3456,368.0,-8.2,176,4033,0.10,2.45,0.00,0.000,3078,0.239,0.068,2662,2759,3467,3478,3456,0,0,0,0,0,0,14.15,14.31,14.39
$GC,4358,-0.80,-107.1,2662,2760,3479,3453,390.3,-6.7,188,4362,0.00,2.00,0.00,0.000,420,0.000,0.115,2654,3825,3465,3478,3452,0,0,0,0,0,0,14.92,14.23,14.92
$GC,4384,-0.80,-107.1,2655,3825,3478,3453,392.6,-8.2,192,4390,0.00,1.80,0.00,0.000,1030,0.000,0.044,2654,2777,3465,3478,3452,0,0,0,0,0,0,14.53,14.52,14.55
$GC,4749,-0.80,-107.1,2655,2777,3478,3451,418.2,-7.0,202,4754,0.00,2.42,0.00,0.000,548,0.000,0.043,2654,1374,3463,3477,3450,0,0,0,0,0,0,14.92,14.45,14.92
$GC,4825,-0.88,-107.1,2655,1374,3479,3451,423.4,-6.3,213,4832,0.00,2.50,0.00,0.000,1190,0.000,0.067,2645,2764,3463,3478,3449,0,0,0,0,0,0,14.48,14.31,14.50
$GC,5141,-0.88,-107.1,2646,2764,3478,3448,447.4,-7.8,223,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2764,3462,3477,3447,0,0,0,0,0,0,14.89,14.90,14.89
$GC,5477,-0.88,-107.1,2645,2765,3479,3444,475.8,-8.5,229,5483,0.00,2.42,0.00,0.000,516,0.000,0.043,2645,1380,3460,3477,3444,0,0,0,0,0,0,14.89,14.40,14.90
$GC,5525,-0.88,-107.1,2645,1380,3478,3445,479.9,-9.0,236,5532,0.00,2.53,0.00,0.000,1030,0.000,0.068,2636,2748,3460,3478,3443,0,0,0,0,0,0,14.31,14.21,14.35
$GC,5869,-0.88,-107.1,2637,2746,3487,3441,510.2,-8.9,243,5874,0.00,2.40,0.00,0.000,516,0.000,0.042,2636,1376,3459,3478,3441,0,0,0,0,0,0,14.88,14.40,14.88
$GC,5896,-0.88,-107.1,2636,1377,3479,3440,512.8,-9.7,247,5902,0.00,2.53,0.00,0.000,1030,0.000,0.067,2627,2751,3460,3479,3441,0,0,0,0,0,0,14.31,14.23,14.38
$GC,6261,-0.88,-107.1,2627,2752,3479,3438,544.8,-8.7,257,6267,0.00,2.05,0.00,0.000,260,0.000,0.114,2618,3830,3459,3481,3438,0,0,0,0,0,0,14.91,14.14,14.91
$GC,6309,-0.88,-107.1,2619,3830,3478,3439,548.9,-9.3,264,6316,0.00,1.88,0.00,0.000,1030,0.000,0.044,2617,2745,3457,3477,3438,0,0,0,0,0,0,14.47,14.45,14.48
$GC,6653,-0.88,-107.1,2618,2744,3478,3438,577.4,-8.1,271,6658,0.00,2.38,0.00,0.000,516,0.000,0.042,2617,1375,3455,3474,3436,0,0,0,0,0,0,14.90,14.38,14.91
$GC,6701,-0.88,-107.1,2617,1375,3478,3437,581.4,-8.4,278,6708,0.00,2.53,0.00,0.000,1030,0.000,0.066,2608,2742,3456,3477,3436,0,0,0,0,0,0,14.28,14.18,14.33
$GC,7045,-0.88,-107.1,2609,2742,3478,3434,608.6,-7.8,285,7051,0.00,2.05,0.00,0.000,260,0.000,0.112,2600,3825,3454,3477,3432,0,0,0,0,0,0,14.91,14.12,14.91
$GC,7114,-0.88,-107.1,2601,3824,3477,3433,614.7,-8.1,295,7120,0.00,1.90,0.00,0.000,1030,0.000,0.044,2600,2725,3454,3476,3432,0,0,0,0,0,0,14.46,14.42,14.47
$GC,7437,-0.88,-107.1,2600,2726,3475,3432,641.6,-8.3,306,7438,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2725,3452,3473,3432,0,0,0,0,0,0,14.88,14.88,14.88
$GC,7773,-0.88,-107.1,2600,2725,3472,3433,670.7,-8.7,312,7778,0.00,2.12,0.00,0.000,260,0.000,0.112,2591,3823,3451,3471,3432,0,0,0,0,0,0,14.88,14.08,14.88
$GC,7814,-0.88,-107.1,2592,3824,3472,3432,674.4,-9.5,318,7820,0.00,1.85,0.00,0.000,1030,0.000,0.044,2591,2754,3451,3471,3432,0,0,0,0,0,0,14.45,14.42,14.47
$GC,8165,-0.88,-107.1,2590,2754,3472,3431,706.7,-9.3,326,8166,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2753,3451,3471,3432,0,0,0,0,0,0,14.88,14.88,14.88
$GC,8501,-0.88,-107.1,2591,2754,3472,3429,738.3,-9.5,332,8506,0.00,2.08,0.00,0.000,260,0.000,0.113,2584,3819,3448,3470,3426,0,0,0,0,0,0,14.87,14.07,14.88
$GC,8535,-0.88,-107.1,2584,3822,3472,3429,742.1,-10.4,337,8542,0.10,1.85,0.00,0.000,3078,0.215,0.044,2611,2759,3449,3470,3429,0,0,0,0,0,0,14.00,14.44,14.16
$GC,8893,-0.88,-107.1,2612,2759,3470,3430,771.9,-8.3,346,8894,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2759,3449,3470,3429,0,0,0,0,0,0,14.85,14.85,14.86
$GC,9229,-0.88,-107.1,2612,2759,3471,3429,799.1,-8.1,352,9234,0.00,2.45,0.00,0.000,516,0.000,0.044,2611,1362,3447,3469,3426,0,0,0,0,0,0,14.87,14.31,14.85
$STATE,9239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9239,begin apogee
$GC,9248,-0.23,0.0,2606,2268,3471,3426,800.3,-8.2,354,9358,0.75,0.00,102.32,2.557,10244,0.177,0.000,2822,2265,3053,3091,3015,0,0,0,0,1,0,13.97,13.85,12.50
$STATE,9359,end apogee,CONTROL_FINISHED_OK
$STATE,9359,begin climb
$GC,9363,0.93,107.1,2824,2266,3092,3029,801.4,0.0,356,9496,1.10,2.60,122.75,1.819,10756,0.083,0.055,3186,852,2619,2678,2560,0,0,0,0,0,0,13.94,13.96,12.93
$GC,9545,0.84,142.6,3186,853,2677,2545,797.0,5.9,383,9587,0.00,2.50,38.10,1.838,9382,0.000,0.050,3186,2256,2483,2555,2411,0,0,0,0,0,0,14.25,14.14,13.09
$GC,9912,0.72,142.6,3186,2256,2549,2390,759.7,9.8,400,9914,0.17,0.00,0.00,0.000,4230,0.230,0.000,3137,2256,2468,2548,2388,0,0,0,0,0,0,14.14,14.47,14.42
$GC,10245,0.72,142.6,3137,2257,2549,2386,732.4,8.0,406,10251,0.00,2.60,0.00,0.000,260,0.000,0.101,3136,3652,2467,2548,2386,0,0,0,0,0,0,14.82,14.26,14.81
$GC,10280,0.65,142.6,3137,3653,2549,2385,729.7,7.9,411,10286,0.12,2.42,0.00,0.000,5254,0.233,0.041,3112,2237,2467,2548,2386,0,0,0,0,0,0,14.17,14.49,14.44
$GC,10638,0.68,173.2,3113,2233,2549,2384,706.5,6.2,420,10679,0.00,2.75,33.30,1.829,8484,0.000,0.102,3112,3654,2353,2435,2272,0,0,0,0,0,0,14.82,14.26,13.33
$GC,10707,0.71,196.4,3111,3655,2435,2267,701.8,6.6,430,10740,0.00,2.47,25.92,1.818,9254,0.000,0.041,3121,2249,2262,2347,2178,0,0,0,0,0,0,14.40,14.36,13.27
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$STATE,18026,end climb,SURFACE_DEPTH_REACHED
$STATE,18026,begin surface coast
$FINISH,0.5,1.021970
$STATE,18033,end surface coast,CONTROL_FINISHED_OK
$STATE,18033,begin surface
$SM_CCo,18056,51.60,0.165,0,0,1056,500.14
$SM_GC,-5.78,9.25,1.55,51.60,0.074,0.038,0.165,184,2718,1056,-8.39,1.19,500.14,0,0,0,0,0,0,14.46,14.54,14.17
$IRIDIUM_FIX,953.88,-12442.12,020117,165310
$TT8_MAMPS,0.036701,0.431424
$HUMID,59.76
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,21.30
$XPDR_PINGS,0
$SC_FREEKB,3716608
$PM_FREEKB,54025984
$24V_AH,12.50,177.550
$10V_AH,12.43,0.000
$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,24.225,169.500,492.000,51.600,0.000,0.000,0.000,402.350,0.000,0.000,10.284,0.000,15308.672,794.477,2221.046,499.289,0.000,1872.617,0.000,1337.636,0.000,0.837,0.000
$DEVICE_MAMPS,383.265,114.750,2556.630,165.240,0.000,0.000,0.000,176.715,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18092.000,18042.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.560,2.429,0.000,0.000
$MEM,334696
$DATA_FILE_SIZE,26695,741
$CAP_FILE_SIZE,138871,0
$CFSIZE,1024409600,932052992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,17699.72,0x213b74,1,24
$CURRENT,0.012,204.14,1
$GPS,030117,033830,1002.584,-12444.639,28,0.8,28,9.0,0.7,348.7,11,3.7