version: 66.13
glider: 220
mission: 6
dive: 505
start: 1 3 117 9 36 0
data:
$ID,220
$MISSION,6
$DIVE,505
$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,53
$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
$GPS1,030117,092338,1004.2688,-12446.0039,39,1.1,39,9.0,0.4,343.4,6,5.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.92
$_SM_ANGLEo,-67.6
$GPS2,030117,093536,1004.3608,-12446.0088,2,1.1,4,9.0,0.2,0.0,6,8.3
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,305.5,37336,-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,16,-0.93,-107.1,106,2779,1099,1015,0.0,0.0,0,100,0.00,0.00,-81.03,0.000,16390,0.000,0.000,105,2779,3478,3470,3487,0,0,0,0,0,0,14.67,12.54,14.64
$GC,104,-0.93,-107.1,106,2780,3471,3483,2.7,-11.6,3,121,11.90,1.90,0.00,0.000,2308,0.385,0.087,2583,3829,3479,3471,3487,0,0,0,0,0,0,13.97,14.35,14.25
$GC,331,-0.73,-107.1,2583,3829,3476,3488,53.7,-11.9,36,337,0.25,1.80,0.00,0.000,3206,0.203,0.037,2656,2749,3481,3475,3487,0,0,0,0,0,0,14.09,14.50,14.26
$GC,662,-0.73,-107.1,2656,2749,3479,3486,81.3,-6.8,50,666,0.00,2.30,0.00,0.000,548,0.000,0.041,2656,1394,3482,3478,3487,0,0,0,0,0,0,14.87,14.47,14.87
$GC,702,-0.73,-107.1,2656,1394,3479,3488,83.8,-6.0,56,708,0.00,2.47,0.00,0.000,1062,0.000,0.067,2646,2768,3482,3478,3487,0,0,0,0,0,0,14.35,14.26,14.40
$GC,1053,-0.73,-107.1,2646,2769,3476,3487,111.4,-8.8,68,1058,0.00,2.38,0.00,0.000,516,0.000,0.041,2645,1389,3482,3478,3486,0,0,0,0,0,0,14.89,14.45,14.88
$GC,1136,-0.73,-107.1,2646,1389,3479,3489,119.5,-9.4,80,1142,0.00,2.50,0.00,0.000,1030,0.000,0.068,2634,2775,3482,3478,3487,0,0,0,0,0,0,14.43,14.33,14.47
$GC,1501,-0.73,-107.1,2636,2776,3479,3484,154.7,-9.4,90,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2774,3485,3478,3492,0,0,0,0,0,0,14.91,14.92,14.92
$GC,1837,-0.73,-107.1,2637,2776,3479,3479,182.8,-8.2,96,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2775,3478,3477,3480,0,0,0,0,0,0,14.92,14.92,14.92
$GC,2173,-0.73,-107.1,2637,2776,3479,3476,211.8,-8.7,102,2178,0.00,2.40,0.00,0.000,516,0.000,0.042,2636,1389,3476,3478,3474,0,0,0,0,0,0,14.92,14.51,14.92
$GC,2214,-0.73,-107.1,2636,1390,3479,3474,215.6,-9.0,108,2220,0.10,2.50,0.00,0.000,3078,0.210,0.068,2656,2768,3475,3476,3474,0,0,0,0,0,0,14.14,14.32,14.29
$GC,2565,-0.73,-107.1,2657,2768,3478,3471,242.6,-7.6,116,2566,0.00,0.00,0.00,0.000,38,0.000,0.000,2652,2768,3473,3478,3469,0,0,0,0,0,0,14.89,14.89,14.90
$GC,2901,-0.73,-107.1,2655,2768,3479,3467,268.3,-7.8,122,2906,0.00,2.40,0.00,0.000,516,0.000,0.042,2653,1386,3471,3478,3465,0,0,0,0,0,0,14.93,14.50,14.93
$GC,2928,-0.73,-107.1,2657,1387,3479,3465,270.4,-7.8,126,2934,0.00,2.53,0.00,0.000,1030,0.000,0.068,2648,2766,3471,3478,3465,0,0,0,0,0,0,14.41,14.31,14.46
$GC,3293,-0.73,-107.1,2648,2766,3479,3462,299.9,-8.2,136,3294,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2765,3471,3478,3464,0,0,0,0,0,0,14.92,14.92,14.92
$GC,3629,-0.73,-107.1,2647,2767,3477,3457,327.9,-8.4,142,3634,0.00,2.40,0.00,0.000,516,0.000,0.042,2647,1392,3467,3478,3457,0,0,0,0,0,0,14.92,14.47,14.92
$GC,3656,-0.73,-107.1,2648,1393,3479,3457,330.2,-8.2,146,3662,0.00,2.50,0.00,0.000,1030,0.000,0.068,2638,2775,3467,3478,3456,0,0,0,0,0,0,14.51,14.33,14.53
$GC,4021,-0.73,-107.1,2638,2776,3479,3453,360.6,-8.3,156,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2775,3465,3478,3453,0,0,0,0,0,0,14.89,14.90,14.90
$GC,4357,-0.73,-107.1,2639,2775,3478,3452,387.6,-8.1,162,4362,0.00,2.42,0.00,0.000,516,0.000,0.042,2638,1381,3464,3478,3450,0,0,0,0,0,0,14.90,14.40,14.90
$GC,4440,-0.73,-107.1,2638,1380,3478,3450,394.4,-8.1,174,4446,0.10,2.53,0.00,0.000,3078,0.216,0.068,2658,2759,3464,3478,3450,0,0,0,0,0,0,14.07,14.28,14.24
$GC,4805,-0.73,-107.1,2658,2761,3479,3446,423.3,-8.1,184,4810,0.00,2.03,0.00,0.000,260,0.000,0.118,2650,3834,3461,3478,3445,0,0,0,0,0,0,14.93,14.20,14.92
$GC,4846,-0.73,-107.1,2650,3835,3479,3445,427.0,-9.1,190,4852,0.00,1.83,0.00,0.000,1030,0.000,0.044,2650,2769,3462,3478,3446,0,0,0,0,0,0,14.54,14.51,14.55
$GC,5197,-0.73,-107.1,2650,2769,3478,3444,456.8,-8.4,198,5202,0.00,2.40,0.00,0.000,516,0.000,0.043,2649,1374,3460,3478,3443,0,0,0,0,0,0,14.92,14.38,14.92
$GC,5245,-0.80,-107.1,2650,1376,3478,3444,460.6,-7.6,205,5253,0.00,2.53,0.00,0.000,1190,0.000,0.068,2641,2759,3460,3478,3442,0,0,0,0,0,0,14.33,14.25,14.39
$GC,5589,-0.80,-107.1,2641,2759,3478,3441,484.9,-6.8,212,5590,0.00,0.00,0.00,0.000,38,0.000,0.000,2640,2759,3458,3478,3439,0,0,0,0,0,0,14.91,14.91,14.91
$GC,5925,-0.80,-107.1,2641,2759,3478,3438,507.7,-6.9,218,5930,0.00,2.42,0.00,0.000,548,0.000,0.044,2640,1379,3463,3487,3439,0,0,0,0,0,0,14.89,14.41,14.89
$GC,5973,-0.80,-107.1,2640,1379,3479,3436,511.6,-8.0,225,5981,0.00,2.53,0.00,0.000,1030,0.000,0.069,2632,2752,3456,3477,3436,0,0,0,0,0,0,14.32,14.22,14.38
$GC,6317,-0.80,-107.1,2632,2753,3479,3433,541.9,-9.1,232,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2751,3454,3474,3434,0,0,0,0,0,0,14.92,14.92,14.90
$GC,6653,-0.80,-107.1,2632,2753,3478,3432,570.3,-8.3,238,6658,0.00,2.40,0.00,0.000,516,0.000,0.044,2630,1376,3454,3477,3432,0,0,0,0,0,0,14.92,14.41,14.92
$GC,6694,-0.80,-107.1,2631,1377,3480,3432,573.6,-8.0,244,6700,0.00,2.55,0.00,0.000,1030,0.000,0.069,2622,2762,3454,3478,3431,0,0,0,0,0,0,14.33,14.22,14.38
$GC,7045,-0.80,-107.1,2622,2763,3478,3428,600.4,-7.6,252,7050,0.00,2.00,0.00,0.000,292,0.000,0.116,2614,3822,3452,3477,3428,0,0,0,0,0,0,14.91,14.15,14.89
$GC,7093,-0.80,-107.1,2615,3821,3476,3430,604.2,-8.4,259,7100,0.00,1.85,0.00,0.000,1030,0.000,0.044,2613,2749,3452,3476,3428,0,0,0,0,0,0,14.50,14.47,14.50
$GC,7437,-0.80,-107.1,2614,2749,3475,3430,632.4,-8.3,266,7438,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2749,3451,3473,3429,0,0,0,0,0,0,14.91,14.92,14.91
$GC,7773,-0.80,-107.1,2613,2750,3472,3428,661.1,-8.6,272,7778,0.00,2.40,0.00,0.000,516,0.000,0.045,2613,1376,3450,3471,3429,0,0,0,0,0,0,14.91,14.36,14.91
$GC,7814,-0.80,-107.1,2612,1375,3472,3438,664.7,-8.1,278,7820,0.10,2.55,0.00,0.000,3078,0.225,0.068,2632,2750,3449,3471,3428,0,0,0,0,0,0,13.93,14.16,14.33
$GC,8165,-0.80,-107.1,2632,2751,3470,3428,691.1,-7.4,286,8170,0.00,2.05,0.00,0.000,292,0.000,0.116,2624,3829,3449,3471,3427,0,0,0,0,0,0,14.88,14.09,14.88
$GC,8213,-0.80,-107.1,2625,3829,3470,3435,695.0,-8.2,293,8221,0.00,1.85,0.00,0.000,1030,0.000,0.046,2623,2776,3450,3470,3431,0,0,0,0,0,0,14.44,14.41,14.47
$GC,8557,-0.80,-107.1,2624,2769,3471,3427,719.9,-7.2,300,8562,0.00,2.50,0.00,0.000,548,0.000,0.044,2623,1353,3448,3470,3426,0,0,0,0,0,0,14.87,14.31,14.87
$GC,8633,-0.80,-107.1,2622,1352,3472,3427,725.3,-6.7,311,8639,0.00,2.60,0.00,0.000,1062,0.000,0.067,2614,2753,3447,3470,3425,0,0,0,0,0,0,14.25,14.15,14.30
$GC,8949,-0.80,-107.1,2614,2754,3471,3424,749.8,-7.8,321,8955,0.00,2.05,0.00,0.000,260,0.000,0.113,2606,3831,3447,3470,3424,0,0,0,0,0,0,14.86,14.07,14.87
$GC,9025,-0.80,-107.1,2606,3831,3470,3425,756.5,-8.8,332,9031,0.10,1.90,0.00,0.000,3078,0.206,0.045,2635,2746,3447,3470,3424,0,0,0,0,0,0,14.00,14.42,14.16
$GC,9341,-0.80,-107.1,2635,2747,3470,3421,780.7,-7.7,342,9346,0.00,2.40,0.00,0.000,516,0.000,0.044,2635,1369,3445,3469,3422,0,0,0,0,0,0,14.89,14.33,14.89
$GC,9390,-0.80,-107.1,2635,1371,3473,3422,784.9,-8.1,349,9397,0.00,2.55,0.00,0.000,1030,0.000,0.067,2626,2754,3445,3469,3422,0,0,0,0,0,0,14.35,14.15,14.39
$STATE,9618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9618,begin apogee
$GC,9626,-0.23,0.0,2626,2218,3468,3423,803.3,-8.0,354,9739,0.68,0.10,110.47,1.867,10244,0.168,0.166,2822,2281,3051,3091,3011,0,0,0,0,0,0,14.02,13.95,12.99
$STATE,9741,end apogee,CONTROL_FINISHED_OK
$STATE,9741,begin climb
$GC,9744,0.93,107.1,2825,2281,3085,3003,806.3,0.0,356,9874,1.10,2.55,116.90,1.802,10756,0.085,0.054,3187,880,2615,2676,2555,0,0,0,0,0,0,14.04,14.07,12.96
$GC,9929,0.83,132.1,3188,882,2677,2545,802.0,6.5,384,9963,0.00,2.45,27.08,1.878,9382,0.000,0.050,3187,2263,2519,2589,2449,0,0,0,0,0,0,14.28,14.16,13.12
$GC,10297,0.70,132.1,3188,2263,2588,2431,771.3,8.7,401,10303,0.20,2.58,0.00,0.000,4484,0.223,0.097,3126,3652,2507,2587,2428,0,0,0,0,0,0,14.12,14.24,14.29
$GC,10344,0.70,132.1,3126,3651,2589,2430,766.9,8.1,408,10351,0.00,2.40,0.00,0.000,1030,0.000,0.040,3137,2272,2508,2587,2430,0,0,0,0,0,0,14.45,14.42,14.47
$GC,10689,0.71,141.6,3137,2274,2588,2427,741.9,7.3,415,10693,0.00,0.00,3.03,1.179,8230,0.000,0.000,3137,2272,2485,2562,2408,0,0,0,0,0,0,14.80,14.34,13.00
$GC,11025,0.73,152.5,3136,2273,2566,2433,717.5,7.2,421,11050,0.00,2.60,20.30,1.880,8484,0.000,0.103,3136,3651,2435,2511,2360,0,0,0,0,0,0,14.82,14.36,13.39
$GC,11100,0.65,152.5,3136,3651,2509,2356,710.7,8.9,432,11106,0.08,2.45,0.00,0.000,5254,0.225,0.041,3112,2256,2430,2508,2353,0,0,0,0,0,0,14.19,14.42,14.44
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$STATE,20163,end climb,SURFACE_DEPTH_REACHED
$STATE,20163,begin surface coast
$FINISH,-2.4,1.021981
$STATE,20191,end surface coast,CONTROL_FINISHED_OK
$STATE,20191,begin surface
$SM_CCo,20214,33.40,0.155,0,0,1057,500.14
$SM_GC,-3.85,9.15,0.93,33.40,0.071,0.084,0.155,185,2764,1057,-8.39,-0.85,500.14,0,0,0,0,0,0,14.46,14.31,14.16
$IRIDIUM_FIX,956.07,-12443.37,030117,034355
$TT8_MAMPS,0.03745,0.258405
$HUMID,58.34
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.30
$XPDR_PINGS,0
$SC_FREEKB,3715840
$PM_FREEKB,54003712
$24V_AH,12.54,178.179
$10V_AH,12.55,0.000
$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,24.275,186.200,472.150,33.400,0.000,0.000,0.000,389.700,0.000,0.000,6.325,0.000,17259.393,787.054,2374.111,531.178,0.000,1905.991,0.000,1464.560,0.000,0.838,0.000
$DEVICE_MAMPS,384.795,166.005,1989.000,155.295,0.000,0.000,0.000,176.715,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20253.000,20201.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.590,2.436,0.000,0.000
$MEM,334704
$DATA_FILE_SIZE,30010,809
$CAP_FILE_SIZE,150387,0
$CFSIZE,1024409600,931741696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,16454.71,0x213b74,1,24
$CURRENT,0.056,322.70,1
$GPS,030117,151430,1005.965,-12447.744,29,0.8,29,9.0,1.0,357.0,9,3.6