version: 66.13
glider: 220
mission: 6
dive: 508
start: 1 4 117 2 46 5
data:
$ID,220
$MISSION,6
$DIVE,508
$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,61
$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
$GPS1,040117,023330,1008.9738,-12450.4492,26,0.9,26,9.0,0.6,140.9,9,4.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.66
$_SM_ANGLEo,-68.0
$GPS2,040117,024541,1009.1041,-12450.3545,2,1.0,3,9.0,0.5,277.3,8,6.8
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,297.4,25513,-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,16,-0.93,-107.1,107,2782,1103,1013,0.0,0.0,0,100,0.00,0.00,-80.12,0.000,16390,0.000,0.000,106,2781,3477,3468,3487,0,0,0,0,0,0,14.67,13.09,14.65
$GC,104,-0.93,-107.1,106,2782,3470,3487,3.2,-11.9,3,121,11.90,1.92,0.00,0.000,2308,0.386,0.085,2583,3835,3478,3470,3487,0,0,0,0,0,0,13.98,14.35,14.25
$GC,177,-0.51,-107.1,2582,3836,3473,3486,32.6,-29.9,14,184,0.55,1.83,0.00,0.000,3206,0.242,0.048,2727,2783,3479,3472,3486,0,0,0,0,0,0,13.95,14.44,14.16
$GC,494,-0.60,-107.1,2727,2784,3477,3486,57.5,-6.3,26,498,0.00,1.98,0.00,0.000,420,0.000,0.110,2719,3820,3480,3475,3486,0,0,0,0,0,0,14.82,14.26,14.82
$GC,591,-0.70,-107.1,2719,3821,3477,3486,64.5,-7.3,40,596,0.08,1.83,0.00,0.000,5286,0.086,0.042,2646,2738,3481,3476,3486,0,0,0,0,0,0,14.41,14.51,14.47
$GC,913,-0.70,-107.1,2645,2738,3477,3487,92.5,-8.4,53,919,0.00,2.30,0.00,0.000,516,0.000,0.042,2645,1381,3481,3476,3486,0,0,0,0,0,0,14.86,14.45,14.86
$GC,1010,-0.70,-107.1,2642,1382,3478,3486,101.6,-9.2,67,1016,0.12,2.47,0.00,0.000,3078,0.209,0.067,2671,2751,3481,3477,3486,0,0,0,0,0,0,14.13,14.31,14.29
$GC,1362,-0.70,-107.1,2671,2752,3477,3486,128.6,-7.4,75,1367,0.00,2.35,0.00,0.000,548,0.000,0.042,2671,1386,3480,3476,3484,0,0,0,0,0,0,14.88,14.47,14.88
$GC,1410,-0.78,-107.1,2672,1385,3477,3485,132.0,-6.5,82,1416,0.00,2.47,0.00,0.000,1190,0.000,0.068,2662,2757,3480,3477,3484,0,0,0,0,0,0,14.54,14.36,14.57
$GC,1753,-0.78,-107.1,2662,2758,3478,3480,158.5,-7.8,89,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2757,3478,3476,3480,0,0,0,0,0,0,14.90,14.90,14.90
$GC,2089,-0.78,-107.1,2662,2757,3477,3477,182.9,-7.2,95,2094,0.00,2.40,0.00,0.000,548,0.000,0.044,2661,1381,3476,3476,3476,0,0,0,0,0,0,14.93,14.48,14.93
$GC,2158,-0.86,-107.1,2661,1380,3476,3476,188.1,-7.6,105,2165,0.00,2.45,0.00,0.000,1190,0.000,0.069,2653,2751,3475,3476,3475,0,0,0,0,0,0,14.53,14.34,14.57
$GC,2481,-0.86,-107.1,2653,2752,3477,3470,214.4,-8.2,116,2486,0.00,2.00,0.00,0.000,260,0.000,0.111,2645,3819,3473,3476,3471,0,0,0,0,0,0,14.90,14.24,14.91
$GC,2515,-0.86,-107.1,2645,3819,3476,3470,217.4,-8.7,121,2522,0.00,1.83,0.00,0.000,1030,0.000,0.043,2645,2745,3472,3475,3470,0,0,0,0,0,0,14.57,14.55,14.59
$GC,2873,-0.86,-107.1,2645,2745,3477,3465,248.0,-8.6,130,2878,0.00,2.33,0.00,0.000,516,0.000,0.041,2644,1384,3468,3472,3465,0,0,0,0,0,0,14.90,14.46,14.90
$GC,2935,-0.86,-107.1,2646,1383,3477,3466,253.3,-8.3,139,2941,0.00,2.50,0.00,0.000,1030,0.000,0.067,2636,2751,3470,3476,3464,0,0,0,0,0,0,14.39,14.30,14.45
$GC,3265,-0.86,-107.1,2636,2753,3477,3462,281.1,-8.3,151,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2753,3468,3476,3461,0,0,0,0,0,0,14.92,14.93,14.93
$GC,3601,-0.86,-107.1,2636,2754,3477,3457,311.0,-9.1,157,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2753,3466,3476,3457,0,0,0,0,0,0,14.91,14.91,14.90
$GC,3937,-0.86,-107.1,2637,2753,3477,3454,341.7,-9.0,163,3942,0.00,2.42,0.00,0.000,516,0.000,0.041,2636,1376,3468,3476,3461,0,0,0,0,0,0,14.93,14.45,14.93
$GC,3964,-0.86,-107.1,2636,1377,3477,3452,344.3,-9.1,167,3970,0.00,2.53,0.00,0.000,1030,0.000,0.067,2633,2749,3464,3476,3452,0,0,0,0,0,0,14.37,14.28,14.42
$GC,4329,-0.86,-107.1,2627,2750,3477,3450,378.1,-9.3,177,4334,0.00,2.03,0.00,0.000,260,0.000,0.109,2618,3823,3462,3476,3449,0,0,0,0,0,0,14.93,14.23,14.93
$GC,4356,-0.86,-107.1,2617,3823,3478,3450,380.8,-9.7,181,4363,0.00,1.83,0.00,0.000,1030,0.000,0.044,2617,2755,3462,3476,3449,0,0,0,0,0,0,14.55,14.52,14.56
$GC,4721,-0.86,-107.1,2618,2754,3476,3446,415.3,-9.4,191,4726,0.00,2.05,0.00,0.000,260,0.000,0.109,2611,3823,3460,3476,3445,0,0,0,0,0,0,14.90,14.23,14.90
$GC,4762,-0.86,-107.1,2611,3823,3477,3446,419.2,-9.7,197,4769,0.00,1.85,0.00,0.000,1030,0.000,0.044,2610,2737,3460,3476,3445,0,0,0,0,0,0,14.54,14.52,14.55
$GC,5113,-0.86,-107.1,2610,2736,3476,3444,454.8,-8.8,205,5119,0.00,2.33,0.00,0.000,516,0.000,0.041,2610,1385,3459,3476,3442,0,0,0,0,0,0,14.87,14.42,14.88
$GC,5182,-0.86,-107.1,2610,1385,3476,3443,460.7,-8.3,215,5188,0.00,2.50,0.00,0.000,1030,0.000,0.067,2601,2748,3458,3476,3441,0,0,0,0,0,0,14.33,14.26,14.35
$GC,5505,-0.86,-107.1,2601,2749,3477,3439,486.9,-8.1,226,5510,0.00,2.03,0.00,0.000,260,0.000,0.110,2592,3828,3457,3476,3438,0,0,0,0,0,0,14.87,14.19,14.88
$GC,5574,-0.86,-107.1,2593,3827,3476,3439,493.0,-8.9,236,5580,0.08,1.85,0.00,0.000,3078,0.214,0.044,2613,2754,3457,3476,3438,0,0,0,0,0,0,14.14,14.51,14.29
$GC,5897,-0.86,-107.1,2614,2754,3476,3438,518.8,-8.1,247,5902,0.00,2.40,0.00,0.000,516,0.000,0.042,2614,1372,3456,3476,3436,0,0,0,0,0,0,14.90,14.40,14.90
$GC,5931,-0.86,-107.1,2614,1372,3476,3436,521.7,-8.4,252,5937,0.00,2.53,0.00,0.000,1030,0.000,0.066,2604,2747,3455,3475,3435,0,0,0,0,0,0,14.33,14.23,14.38
$GC,6289,-0.86,-107.1,2606,2747,3476,3433,554.5,-9.2,261,6295,0.00,2.03,0.00,0.000,260,0.000,0.111,2596,3828,3453,3475,3432,0,0,0,0,0,0,14.92,14.18,14.92
$GC,6351,-0.86,-107.1,2596,3823,3477,3432,560.6,-9.7,270,6357,0.00,1.85,0.00,0.000,1030,0.000,0.044,2596,2745,3454,3476,3432,0,0,0,0,0,0,14.50,14.47,14.51
$GC,6681,-0.86,-107.1,2601,2745,3475,3432,591.6,-9.4,282,6682,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2745,3452,3475,3430,0,0,0,0,0,0,14.88,14.88,14.88
$GC,7017,-0.86,-107.1,2596,2746,3474,3429,621.9,-9.0,288,7022,0.00,2.38,0.00,0.000,516,0.000,0.042,2595,1374,3450,3472,3429,0,0,0,0,0,0,14.93,14.39,14.88
$GC,7037,-0.86,-107.1,2595,1375,3473,3429,623.8,-9.0,291,7043,0.12,2.53,0.00,0.000,3078,0.217,0.066,2620,2749,3449,3472,3427,0,0,0,0,0,0,13.95,14.19,14.12
$GC,7353,-0.86,-107.1,2621,2751,3471,3429,648.4,-7.8,301,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2750,3449,3470,3429,0,0,0,0,0,0,14.88,14.88,14.89
$GC,7689,-0.86,-107.1,2621,2750,3470,3429,676.2,-8.3,307,7690,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2749,3449,3470,3428,0,0,0,0,0,0,14.91,14.91,14.90
$GC,8025,-0.86,-107.1,2621,2751,3471,3426,703.6,-8.0,313,8026,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2750,3450,3474,3426,0,0,0,0,0,0,14.91,14.91,14.91
$GC,8361,-0.86,-107.1,2622,2750,3469,3427,730.5,-8.0,319,8366,0.00,2.42,0.00,0.000,516,0.000,0.042,2620,1382,3446,3468,3425,0,0,0,0,0,0,14.91,14.35,14.91
$GC,8409,-0.86,-107.1,2621,1382,3469,3424,734.7,-8.2,326,8416,0.00,2.55,0.00,0.000,1030,0.000,0.067,2612,2753,3446,3468,3425,0,0,0,0,0,0,14.24,14.14,14.29
$GC,8753,-0.86,-107.1,2612,2755,3468,3423,764.2,-8.7,333,8759,0.00,2.05,0.00,0.000,260,0.000,0.115,2603,3832,3445,3467,3423,0,0,0,0,0,0,14.86,14.10,14.86
$GC,8794,-0.86,-107.1,2604,3826,3467,3424,768.1,-10.0,339,8800,0.00,1.88,0.00,0.000,1030,0.000,0.045,2603,2765,3444,3466,3423,0,0,0,0,0,0,14.44,14.40,14.45
$GC,9145,-0.86,-107.1,2603,2764,3465,3423,799.7,-9.0,347,9150,0.00,2.45,0.00,0.000,516,0.000,0.043,2602,1363,3443,3464,3422,0,0,0,0,0,0,14.86,14.32,14.87
$STATE,9155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9155,begin apogee
$GC,9164,-0.23,0.0,2598,2263,3466,3421,801.0,-9.1,349,9278,0.77,0.00,111.88,1.844,10244,0.184,0.000,2819,2262,3049,3089,3009,0,0,0,0,0,0,13.87,14.00,13.01
$STATE,9280,end apogee,CONTROL_FINISHED_OK
$STATE,9280,begin climb
$GC,9283,0.93,107.1,2821,2263,3084,3001,804.9,0.0,351,9407,1.12,2.58,114.85,1.816,10756,0.093,0.054,3184,851,2623,2682,2565,0,0,0,0,0,0,14.03,14.07,12.98
$GC,9428,0.86,182.0,3185,851,2677,2549,803.0,4.0,373,9518,0.00,2.55,81.45,1.786,9382,0.000,0.049,3185,2260,2316,2398,2234,0,0,0,0,0,0,14.12,14.07,13.04
$GC,9830,0.76,182.0,3185,2259,2399,2214,763.3,10.9,395,9835,0.10,2.60,0.00,0.000,4484,0.242,0.096,3151,3651,2305,2397,2213,0,0,0,0,0,0,14.16,14.28,14.33
$GC,9876,0.67,182.0,3151,3652,2399,2213,757.7,11.5,402,9884,0.12,2.45,0.00,0.000,5254,0.209,0.040,3124,2252,2305,2397,2213,0,0,0,0,0,0,14.12,14.40,14.29
$GC,10220,0.67,182.0,3125,2249,2399,2211,726.9,9.0,409,10221,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2249,2304,2398,2210,0,0,0,0,0,0,14.81,14.81,14.81
$GC,10556,0.67,182.0,3125,2249,2398,2209,697.0,8.9,415,10561,0.00,2.65,0.00,0.000,260,0.000,0.099,3124,3649,2305,2398,2212,0,0,0,0,0,0,14.83,14.26,14.83
$GC,10612,0.67,182.0,3124,3649,2398,2209,691.4,10.5,423,10617,0.00,2.40,0.00,0.000,1030,0.000,0.041,3130,2247,2302,2397,2208,0,0,0,0,0,0,14.57,14.49,14.59
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$STATE,18946,end climb,SURFACE_DEPTH_REACHED
$STATE,18946,begin surface coast
$FINISH,-2.3,1.021971
$STATE,18974,end surface coast,CONTROL_FINISHED_OK
$STATE,18974,begin surface
$SM_CCo,19001,32.42,0.157,0,0,1057,500.14
$SM_GC,-4.38,9.48,0.88,32.42,0.084,0.096,0.157,183,2755,1057,-8.40,-0.99,500.14,0,0,0,0,0,0,14.44,14.25,14.12
$IRIDIUM_FIX,1002.64,-12507.06,030117,205800
$TT8_MAMPS,0.038948,0.300349
$HUMID,59.49
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,19.50
$XPDR_PINGS,1
$SC_FREEKB,3714688
$PM_FREEKB,53969280
$24V_AH,12.98,179.052
$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,25.050,170.425,475.425,32.425,0.000,0.000,0.000,403.350,0.250,0.000,4.646,0.000,16178.466,772.075,2277.664,520.016,0.000,1868.272,0.000,1382.006,0.000,0.838,0.000
$DEVICE_MAMPS,385.560,114.750,1843.650,156.825,0.000,0.000,0.000,176.715,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19034.000,18986.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.613,2.451,0.000,0.000
$MEM,334680
$DATA_FILE_SIZE,26737,763
$CAP_FILE_SIZE,142471,0
$CFSIZE,1024409600,931315712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,18732.86,0x233bae,1,24
$CURRENT,0.034,340.83,1
$GPS,040117,080425,1010.247,-12451.968,34,0.9,34,9.0,1.0,129.1,12,3.7