version: 66.13
glider: 220
mission: 6
dive: 518
start: 1 6 117 10 18 21
data:
$ID,220
$MISSION,6
$DIVE,518
$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,65
$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
$GPS1,060117,100600,1014.5015,-12503.3564,28,0.8,28,9.0,0.8,204.1,11,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.60
$_SM_ANGLEo,-69.2
$GPS2,060117,101757,1014.5002,-12503.3750,2,0.9,3,9.0,0.2,104.4,10,7.1
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,221.7,39677,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.93,-107.1,107,2776,1098,1014,0.0,0.0,0,100,0.00,0.00,-81.20,0.000,16390,0.000,0.000,106,2778,3479,3468,3490,0,0,0,0,0,0,14.66,12.54,14.64
$GC,104,-0.93,-107.1,107,2777,3468,3490,3.5,-10.5,3,121,12.15,2.38,0.00,0.000,2564,0.395,0.034,2584,1378,3480,3471,3490,0,0,0,0,0,0,13.95,14.34,14.23
$GC,219,-0.75,-107.1,2580,1377,3473,3489,35.1,-14.2,20,225,0.30,2.50,0.00,0.000,3206,0.245,0.070,2659,2769,3480,3473,3488,0,0,0,0,0,0,14.02,14.28,14.32
$GC,549,-0.75,-107.1,2660,2769,3477,3489,65.7,-8.8,34,554,0.00,1.95,0.00,0.000,260,0.000,0.110,2647,3822,3482,3477,3488,0,0,0,0,0,0,14.83,14.24,14.83
$GC,681,-0.75,-107.1,2648,3822,3473,3489,77.9,-9.2,53,689,0.00,1.77,0.00,0.000,1030,0.000,0.038,2646,2745,3483,3478,3488,0,0,0,0,0,0,14.54,14.52,14.55
$GC,997,-0.75,-107.1,2647,2745,3479,3489,101.0,-6.3,65,1004,0.00,2.28,0.00,0.000,548,0.000,0.040,2647,1399,3482,3477,3488,0,0,0,0,0,0,14.86,14.46,14.87
$GC,1053,-0.75,-107.1,2647,1399,3479,3489,111.5,-7.8,73,1059,0.00,2.42,0.00,0.000,1030,0.000,0.067,2637,2763,3482,3478,3487,0,0,0,0,0,0,14.49,14.31,14.52
$GC,1389,-0.75,-107.1,2637,2763,3478,3488,139.8,-8.7,86,1394,0.00,1.98,0.00,0.000,260,0.000,0.110,2628,3826,3482,3478,3486,0,0,0,0,0,0,14.90,14.27,14.89
$GC,1437,-0.75,-107.1,2628,3827,3479,3486,144.5,-9.8,93,1445,0.00,1.75,0.00,0.000,1030,0.000,0.039,2627,2769,3481,3477,3486,0,0,0,0,0,0,14.59,14.56,14.59
$GC,1781,-0.75,-107.1,2628,2768,3478,3483,180.2,-10.8,100,1786,0.08,2.33,0.00,0.000,2564,0.252,0.041,2652,1393,3479,3477,3482,0,0,0,0,0,0,14.36,14.47,14.54
$GC,1822,-0.75,-107.1,2653,1386,3478,3483,184.5,-10.1,106,1828,0.00,2.50,0.00,0.000,1030,0.000,0.069,2641,2761,3479,3477,3482,0,0,0,0,0,0,14.32,14.23,14.37
$GC,2173,-0.75,-107.1,2643,2762,3478,3477,219.3,-9.8,114,2178,0.00,2.00,0.00,0.000,260,0.000,0.112,2635,3827,3476,3477,3475,0,0,0,0,0,0,14.90,14.21,14.90
$GC,2200,-0.75,-107.1,2635,3828,3478,3479,222.1,-9.8,118,2206,0.00,1.80,0.00,0.000,1030,0.000,0.041,2634,2766,3477,3477,3477,0,0,0,0,0,0,14.57,14.54,14.57
$GC,2565,-0.75,-107.1,2635,2766,3478,3472,256.1,-9.3,128,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2766,3474,3477,3471,0,0,0,0,0,0,14.87,14.87,14.87
$GC,2901,-0.75,-107.1,2635,2766,3478,3469,285.3,-8.6,134,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2765,3472,3477,3468,0,0,0,0,0,0,14.90,14.90,14.89
$GC,3238,-0.75,-107.1,2635,2765,3478,3465,311.5,-7.6,140,3242,0.00,2.40,0.00,0.000,548,0.000,0.042,2634,1378,3469,3477,3462,0,0,0,0,0,0,14.90,14.48,14.90
$GC,3271,-0.75,-107.1,2635,1377,3478,3462,314.1,-7.4,145,3278,0.10,2.55,0.00,0.000,3110,0.244,0.068,2653,2773,3469,3477,3462,0,0,0,0,0,0,14.16,14.31,14.41
$GC,3629,-0.75,-107.1,2653,2778,3478,3459,339.7,-7.3,154,3634,0.00,2.42,0.00,0.000,548,0.000,0.041,2654,1383,3466,3477,3455,0,0,0,0,0,0,14.92,14.45,14.92
$GC,3656,-0.75,-107.1,2654,1382,3478,3459,341.9,-7.7,158,3662,0.00,2.55,0.00,0.000,1062,0.000,0.068,2644,2768,3468,3477,3459,0,0,0,0,0,0,14.36,14.26,14.40
$GC,4021,-0.75,-107.1,2643,2769,3478,3455,371.4,-8.2,168,4026,0.00,2.00,0.00,0.000,260,0.000,0.114,2637,3829,3466,3477,3455,0,0,0,0,0,0,14.90,14.22,14.90
$GC,4055,-0.75,-107.1,2637,3829,3478,3456,374.4,-8.7,173,4062,0.00,1.85,0.00,0.000,1030,0.000,0.042,2636,2751,3465,3477,3454,0,0,0,0,0,0,14.53,14.50,14.54
$GC,4413,-0.75,-107.1,2636,2751,3478,3451,405.6,-8.9,182,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2750,3464,3477,3451,0,0,0,0,0,0,14.88,14.89,14.88
$GC,4749,-0.75,-107.1,2637,2750,3478,3450,437.9,-9.7,188,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2749,3467,3486,3448,0,0,0,0,0,0,14.90,14.90,14.90
$GC,5085,-0.75,-107.1,2635,2749,3475,3446,466.4,-8.2,194,5090,0.00,2.38,0.00,0.000,516,0.000,0.041,2636,1379,3461,3477,3445,0,0,0,0,0,0,14.90,14.42,14.90
$GC,5119,-0.75,-107.1,2636,1379,3476,3444,469.3,-8.1,199,5125,0.08,2.53,0.00,0.000,3078,0.226,0.065,2646,2755,3460,3477,3444,0,0,0,0,0,0,14.02,14.24,14.20
$GC,5477,-0.75,-107.1,2649,2757,3478,3441,494.5,-7.0,208,5482,0.00,2.03,0.00,0.000,292,0.000,0.114,2641,3828,3459,3477,3442,0,0,0,0,0,0,14.89,14.16,14.89
$GC,5504,-0.75,-107.1,2640,3831,3478,3441,496.5,-7.4,212,5510,0.00,1.85,0.00,0.000,1062,0.000,0.044,2641,2767,3459,3478,3441,0,0,0,0,0,0,14.49,14.46,14.50
$GC,5869,-0.75,-107.1,2641,2768,3478,3438,525.9,-8.4,222,5874,0.00,2.42,0.00,0.000,516,0.000,0.042,2641,1368,3457,3476,3438,0,0,0,0,0,0,14.88,14.39,14.86
$GC,5925,-0.75,-107.1,2641,1369,3478,3437,531.0,-9.0,230,5930,0.00,2.53,0.00,0.000,1030,0.000,0.066,2632,2767,3457,3477,3437,0,0,0,0,0,0,14.45,14.28,14.49
$GC,6261,-0.75,-107.1,2629,2768,3478,3436,562.5,-9.4,243,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2767,3456,3476,3437,0,0,0,0,0,0,14.91,14.91,14.89
$GC,6597,-0.75,-107.1,2632,2768,3477,3433,592.6,-8.8,249,6603,0.00,2.47,0.00,0.000,516,0.000,0.043,2631,1364,3453,3476,3431,0,0,0,0,0,0,14.88,14.37,14.88
$GC,6659,-0.75,-107.1,2632,1365,3477,3433,597.9,-8.3,258,6665,0.10,2.58,0.00,0.000,3078,0.218,0.067,2651,2754,3454,3477,3432,0,0,0,0,0,0,13.95,14.16,14.12
$GC,6990,-0.83,-107.1,2651,2755,3478,3428,620.8,-6.8,270,6990,0.00,0.00,0.00,0.000,166,0.000,0.000,2651,2754,3453,3477,3430,0,0,0,0,0,0,14.90,14.90,14.90
$GC,7326,-0.90,-107.1,2651,2754,3474,3432,642.1,-6.3,276,7331,0.08,2.42,0.00,0.000,4772,0.148,0.041,2576,1369,3451,3472,3431,0,0,0,0,0,0,14.52,14.35,14.54
$GC,7352,-0.90,-107.1,2577,1366,3473,3431,644.4,-8.2,280,7358,0.10,2.58,0.00,0.000,3078,0.223,0.067,2601,2757,3451,3472,3431,0,0,0,0,0,0,13.84,14.06,14.14
$GC,7717,-0.90,-107.1,2601,2758,3472,3430,674.5,-8.3,290,7722,0.00,2.03,0.00,0.000,260,0.000,0.112,2594,3826,3450,3470,3430,0,0,0,0,0,0,14.88,14.09,14.88
$GC,7779,-0.90,-107.1,2594,3826,3471,3432,680.0,-8.8,299,7785,0.00,1.88,0.00,0.000,1030,0.000,0.044,2592,2744,3450,3470,3431,0,0,0,0,0,0,14.44,14.43,14.47
$GC,8109,-0.90,-107.1,2594,2745,3471,3431,709.2,-9.0,311,8114,0.00,2.40,0.00,0.000,516,0.000,0.042,2593,1371,3449,3470,3429,0,0,0,0,0,0,14.87,14.33,14.87
$GC,8136,-0.90,-107.1,2594,1370,3470,3430,711.8,-9.5,315,8142,0.00,2.58,0.00,0.000,1030,0.000,0.068,2584,2758,3449,3469,3429,0,0,0,0,0,0,14.23,14.14,14.28
$GC,8501,-0.90,-107.1,2584,2759,3471,3426,748.2,-10.2,325,8507,0.00,2.05,0.00,0.000,260,0.000,0.112,2576,3828,3448,3470,3427,0,0,0,0,0,0,14.87,14.06,14.87
$GC,8584,-0.90,-107.1,2576,3828,3469,3428,757.5,-11.1,337,8591,0.10,1.88,0.00,0.000,3078,0.217,0.044,2601,2760,3448,3469,3428,0,0,0,0,0,0,13.95,14.38,14.10
$GC,8949,-0.90,-107.1,2602,2765,3469,3426,792.3,-9.5,347,8954,0.00,2.45,0.00,0.000,516,0.000,0.044,2602,1367,3446,3468,3425,0,0,0,0,0,0,14.90,14.31,14.90
$GC,8997,-0.90,-107.1,2603,1366,3469,3427,796.8,-9.1,354,9004,0.00,2.60,0.00,0.000,1030,0.000,0.067,2594,2757,3446,3468,3425,0,0,0,0,0,0,14.19,14.08,14.25
$STATE,9058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9058,begin apogee
$GC,9066,-0.23,0.0,2594,2203,3469,3426,802.7,-9.3,356,9179,0.80,0.12,110.10,1.838,10244,0.186,0.139,2821,2278,3048,3088,3009,0,0,0,0,0,0,13.91,14.00,12.99
$STATE,9181,end apogee,CONTROL_FINISHED_OK
$STATE,9181,begin climb
$GC,9184,0.93,107.1,2822,2278,3083,3003,806.1,0.0,358,9307,1.12,2.53,113.57,1.780,10756,0.100,0.054,3182,888,2623,2683,2564,0,0,0,0,0,0,14.03,14.08,13.02
$GC,9370,0.84,138.1,3182,889,2681,2544,801.9,6.2,386,9410,0.00,2.40,33.75,1.836,9382,0.000,0.050,3182,2243,2493,2566,2421,0,0,0,0,0,0,14.30,14.19,13.12
$GC,9737,0.73,138.1,3182,2243,2564,2408,770.7,8.9,403,9742,0.12,2.62,0.00,0.000,4484,0.239,0.097,3141,3646,2484,2563,2406,0,0,0,0,0,0,14.14,14.26,14.31
$GC,9784,0.63,138.1,3141,3646,2562,2408,766.1,9.0,410,9791,0.15,2.40,0.00,0.000,5254,0.220,0.040,3110,2270,2484,2563,2406,0,0,0,0,0,0,14.09,14.42,14.41
$GC,10128,0.66,157.3,3109,2271,2564,2403,742.8,6.8,417,10154,0.00,2.60,20.40,1.883,8484,0.000,0.099,3110,3652,2417,2497,2338,0,0,0,0,0,0,14.80,14.36,13.38
$GC,10183,0.66,157.3,3110,3653,2492,2332,738.7,7.8,425,10189,0.00,2.40,0.00,0.000,1030,0.000,0.041,3120,2254,2412,2493,2331,0,0,0,0,0,0,14.52,14.45,14.54
$GC,10520,0.67,164.7,3121,2249,2494,2328,713.7,7.4,438,10526,0.00,2.70,2.05,0.324,8484,0.000,0.101,3119,3646,2395,2476,2314,0,0,0,0,0,0,14.78,14.28,12.47
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$STATE,19727,end climb,SURFACE_DEPTH_REACHED
$STATE,19727,begin surface coast
$FINISH,1.2,1.022022
$STATE,19734,end surface coast,CONTROL_FINISHED_OK
$STATE,19734,begin surface
$SM_CCo,19760,50.38,0.155,0,0,1057,500.14
$SM_GC,-0.85,9.48,3.42,50.38,0.086,0.062,0.155,185,2761,1057,-8.40,-0.68,500.14,0,0,0,0,0,0,14.43,14.22,14.16
$IRIDIUM_FIX,1011.40,-12503.47,060117,042146
$TT8_MAMPS,0.039697,0.283122
$HUMID,56.93
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,21.70
$XPDR_PINGS,0
$SC_FREEKB,3710816
$PM_FREEKB,53857344
$24V_AH,12.47,182.137
$10V_AH,12.57,0.000
$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,25.425,188.350,454.325,50.375,0.000,0.000,0.000,384.575,0.000,0.000,4.583,0.000,16816.578,776.127,2382.739,535.917,0.000,1895.999,0.000,1474.140,0.000,0.837,0.000
$DEVICE_MAMPS,394.740,139.230,1913.265,154.530,0.000,0.000,0.000,174.420,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19795.000,19744.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.642,2.456,0.000,0.000
$MEM,334748
$DATA_FILE_SIZE,30025,819
$CAP_FILE_SIZE,153428,0
$CFSIZE,1024409600,929824768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031,199.94,1
$GPS,060117,154930,1013.114,-12504.885,25,1.3,25,9.0,0.1,0.0,6,7.5