version: 66.13
glider: 220
mission: 6
dive: 534
start: 1 10 117 0 59 16
data:
$ID,220
$MISSION,6
$DIVE,534
$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,47
$R_STBD_OVSHOOT,18
$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
$GPS1,100117,004700,952.5427,-12509.9629,23,0.8,23,9.0,0.3,27.4,10,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.17
$_SM_ANGLEo,-68.0
$GPS2,100117,005855,952.5670,-12509.9209,2,0.7,3,9.0,0.6,306.8,11,8.0
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,141.9,28180,-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,-107.1,107,2781,1102,1012,0.0,0.0,0,101,0.00,0.00,-81.60,0.000,16390,0.000,0.000,106,2780,3479,3470,3488,0,0,0,0,0,0,14.67,12.53,14.64
$GC,105,-0.93,-107.1,111,2780,3470,3490,5.0,-10.5,3,122,12.05,2.40,0.00,0.000,2564,0.390,0.034,2590,1361,3480,3471,3489,0,0,0,0,0,0,13.97,14.35,14.24
$GC,171,-0.70,-107.1,2591,1362,3474,3488,30.2,-22.7,13,178,0.35,2.55,0.00,0.000,3206,0.259,0.071,2672,2769,3480,3472,3488,0,0,0,0,0,0,13.97,14.30,14.31
$GC,494,-0.70,-107.1,2672,2770,3477,3488,68.7,-8.8,26,499,0.00,1.98,0.00,0.000,260,0.000,0.110,2667,3828,3482,3476,3488,0,0,0,0,0,0,14.82,14.24,14.82
$GC,654,-0.70,-107.1,2663,3828,3479,3489,80.6,-6.9,49,662,0.00,1.80,0.00,0.000,1062,0.000,0.038,2664,2742,3483,3478,3488,0,0,0,0,0,0,14.54,14.53,14.56
$GC,970,-0.70,-107.1,2664,2744,3479,3488,106.2,-8.7,60,975,0.00,2.28,0.00,0.000,516,0.000,0.041,2664,1393,3483,3478,3488,0,0,0,0,0,0,14.90,14.48,14.90
$GC,1004,-0.70,-107.1,2663,1394,3480,3489,109.4,-8.9,65,1011,0.00,2.45,0.00,0.000,1030,0.000,0.067,2654,2778,3483,3478,3488,0,0,0,0,0,0,14.54,14.37,14.57
$GC,1363,-0.70,-107.1,2655,2778,3479,3488,141.8,-9.1,74,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2778,3482,3478,3487,0,0,0,0,0,0,14.88,14.88,14.88
$GC,1698,-0.70,-107.1,2655,2778,3479,3484,169.5,-8.0,80,1703,0.00,2.40,0.00,0.000,516,0.000,0.041,2654,1382,3481,3478,3484,0,0,0,0,0,0,14.92,14.47,14.92
$GC,1754,-0.70,-107.1,2654,1383,3479,3481,173.8,-7.5,88,1760,0.10,2.47,0.00,0.000,3110,0.246,0.066,2673,2768,3480,3478,3482,0,0,0,0,0,0,14.19,14.36,14.43
$GC,2091,-0.78,-107.1,2673,2769,3479,3478,197.3,-7.1,101,2091,0.00,0.00,0.00,0.000,166,0.000,0.000,2674,2768,3478,3478,3478,0,0,0,0,0,0,14.90,14.90,14.90
$GC,2427,-0.86,-107.1,2674,2769,3479,3475,221.4,-7.2,107,2432,0.08,2.38,0.00,0.000,4772,0.145,0.039,2597,1389,3475,3478,3473,0,0,0,0,0,0,14.59,14.47,14.61
$GC,2495,-0.86,-107.1,2597,1390,3480,3472,228.4,-10.5,117,2502,0.08,2.53,0.00,0.000,3078,0.233,0.067,2622,2766,3478,3478,3479,0,0,0,0,0,0,14.09,14.30,14.38
$GC,2818,-0.86,-107.1,2623,2765,3477,3470,260.4,-10.0,128,2823,0.00,2.00,0.00,0.000,260,0.000,0.109,2615,3828,3473,3478,3468,0,0,0,0,0,0,14.90,14.19,14.90
$GC,2852,-0.86,-107.1,2615,3828,3479,3468,264.0,-10.4,133,2859,0.00,1.77,0.00,0.000,1030,0.000,0.041,2615,2769,3472,3477,3468,0,0,0,0,0,0,14.57,14.56,14.59
$GC,3210,-0.86,-107.1,2615,2770,3479,3463,298.4,-9.4,142,3215,0.00,2.38,0.00,0.000,516,0.000,0.041,2614,1376,3470,3477,3463,0,0,0,0,0,0,14.90,14.46,14.90
$GC,3244,-0.86,-107.1,2613,1378,3479,3462,301.6,-9.1,147,3250,0.00,2.53,0.00,0.000,1030,0.000,0.065,2605,2763,3470,3478,3462,0,0,0,0,0,0,14.40,14.29,14.43
$GC,3602,-0.86,-107.1,2605,2764,3479,3460,335.0,-9.4,156,3607,0.00,2.00,0.00,0.000,260,0.000,0.108,2596,3828,3468,3478,3459,0,0,0,0,0,0,14.92,14.22,14.92
$GC,3650,-0.86,-107.1,2597,3828,3479,3460,339.8,-9.9,163,3657,0.00,1.80,0.00,0.000,1030,0.000,0.041,2596,2768,3473,3484,3462,0,0,0,0,0,0,14.54,14.51,14.56
$GC,3994,-0.86,-107.1,2597,2767,3478,3456,374.3,-10.1,170,3995,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2768,3466,3477,3455,0,0,0,0,0,0,14.90,14.90,14.90
$GC,4330,-0.86,-107.1,2596,2767,3479,3451,410.7,-10.9,176,4335,0.00,2.03,0.00,0.000,260,0.000,0.108,2588,3822,3464,3478,3451,0,0,0,0,0,0,14.92,14.21,14.92
$GC,4364,-0.86,-107.1,2589,3822,3478,3453,414.9,-12.0,181,4371,0.10,1.80,0.00,0.000,3078,0.220,0.041,2615,2780,3464,3478,3451,0,0,0,0,0,0,14.09,14.51,14.26
$GC,4722,-0.86,-107.1,2616,2776,3479,3448,451.9,-10.3,190,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2776,3463,3478,3448,0,0,0,0,0,0,14.92,14.92,14.92
$GC,5058,-0.86,-107.1,2616,2777,3482,3444,484.3,-9.4,196,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2775,3459,3478,3440,0,0,0,0,0,0,14.89,14.90,14.90
$GC,5394,-0.86,-107.1,2615,2777,3478,3442,514.9,-9.1,202,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2775,3460,3478,3442,0,0,0,0,0,0,14.88,14.89,14.89
$GC,5730,-0.86,-107.1,2615,2777,3478,3439,547.8,-9.9,208,5735,0.00,2.45,0.00,0.000,516,0.000,0.043,2616,1364,3457,3477,3438,0,0,0,0,0,0,14.89,14.40,14.89
$GC,5764,-0.86,-107.1,2617,1364,3478,3440,551.4,-10.4,213,5771,0.00,2.55,0.00,0.000,1030,0.000,0.066,2606,2776,3457,3477,3438,0,0,0,0,0,0,14.47,14.30,14.50
$GC,6122,-0.86,-107.1,2606,2772,3479,3436,589.3,-10.6,222,6123,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2776,3457,3478,3436,0,0,0,0,0,0,14.91,14.91,14.91
$GC,6458,-0.86,-107.1,2606,2777,3479,3432,623.2,-10.0,228,6459,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2776,3454,3477,3432,0,0,0,0,0,0,14.90,14.90,14.90
$GC,6794,-0.86,-107.1,2606,2777,3479,3431,654.7,-9.2,234,6799,0.00,1.98,0.00,0.000,260,0.000,0.110,2598,3820,3453,3477,3430,0,0,0,0,0,0,14.90,14.13,14.90
$GC,6821,-0.86,-107.1,2597,3820,3477,3431,657.4,-9.6,238,6827,0.00,1.83,0.00,0.000,1030,0.000,0.043,2597,2767,3453,3476,3431,0,0,0,0,0,0,14.47,14.43,14.52
$GC,7186,-0.86,-107.1,2597,2767,3474,3432,690.2,-8.8,248,7191,0.00,2.42,0.00,0.000,516,0.000,0.042,2597,1369,3452,3473,3431,0,0,0,0,0,0,14.88,14.35,14.88
$GC,7213,-0.86,-107.1,2597,1369,3473,3433,692.7,-9.0,252,7219,0.08,2.58,0.00,0.000,3078,0.245,0.067,2616,2761,3452,3473,3431,0,0,0,0,0,0,13.93,14.15,14.23
$GC,7578,-0.86,-107.1,2617,2761,3471,3432,721.0,-7.8,262,7583,0.00,2.03,0.00,0.000,260,0.000,0.112,2609,3832,3450,3470,3431,0,0,0,0,0,0,14.87,14.09,14.87
$GC,7612,-0.86,-107.1,2610,3832,3471,3432,724.0,-8.4,267,7618,0.00,1.85,0.00,0.000,1030,0.000,0.044,2608,2767,3450,3470,3431,0,0,0,0,0,0,14.45,14.42,14.47
$GC,7970,-0.86,-107.1,2609,2766,3471,3430,754.3,-8.6,276,7975,0.00,2.45,0.00,0.000,516,0.000,0.042,2608,1360,3449,3470,3429,0,0,0,0,0,0,14.95,14.35,14.90
$GC,8032,-0.86,-107.1,2608,1360,3471,3429,760.0,-8.8,285,8039,0.00,2.60,0.00,0.000,1030,0.000,0.065,2597,2765,3449,3470,3428,0,0,0,0,0,0,14.23,14.14,14.28
$GC,8362,-0.86,-107.1,2599,2765,3468,3429,789.6,-9.1,297,8368,0.00,2.03,0.00,0.000,260,0.000,0.112,2590,3834,3448,3469,3427,0,0,0,0,0,0,14.87,14.05,14.86
$GC,8389,-0.86,-107.1,2590,3835,3470,3427,792.2,-9.3,301,8396,0.00,1.88,0.00,0.000,1030,0.000,0.043,2589,2747,3447,3468,3426,0,0,0,0,0,0,14.42,14.39,14.44
$STATE,8527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8527,begin apogee
$GC,8535,-0.23,0.0,2590,2218,3469,3428,804.8,-8.9,307,8651,0.82,0.10,113.47,1.823,10244,0.203,0.160,2819,2283,3049,3090,3008,0,0,0,0,0,0,13.87,13.97,13.01
$STATE,8653,end apogee,CONTROL_FINISHED_OK
$STATE,8653,begin climb
$GC,8656,0.93,107.1,2819,2285,3085,3000,807.1,0.0,309,8783,1.12,2.60,114.18,1.784,10756,0.102,0.054,3181,853,2615,2678,2553,0,0,0,0,0,0,14.04,14.09,13.02
$GC,8818,0.83,125.4,3180,855,2678,2543,802.2,6.8,334,8845,0.00,2.45,19.90,1.893,9382,0.000,0.050,3181,2243,2542,2615,2470,0,0,0,0,0,0,14.26,14.16,13.11
$GC,9204,0.71,125.4,3182,2243,2614,2456,767.1,9.4,347,9209,0.15,2.62,0.00,0.000,4484,0.246,0.095,3133,3657,2533,2613,2454,0,0,0,0,0,0,14.09,14.26,14.27
$GC,9252,0.62,125.4,3134,3658,2614,2453,762.7,8.8,354,9260,0.15,2.47,0.00,0.000,5254,0.222,0.040,3103,2233,2533,2613,2454,0,0,0,0,0,0,14.07,14.42,14.41
$GC,9596,0.66,162.2,3105,2233,2614,2452,741.7,5.9,361,9642,0.00,2.72,39.12,1.811,8484,0.000,0.099,3103,3648,2397,2478,2316,0,0,0,0,0,0,14.81,14.23,13.32
$GC,9693,0.68,171.1,3103,3648,2478,2311,735.5,7.3,375,9700,0.00,2.42,3.00,1.102,9254,0.000,0.040,3112,2238,2369,2451,2288,0,0,0,0,0,0,14.45,14.37,12.74
$GC,10037,0.71,196.5,3114,2232,2453,2310,713.2,6.5,382,10078,0.00,2.75,36.33,1.786,8484,0.000,0.099,3113,3649,2262,2347,2177,0,0,0,0,0,0,14.78,14.23,13.31
$GC,10113,0.71,196.5,3114,3649,2343,2170,707.6,8.3,393,10118,0.00,2.45,0.00,0.000,1030,0.000,0.040,3122,2253,2255,2342,2168,0,0,0,0,0,0,14.36,14.32,14.38
$GC,10478,0.71,196.5,3123,2250,2343,2161,678.7,8.1,403,10483,0.00,2.65,0.00,0.000,260,0.000,0.099,3123,3651,2251,2342,2160,0,0,0,0,0,0,14.77,14.23,14.77
$GC,10505,0.71,196.5,3123,3652,2343,2160,676.2,9.1,407,10511,0.00,2.42,0.00,0.000,1030,0.000,0.040,3132,2264,2251,2342,2160,0,0,0,0,0,0,14.45,14.40,14.47
$GC,10870,0.71,196.5,3132,2261,2343,2157,644.9,8.5,417,10874,0.00,2.47,0.00,0.000,516,0.000,0.060,3143,852,2249,2341,2157,0,0,0,0,0,0,14.84,14.33,14.84
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$STATE,18937,end climb,SURFACE_DEPTH_REACHED
$STATE,18937,begin surface coast
$FINISH,1.1,1.022048
$STATE,18944,end surface coast,CONTROL_FINISHED_OK
$STATE,18944,begin surface
$SM_CCo,18970,52.42,0.156,0,0,1057,500.39
$SM_GC,-2.01,9.23,3.45,52.42,0.083,0.067,0.156,185,2769,1057,-8.38,-0.42,500.39,0,0,0,0,0,0,14.52,14.21,14.16
$IRIDIUM_FIX,951.69,-12510.11,090117,192459
$TT8_MAMPS,0.038199,0.301847
$HUMID,57.24
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,22.20
$XPDR_PINGS,2
$SC_FREEKB,3704672
$PM_FREEKB,53684288
$24V_AH,12.53,187.589
$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
$DEVICE_SECS,25.025,174.725,439.050,52.425,0.000,0.000,0.000,379.625,0.500,0.000,4.540,0.000,16213.351,754.915,2219.708,529.741,0.000,1811.317,0.000,1354.393,0.000,0.839,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.618,2.451,0.000,0.000
$MEM,334768
$DATA_FILE_SIZE,26669,742
$CAP_FILE_SIZE,140365,0
$CFSIZE,1024409600,927531008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.112,109.43,1
$GPS,100117,061731,950.761,-12507.809,31,0.7,38,9.0,0.5,98.8,12,2.5