version: 66.13
glider: 220
mission: 6
dive: 536
start: 1 10 117 12 9 25
data:
$ID,220
$MISSION,6
$DIVE,536
$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,52
$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
$GPS1,100117,115540,948.5499,-12506.2666,11,1.9,13,9.0,0.9,74.1,4,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.13
$_SM_ANGLEo,-66.8
$GPS2,100117,120901,948.6119,-12506.1680,20,0.6,20,9.0,0.6,113.2,12,3.3
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,141.5,18173,-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,-107.1,116,2783,1101,1017,0.0,0.0,0,102,0.00,0.00,-82.18,0.000,16390,0.000,0.000,108,2784,3477,3469,3486,0,0,0,0,0,0,14.68,12.54,14.65
$GC,105,-0.93,-107.1,109,2784,3471,3488,4.6,-9.8,3,122,11.98,2.42,0.00,0.000,2564,0.386,0.036,2589,1364,3479,3471,3487,0,0,0,0,0,0,13.96,14.35,14.24
$GC,158,-0.62,-107.1,2589,1363,3473,3488,26.5,-26.9,11,163,0.43,2.55,0.00,0.000,3206,0.263,0.075,2691,2773,3479,3472,3487,0,0,0,0,0,0,14.03,14.27,14.34
$GC,494,-0.62,-107.1,2691,2774,3477,3486,62.5,-7.5,26,499,0.00,1.98,0.00,0.000,292,0.000,0.111,2682,3832,3480,3475,3486,0,0,0,0,0,0,14.85,14.23,14.84
$GC,584,-0.62,-107.1,2687,3834,3478,3486,68.7,-6.7,39,590,0.00,1.83,0.00,0.000,1062,0.000,0.038,2682,2728,3481,3476,3487,0,0,0,0,0,0,14.51,14.49,14.53
$GC,914,-0.62,-107.1,2683,2729,3479,3486,92.6,-7.1,53,920,0.00,2.08,0.00,0.000,292,0.000,0.107,2674,3824,3482,3478,3486,0,0,0,0,0,0,14.88,14.25,14.85
$GC,970,-0.62,-107.1,2675,3825,3479,3486,97.3,-8.5,61,976,0.00,1.75,0.00,0.000,1030,0.000,0.040,2672,2771,3482,3478,3486,0,0,0,0,0,0,14.54,14.52,14.55
$GC,1306,-0.62,-107.1,2679,2771,3478,3487,122.4,-7.6,71,1311,0.00,2.35,0.00,0.000,548,0.000,0.044,2674,1395,3482,3478,3486,0,0,0,0,0,0,14.89,14.45,14.89
$GC,1348,-0.70,-107.1,2675,1395,3478,3486,125.5,-7.6,77,1354,0.00,2.42,0.00,0.000,1190,0.000,0.068,2664,2765,3483,3482,3485,0,0,0,0,0,0,14.52,14.33,14.55
$GC,1699,-0.70,-107.1,2665,2767,3478,3481,152.5,-7.7,85,1699,0.00,0.00,0.00,0.000,38,0.000,0.000,2664,2765,3479,3477,3481,0,0,0,0,0,0,14.90,14.90,14.90
$GC,2034,-0.70,-107.1,2665,2765,3478,3479,181.2,-8.6,91,2039,0.00,2.40,0.00,0.000,516,0.000,0.045,2664,1388,3477,3477,3477,0,0,0,0,0,0,14.90,14.43,14.90
$GC,2090,-0.78,-107.1,2665,1388,3478,3478,185.9,-8.1,99,2095,0.00,2.47,0.00,0.000,1158,0.000,0.069,2655,2761,3479,3482,3477,0,0,0,0,0,0,14.52,14.34,14.55
$GC,2426,-0.78,-107.1,2655,2762,3478,3470,212.4,-7.8,112,2431,0.00,2.00,0.00,0.000,260,0.000,0.110,2646,3827,3474,3477,3471,0,0,0,0,0,0,14.92,14.23,14.92
$GC,2460,-0.78,-107.1,2648,3827,3484,3472,215.4,-9.0,117,2467,0.00,1.80,0.00,0.000,1030,0.000,0.043,2646,2768,3473,3477,3470,0,0,0,0,0,0,14.54,14.52,14.57
$GC,2818,-0.78,-107.1,2647,2769,3478,3468,246.6,-8.9,126,2823,0.00,2.40,0.00,0.000,516,0.000,0.044,2647,1380,3472,3477,3468,0,0,0,0,0,0,14.90,14.44,14.90
$GC,2874,-0.78,-107.1,2647,1380,3478,3468,251.7,-8.9,134,2879,0.00,2.50,0.00,0.000,1030,0.000,0.069,2637,2765,3471,3477,3466,0,0,0,0,0,0,14.50,14.33,14.54
$GC,3210,-0.78,-107.1,2638,2766,3477,3463,282.4,-9.2,147,3215,0.00,2.40,0.00,0.000,516,0.000,0.044,2637,1383,3469,3477,3462,0,0,0,0,0,0,14.90,14.44,14.90
$GC,3237,-0.78,-107.1,2637,1382,3478,3463,284.9,-9.3,151,3243,0.00,2.47,0.00,0.000,1030,0.000,0.067,2628,2759,3469,3477,3462,0,0,0,0,0,0,14.50,14.32,14.52
$GC,3602,-0.78,-107.1,2628,2759,3478,3458,319.0,-9.4,161,3608,0.00,2.00,0.00,0.000,260,0.000,0.109,2619,3822,3467,3477,3457,0,0,0,0,0,0,14.90,14.21,14.90
$GC,3643,-0.78,-107.1,2620,3823,3478,3457,323.2,-10.0,167,3649,0.08,1.83,0.00,0.000,3078,0.209,0.043,2642,2754,3467,3477,3457,0,0,0,0,0,0,14.19,14.53,14.32
$GC,3994,-0.78,-107.1,2641,2750,3479,3453,352.8,-8.2,175,3995,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2755,3465,3477,3453,0,0,0,0,0,0,14.92,14.92,14.92
$GC,4330,-0.78,-107.1,2645,2755,3478,3450,377.6,-7.3,181,4336,0.00,2.38,0.00,0.000,548,0.000,0.044,2642,1375,3463,3478,3449,0,0,0,0,0,0,14.90,14.40,14.90
$GC,4378,-0.78,-107.1,2642,1374,3478,3451,381.2,-7.6,188,4385,0.00,2.53,0.00,0.000,1062,0.000,0.066,2631,2749,3463,3477,3449,0,0,0,0,0,0,14.33,14.23,14.38
$GC,4722,-0.78,-107.1,2632,2749,3474,3446,410.7,-8.9,195,4727,0.00,2.05,0.00,0.000,260,0.000,0.109,2623,3832,3461,3478,3444,0,0,0,0,0,0,14.89,14.20,14.88
$GC,4798,-0.78,-107.1,2624,3831,3477,3446,418.5,-10.3,206,4804,0.00,1.85,0.00,0.000,1030,0.000,0.042,2623,2747,3461,3477,3445,0,0,0,0,0,0,14.50,14.47,14.52
$GC,5114,-0.78,-107.1,2623,2747,3477,3443,451.0,-10.4,216,5119,0.00,2.38,0.00,0.000,516,0.000,0.043,2623,1378,3459,3477,3442,0,0,0,0,0,0,14.91,14.39,14.91
$GC,5148,-0.78,-107.1,2623,1379,3478,3442,454.7,-10.9,221,5155,0.08,2.53,0.00,0.000,3078,0.223,0.067,2643,2753,3459,3477,3442,0,0,0,0,0,0,14.02,14.21,14.30
$GC,5506,-0.78,-107.1,2643,2753,3477,3438,486.5,-8.6,230,5511,0.00,2.03,0.00,0.000,260,0.000,0.110,2635,3828,3458,3477,3439,0,0,0,0,0,0,14.88,14.16,14.88
$GC,5547,-0.78,-107.1,2635,3829,3478,3438,490.0,-8.6,236,5553,0.00,1.83,0.00,0.000,1030,0.000,0.044,2634,2766,3457,3477,3438,0,0,0,0,0,0,14.50,14.47,14.50
$GC,5898,-0.78,-107.1,2634,2767,3478,3436,518.2,-8.0,244,5903,0.00,2.42,0.00,0.000,516,0.000,0.043,2634,1367,3456,3477,3436,0,0,0,0,0,0,14.88,14.38,14.88
$GC,5939,-0.78,-107.1,2634,1367,3477,3437,521.7,-8.1,250,5945,0.00,2.53,0.00,0.000,1030,0.000,0.065,2624,2768,3456,3476,3436,0,0,0,0,0,0,14.44,14.24,14.48
$GC,6290,-0.78,-107.1,2625,2769,3478,3432,552.0,-8.7,258,6295,0.00,2.00,0.00,0.000,260,0.000,0.111,2616,3828,3455,3478,3433,0,0,0,0,0,0,14.91,14.14,14.91
$GC,6324,-0.78,-107.1,2616,3828,3477,3433,555.3,-9.6,263,6330,0.08,1.88,0.00,0.000,3078,0.210,0.044,2638,2749,3454,3476,3432,0,0,0,0,0,0,14.09,14.45,14.23
$GC,6682,-0.78,-107.1,2638,2751,3478,3430,583.3,-7.8,272,6687,0.00,2.40,0.00,0.000,516,0.000,0.044,2638,1365,3453,3476,3430,0,0,0,0,0,0,14.91,14.35,14.91
$GC,6709,-0.78,-107.1,2639,1366,3478,3429,585.5,-8.2,276,6715,0.00,2.55,0.00,0.000,1030,0.000,0.066,2629,2751,3453,3477,3429,0,0,0,0,0,0,14.26,14.17,14.32
$GC,7074,-0.78,-107.1,2630,2751,3477,3428,614.8,-8.1,286,7075,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2751,3451,3476,3427,0,0,0,0,0,0,14.86,14.86,14.88
$GC,7410,-0.78,-107.1,2629,2752,3476,3426,643.7,-8.7,292,7411,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2751,3450,3475,3426,0,0,0,0,0,0,14.91,14.90,14.90
$GC,7746,-0.78,-107.1,2629,2751,3472,3427,672.8,-8.6,298,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2751,3448,3471,3426,0,0,0,0,0,0,14.88,14.88,14.88
$GC,8082,-0.78,-107.1,2630,2751,3471,3427,701.2,-8.4,304,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2751,3448,3470,3426,0,0,0,0,0,0,14.87,14.87,14.87
$GC,8418,-0.78,-107.1,2629,2751,3471,3428,729.8,-8.6,310,8419,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2751,3452,3479,3425,0,0,0,0,0,0,14.87,14.89,14.87
$GC,8754,-0.78,-107.1,2629,2751,3470,3424,758.1,-8.4,316,8755,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2751,3446,3470,3422,0,0,0,0,0,0,14.87,14.87,14.87
$GC,9090,-0.78,-107.1,2630,2751,3468,3423,784.5,-7.7,322,9091,0.00,0.00,0.00,0.000,38,0.000,0.000,2629,2751,3444,3467,3421,0,0,0,0,0,0,14.86,14.86,14.86
$STATE,9311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9311,begin apogee
$GC,9319,-0.23,0.0,2629,2223,3467,3421,801.3,-7.5,326,9428,0.68,0.08,100.70,2.511,10244,0.190,0.175,2818,2264,3050,3091,3010,0,0,0,0,1,0,13.90,13.84,12.50
$STATE,9429,end apogee,CONTROL_FINISHED_OK
$STATE,9429,begin climb
$GC,9433,0.93,107.1,2820,2264,3093,3021,803.9,0.0,328,9567,1.12,2.53,122.75,1.806,10756,0.099,0.056,3180,889,2618,2680,2556,0,0,0,0,0,0,13.95,13.99,12.97
$GC,9637,0.84,127.8,3180,889,2679,2543,799.2,6.7,358,9665,0.00,2.42,21.60,1.882,9382,0.000,0.051,3180,2253,2537,2610,2465,0,0,0,0,0,0,14.33,14.22,13.14
$GC,9988,0.72,127.8,3181,2257,2609,2449,770.7,8.1,373,9993,0.15,2.62,0.00,0.000,4484,0.246,0.094,3134,3657,2528,2608,2448,0,0,0,0,0,0,14.08,14.27,14.27
$GC,10036,0.63,127.8,3133,3658,2609,2447,766.9,7.7,380,10043,0.12,2.42,0.00,0.000,5254,0.225,0.041,3110,2267,2527,2607,2447,0,0,0,0,0,0,14.08,14.42,14.26
$GC,10380,0.68,170.5,3110,2267,2609,2444,747.4,5.6,387,10435,0.00,2.70,46.78,1.799,8484,0.000,0.099,3110,3651,2364,2447,2282,0,0,0,0,0,0,14.81,14.18,13.29
$GC,10463,0.71,189.5,3110,3652,2446,2278,742.0,6.8,399,10491,0.00,2.42,21.65,1.848,9254,0.000,0.040,3120,2250,2288,2374,2202,0,0,0,0,0,0,14.40,14.33,13.24
$GC,10828,0.71,190.0,3119,2251,2372,2184,713.8,7.7,409,10834,0.00,2.67,0.00,0.000,292,0.000,0.099,3120,3660,2277,2370,2184,0,0,0,0,0,0,14.75,14.23,14.76
$GC,10861,0.71,190.0,3120,3661,2371,2183,710.8,8.6,414,10867,0.00,2.45,0.00,0.000,1030,0.000,0.041,3129,2258,2276,2369,2183,0,0,0,0,0,0,14.43,14.38,14.45
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$STATE,19814,end climb,SURFACE_DEPTH_REACHED
$STATE,19814,begin surface coast
$FINISH,-1.1,1.022004
$STATE,19842,end surface coast,CONTROL_FINISHED_OK
$STATE,19842,begin surface
$SM_CCo,19865,64.80,0.152,0,0,1056,500.14
$SM_GC,-2.38,9.15,0.95,64.80,0.077,0.082,0.152,185,2772,1056,-8.40,-0.45,500.14,0,0,0,0,0,0,14.48,14.27,14.16
$IRIDIUM_FIX,947.31,-12505.80,100117,062514
$TT8_MAMPS,0.038199,0.370755
$HUMID,56.89
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.80
$XPDR_PINGS,0
$SC_FREEKB,3703904
$PM_FREEKB,53662016
$24V_AH,12.34,188.181
$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,24.625,189.350,453.875,64.800,0.000,0.000,0.000,390.075,0.000,0.000,24.577,0.000,16992.076,792.357,2377.543,556.474,0.000,1902.600,0.000,1447.908,0.000,0.838,0.000
$DEVICE_MAMPS,386.325,175.185,2511.495,152.235,0.000,0.000,0.000,176.715,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19901.000,19852.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.615,2.437,0.000,0.000
$MEM,334688
$DATA_FILE_SIZE,30051,797
$CAP_FILE_SIZE,154224,0
$CFSIZE,1024409600,927219712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.099,116.81,1
$GPS,100117,174230,946.682,-12504.236,21,0.9,21,9.0,0.6,62.4,9,4.2