version: 66.13
glider: 220
mission: 6
dive: 538
start: 1 10 117 23 46 7
data:
$ID,220
$MISSION,6
$DIVE,538
$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,49
$R_STBD_OVSHOOT,24
$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
$GPS1,100117,233300,943.8863,-12502.9414,24,0.7,24,9.0,0.9,157.4,12,4.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,-1.24
$_SM_ANGLEo,-69.2
$GPS2,100117,234543,943.8243,-12502.8945,2,0.7,4,9.0,0.7,82.9,12,4.6
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,114.3,7553,-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,-107.1,106,2774,1099,1018,0.0,0.0,0,101,0.00,0.00,-80.35,0.000,16390,0.000,0.000,105,2774,3477,3469,3486,0,0,0,0,0,0,14.67,13.07,14.64
$GC,105,-0.93,-107.1,106,2774,3469,3488,5.8,-12.4,3,122,11.85,2.38,0.00,0.000,2564,0.383,0.031,2588,1358,3478,3470,3486,0,0,0,0,0,0,13.98,14.36,14.26
$GC,150,-0.48,-107.1,2588,1357,3472,3487,26.2,-32.2,10,158,0.62,2.58,0.00,0.000,3206,0.256,0.073,2742,2775,3479,3472,3486,0,0,0,0,0,0,14.04,14.29,14.35
$GC,467,-0.58,-107.1,2742,2776,3473,3486,57.9,-6.9,22,471,0.00,1.95,0.00,0.000,420,0.000,0.112,2734,3822,3480,3474,3486,0,0,0,0,0,0,14.82,14.21,14.81
$GC,501,-0.72,-107.1,2734,3823,3476,3486,60.0,-6.3,27,506,0.12,1.80,0.00,0.000,5286,0.067,0.040,2646,2749,3480,3475,3486,0,0,0,0,0,0,14.44,14.50,14.48
$GC,830,-0.72,-107.1,2645,2749,3477,3487,87.3,-8.4,41,836,0.00,2.03,0.00,0.000,260,0.000,0.106,2637,3830,3481,3477,3486,0,0,0,0,0,0,14.88,14.26,14.88
$GC,983,-0.72,-107.1,2637,3829,3477,3487,101.1,-8.5,63,989,0.00,1.77,0.00,0.000,1030,0.000,0.038,2636,2746,3481,3476,3486,0,0,0,0,0,0,14.50,14.47,14.51
$GC,1335,-0.72,-107.1,2637,2747,3474,3485,132.2,-8.9,71,1336,0.10,0.00,0.00,0.000,2054,0.238,0.000,2666,2746,3481,3476,3487,0,0,0,0,0,0,14.25,14.50,14.45
$GC,1670,-0.72,-107.1,2667,2746,3477,3482,160.1,-8.2,77,1676,0.00,2.28,0.00,0.000,516,0.000,0.041,2666,1400,3478,3476,3480,0,0,0,0,0,0,14.92,14.50,14.92
$GC,1711,-0.80,-107.1,2667,1401,3477,3482,163.5,-7.8,83,1717,0.00,2.45,0.00,0.000,1158,0.000,0.067,2656,2771,3478,3476,3480,0,0,0,0,0,0,14.53,14.35,14.57
$GC,2062,-0.80,-107.1,2657,2779,3478,3476,193.7,-8.7,91,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2770,3476,3476,3476,0,0,0,0,0,0,14.90,14.90,14.90
$GC,2398,-0.80,-107.1,2656,2772,3475,3470,221.1,-8.0,97,2404,0.00,2.35,0.00,0.000,516,0.000,0.041,2657,1401,3473,3476,3470,0,0,0,0,0,0,14.90,14.46,14.90
$GC,2432,-0.80,-107.1,2657,1400,3477,3471,223.9,-7.6,102,2438,0.00,2.45,0.00,0.000,1062,0.000,0.067,2646,2773,3472,3476,3469,0,0,0,0,0,0,14.43,14.25,14.46
$GC,2790,-0.80,-107.1,2648,2772,3477,3466,250.8,-7.5,111,2795,0.00,2.40,0.00,0.000,548,0.000,0.041,2647,1391,3470,3476,3465,0,0,0,0,0,0,14.90,14.44,14.93
$GC,2838,-0.80,-107.1,2647,1392,3477,3464,254.7,-8.0,118,2845,0.00,2.50,0.00,0.000,1030,0.000,0.067,2639,2762,3470,3476,3464,0,0,0,0,0,0,14.38,14.28,14.42
$GC,3182,-0.80,-107.1,2639,2762,3478,3462,283.9,-8.7,125,3188,0.00,2.00,0.00,0.000,260,0.000,0.110,2626,3825,3468,3476,3460,0,0,0,0,0,0,14.89,14.22,14.89
$GC,3223,-0.80,-107.1,2631,3825,3477,3464,287.7,-9.4,131,3229,0.00,1.77,0.00,0.000,1030,0.000,0.042,2629,2781,3467,3476,3459,0,0,0,0,0,0,14.59,14.54,14.57
$GC,3574,-0.80,-107.1,2630,2782,3477,3455,318.1,-8.6,139,3579,0.00,2.42,0.00,0.000,516,0.000,0.043,2630,1378,3465,3476,3455,0,0,0,0,0,0,14.92,14.43,14.92
$GC,3630,-0.80,-107.1,2631,1378,3476,3456,323.2,-8.9,147,3635,0.00,2.50,0.00,0.000,1030,0.000,0.067,2620,2765,3465,3476,3454,0,0,0,0,0,0,14.49,14.32,14.53
$GC,3966,-0.80,-107.1,2621,2765,3477,3453,355.8,-9.9,160,3971,0.00,2.00,0.00,0.000,260,0.000,0.109,2612,3837,3463,3476,3451,0,0,0,0,0,0,14.92,14.21,14.92
$GC,4014,-0.80,-107.1,2612,3831,3476,3452,361.0,-10.6,167,4021,0.08,1.83,0.00,0.000,3078,0.217,0.041,2634,2769,3463,3475,3451,0,0,0,0,0,0,14.12,14.49,14.26
$GC,4358,-0.80,-107.1,2634,2773,3480,3446,392.4,-9.0,174,4363,0.00,2.42,0.00,0.000,516,0.000,0.043,2634,1371,3458,3469,3447,0,0,0,0,0,0,14.92,14.42,14.91
$GC,4434,-0.80,-107.1,2635,1371,3476,3443,399.1,-8.6,185,4441,0.00,2.55,0.00,0.000,1030,0.000,0.065,2625,2761,3461,3476,3446,0,0,0,0,0,0,14.33,14.23,14.38
$GC,4750,-0.80,-107.1,2625,2762,3477,3443,426.1,-8.6,195,4755,0.00,2.00,0.00,0.000,260,0.000,0.109,2616,3826,3459,3476,3443,0,0,0,0,0,0,14.89,14.19,14.89
$GC,4791,-0.80,-107.1,2617,3826,3477,3444,429.9,-9.1,201,4798,0.00,1.83,0.00,0.000,1030,0.000,0.042,2616,2758,3459,3476,3443,0,0,0,0,0,0,14.50,14.47,14.52
$GC,5142,-0.80,-107.1,2616,2760,3477,3439,458.5,-8.0,209,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2758,3458,3476,3440,0,0,0,0,0,0,14.88,14.88,14.88
$GC,5478,-0.80,-107.1,2617,2758,3476,3438,487.1,-8.5,215,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2759,3455,3476,3434,0,0,0,0,0,0,14.88,14.89,14.89
$GC,5814,-0.80,-107.1,2616,2760,3477,3434,517.8,-9.2,221,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2759,3455,3476,3434,0,0,0,0,0,0,14.88,14.88,14.88
$GC,6150,-0.80,-107.1,2616,2760,3477,3432,548.0,-8.9,227,6155,0.00,2.08,0.00,0.000,260,0.000,0.109,2608,3832,3454,3476,3432,0,0,0,0,0,0,14.88,14.14,14.88
$GC,6191,-0.80,-107.1,2608,3833,3476,3433,551.8,-9.3,233,6198,0.10,1.85,0.00,0.000,3078,0.211,0.043,2636,2773,3453,3475,3432,0,0,0,0,0,0,14.04,14.46,14.21
$GC,6542,-0.80,-107.1,2636,2774,3477,3430,579.3,-7.9,241,6548,0.00,2.45,0.00,0.000,516,0.000,0.044,2636,1367,3451,3475,3428,0,0,0,0,0,0,14.90,14.35,14.91
$GC,6583,-0.80,-107.1,2637,1369,3477,3428,582.7,-8.0,247,6589,0.00,2.58,0.00,0.000,1030,0.000,0.067,2627,2762,3451,3475,3428,0,0,0,0,0,0,14.42,14.16,14.45
$GC,6934,-0.80,-107.1,2627,2764,3472,3428,612.3,-8.6,255,6939,0.00,2.03,0.00,0.000,260,0.000,0.112,2618,3821,3449,3472,3427,0,0,0,0,0,0,14.88,14.09,14.88
$GC,6968,-0.80,-107.1,2618,3822,3473,3428,615.7,-10.1,260,6974,0.00,1.85,0.00,0.000,1030,0.000,0.044,2618,2760,3449,3472,3427,0,0,0,0,0,0,14.45,14.42,14.47
$GC,7326,-0.80,-107.1,2618,2761,3471,3427,648.5,-9.1,269,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2760,3448,3470,3427,0,0,0,0,0,0,14.90,14.90,14.90
$GC,7662,-0.80,-107.1,2618,2762,3471,3426,676.4,-8.2,275,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2760,3448,3470,3426,0,0,0,0,0,0,14.90,14.90,14.90
$GC,7999,-0.80,-107.1,2618,2760,3470,3432,702.4,-7.7,281,8004,0.00,2.45,0.00,0.000,548,0.000,0.044,2616,1368,3446,3470,3423,0,0,0,0,0,0,14.90,14.31,14.90
$GC,8032,-0.80,-107.1,2618,1368,3471,3424,705.1,-7.4,286,8038,0.10,2.58,0.00,0.000,3110,0.246,0.067,2635,2765,3446,3470,3423,0,0,0,0,0,0,13.97,14.18,14.23
$GC,8390,-0.80,-107.1,2636,2767,3469,3423,731.2,-8.0,295,8391,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2765,3443,3467,3420,0,0,0,0,0,0,14.90,14.90,14.90
$GC,8726,-0.80,-107.1,2636,2765,3467,3422,756.4,-7.5,301,8732,0.00,2.03,0.00,0.000,292,0.000,0.114,2628,3825,3444,3467,3421,0,0,0,0,0,0,14.89,14.02,14.89
$GC,8774,-0.80,-107.1,2628,3826,3467,3421,760.5,-8.4,308,8781,0.00,1.88,0.00,0.000,1030,0.000,0.046,2627,2764,3441,3465,3418,0,0,0,0,0,0,14.38,14.35,14.38
$GC,9119,-0.80,-107.1,2627,2767,3466,3420,785.3,-7.1,315,9123,0.00,2.47,0.00,0.000,548,0.000,0.044,2627,1358,3445,3465,3426,0,0,0,0,0,0,14.88,14.28,14.88
$GC,9201,-0.80,-107.1,2631,1356,3465,3421,790.6,-7.5,327,9207,0.00,2.58,0.00,0.000,1062,0.000,0.067,2618,2760,3442,3465,3420,0,0,0,0,0,0,14.32,14.13,14.36
$STATE,9339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9339,begin apogee
$GC,9347,-0.23,0.0,2616,2203,3466,3419,800.9,-7.2,333,9462,0.73,0.12,111.35,1.832,10244,0.190,0.136,2821,2276,3048,3089,3008,0,0,0,0,0,0,13.86,14.01,13.08
$STATE,9463,end apogee,CONTROL_FINISHED_OK
$STATE,9463,begin climb
$GC,9467,0.93,107.1,2822,2276,3090,3004,803.5,0.0,335,9596,1.12,2.53,115.95,1.788,10756,0.097,0.055,3184,887,2616,2679,2554,0,0,0,0,0,0,14.04,14.08,12.98
$GC,9665,0.81,107.1,3184,889,2678,2541,796.7,7.7,365,9671,0.00,2.42,0.00,0.000,1158,0.000,0.051,3184,2260,2608,2677,2539,0,0,0,0,0,0,14.33,14.21,14.35
$GC,10016,0.68,107.1,3184,2261,2678,2535,769.2,7.9,373,10022,0.20,2.60,0.00,0.000,4484,0.235,0.096,3123,3651,2606,2678,2535,0,0,0,0,0,0,14.03,14.23,14.23
$GC,10064,0.59,108.7,3123,3652,2678,2535,765.5,7.6,380,10071,0.10,2.42,0.00,0.000,5286,0.226,0.040,3097,2271,2606,2677,2535,0,0,0,0,0,0,14.07,14.38,14.37
$GC,10408,0.66,165.3,3097,2272,2678,2532,747.6,4.9,387,10476,0.00,2.55,63.88,1.760,8740,0.000,0.058,3106,863,2387,2466,2308,0,0,0,0,0,0,14.81,13.98,13.21
$GC,10505,0.67,169.4,3107,864,2464,2295,741.4,7.5,401,10512,0.00,2.47,0.00,0.000,1062,0.000,0.051,3106,2257,2378,2462,2295,0,0,0,0,0,0,14.33,14.21,14.35
$GC,10856,0.68,182.7,3107,2257,2463,2289,716.5,7.1,409,10882,0.00,2.65,18.15,1.867,8484,0.000,0.102,3106,3654,2314,2401,2227,0,0,0,0,0,0,14.76,14.30,13.31
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$STATE,19918,end climb,SURFACE_DEPTH_REACHED
$STATE,19918,begin surface coast
$FINISH,-0.6,1.022011
$STATE,19926,end surface coast,CONTROL_FINISHED_OK
$STATE,19926,begin surface
$SM_CCo,19949,16.62,0.158,0,0,1057,500.14
$SM_GC,-1.26,9.02,0.95,16.62,0.049,0.090,0.158,177,2761,1057,-8.40,-0.76,500.14,0,0,0,0,0,0,14.45,14.23,14.13
$IRIDIUM_FIX,940.75,-12502.75,100117,174809
$TT8_MAMPS,0.036701,0.271887
$HUMID,58.15
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,22.00
$XPDR_PINGS,0
$SC_FREEKB,3703136
$PM_FREEKB,53639232
$24V_AH,12.98,188.761
$10V_AH,12.58,0.000
$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,24.825,187.925,495.575,16.625,0.000,0.000,0.000,424.875,0.000,0.000,6.392,0.000,16969.127,782.142,2403.930,559.929,0.000,1937.344,0.000,1457.826,0.000,0.839,0.000
$DEVICE_MAMPS,383.265,136.170,1867.365,157.590,0.000,0.000,0.000,170.595,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19987.000,19936.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.564,2.437,0.000,0.000
$MEM,334700
$DATA_FILE_SIZE,30068,805
$CAP_FILE_SIZE,151412,0
$CFSIZE,1024409600,926924800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,85.58,1
$GPS,110117,052001,943.065,-12500.585,34,0.8,34,9.0,0.6,184.9,12,3.3