version: 66.13
glider: 220
mission: 6
dive: 547
start: 1 13 117 2 30 9
data:
$ID,220
$MISSION,6
$DIVE,547
$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,44
$R_STBD_OVSHOOT,27
$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
$GPS1,130117,021538,953.9038,-12448.2012,20,1.0,20,9.0,0.9,33.2,8,8.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.73
$_SM_ANGLEo,-67.2
$GPS2,130117,022945,953.9286,-12448.1582,3,1.1,5,9.0,0.4,60.3,7,6.9
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,41.0,17774,-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,-107.1,105,2782,1102,1014,0.0,0.0,0,101,0.00,0.00,-80.20,0.000,16390,0.000,0.000,104,2782,3477,3469,3486,0,0,0,0,0,0,14.66,13.05,14.64
$GC,105,-0.93,-107.1,104,2783,3470,3486,6.4,-12.1,3,122,11.85,1.90,0.00,0.000,2308,0.381,0.083,2585,3823,3478,3470,3486,0,0,0,0,0,0,13.97,14.35,14.25
$GC,199,-0.62,-107.1,2585,3824,3473,3486,41.1,-24.0,17,206,0.40,1.83,0.00,0.000,3206,0.249,0.034,2690,2723,3479,3472,3486,0,0,0,0,0,0,13.98,14.47,14.19
$GC,522,-0.62,-107.1,2690,2724,3476,3486,74.1,-8.6,30,527,0.00,2.08,0.00,0.000,260,0.000,0.107,2681,3824,3480,3474,3486,0,0,0,0,0,0,14.85,14.23,14.85
$GC,710,-0.62,-107.1,2681,3825,3477,3486,89.4,-8.2,57,718,0.00,1.73,0.00,0.000,1030,0.000,0.039,2681,2774,3481,3476,3486,0,0,0,0,0,0,14.51,14.51,14.54
$GC,1027,-0.62,-107.1,2681,2774,3477,3487,113.9,-8.1,66,1031,0.00,2.35,0.00,0.000,516,0.000,0.045,2681,1401,3480,3475,3485,0,0,0,0,0,0,14.90,14.42,14.90
$GC,1074,-0.71,-107.1,2681,1402,3477,3494,117.8,-7.9,73,1082,0.00,2.50,0.00,0.000,1158,0.000,0.068,2671,2772,3481,3476,3486,0,0,0,0,0,0,14.38,14.28,14.41
$GC,1418,-0.71,-107.1,2671,2774,3477,3482,142.9,-7.1,80,1423,0.00,1.98,0.00,0.000,292,0.000,0.109,2663,3831,3478,3474,3482,0,0,0,0,0,0,14.92,14.25,14.89
$GC,1480,-0.71,-107.1,2663,3832,3475,3481,147.2,-7.4,89,1487,0.00,1.73,0.00,0.000,1062,0.000,0.040,2663,2790,3478,3476,3481,0,0,0,0,0,0,14.57,14.57,14.58
$GC,1810,-0.71,-107.1,2662,2791,3477,3477,171.3,-7.5,101,1816,0.00,2.40,0.00,0.000,548,0.000,0.044,2662,1384,3476,3476,3477,0,0,0,0,0,0,14.89,14.44,14.89
$GC,1873,-0.78,-107.1,2663,1383,3477,3477,173.6,-4.8,110,1878,0.00,2.50,0.00,0.000,1190,0.000,0.068,2654,2780,3476,3476,3477,0,0,0,0,0,0,14.45,14.28,14.48
$GC,2203,-0.78,-107.1,2655,2780,3474,3472,207.9,-8.6,122,2207,0.00,1.95,0.00,0.000,260,0.000,0.108,2646,3829,3473,3476,3470,0,0,0,0,0,0,14.91,14.24,14.91
$GC,2243,-0.78,-107.1,2647,3829,3476,3471,211.5,-8.9,128,2249,0.00,1.77,0.00,0.000,1030,0.000,0.041,2645,2769,3472,3475,3470,0,0,0,0,0,0,14.50,14.48,14.51
$GC,2594,-0.78,-107.1,2646,2769,3476,3467,240.0,-8.0,136,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2769,3471,3476,3467,0,0,0,0,0,0,14.89,14.89,14.89
$GC,2930,-0.78,-107.1,2646,2770,3477,3462,267.5,-8.3,142,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2769,3468,3475,3461,0,0,0,0,0,0,14.88,14.90,14.90
$GC,3266,-0.78,-107.1,2646,2770,3477,3457,296.8,-8.7,148,3271,0.00,2.40,0.00,0.000,516,0.000,0.045,2646,1379,3470,3476,3464,0,0,0,0,0,0,14.90,14.42,14.90
$GC,3314,-0.78,-107.1,2646,1378,3477,3455,301.0,-8.5,155,3321,0.00,2.58,0.00,0.000,1030,0.000,0.070,2637,2775,3465,3475,3456,0,0,0,0,0,0,14.35,14.26,14.40
$GC,3658,-0.78,-107.1,2638,2776,3476,3452,331.9,-9.1,162,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2775,3463,3475,3452,0,0,0,0,0,0,14.92,14.92,14.92
$GC,3994,-0.78,-107.1,2637,2777,3476,3450,362.2,-9.0,168,3999,0.00,2.42,0.00,0.000,516,0.000,0.044,2637,1384,3461,3475,3448,0,0,0,0,0,0,14.92,14.42,14.92
$GC,4042,-0.78,-107.1,2637,1385,3476,3449,366.6,-9.1,175,4049,0.00,2.55,0.00,0.000,1030,0.000,0.069,2628,2770,3461,3475,3448,0,0,0,0,0,0,14.33,14.23,14.38
$GC,4387,-0.78,-107.1,2629,2770,3476,3446,399.1,-9.6,182,4391,0.00,1.98,0.00,0.000,260,0.000,0.108,2620,3826,3460,3475,3445,0,0,0,0,0,0,14.91,14.19,14.92
$GC,4442,-0.78,-107.1,2620,3827,3476,3444,404.7,-10.0,190,4447,0.00,1.77,0.00,0.000,1030,0.000,0.042,2621,2759,3459,3475,3444,0,0,0,0,0,0,14.59,14.54,14.60
$GC,4778,-0.78,-107.1,2619,2760,3476,3441,437.1,-9.6,203,4783,0.00,2.38,0.00,0.000,516,0.000,0.043,2619,1381,3458,3475,3442,0,0,0,0,0,0,14.89,14.38,14.89
$GC,4819,-0.78,-107.1,2620,1380,3476,3442,441.0,-9.1,209,4826,0.12,2.55,0.00,0.000,3078,0.236,0.067,2645,2795,3457,3475,3440,0,0,0,0,0,0,14.04,14.23,14.31
$GC,5170,-0.78,-107.1,2648,2795,3476,3439,469.1,-8.0,217,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2799,3456,3475,3437,0,0,0,0,0,0,14.88,14.88,14.88
$GC,5506,-0.78,-107.1,2646,2795,3476,3437,494.8,-7.7,223,5511,0.00,2.47,0.00,0.000,548,0.000,0.044,2645,1378,3454,3475,3434,0,0,0,0,0,0,14.91,14.39,14.91
$GC,5562,-0.78,-107.1,2646,1377,3476,3435,499.1,-7.6,231,5567,0.00,2.53,0.00,0.000,1062,0.000,0.068,2635,2771,3454,3474,3434,0,0,0,0,0,0,14.38,14.26,14.40
$GC,5898,-0.78,-107.1,2637,2773,3476,3432,526.0,-8.1,244,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2771,3453,3475,3431,0,0,0,0,0,0,14.91,14.91,14.91
$GC,6234,-0.78,-107.1,2637,2772,3476,3429,553.9,-8.2,250,6239,0.00,2.42,0.00,0.000,516,0.000,0.044,2636,1385,3454,3479,3429,0,0,0,0,0,0,14.87,14.34,14.88
$GC,6268,-0.78,-107.1,2643,1384,3475,3430,556.8,-8.5,255,6274,0.00,2.55,0.00,0.000,1030,0.000,0.070,2627,2766,3452,3475,3429,0,0,0,0,0,0,14.44,14.14,14.47
$GC,6626,-0.78,-107.1,2627,2766,3473,3428,587.6,-8.7,264,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2765,3450,3473,3427,0,0,0,0,0,0,14.87,14.87,14.88
$GC,6962,-0.78,-107.1,2627,2766,3472,3427,617.0,-8.7,270,6967,0.00,2.03,0.00,0.000,260,0.000,0.112,2618,3833,3449,3471,3427,0,0,0,0,0,0,14.87,14.09,14.87
$GC,7003,-0.78,-107.1,2619,3833,3471,3428,620.8,-9.2,276,7009,0.08,1.83,0.00,0.000,3078,0.210,0.044,2640,2782,3446,3470,3422,0,0,0,0,0,0,14.00,14.35,14.14
$GC,7355,-0.78,-107.1,2641,2785,3470,3427,647.5,-7.5,284,7359,0.00,2.47,0.00,0.000,548,0.000,0.045,2641,1365,3447,3469,3426,0,0,0,0,0,0,14.90,14.31,14.90
$GC,7410,-0.86,-107.1,2642,1364,3470,3427,651.5,-7.1,292,7415,0.00,2.55,0.00,0.000,1190,0.000,0.068,2631,2760,3447,3469,3426,0,0,0,0,0,0,14.38,14.18,14.41
$GC,7746,-0.86,-107.1,2631,2760,3470,3424,674.7,-6.9,305,7747,0.00,0.00,0.00,0.000,38,0.000,0.000,2631,2760,3446,3468,3424,0,0,0,0,0,0,14.86,14.86,14.86
$GC,8083,-0.86,-107.1,2632,2759,3466,3424,698.6,-7.2,311,8083,0.00,0.00,0.00,0.000,38,0.000,0.000,2631,2759,3444,3466,3423,0,0,0,0,0,0,14.86,14.86,14.85
$GC,8418,-0.86,-107.1,2630,2759,3466,3422,724.9,-8.0,317,8424,0.00,2.03,0.00,0.000,260,0.000,0.113,2623,3828,3443,3466,3421,0,0,0,0,0,0,14.90,14.02,14.90
$GC,8487,-0.86,-107.1,2624,3827,3465,3417,730.9,-8.7,327,8493,0.00,1.88,0.00,0.000,1030,0.000,0.044,2623,2748,3443,3465,3421,0,0,0,0,0,0,14.38,14.35,14.40
$GC,8810,-0.86,-107.1,2623,2746,3464,3422,759.2,-8.8,338,8815,0.00,2.40,0.00,0.000,516,0.000,0.044,2622,1374,3442,3464,3420,0,0,0,0,0,0,14.89,14.28,14.89
$GC,8852,-0.86,-107.1,2622,1374,3465,3421,763.0,-8.9,344,8857,0.00,2.53,0.00,0.000,1030,0.000,0.067,2613,2757,3442,3464,3421,0,0,0,0,0,0,14.33,14.14,14.37
$GC,9202,-0.86,-107.1,2614,2759,3465,3419,795.4,-9.4,352,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2760,3446,3464,3428,0,0,0,0,0,0,14.85,14.85,14.85
$STATE,9255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9255,begin apogee
$GC,9264,-0.23,0.0,2614,2222,3465,3420,800.7,-9.5,353,9376,0.75,0.08,109.28,1.834,10244,0.187,0.183,2824,2263,3051,3092,3011,0,0,0,0,0,0,13.85,13.95,12.99
$STATE,9377,end apogee,CONTROL_FINISHED_OK
$STATE,9377,begin climb
$GC,9381,0.93,107.1,2825,2264,3088,3001,804.5,0.0,355,9506,1.10,2.47,115.95,1.795,10756,0.089,0.055,3184,893,2624,2685,2563,0,0,0,0,0,0,14.05,14.07,13.00
$GC,9576,0.85,147.4,3184,894,2678,2541,801.3,5.7,384,9624,0.00,2.40,43.22,1.812,9382,0.000,0.051,3184,2256,2462,2537,2388,0,0,0,0,0,0,14.32,14.21,13.11
$GC,9937,0.74,147.4,3185,2260,2531,2367,769.9,9.3,400,9942,0.12,2.60,0.00,0.000,4484,0.248,0.096,3144,3651,2447,2530,2365,0,0,0,0,0,0,14.07,14.23,14.25
$GC,9976,0.64,147.4,3145,3651,2531,2366,765.8,9.8,406,9982,0.17,2.38,0.00,0.000,5254,0.236,0.040,3107,2273,2448,2531,2365,0,0,0,0,0,0,14.09,14.42,14.38
$GC,10327,0.65,158.1,3107,2271,2532,2362,740.5,7.2,414,10339,0.00,2.53,4.12,1.635,8740,0.000,0.060,3117,861,2423,2502,2345,0,0,0,0,0,0,14.79,14.38,13.04
$GC,10354,0.67,170.4,3117,862,2503,2352,738.5,7.1,418,10384,0.00,2.42,17.73,1.815,9254,0.000,0.053,3117,2257,2368,2450,2286,0,0,0,0,1,0,14.57,14.46,13.37
$GC,10719,0.67,170.4,3117,2256,2451,2295,709.3,8.0,428,10724,0.00,2.60,0.00,0.000,260,0.000,0.100,3116,3649,2368,2443,2294,0,0,0,0,0,0,14.76,14.23,14.77
$GC,10809,0.67,170.4,3117,3649,2450,2294,701.2,8.9,441,10815,0.00,2.40,0.00,0.000,1030,0.000,0.040,3126,2253,2372,2450,2294,0,0,0,0,0,0,14.53,14.45,14.55
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$STATE,19494,end climb,SURFACE_DEPTH_REACHED
$STATE,19494,begin surface coast
$FINISH,-2.6,1.022070
$STATE,19522,end surface coast,CONTROL_FINISHED_OK
$STATE,19522,begin surface
$SM_CCo,19545,39.70,0.153,0,0,1056,500.14
$SM_GC,-1.82,8.90,0.90,39.70,0.047,0.074,0.153,160,2764,1056,-8.44,-0.74,500.14,0,0,0,0,0,0,14.45,14.30,14.14
$IRIDIUM_FIX,949.50,-12457.91,130117,022120
$TT8_MAMPS,0.036701,0.454643
$HUMID,56.49
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,21.20
$XPDR_PINGS,0
$SC_FREEKB,3699680
$PM_FREEKB,53539008
$24V_AH,12.99,191.421
$10V_AH,12.55,0.000
$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,24.175,178.125,465.500,39.700,0.000,0.000,0.000,447.250,0.000,0.000,6.924,0.000,16680.670,757.913,2422.297,560.540,0.000,1937.370,0.000,1459.101,0.000,0.839,0.000
$DEVICE_MAMPS,380.970,182.835,1834.470,153.000,0.000,0.000,0.000,177.480,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19580.000,19532.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.591,2.454,0.000,0.000
$MEM,334760
$DATA_FILE_SIZE,30037,811
$CAP_FILE_SIZE,148221,0
$CFSIZE,1024409600,925597696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.065,38.44,1
$GPS,130117,075730,955.705,-12446.424,22,0.9,22,9.0,1.6,140.6,9,4.6