version: 66.13
glider: 220
mission: 6
dive: 549
start: 1 13 117 13 53 52
data:
$ID,220
$MISSION,6
$DIVE,549
$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,45
$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
$GPS1,130117,133555,957.0015,-12444.4482,16,1.0,33,9.0,1.1,114.3,9,4.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.34
$_SM_ANGLEo,-65.9
$GPS2,130117,135331,957.0028,-12444.4355,2,0.9,3,9.0,0.1,0.0,10,8.1
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,44.4,8915,-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,-107.1,106,2771,1103,1013,0.0,0.0,0,101,0.00,0.00,-79.72,0.000,16390,0.000,0.000,105,2771,3478,3470,3486,0,0,0,0,0,0,14.68,13.09,14.66
$GC,105,-0.93,-107.1,107,2771,3470,3487,5.6,-12.3,3,122,11.98,1.95,0.00,0.000,2308,0.387,0.088,2584,3834,3478,3470,3486,0,0,0,0,0,0,13.99,14.36,14.26
$GC,171,-0.63,-107.1,2583,3835,3472,3487,33.0,-26.5,13,178,0.40,1.83,0.00,0.000,3206,0.255,0.034,2689,2718,3478,3471,3486,0,0,0,0,0,0,14.02,14.47,14.23
$GC,494,-0.63,-107.1,2690,2718,3474,3487,68.6,-8.0,26,499,0.00,2.10,0.00,0.000,260,0.000,0.106,2680,3833,3480,3474,3486,0,0,0,0,0,0,14.85,14.26,14.84
$GC,713,-0.63,-107.1,2681,3835,3476,3486,88.9,-8.7,57,720,0.00,1.73,0.00,0.000,1030,0.000,0.041,2680,2768,3480,3475,3486,0,0,0,0,0,0,14.54,14.50,14.56
$GC,1054,-0.63,-107.1,2680,2769,3476,3486,114.0,-7.4,67,1059,0.00,2.35,0.00,0.000,548,0.000,0.044,2676,1393,3480,3475,3486,0,0,0,0,0,0,14.88,14.45,14.88
$GC,1131,-0.72,-107.1,2680,1394,3476,3486,120.5,-8.5,78,1136,0.00,2.47,0.00,0.000,1158,0.000,0.069,2670,2786,3480,3475,3485,0,0,0,0,0,0,14.54,14.36,14.57
$GC,1447,-0.72,-107.1,2671,2786,3477,3483,146.2,-8.1,88,1451,0.00,1.95,0.00,0.000,260,0.000,0.109,2663,3834,3478,3474,3482,0,0,0,0,0,0,14.89,14.26,14.89
$GC,1473,-0.72,-107.1,2663,3834,3476,3481,148.6,-8.6,92,1479,0.00,1.73,0.00,0.000,1030,0.000,0.041,2663,2792,3478,3476,3481,0,0,0,0,0,0,14.54,14.51,14.53
$GC,1838,-0.72,-107.1,2663,2793,3477,3477,181.1,-9.2,102,1843,0.00,2.40,0.00,0.000,516,0.000,0.044,2662,1385,3476,3475,3477,0,0,0,0,0,0,14.90,14.45,14.90
$GC,1929,-0.80,-107.1,2663,1386,3476,3476,189.5,-8.9,115,1934,0.00,2.50,0.00,0.000,1158,0.000,0.069,2654,2781,3475,3475,3476,0,0,0,0,0,0,14.52,14.35,14.55
$GC,2286,-0.80,-107.1,2654,2781,3476,3470,220.8,-8.6,124,2291,0.00,2.40,0.00,0.000,516,0.000,0.045,2654,1392,3472,3475,3470,0,0,0,0,0,0,14.90,14.44,14.90
$GC,2306,-0.80,-107.1,2654,1391,3475,3471,222.6,-8.5,127,2312,0.00,2.53,0.00,0.000,1030,0.000,0.070,2645,2775,3472,3475,3469,0,0,0,0,0,0,14.52,14.28,14.54
$GC,2622,-0.80,-107.1,2644,2783,3476,3466,249.9,-8.8,137,2628,0.00,1.95,0.00,0.000,260,0.000,0.110,2637,3826,3470,3475,3466,0,0,0,0,0,0,14.92,14.23,14.92
$GC,2657,-0.80,-107.1,2638,3827,3476,3465,253.2,-9.4,142,2662,0.00,1.75,0.00,0.000,1030,0.000,0.040,2637,2770,3470,3475,3465,0,0,0,0,0,0,14.54,14.52,14.56
$GC,3014,-0.80,-107.1,2637,2770,3475,3461,283.7,-8.4,151,3019,0.00,2.38,0.00,0.000,516,0.000,0.043,2637,1387,3467,3475,3460,0,0,0,0,0,0,14.90,14.43,14.90
$GC,3083,-0.80,-107.1,2637,1388,3476,3459,289.4,-8.2,161,3090,0.00,2.55,0.00,0.000,1030,0.000,0.068,2627,2802,3466,3474,3459,0,0,0,0,0,0,14.49,14.29,14.53
$GC,3406,-0.80,-107.1,2628,2803,3476,3455,318.5,-9.3,172,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2802,3465,3475,3455,0,0,0,0,0,0,14.90,14.90,14.90
$GC,3742,-0.80,-107.1,2628,2803,3474,3452,350.5,-9.5,178,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2802,3463,3474,3452,0,0,0,0,0,0,14.90,14.90,14.90
$GC,4078,-0.80,-107.1,2628,2802,3474,3447,382.0,-9.3,184,4083,0.00,2.45,0.00,0.000,516,0.000,0.044,2627,1395,3464,3482,3447,0,0,0,0,0,0,14.90,14.41,14.90
$GC,4126,-0.80,-107.1,2627,1395,3475,3447,386.4,-8.9,191,4133,0.00,2.55,0.00,0.000,1030,0.000,0.069,2617,2777,3460,3474,3446,0,0,0,0,0,0,14.33,14.23,14.38
$GC,4470,-0.80,-107.1,2618,2778,3476,3443,418.0,-9.3,198,4475,0.00,1.98,0.00,0.000,260,0.000,0.108,2610,3829,3458,3474,3443,0,0,0,0,0,0,14.92,14.19,14.92
$GC,4539,-0.80,-107.1,2610,3830,3475,3441,424.7,-9.5,208,4545,0.00,1.77,0.00,0.000,1030,0.000,0.041,2609,2781,3458,3474,3442,0,0,0,0,0,0,14.50,14.48,14.52
$GC,4862,-0.80,-107.1,2609,2782,3475,3440,454.7,-9.4,219,4867,0.10,2.40,0.00,0.000,2564,0.247,0.041,2638,1389,3456,3474,3439,0,0,0,0,0,0,14.22,14.38,14.40
$GC,4910,-0.80,-107.1,2639,1388,3475,3439,458.9,-8.2,226,4917,0.00,2.55,0.00,0.000,1030,0.000,0.068,2628,2770,3456,3475,3438,0,0,0,0,0,0,14.43,14.21,14.47
$GC,5254,-0.80,-107.1,2629,2771,3475,3436,487.1,-8.2,233,5260,0.00,2.42,0.00,0.000,516,0.000,0.043,2628,1384,3455,3474,3436,0,0,0,0,0,0,14.91,14.40,14.91
$GC,5288,-0.80,-107.1,2629,1385,3475,3436,490.0,-8.4,238,5294,0.00,2.55,0.00,0.000,1030,0.000,0.068,2618,2790,3455,3474,3436,0,0,0,0,0,0,14.46,14.28,14.49
$GC,5646,-0.80,-107.1,2619,2791,3475,3433,522.0,-9.1,247,5647,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2791,3453,3474,3432,0,0,0,0,0,0,14.90,14.91,14.91
$GC,5982,-0.80,-107.1,2618,2792,3475,3429,553.7,-9.5,253,5988,0.00,2.47,0.00,0.000,516,0.000,0.044,2617,1379,3451,3474,3429,0,0,0,0,0,0,14.90,14.36,14.90
$GC,6023,-0.80,-107.1,2618,1379,3476,3429,557.6,-9.3,259,6029,0.10,2.53,0.00,0.000,3078,0.246,0.067,2636,2768,3451,3474,3429,0,0,0,0,0,0,14.03,14.21,14.29
$GC,6374,-0.80,-107.1,2637,2770,3475,3426,587.1,-8.4,267,6375,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2769,3449,3473,3426,0,0,0,0,0,0,14.87,14.87,14.87
$GC,6710,-0.80,-107.1,2637,2769,3472,3426,614.9,-8.2,273,6716,0.00,2.42,0.00,0.000,516,0.000,0.044,2637,1386,3448,3472,3425,0,0,0,0,0,0,14.90,14.35,14.91
$GC,6738,-0.80,-107.1,2637,1386,3472,3426,617.2,-8.1,277,6744,0.00,2.53,0.00,0.000,1030,0.000,0.068,2627,2774,3449,3474,3424,0,0,0,0,0,0,14.40,14.21,14.44
$GC,7102,-0.80,-107.1,2627,2774,3471,3426,646.9,-8.1,287,7107,0.00,2.45,0.00,0.000,516,0.000,0.044,2626,1378,3447,3470,3425,0,0,0,0,0,0,14.87,14.33,14.87
$GC,7129,-0.80,-107.1,2626,1379,3468,3425,649.1,-8.0,291,7135,0.00,2.55,0.00,0.000,1030,0.000,0.070,2617,2767,3444,3470,3418,0,0,0,0,0,0,14.37,14.17,14.41
$GC,7494,-0.80,-107.1,2618,2768,3467,3425,677.6,-7.7,301,7495,0.00,0.00,0.00,0.000,38,0.000,0.000,2617,2768,3445,3467,3424,0,0,0,0,0,0,14.87,14.87,14.87
$GC,7830,-0.80,-107.1,2618,2769,3468,3422,703.3,-7.7,307,7835,0.00,2.45,0.00,0.000,548,0.000,0.044,2616,1384,3444,3467,3421,0,0,0,0,0,0,14.88,14.31,14.87
$GC,7871,-0.80,-107.1,2616,1385,3468,3421,706.6,-7.7,313,7878,0.12,2.55,0.00,0.000,3078,0.235,0.068,2642,2766,3444,3467,3421,0,0,0,0,0,0,13.95,14.16,14.21
$GC,8223,-0.80,-107.1,2643,2769,3467,3420,730.6,-6.9,321,8223,0.00,0.00,0.00,0.000,38,0.000,0.000,2642,2768,3442,3465,3420,0,0,0,0,0,0,14.86,14.86,14.86
$GC,8558,-0.80,-107.1,2643,2770,3465,3420,754.2,-7.0,327,8563,0.00,2.45,0.00,0.000,548,0.000,0.044,2642,1386,3442,3464,3420,0,0,0,0,0,0,14.86,14.28,14.88
$GC,8607,-0.89,-107.1,2642,1388,3465,3423,757.7,-7.1,334,8613,0.00,2.58,0.00,0.000,1190,0.000,0.069,2632,2776,3441,3464,3419,0,0,0,0,0,0,14.35,14.16,14.39
$GC,8950,-0.89,-107.1,2633,2775,3464,3419,782.7,-7.3,341,8956,0.00,2.45,0.00,0.000,548,0.000,0.043,2632,1388,3440,3463,3418,0,0,0,0,0,0,14.85,14.26,14.85
$GC,8998,-0.89,-107.1,2632,1390,3464,3418,786.5,-7.7,348,9005,0.00,2.58,0.00,0.000,1062,0.000,0.070,2624,2759,3440,3463,3418,0,0,0,0,0,0,14.16,14.05,14.31
$STATE,9171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9171,begin apogee
$GC,9180,-0.23,0.0,2623,2226,3464,3417,800.2,-7.8,352,9292,0.70,0.03,109.15,1.844,10244,0.181,0.291,2824,2253,3050,3091,3009,0,0,0,0,0,0,13.91,13.95,12.99
$STATE,9293,end apogee,CONTROL_FINISHED_OK
$STATE,9293,begin climb
$GC,9297,0.93,107.1,2825,2253,3086,3002,803.4,0.0,354,9422,1.10,2.50,115.65,1.798,10756,0.086,0.057,3185,886,2625,2686,2564,0,0,0,0,0,0,14.06,14.08,12.99
$GC,9506,0.84,137.7,3186,886,2680,2544,798.5,6.2,385,9546,0.00,2.42,33.10,1.841,9382,0.000,0.051,3185,2256,2496,2570,2422,0,0,0,0,0,0,14.35,14.24,13.14
$GC,9898,0.72,137.7,3185,2254,2568,2407,766.9,8.3,399,9900,0.17,0.00,0.00,0.000,4230,0.243,0.000,3138,2257,2486,2567,2406,0,0,0,0,0,0,14.09,14.45,14.39
$GC,10234,0.75,161.0,3136,2258,2568,2402,744.4,6.6,405,10268,0.00,2.67,24.85,1.853,8484,0.000,0.098,3137,3652,2401,2483,2320,0,0,0,0,0,0,14.80,14.34,13.35
$GC,10303,0.67,161.0,3137,3653,2482,2315,739.2,8.1,415,10309,0.10,2.38,0.00,0.000,5254,0.252,0.040,3120,2279,2397,2481,2314,0,0,0,0,0,0,14.16,14.40,14.41
$GC,10627,0.69,176.1,3121,2275,2482,2309,716.8,7.0,426,10644,0.00,0.00,15.88,1.905,8230,0.000,0.000,3120,2274,2349,2435,2264,0,0,0,0,0,0,14.77,14.35,13.36
$GC,10962,0.69,177.0,3120,2276,2426,2253,691.3,7.7,432,10963,0.00,0.00,0.00,0.000,38,0.000,0.000,3119,2274,2334,2424,2245,0,0,0,0,0,0,14.76,14.76,14.76
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$STATE,19688,end climb,SURFACE_DEPTH_REACHED
$STATE,19688,begin surface coast
$FINISH,1.2,1.022065
$STATE,19699,end surface coast,CONTROL_FINISHED_OK
$STATE,19699,begin surface
$SM_CCo,19723,45.65,0.155,0,0,1057,500.14
$SM_GC,-2.32,9.18,1.55,45.65,0.076,0.043,0.155,185,2741,1057,-8.40,1.33,500.14,0,0,0,0,0,0,14.47,14.50,14.14
$IRIDIUM_FIX,953.88,-12442.12,130117,134137
$TT8_MAMPS,0.03745,0.453145
$HUMID,57.48
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,20.50
$XPDR_PINGS,1
$SC_FREEKB,3698912
$PM_FREEKB,53516736
$24V_AH,12.99,192.022
$10V_AH,12.56,0.000
$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,24.825,174.100,451.850,45.650,0.000,0.000,0.000,652.875,0.250,0.000,4.777,0.000,16916.775,763.701,2560.549,567.586,0.000,2115.472,0.000,1418.992,0.000,1.133,0.000
$DEVICE_MAMPS,387.090,290.700,1904.850,155.295,0.000,0.000,0.000,159.120,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19760.000,19709.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.569,2.427,0.000,0.000
$MEM,334792
$DATA_FILE_SIZE,26765,780
$CAP_FILE_SIZE,147530,0
$CFSIZE,1024409600,925302784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057,64.35,1
$GPS,130117,192430,958.360,-12442.554,35,0.9,35,9.0,0.1,0.0,10,5.8