version: 66.13
glider: 220
mission: 6
dive: 565
start: 1 17 117 7 12 53
data:
$ID,220
$MISSION,6
$DIVE,565
$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,22
$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
$GPS1,170117,070030,1014.1758,-12503.3232,25,0.8,25,9.0,1.3,278.7,10,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-7.70
$_SM_ANGLEo,-65.5
$GPS2,170117,071232,1014.2005,-12503.3652,2,0.8,4,9.0,0.1,0.0,10,3.3
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,203.1,39317,-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,-107.1,107,2779,1103,1014,0.0,0.0,0,101,0.00,0.00,-81.40,0.000,16390,0.000,0.000,105,2778,3478,3469,3488,0,0,0,0,0,0,14.65,12.54,14.62
$GC,105,-0.93,-107.1,106,2779,3471,3488,0.5,-11.2,3,122,11.98,1.92,0.00,0.000,2308,0.385,0.080,2579,3828,3479,3471,3488,0,0,0,0,0,0,13.91,14.32,14.21
$GC,354,-0.73,-107.1,2580,3827,3475,3490,57.4,-10.8,39,359,0.30,1.77,0.00,0.000,3206,0.224,0.037,2662,2740,3481,3474,3488,0,0,0,0,0,0,14.02,14.50,14.31
$GC,691,-0.73,-107.1,2662,2741,3478,3487,82.9,-7.1,54,695,0.00,2.08,0.00,0.000,292,0.000,0.106,2654,3832,3482,3476,3488,0,0,0,0,0,0,14.83,14.20,14.83
$GC,795,-0.73,-107.1,2655,3832,3478,3489,90.1,-7.1,69,802,0.00,1.77,0.00,0.000,1062,0.000,0.037,2654,2764,3482,3477,3488,0,0,0,0,0,0,14.50,14.49,14.52
$GC,1110,-0.73,-107.1,2654,2765,3478,3487,115.6,-8.5,78,1115,0.00,2.35,0.00,0.000,516,0.000,0.041,2654,1387,3481,3477,3486,0,0,0,0,0,0,14.87,14.40,14.87
$GC,1173,-0.73,-107.1,2654,1388,3478,3486,120.9,-8.3,87,1178,0.00,2.50,0.00,0.000,1030,0.000,0.067,2644,2767,3481,3477,3486,0,0,0,0,0,0,14.45,14.28,14.49
$GC,1503,-0.73,-107.1,2643,2768,3478,3480,146.6,-7.6,99,1503,0.00,0.00,0.00,0.000,38,0.000,0.000,2644,2767,3480,3477,3483,0,0,0,0,0,0,14.90,14.90,14.90
$GC,1838,-0.73,-107.1,2643,2768,3479,3479,174.4,-8.4,105,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2767,3478,3477,3479,0,0,0,0,0,0,14.90,14.90,14.91
$GC,2175,-0.73,-107.1,2644,2768,3477,3474,204.5,-9.0,111,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2767,3475,3477,3474,0,0,0,0,0,0,14.88,14.88,14.88
$GC,2510,-0.73,-107.1,2645,2769,3478,3470,235.0,-9.1,117,2516,0.00,2.40,0.00,0.000,516,0.000,0.042,2644,1394,3473,3477,3469,0,0,0,0,0,0,14.88,14.40,14.88
$GC,2538,-0.73,-107.1,2644,1394,3478,3470,237.7,-9.4,121,2544,0.00,2.50,0.00,0.000,1030,0.000,0.067,2635,2770,3473,3477,3469,0,0,0,0,0,0,14.40,14.22,14.43
$GC,2902,-0.73,-107.1,2636,2770,3478,3465,272.6,-9.6,131,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2770,3471,3477,3465,0,0,0,0,0,0,14.88,14.88,14.88
$GC,3239,-0.73,-107.1,2632,2769,3478,3462,302.9,-8.9,137,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2770,3468,3476,3461,0,0,0,0,0,0,14.88,14.88,14.88
$GC,3574,-0.73,-107.1,2635,2771,3478,3462,331.2,-8.3,143,3579,0.00,2.40,0.00,0.000,516,0.000,0.040,2635,1394,3466,3476,3456,0,0,0,0,0,0,14.91,14.39,14.91
$GC,3622,-0.73,-107.1,2636,1395,3478,3456,335.1,-8.2,150,3629,0.08,2.55,0.00,0.000,3078,0.225,0.066,2657,2758,3466,3477,3456,0,0,0,0,0,0,14.00,14.19,14.28
$GC,3966,-0.73,-107.1,2657,2760,3478,3452,360.6,-7.5,157,3967,0.00,0.00,0.00,0.000,38,0.000,0.000,2657,2759,3464,3477,3452,0,0,0,0,0,0,14.90,14.91,14.91
$GC,4303,-0.73,-107.1,2657,2760,3478,3449,387.5,-8.1,163,4307,0.00,2.40,0.00,0.000,516,0.000,0.041,2656,1387,3463,3477,3449,0,0,0,0,0,0,14.90,14.38,14.90
$GC,4337,-0.81,-107.1,2658,1386,3477,3450,390.4,-8.3,168,4342,0.00,2.53,0.00,0.000,1158,0.000,0.066,2648,2770,3462,3477,3448,0,0,0,0,0,0,14.42,14.24,14.46
$GC,4694,-0.81,-107.1,2648,2770,3477,3446,420.3,-8.3,177,4700,0.00,2.00,0.00,0.000,260,0.000,0.110,2640,3829,3460,3475,3445,0,0,0,0,0,0,14.88,14.11,14.88
$GC,4743,-0.81,-107.1,2640,3830,3478,3444,424.5,-8.7,184,4749,0.00,1.80,0.00,0.000,1030,0.000,0.043,2640,2786,3461,3477,3445,0,0,0,0,0,0,14.45,14.42,14.46
$GC,5087,-0.81,-107.1,2640,2787,3478,3440,450.2,-7.4,191,5091,0.00,2.47,0.00,0.000,548,0.000,0.042,2640,1360,3459,3476,3442,0,0,0,0,0,0,14.87,14.35,14.87
$GC,5163,-0.81,-107.1,2639,1361,3479,3440,455.4,-6.7,202,5168,0.00,2.55,0.00,0.000,1062,0.000,0.065,2630,2766,3458,3476,3440,0,0,0,0,0,0,14.38,14.19,14.42
$GC,5479,-0.81,-107.1,2631,2764,3478,3439,478.1,-7.2,212,5479,0.00,0.00,0.00,0.000,38,0.000,0.000,2631,2766,3457,3476,3438,0,0,0,0,0,0,14.86,14.87,14.87
$GC,5815,-0.81,-107.1,2631,2765,3477,3438,503.3,-7.6,218,5819,0.00,2.45,0.00,0.000,548,0.000,0.041,2630,1370,3456,3476,3436,0,0,0,0,0,0,14.86,14.34,14.86
$GC,5848,-0.81,-107.1,2631,1369,3477,3437,506.1,-7.8,223,5854,0.00,2.55,0.00,0.000,1030,0.000,0.066,2621,2758,3455,3476,3435,0,0,0,0,0,0,14.38,14.19,14.42
$GC,6206,-0.81,-107.1,2621,2759,3478,3432,536.1,-8.5,232,6211,0.00,2.05,0.00,0.000,260,0.000,0.109,2613,3831,3454,3476,3432,0,0,0,0,0,0,14.86,14.07,14.86
$GC,6241,-0.81,-107.1,2613,3833,3477,3432,539.3,-9.4,237,6247,0.00,1.88,0.00,0.000,1030,0.000,0.043,2612,2745,3454,3476,3432,0,0,0,0,0,0,14.43,14.40,14.44
$GC,6598,-0.81,-107.1,2612,2746,3477,3429,572.3,-9.3,246,6603,0.00,2.10,0.00,0.000,260,0.000,0.108,2604,3832,3453,3477,3430,0,0,0,0,0,0,14.88,14.01,14.89
$GC,6639,-0.81,-107.1,2605,3832,3476,3431,576.4,-10.4,252,6645,0.10,1.85,0.00,0.000,3078,0.209,0.043,2633,2770,3452,3475,3429,0,0,0,0,0,0,13.97,14.40,14.14
$GC,6990,-0.81,-107.1,2634,2769,3473,3430,607.4,-8.7,260,6995,0.00,2.45,0.00,0.000,516,0.000,0.041,2633,1369,3450,3472,3429,0,0,0,0,0,0,14.89,14.31,14.89
$GC,7032,-0.81,-107.1,2634,1369,3472,3431,610.8,-8.8,266,7037,0.00,2.55,0.00,0.000,1030,0.000,0.065,2623,2760,3450,3472,3429,0,0,0,0,0,0,14.35,14.19,14.39
$GC,7382,-0.81,-107.1,2623,2762,3471,3429,640.7,-8.4,274,7383,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2760,3449,3470,3429,0,0,0,0,0,0,14.85,14.85,14.85
$GC,7719,-0.81,-107.1,2624,2759,3471,3428,666.9,-7.8,280,7723,0.00,2.45,0.00,0.000,516,0.000,0.043,2623,1370,3448,3470,3427,0,0,0,0,0,0,14.84,14.28,14.84
$GC,7752,-0.81,-107.1,2623,1370,3471,3428,669.4,-7.6,285,7759,0.00,2.55,0.00,0.000,1062,0.000,0.066,2613,2762,3448,3470,3427,0,0,0,0,0,0,14.33,14.14,14.36
$GC,8110,-0.81,-107.1,2614,2761,3470,3426,697.9,-7.9,294,8115,0.00,2.03,0.00,0.000,260,0.000,0.112,2605,3826,3448,3470,3426,0,0,0,0,0,0,14.88,14.01,14.88
$GC,8151,-0.81,-107.1,2606,3826,3469,3427,701.2,-8.4,300,8157,0.10,1.88,0.00,0.000,3078,0.210,0.044,2633,2753,3447,3468,3426,0,0,0,0,0,0,13.92,14.35,14.07
$GC,8503,-0.81,-107.1,2634,2753,3469,3426,726.7,-7.2,308,8507,0.00,2.45,0.00,0.000,548,0.000,0.043,2633,1365,3446,3469,3424,0,0,0,0,0,0,14.88,14.29,14.88
$GC,8550,-0.81,-107.1,2633,1366,3470,3425,730.0,-7.1,315,8557,0.00,2.60,0.00,0.000,1062,0.000,0.067,2625,2760,3446,3468,3424,0,0,0,0,0,0,14.27,14.07,14.31
$GC,8895,-0.81,-107.1,2625,2761,3468,3422,755.0,-7.3,322,8899,0.00,2.05,0.00,0.000,292,0.000,0.112,2614,3827,3444,3467,3422,0,0,0,0,0,0,14.83,13.95,14.83
$GC,8929,-0.81,-107.1,2617,3827,3467,3424,757.6,-7.4,327,8934,0.00,1.90,0.00,0.000,1062,0.000,0.045,2616,2746,3444,3466,3422,0,0,0,0,0,0,14.33,14.31,14.35
$GC,9286,-0.81,-107.1,2616,2747,3466,3422,784.2,-7.6,336,9291,0.00,2.42,0.00,0.000,548,0.000,0.043,2615,1365,3443,3464,3422,0,0,0,0,0,0,14.83,14.22,14.83
$GC,9320,-0.81,-107.1,2616,1365,3465,3422,787.2,-8.7,341,9327,0.10,2.58,0.00,0.000,3078,0.253,0.067,2634,2763,3443,3465,3422,0,0,0,0,0,0,13.87,14.08,14.17
$STATE,9507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9507,begin apogee
$GC,9516,-0.23,0.0,2634,2220,3466,3421,800.1,-7.1,347,9626,0.65,0.10,102.60,2.535,10244,0.171,0.161,2822,2277,3052,3093,3012,0,0,0,0,1,0,13.85,13.83,12.47
$STATE,9627,end apogee,CONTROL_FINISHED_OK
$STATE,9628,begin climb
$GC,9631,0.93,107.1,2823,2277,3092,3026,802.6,0.0,349,9770,1.12,2.55,125.95,1.829,10756,0.093,0.054,3185,893,2615,2677,2554,0,0,0,0,0,0,13.94,13.97,12.93
$GC,9889,0.82,120.7,3185,894,2678,2539,795.8,7.0,387,9908,0.00,2.38,13.90,1.968,9382,0.000,0.051,3185,2241,2564,2635,2494,0,0,0,0,0,0,14.37,14.23,13.12
$GC,10240,0.69,120.7,3185,2240,2633,2480,768.5,7.9,402,10246,0.20,2.65,0.00,0.000,4484,0.226,0.099,3123,3652,2556,2633,2479,0,0,0,0,0,0,14.06,14.21,14.24
$GC,10296,0.60,120.7,3123,3653,2634,2479,764.1,7.8,410,10302,0.15,2.35,0.00,0.000,5254,0.230,0.041,3093,2275,2556,2633,2480,0,0,0,0,0,0,14.10,14.42,14.37
$GC,10632,0.67,172.4,3094,2273,2634,2477,746.3,5.1,423,10700,0.00,2.67,59.55,1.784,8484,0.000,0.102,3091,3645,2354,2435,2273,0,0,0,0,0,0,14.79,14.11,13.16
$GC,10736,0.71,210.8,3093,3646,2436,2267,736.6,5.8,438,10784,0.00,2.42,43.58,1.773,9254,0.000,0.041,3102,2250,2210,2297,2124,0,0,0,0,0,0,14.35,14.29,13.11
$GC,11136,0.74,231.7,3102,2254,2287,2095,714.8,6.7,453,11160,0.00,0.00,22.67,1.849,8230,0.000,0.000,3102,2253,2127,2220,2034,0,0,0,0,0,0,14.72,14.26,13.29
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$STATE,19771,end climb,SURFACE_DEPTH_REACHED
$STATE,19771,begin surface coast
$FINISH,-1.3,1.022115
$STATE,19799,end surface coast,CONTROL_FINISHED_OK
$STATE,19799,begin surface
$SM_CCo,19826,43.58,0.156,0,0,1058,500.14
$SM_GC,-5.01,9.38,0.95,43.58,0.080,0.086,0.156,185,2766,1058,-8.41,-0.71,500.14,0,0,0,0,0,0,14.43,14.22,14.11
$IRIDIUM_FIX,1009.21,-12500.42,170117,012749
$TT8_MAMPS,0.038948,0.405958
$HUMID,57.95
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.10
$XPDR_PINGS,1
$SC_FREEKB,3692768
$PM_FREEKB,53341120
$24V_AH,12.47,197.043
$10V_AH,12.39,0.000
$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,25.850,180.250,478.925,43.575,0.000,0.000,0.000,372.150,0.250,0.000,6.167,0.000,16889.455,778.594,2335.355,569.131,0.000,1876.173,0.000,1448.207,0.000,0.840,0.000
$DEVICE_MAMPS,384.795,160.650,2535.210,156.060,0.000,0.000,0.000,178.245,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19861.000,19810.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.589,2.431,0.000,0.000
$MEM,334724
$DATA_FILE_SIZE,30028,800
$CAP_FILE_SIZE,147744,0
$CFSIZE,1024409600,922943488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.057,259.13,1
$GPS,170117,124500,1012.553,-12504.894,23,0.8,23,9.0,0.5,283.1,11,3.4