version: 66.13
glider: 220
mission: 6
dive: 566
start: 1 17 117 12 57 52
data:
$ID,220
$MISSION,6
$DIVE,566
$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,51
$R_STBD_OVSHOOT,19
$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
$GPS1,170117,124500,1012.5530,-12504.8936,23,0.8,23,9.0,0.5,283.1,11,3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.85
$_SM_ANGLEo,-70.9
$GPS2,170117,125731,1012.6378,-12505.0234,2,0.8,3,9.0,0.8,298.7,10,6.2
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,209.3,35133,-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,-107.1,107,2782,1103,1012,0.0,0.0,0,102,0.00,0.00,-79.80,0.000,16390,0.000,0.000,106,2781,3477,3467,3487,0,0,0,0,0,0,14.65,13.02,14.62
$GC,106,-0.93,-107.1,107,2782,3468,3488,1.1,-12.1,3,122,12.07,2.40,0.00,0.000,2564,0.390,0.032,2590,1356,3478,3470,3487,0,0,0,0,0,0,13.95,14.33,14.23
$GC,246,-0.77,-107.1,2592,1355,3472,3487,36.2,-9.3,23,251,0.25,2.55,0.00,0.000,3206,0.251,0.069,2646,2772,3479,3472,3486,0,0,0,0,0,0,14.00,14.28,14.30
$GC,580,-0.77,-107.1,2646,2773,3476,3485,66.7,-7.9,38,585,0.00,1.98,0.00,0.000,260,0.000,0.109,2638,3826,3480,3475,3486,0,0,0,0,0,0,14.81,14.19,14.81
$GC,817,-0.77,-107.1,2638,3827,3477,3486,90.5,-22.2,72,822,0.00,1.80,0.00,0.000,1030,0.000,0.038,2638,2738,3481,3476,3486,0,0,0,0,0,0,14.50,14.49,14.52
$GC,1168,-0.77,-107.1,2638,2739,3477,3484,119.5,-8.6,82,1172,0.00,2.08,0.00,0.000,260,0.000,0.105,2630,3831,3481,3476,3486,0,0,0,0,0,0,14.86,14.16,14.86
$GC,1195,-0.77,-107.1,2629,3832,3477,3487,122.0,-8.6,86,1201,0.00,1.77,0.00,0.000,1030,0.000,0.037,2629,2759,3480,3476,3485,0,0,0,0,0,0,14.52,14.50,14.54
$GC,1560,-0.77,-107.1,2629,2761,3475,3481,155.6,-9.3,96,1565,0.00,2.05,0.00,0.000,260,0.000,0.106,2621,3834,3478,3476,3481,0,0,0,0,0,0,14.87,14.21,14.87
$GC,1608,-0.77,-107.1,2622,3833,3476,3483,160.3,-9.5,103,1615,0.00,1.77,0.00,0.000,1030,0.000,0.037,2620,2759,3478,3476,3481,0,0,0,0,0,0,14.52,14.50,14.54
$GC,1952,-0.77,-107.1,2621,2761,3477,3476,191.1,-9.1,110,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2760,3476,3476,3476,0,0,0,0,0,0,14.87,14.88,14.88
$GC,2288,-0.77,-107.1,2621,2759,3476,3472,223.0,-9.6,116,2293,0.00,2.05,0.00,0.000,260,0.000,0.106,2613,3828,3472,3475,3470,0,0,0,0,0,0,14.90,14.19,14.90
$GC,2344,-0.77,-107.1,2613,3828,3477,3473,228.9,-10.4,124,2349,0.10,1.77,0.00,0.000,3078,0.202,0.038,2651,2787,3475,3480,3470,0,0,0,0,0,0,14.10,14.47,14.34
$GC,2680,-0.77,-107.1,2651,2787,3476,3466,258.1,-8.7,137,2685,0.00,2.42,0.00,0.000,516,0.000,0.041,2650,1373,3471,3476,3466,0,0,0,0,0,0,14.88,14.40,14.88
$GC,2749,-0.77,-107.1,2650,1373,3476,3466,264.4,-8.0,147,2754,0.00,2.50,0.00,0.000,1030,0.000,0.066,2641,2764,3470,3476,3465,0,0,0,0,0,0,14.46,14.28,14.50
$GC,3072,-0.77,-107.1,2642,2764,3476,3463,292.4,-8.6,158,3076,0.00,2.00,0.00,0.000,260,0.000,0.109,2633,3828,3468,3475,3461,0,0,0,0,0,0,14.87,14.15,14.88
$GC,3106,-0.77,-107.1,2633,3829,3476,3461,295.8,-9.7,163,3111,0.00,1.83,0.00,0.000,1030,0.000,0.041,2633,2755,3468,3476,3461,0,0,0,0,0,0,14.47,14.46,14.50
$GC,3464,-0.77,-107.1,2633,2756,3477,3457,328.0,-9.1,172,3465,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2756,3466,3475,3457,0,0,0,0,0,0,14.87,14.87,14.88
$GC,3800,-0.77,-107.1,2631,2756,3477,3453,359.3,-9.3,178,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2756,3463,3474,3453,0,0,0,0,0,0,14.87,14.87,14.87
$GC,4136,-0.77,-107.1,2633,2754,3476,3452,389.6,-9.0,184,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2755,3463,3476,3450,0,0,0,0,0,0,14.88,14.88,14.88
$GC,4472,-0.77,-107.1,2634,2756,3476,3448,418.5,-8.6,190,4477,0.00,2.08,0.00,0.000,260,0.000,0.108,2625,3822,3461,3476,3447,0,0,0,0,0,0,14.87,14.13,14.87
$GC,4513,-0.77,-107.1,2625,3822,3476,3446,422.1,-9.1,196,4518,0.00,1.83,0.00,0.000,1030,0.000,0.042,2624,2762,3460,3475,3445,0,0,0,0,0,0,14.50,14.44,14.48
$GC,4864,-0.77,-107.1,2624,2762,3476,3443,451.4,-8.4,204,4869,0.00,2.40,0.00,0.000,516,0.000,0.042,2624,1377,3459,3475,3443,0,0,0,0,0,0,14.87,14.36,14.87
$GC,4898,-0.77,-107.1,2624,1377,3476,3443,454.3,-8.5,209,4905,0.10,2.55,0.00,0.000,3078,0.213,0.063,2643,2764,3459,3475,3443,0,0,0,0,0,0,13.91,14.11,14.07
$GC,5256,-0.77,-107.1,2644,2763,3476,3439,482.3,-7.9,218,5260,0.00,2.00,0.00,0.000,260,0.000,0.109,2635,3823,3457,3475,3440,0,0,0,0,0,0,14.86,14.09,14.86
$GC,5283,-0.77,-107.1,2636,3825,3476,3438,484.6,-7.9,222,5288,0.00,1.80,0.00,0.000,1030,0.000,0.043,2635,2770,3457,3475,3440,0,0,0,0,0,0,14.46,14.43,14.48
$GC,5648,-0.77,-107.1,2636,2770,3476,3433,513.0,-7.6,232,5649,0.00,0.00,0.00,0.000,38,0.000,0.000,2635,2770,3455,3475,3436,0,0,0,0,0,0,14.89,14.89,14.89
$GC,5984,-0.77,-107.1,2636,2771,3477,3433,538.1,-7.4,238,5985,0.00,0.00,0.00,0.000,38,0.000,0.000,2635,2770,3454,3475,3434,0,0,0,0,0,0,14.88,14.88,14.88
$GC,6320,-0.77,-107.1,2635,2771,3476,3432,562.2,-7.1,244,6325,0.00,2.45,0.00,0.000,548,0.000,0.042,2635,1374,3453,3475,3432,0,0,0,0,0,0,14.86,14.32,14.86
$GC,6354,-0.77,-107.1,2635,1375,3476,3432,564.9,-7.2,249,6361,0.00,2.55,0.00,0.000,1062,0.000,0.065,2625,2776,3453,3475,3432,0,0,0,0,0,0,14.39,14.22,14.43
$GC,6712,-0.77,-107.1,2626,2776,3476,3430,593.7,-8.3,258,6716,0.00,2.00,0.00,0.000,260,0.000,0.110,2618,3831,3451,3474,3429,0,0,0,0,0,0,14.88,14.04,14.88
$GC,6802,-0.77,-107.1,2617,3831,3474,3429,601.8,-9.2,271,6808,0.10,1.85,0.00,0.000,3078,0.203,0.043,2646,2770,3450,3472,3429,0,0,0,0,0,0,13.96,14.37,14.12
$GC,7160,-0.77,-107.1,2646,2770,3472,3428,630.1,-7.9,280,7165,0.00,2.45,0.00,0.000,516,0.000,0.043,2643,1369,3449,3470,3429,0,0,0,0,0,0,14.85,14.29,14.85
$GC,7229,-0.86,-107.1,2646,1369,3472,3430,636.0,-9.1,290,7234,0.00,2.58,0.00,0.000,1158,0.000,0.067,2638,2775,3451,3474,3428,0,0,0,0,0,0,14.33,14.14,14.37
$GC,7552,-0.86,-107.1,2639,2779,3471,3428,661.0,-7.7,301,7558,0.00,2.47,0.00,0.000,516,0.000,0.042,2638,1366,3448,3470,3427,0,0,0,0,0,0,14.87,14.29,14.86
$GC,7586,-0.86,-107.1,2638,1366,3471,3428,663.4,-8.4,306,7591,0.00,2.58,0.00,0.000,1030,0.000,0.067,2629,2770,3449,3471,3427,0,0,0,0,0,0,14.32,14.12,14.36
$GC,7944,-0.86,-107.1,2629,2773,3473,3426,688.6,-6.9,315,7945,0.00,0.00,0.00,0.000,38,0.000,0.000,2629,2772,3448,3470,3426,0,0,0,0,0,0,14.84,14.84,14.84
$GC,8280,-0.86,-107.1,2629,2772,3467,3427,712.1,-7.1,321,8281,0.00,0.00,0.00,0.000,38,0.000,0.000,2629,2772,3446,3468,3425,0,0,0,0,0,0,14.82,14.83,14.83
$GC,8616,-0.86,-107.1,2630,2772,3468,3424,737.7,-7.6,327,8621,0.00,2.47,0.00,0.000,548,0.000,0.043,2628,1369,3444,3467,3422,0,0,0,0,0,0,14.83,14.25,14.84
$GC,8650,-0.86,-107.1,2628,1369,3468,3423,740.1,-6.6,332,8655,0.00,2.58,0.00,0.000,1062,0.000,0.067,2619,2768,3444,3467,3421,0,0,0,0,0,0,14.30,14.09,14.33
$GC,9008,-0.86,-107.1,2620,2769,3467,3421,768.4,-7.9,341,9013,0.00,2.03,0.00,0.000,260,0.000,0.112,2611,3826,3443,3466,3421,0,0,0,0,0,0,14.87,13.95,14.87
$GC,9042,-0.86,-107.1,2610,3827,3466,3422,771.1,-7.6,346,9047,0.00,1.88,0.00,0.000,1062,0.000,0.046,2611,2757,3443,3465,3422,0,0,0,0,0,0,14.32,14.29,14.41
$GC,9400,-0.86,-107.1,2611,2757,3465,3422,798.3,-7.5,355,9405,0.00,2.42,0.00,0.000,548,0.000,0.042,2610,1373,3443,3465,3421,0,0,0,0,0,0,14.83,14.24,14.83
$STATE,9423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9423,begin apogee
$GC,9433,-0.23,0.0,2606,2261,3465,3421,800.2,-7.0,359,9549,0.77,0.00,113.68,1.851,10244,0.186,0.000,2822,2260,3050,3091,3010,0,0,0,0,0,0,13.81,13.98,12.97
$STATE,9550,end apogee,CONTROL_FINISHED_OK
$STATE,9550,begin climb
$GC,9554,0.93,107.1,2825,2261,3086,3000,791.4,0.0,361,9682,1.12,2.53,117.90,1.802,10756,0.096,0.054,3186,859,2623,2683,2563,0,0,0,0,0,0,14.02,14.06,12.94
$GC,9751,0.80,107.1,3186,860,2676,2541,789.0,8.1,391,9756,0.00,2.47,0.00,0.000,1158,0.000,0.051,3186,2257,2607,2675,2539,0,0,0,0,0,0,14.31,14.20,14.33
$GC,10102,0.65,107.1,3189,2258,2674,2536,759.1,8.7,399,10107,0.22,2.62,0.00,0.000,4484,0.224,0.096,3118,3657,2604,2675,2534,0,0,0,0,0,0,14.00,14.19,14.19
$GC,10150,0.64,165.4,3118,3658,2677,2534,754.9,4.8,406,10219,0.00,2.45,63.60,1.781,9382,0.000,0.039,3128,2231,2391,2469,2313,0,0,0,0,0,0,14.50,14.40,13.14
$GC,10553,0.66,175.4,3129,2234,2463,2287,740.4,7.2,428,10562,0.00,2.67,3.28,1.154,8484,0.000,0.101,3128,3650,2358,2445,2271,0,0,0,0,0,0,14.69,14.28,13.06
$GC,10591,0.66,179.5,3129,3651,2438,2283,737.0,7.5,434,10604,0.00,2.40,4.28,1.713,9254,0.000,0.040,3139,2251,2340,2420,2260,0,0,0,0,0,0,14.52,14.45,12.94
$GC,10942,0.67,184.2,3140,2251,2421,2282,710.7,7.5,442,10956,0.00,0.00,12.48,1.948,8230,0.000,0.000,3139,2251,2315,2396,2235,0,0,0,0,0,0,14.77,14.35,13.31
$GC,11278,0.67,184.2,3140,2251,2393,2220,683.3,8.1,448,11283,0.00,2.65,0.00,0.000,260,0.000,0.102,3139,3648,2306,2393,2219,0,0,0,0,0,0,14.76,14.21,14.76
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$STATE,20087,end climb,SURFACE_DEPTH_REACHED
$STATE,20087,begin surface coast
$FINISH,-0.6,1.022132
$STATE,20118,end surface coast,CONTROL_FINISHED_OK
$STATE,20118,begin surface
$SM_CCo,20142,30.17,0.159,0,0,1057,500.14
$SM_GC,-4.33,9.12,0.93,30.17,0.070,0.090,0.159,185,2762,1057,-8.39,-0.71,500.14,0,0,0,0,0,0,14.48,14.21,14.11
$IRIDIUM_FIX,1009.21,-12503.47,170117,070619
$TT8_MAMPS,0.038948,0.423185
$HUMID,59.01
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,20.00
$XPDR_PINGS,2
$SC_FREEKB,3692384
$PM_FREEKB,53329472
$24V_AH,12.94,197.334
$10V_AH,12.53,0.000
$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,24.550,175.800,477.975,30.175,0.000,0.000,0.000,402.575,0.500,0.000,4.556,0.000,17218.018,761.063,2352.589,572.582,0.000,1881.107,0.000,1441.303,0.000,0.837,0.000
$DEVICE_MAMPS,390.150,112.455,1947.690,159.120,0.000,0.000,0.000,172.890,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20180.000,20129.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.567,2.442,0.000,0.000
$MEM,334768
$DATA_FILE_SIZE,30003,792
$CAP_FILE_SIZE,145012,0
$CFSIZE,1024409600,922812416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054,249.37,1
$GPS,170117,183500,1011.032,-12506.694,21,1.0,21,9.0,0.4,26.5,8,5.6