version: 66.13
glider: 220
mission: 6
dive: 593
start: 1 23 117 18 50 43
data:
$ID,220
$MISSION,6
$DIVE,593
$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,46
$R_STBD_OVSHOOT,32
$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
$GPS1,230117,183830,947.3308,-12455.2500,29,0.9,29,9.0,0.3,320.1,9,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.31
$_SM_ANGLEo,-69.0
$GPS2,230117,185022,947.3298,-12455.2471,2,0.6,3,9.0,0.6,210.3,12,5.5
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,48.5,35542,-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,17,-0.93,-107.1,127,2791,1102,1017,0.0,0.0,0,101,0.00,0.00,-80.47,0.000,16390,0.000,0.000,126,2792,3478,3470,3487,0,0,0,0,0,0,14.65,12.60,14.61
$GC,106,-0.93,-107.1,126,2792,3471,3488,6.2,-11.4,3,119,12.15,0.00,0.00,0.000,2054,0.390,0.000,2590,2791,3479,3471,3487,0,0,0,0,0,0,13.95,14.42,14.35
$GC,411,-0.79,-107.1,2591,2791,3476,3488,70.3,-11.5,14,415,0.15,1.95,0.00,0.000,2436,0.259,0.109,2629,3814,3481,3475,3487,0,0,0,0,0,0,13.95,14.14,14.12
$GC,445,-0.70,-107.1,2629,3813,3476,3488,73.6,-9.1,19,451,0.12,1.80,0.00,0.000,3206,0.214,0.038,2665,2743,3481,3476,3487,0,0,0,0,0,0,14.03,14.45,14.20
$GC,775,-0.70,-107.1,2665,2744,3473,3486,96.8,-7.5,33,779,0.00,2.33,0.00,0.000,548,0.000,0.043,2665,1386,3482,3477,3487,0,0,0,0,0,0,14.85,14.37,14.85
$GC,831,-0.70,-107.1,2666,1387,3479,3488,101.5,-6.9,41,836,0.00,2.45,0.00,0.000,1062,0.000,0.070,2656,2752,3486,3478,3494,0,0,0,0,0,0,14.43,14.25,14.47
$GC,1167,-0.70,-107.1,2656,2753,3479,3486,128.8,-7.8,54,1171,0.00,2.03,0.00,0.000,260,0.000,0.110,2648,3831,3482,3478,3486,0,0,0,0,0,0,14.86,14.16,14.86
$GC,1257,-0.70,-107.1,2645,3831,3478,3485,137.2,-9.2,67,1262,0.00,1.80,0.00,0.000,1030,0.000,0.040,2647,2736,3482,3478,3486,0,0,0,0,0,0,14.51,14.48,14.52
$GC,1615,-0.70,-107.1,2648,2738,3478,3480,168.0,-8.8,76,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2736,3479,3477,3481,0,0,0,0,0,0,14.89,14.89,14.89
$GC,1951,-0.70,-107.1,2648,2736,3478,3478,196.7,-8.5,82,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2736,3477,3478,3477,0,0,0,0,0,0,14.87,14.87,14.85
$GC,2287,-0.70,-107.1,2647,2737,3478,3471,225.6,-8.6,88,2291,0.00,2.28,0.00,0.000,516,0.000,0.042,2647,1408,3472,3474,3471,0,0,0,0,0,0,14.87,14.36,14.87
$GC,2342,-0.70,-107.1,2648,1408,3478,3472,230.5,-8.6,96,2348,0.10,2.47,0.00,0.000,3078,0.235,0.068,2667,2773,3473,3477,3470,0,0,0,0,0,0,13.99,14.24,14.22
$GC,2679,-0.78,-107.1,2668,2774,3478,3469,256.4,-7.7,109,2684,0.00,2.38,0.00,0.000,676,0.000,0.042,2668,1408,3472,3477,3467,0,0,0,0,0,0,14.86,14.35,14.86
$GC,2741,-0.88,-107.1,2668,1407,3478,3468,261.2,-7.5,118,2746,0.08,2.45,0.00,0.000,5286,0.145,0.068,2585,2765,3472,3478,3466,0,0,0,0,0,0,14.31,14.22,14.42
$GC,3071,-0.88,-107.1,2587,2767,3477,3462,296.2,-10.8,130,3075,0.00,2.00,0.00,0.000,260,0.000,0.107,2580,3831,3469,3477,3461,0,0,0,0,0,0,14.87,14.10,14.87
$GC,3154,-0.79,-107.1,2580,3832,3478,3461,305.6,-11.1,142,3159,0.20,1.77,0.00,0.000,3206,0.209,0.041,2634,2788,3469,3478,3461,0,0,0,0,0,0,13.88,14.41,14.07
$GC,3519,-0.79,-107.1,2635,2787,3478,3459,336.3,-8.5,152,3523,0.00,2.45,0.00,0.000,516,0.000,0.043,2634,1368,3467,3477,3457,0,0,0,0,0,0,14.86,14.33,14.86
$GC,3566,-0.79,-107.1,2635,1371,3479,3456,340.6,-8.5,159,3574,0.00,2.55,0.00,0.000,1030,0.000,0.067,2625,2767,3466,3476,3456,0,0,0,0,0,0,14.36,14.16,14.40
$GC,3911,-0.79,-107.1,2626,2768,3481,3454,371.8,-9.2,166,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2767,3465,3477,3453,0,0,0,0,0,0,14.86,14.86,14.86
$GC,4247,-0.79,-107.1,2626,2768,3478,3452,402.0,-8.9,172,4251,0.00,2.45,0.00,0.000,516,0.000,0.041,2625,1368,3463,3477,3450,0,0,0,0,0,0,14.86,14.32,14.86
$GC,4287,-0.79,-107.1,2624,1369,3479,3450,405.6,-8.5,178,4293,0.00,2.55,0.00,0.000,1030,0.000,0.069,2616,2765,3463,3477,3450,0,0,0,0,0,0,14.38,14.19,14.43
$GC,4638,-0.79,-107.1,2616,2765,3476,3447,436.3,-8.9,186,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2762,3461,3477,3446,0,0,0,0,0,0,14.89,14.89,14.89
$GC,4975,-0.79,-107.1,2615,2765,3478,3445,467.6,-9.4,192,4979,0.00,2.45,0.00,0.000,516,0.000,0.044,2615,1371,3457,3477,3437,0,0,0,0,0,0,14.90,14.29,14.88
$GC,5009,-0.79,-107.1,2615,1372,3478,3443,471.1,-10.0,197,5014,0.12,2.55,0.00,0.000,3078,0.233,0.070,2642,2754,3460,3477,3443,0,0,0,0,0,0,13.94,14.14,14.21
$GC,5366,-0.79,-107.1,2641,2754,3478,3441,503.1,-9.0,206,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2755,3458,3477,3440,0,0,0,0,0,0,14.85,14.86,14.85
$GC,5703,-0.79,-107.1,2641,2755,3478,3437,532.2,-8.5,212,5707,0.00,2.45,0.00,0.000,516,0.000,0.044,2640,1367,3457,3477,3437,0,0,0,0,0,0,14.85,14.26,14.85
$GC,5771,-0.79,-107.1,2641,1367,3478,3438,538.0,-8.2,222,5777,0.00,2.55,0.00,0.000,1030,0.000,0.070,2632,2754,3457,3477,3437,0,0,0,0,0,0,14.33,14.12,14.37
$GC,6095,-0.79,-107.1,2632,2755,3478,3434,563.9,-8.0,233,6099,0.00,2.45,0.00,0.000,516,0.000,0.042,2631,1367,3455,3477,3434,0,0,0,0,0,0,14.84,14.26,14.84
$GC,6150,-0.79,-107.1,2632,1367,3477,3434,568.4,-7.9,241,6155,0.00,2.55,0.00,0.000,1030,0.000,0.071,2623,2746,3455,3477,3433,0,0,0,0,0,0,14.30,14.09,14.33
$GC,6487,-0.79,-107.1,2624,2746,3478,3434,595.1,-7.9,254,6491,0.00,2.08,0.00,0.000,260,0.000,0.112,2615,3832,3454,3477,3432,0,0,0,0,0,0,14.87,13.97,14.88
$GC,6520,-0.79,-107.1,2615,3834,3478,3433,598.0,-8.4,259,6527,0.08,1.90,0.00,0.000,3078,0.197,0.043,2635,2742,3454,3477,3432,0,0,0,0,0,0,13.97,14.33,14.11
$GC,6879,-0.79,-107.1,2637,2743,3474,3432,624.5,-7.5,268,6883,0.00,2.40,0.00,0.000,548,0.000,0.042,2637,1365,3451,3470,3432,0,0,0,0,0,0,14.84,14.26,14.84
$GC,6954,-0.79,-107.1,2637,1368,3474,3431,630.7,-8.0,279,6961,0.00,2.58,0.00,0.000,1030,0.000,0.070,2628,2748,3452,3472,3432,0,0,0,0,0,0,14.28,14.06,14.33
$GC,7270,-0.79,-107.1,2629,2748,3472,3432,657.2,-8.5,289,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2748,3451,3472,3430,0,0,0,0,0,0,14.84,14.83,14.84
$GC,7607,-0.79,-107.1,2629,2749,3472,3429,687.2,-8.9,295,7612,0.00,2.45,0.00,0.000,516,0.000,0.042,2628,1367,3447,3467,3428,0,0,0,0,0,0,14.83,14.23,14.83
$GC,7675,-0.79,-107.1,2628,1368,3472,3428,693.4,-8.8,305,7681,0.00,2.58,0.00,0.000,1030,0.000,0.071,2619,2751,3448,3470,3427,0,0,0,0,0,0,14.23,14.01,14.28
$GC,7998,-0.79,-107.1,2620,2751,3471,3428,722.2,-8.9,316,8003,0.00,2.08,0.00,0.000,260,0.000,0.117,2612,3831,3451,3470,3433,0,0,0,0,0,0,14.83,13.88,14.83
$GC,8033,-0.79,-107.1,2612,3827,3470,3429,725.4,-9.4,321,8038,0.10,1.90,0.00,0.000,3078,0.200,0.045,2640,2745,3448,3470,3427,0,0,0,0,0,0,13.88,14.30,14.02
$GC,8391,-0.79,-107.1,2640,2746,3471,3426,752.7,-7.5,330,8396,0.00,2.45,0.00,0.000,548,0.000,0.044,2640,1359,3447,3470,3425,0,0,0,0,0,0,14.85,14.19,14.86
$GC,8453,-0.87,-107.1,2641,1358,3470,3426,757.3,-7.4,339,8459,0.00,2.60,0.00,0.000,1190,0.000,0.073,2632,2747,3447,3470,3425,0,0,0,0,0,0,14.12,13.90,14.18
$GC,8783,-0.87,-107.1,2632,2746,3470,3425,782.1,-7.5,351,8783,0.00,0.00,0.00,0.000,38,0.000,0.000,2632,2747,3446,3469,3423,0,0,0,0,0,0,14.82,14.82,14.83
$STATE,9059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9059,begin apogee
$GC,9068,-0.23,0.0,2632,2199,3468,3423,802.7,-7.4,356,9177,0.68,0.12,100.90,2.504,10244,0.189,0.143,2820,2270,3053,3092,3014,0,0,0,0,1,0,13.75,13.83,12.51
$STATE,9178,end apogee,CONTROL_FINISHED_OK
$STATE,9178,begin climb
$GC,9182,0.93,107.1,2821,2270,3093,3027,805.7,0.0,358,9316,1.15,2.53,124.00,1.802,10756,0.111,0.056,3178,889,2624,2685,2563,0,0,0,0,0,0,13.93,13.98,12.95
$GC,9358,0.85,142.7,3178,890,2678,2542,803.7,5.9,384,9400,0.00,2.42,38.30,1.817,9382,0.000,0.055,3177,2248,2481,2555,2408,0,0,0,0,0,0,14.26,14.14,13.05
$GC,9733,0.74,142.7,3177,2248,2548,2384,770.5,9.3,402,9738,0.10,2.67,0.00,0.000,4484,0.250,0.106,3145,3655,2465,2547,2384,0,0,0,0,0,0,14.07,14.17,14.24
$GC,9828,0.64,142.7,3146,3658,2548,2385,761.2,9.3,416,9834,0.17,2.38,0.00,0.000,5254,0.245,0.041,3108,2258,2465,2547,2383,0,0,0,0,0,0,14.01,14.38,14.33
$GC,10179,0.66,157.4,3105,2254,2550,2382,736.5,7.0,424,10195,0.00,0.00,13.98,1.907,8230,0.000,0.000,3111,2254,2425,2506,2344,0,0,0,0,0,0,14.81,14.33,13.32
$GC,10516,0.68,173.5,3110,2253,2499,2327,713.1,6.9,430,10541,0.00,2.72,18.73,1.875,8484,0.000,0.112,3109,3651,2350,2435,2266,0,0,0,0,0,0,14.77,14.29,13.31
$GC,10591,0.68,173.5,3110,3650,2434,2260,706.9,8.6,441,10597,0.00,2.40,0.00,0.000,1030,0.000,0.041,3120,2251,2346,2433,2259,0,0,0,0,0,0,14.49,14.42,14.51
$GC,10907,0.68,173.5,3120,2254,2434,2255,681.4,8.1,451,10908,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2249,2344,2433,2255,0,0,0,0,0,0,14.78,14.78,14.78
$GC,11243,0.68,173.5,3121,2250,2434,2252,653.6,8.3,457,11248,0.00,2.72,0.00,0.000,260,0.000,0.114,3120,3652,2343,2433,2253,0,0,0,0,0,0,14.79,14.10,14.80
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$STATE,19654,end climb,SURFACE_DEPTH_REACHED
$STATE,19654,begin surface coast
$FINISH,-1.3,1.022037
$STATE,19682,end surface coast,CONTROL_FINISHED_OK
$STATE,19682,begin surface
$SM_CCo,19706,49.22,0.151,0,0,1057,500.14
$SM_GC,-0.29,9.18,0.98,49.22,0.060,0.088,0.151,180,2769,1057,-8.40,-0.57,500.14,0,0,0,0,0,0,14.43,14.19,14.14
$IRIDIUM_FIX,940.75,-12457.91,230117,130452
$TT8_MAMPS,0.038948,0.258405
$HUMID,57.95
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,20.40
$XPDR_PINGS,0
$SC_FREEKB,3682016
$PM_FREEKB,53031872
$24V_AH,12.20,205.912
$10V_AH,12.40,0.000
$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,25.000,162.350,456.450,49.225,0.000,0.000,0.000,353.150,0.000,0.000,4.748,0.000,16849.676,744.357,2273.050,580.202,0.000,1785.508,0.000,1416.831,0.000,0.837,0.000
$DEVICE_MAMPS,390.150,143.055,2503.845,151.470,0.000,0.000,0.000,178.245,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19744.000,19692.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.571,2.435,0.000,0.000
$MEM,334752
$DATA_FILE_SIZE,26784,777
$CAP_FILE_SIZE,142869,0
$CFSIZE,1024409600,918831104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.055,39.69,1
$GPS,240117,002100,948.899,-12453.434,27,1.0,27,9.0,1.2,339.4,9,5.9