version: 66.13
glider: 220
mission: 6
dive: 621
start: 1 30 117 9 5 1
data:
$ID,220
$MISSION,6
$DIVE,621
$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,48
$R_STBD_OVSHOOT,17
$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
$GPS1,300117,084930,1004.4719,-12513.8965,34,0.9,34,9.0,0.7,25.1,10,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.92
$_SM_ANGLEo,-69.5
$GPS2,300117,090439,1004.7148,-12513.7266,2,0.8,2,9.0,1.0,48.4,12,5.7
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,203.5,13525,-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,-107.1,108,2785,1100,1017,0.0,0.0,0,101,0.00,0.00,-80.82,0.000,16390,0.000,0.000,107,2785,3476,3467,3486,0,0,0,0,0,0,14.65,12.62,14.60
$GC,106,-0.93,-107.1,108,2784,3468,3488,5.4,-11.0,3,122,11.88,2.42,0.00,0.000,2564,0.381,0.033,2583,1353,3478,3470,3487,0,0,0,0,0,0,13.94,14.34,14.26
$GC,215,-0.70,-107.1,2584,1356,3472,3486,39.4,-18.6,19,220,0.35,2.62,0.00,0.000,3206,0.243,0.087,2667,2775,3478,3471,3486,0,0,0,0,0,0,13.97,14.16,14.28
$GC,551,-0.70,-107.1,2667,2769,3474,3487,70.5,-7.8,34,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2771,3480,3473,3488,0,0,0,0,0,0,14.81,14.81,14.81
$GC,859,-0.70,-107.1,2667,2771,3474,3488,93.3,-7.3,45,864,0.00,2.05,0.00,0.000,292,0.000,0.140,2659,3824,3480,3474,3486,0,0,0,0,0,0,14.85,14.04,14.85
$GC,907,-0.70,-107.1,2659,3824,3474,3487,97.9,-9.4,52,913,0.00,1.80,0.00,0.000,1030,0.000,0.044,2659,2737,3480,3474,3486,0,0,0,0,0,0,14.45,14.42,14.47
$GC,1223,-0.70,-107.1,2659,2738,3475,3486,125.1,-8.7,59,1227,0.00,2.30,0.00,0.000,516,0.000,0.041,2659,1399,3479,3474,3485,0,0,0,0,0,0,14.85,14.35,14.85
$GC,1271,-0.70,-107.1,2659,1399,3475,3485,129.2,-8.3,66,1277,0.00,2.55,0.00,0.000,1030,0.000,0.083,2649,2769,3478,3475,3482,0,0,0,0,0,0,14.35,14.12,14.40
$GC,1615,-0.70,-107.1,2649,2769,3475,3480,160.2,-9.3,73,1620,0.00,2.40,0.00,0.000,516,0.000,0.041,2649,1395,3477,3474,3480,0,0,0,0,0,0,14.85,14.37,14.85
$GC,1649,-0.70,-107.1,2650,1396,3474,3481,163.4,-9.4,78,1654,0.10,2.55,0.00,0.000,3078,0.237,0.085,2669,2764,3477,3474,3480,0,0,0,0,0,0,14.03,14.13,14.28
$GC,2007,-0.70,-107.1,2669,2765,3475,3475,191.3,-7.6,87,2008,0.00,0.00,0.00,0.000,38,0.000,0.000,2669,2764,3474,3474,3475,0,0,0,0,0,0,14.85,14.85,14.85
$GC,2343,-0.70,-107.1,2669,2765,3475,3469,216.4,-7.5,93,2348,0.00,2.40,0.00,0.000,548,0.000,0.043,2669,1395,3471,3474,3469,0,0,0,0,0,0,14.85,14.32,14.86
$GC,2433,-0.79,-107.1,2669,1394,3474,3470,223.7,-8.0,106,2438,0.00,2.58,0.00,0.000,1158,0.000,0.086,2661,2767,3471,3474,3469,0,0,0,0,0,0,14.33,14.08,14.38
$GC,2791,-0.79,-107.1,2660,2767,3474,3464,253.3,-8.2,115,2795,0.00,2.40,0.00,0.000,516,0.000,0.042,2660,1399,3468,3474,3463,0,0,0,0,0,0,14.85,14.35,14.85
$GC,2832,-0.87,-107.1,2661,1399,3474,3464,256.8,-8.4,121,2838,0.00,2.58,0.00,0.000,1158,0.000,0.088,2652,2760,3468,3474,3462,0,0,0,0,0,0,14.33,14.07,14.38
$GC,3183,-0.87,-107.1,2651,2761,3475,3458,285.5,-8.0,129,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2760,3466,3473,3459,0,0,0,0,0,0,14.88,14.88,14.88
$GC,3519,-0.87,-107.1,2651,2761,3475,3454,312.0,-7.9,135,3523,0.00,2.42,0.00,0.000,516,0.000,0.044,2652,1398,3464,3473,3455,0,0,0,0,0,0,14.88,14.29,14.88
$GC,3553,-0.87,-107.1,2652,1399,3475,3453,314.8,-8.5,140,3558,0.00,2.60,0.00,0.000,1030,0.000,0.090,2644,2771,3463,3474,3453,0,0,0,0,0,0,14.27,14.00,14.32
$GC,3911,-0.87,-107.1,2644,2772,3474,3452,346.3,-9.0,149,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2772,3463,3477,3450,0,0,0,0,0,0,14.85,14.85,14.84
$GC,4247,-0.87,-107.1,2645,2772,3474,3448,376.2,-8.8,155,4251,0.00,2.42,0.00,0.000,516,0.000,0.044,2644,1405,3459,3473,3446,0,0,0,0,0,0,14.85,14.28,14.85
$GC,4274,-0.87,-107.1,2644,1409,3474,3446,378.6,-8.8,159,4279,0.00,2.58,0.00,0.000,1030,0.000,0.092,2637,2760,3459,3473,3446,0,0,0,0,0,0,14.26,14.00,14.31
$GC,4639,-0.87,-107.1,2635,2761,3474,3444,408.3,-8.0,169,4644,0.00,2.40,0.00,0.000,516,0.000,0.044,2638,1405,3459,3475,3443,0,0,0,0,0,0,14.83,14.28,14.84
$GC,4687,-0.87,-107.1,2634,1407,3474,3443,412.2,-7.9,176,4694,0.00,2.58,0.00,0.000,1030,0.000,0.092,2626,2752,3458,3473,3443,0,0,0,0,0,0,14.15,13.92,14.20
$GC,5031,-0.87,-107.1,2626,2752,3474,3440,441.2,-8.7,183,5035,0.00,2.38,0.00,0.000,516,0.000,0.042,2625,1405,3455,3472,3439,0,0,0,0,0,0,14.85,14.26,14.85
$GC,5058,-0.87,-107.1,2626,1405,3473,3440,443.7,-9.3,187,5063,0.00,2.58,0.00,0.000,1030,0.000,0.090,2616,2761,3456,3473,3439,0,0,0,0,0,0,14.23,13.97,14.28
$GC,5423,-0.87,-107.1,2616,2760,3474,3437,480.1,-10.3,197,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2760,3455,3474,3437,0,0,0,0,0,0,14.83,14.88,14.83
$GC,5759,-0.87,-107.1,2617,2761,3474,3434,515.8,-10.6,203,5763,0.00,2.40,0.00,0.000,516,0.000,0.044,2615,1406,3453,3473,3434,0,0,0,0,0,0,14.84,14.24,14.84
$GC,5814,-0.87,-107.1,2615,1406,3475,3433,521.6,-10.1,211,5819,0.00,2.58,0.00,0.000,1030,0.000,0.090,2606,2755,3453,3473,3433,0,0,0,0,0,0,14.21,13.95,14.26
$GC,6151,-0.87,-107.1,2606,2756,3474,3431,556.2,-10.3,224,6155,0.00,2.12,0.00,0.000,260,0.000,0.142,2598,3825,3457,3483,3431,0,0,0,0,0,0,14.87,13.81,14.87
$GC,6185,-0.87,-107.1,2598,3824,3474,3431,559.8,-10.8,229,6191,0.00,1.83,0.00,0.000,1030,0.000,0.046,2597,2765,3450,3473,3428,0,0,0,0,0,0,14.33,14.31,14.35
$GC,6543,-0.87,-107.1,2597,2767,3474,3428,595.0,-9.7,238,6548,0.00,2.42,0.00,0.000,516,0.000,0.044,2597,1390,3450,3473,3428,0,0,0,0,0,0,14.87,14.21,14.87
$GC,6584,-0.87,-107.1,2597,1390,3472,3429,599.0,-9.6,244,6589,0.10,2.58,0.00,0.000,3078,0.243,0.088,2615,2749,3449,3472,3427,0,0,0,0,0,0,13.81,13.89,14.08
$GC,6935,-0.87,-107.1,2614,2749,3473,3429,628.1,-8.2,252,6939,0.00,2.15,0.00,0.000,260,0.000,0.143,2607,3827,3449,3472,3426,0,0,0,0,0,0,14.86,13.78,14.87
$GC,6976,-0.87,-107.1,2608,3828,3471,3426,631.7,-8.6,258,6981,0.00,1.88,0.00,0.000,1030,0.000,0.047,2606,2755,3448,3471,3426,0,0,0,0,0,0,14.31,14.27,14.33
$GC,7327,-0.87,-107.1,2606,2756,3471,3425,660.7,-8.4,266,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2754,3447,3470,3425,0,0,0,0,0,0,14.82,14.82,14.82
$GC,7663,-0.87,-107.1,2606,2755,3469,3425,689.6,-8.7,272,7667,0.00,2.45,0.00,0.000,516,0.000,0.044,2606,1370,3447,3468,3426,0,0,0,0,0,0,14.86,14.20,14.86
$GC,7697,-0.87,-107.1,2606,1372,3468,3425,692.7,-8.9,277,7703,0.00,2.62,0.00,0.000,1030,0.000,0.086,2597,2750,3446,3468,3425,0,0,0,0,0,0,14.16,13.90,14.22
$GC,8055,-0.87,-107.1,2597,2751,3467,3424,724.6,-8.9,286,8060,0.00,2.15,0.00,0.000,260,0.000,0.140,2588,3826,3444,3465,3424,0,0,0,0,0,0,14.85,13.74,14.84
$GC,8131,-0.87,-107.1,2587,3827,3464,3424,732.0,-9.5,297,8137,0.10,1.90,0.00,0.000,3078,0.208,0.047,2615,2745,3443,3465,3421,0,0,0,0,0,0,13.77,14.23,13.93
$GC,8447,-0.87,-107.1,2616,2743,3466,3425,757.4,-8.2,307,8452,0.00,2.45,0.00,0.000,516,0.000,0.044,2615,1365,3443,3465,3422,0,0,0,0,0,0,14.81,14.14,14.81
$GC,8516,-0.87,-107.1,2616,1365,3465,3423,763.2,-8.2,317,8522,0.00,2.65,0.00,0.000,1030,0.000,0.087,2606,2751,3443,3465,3421,0,0,0,0,0,0,14.12,13.85,14.18
$GC,8839,-0.87,-107.1,2607,2750,3465,3421,790.9,-8.6,328,8843,0.00,2.17,0.00,0.000,260,0.000,0.143,2598,3830,3442,3465,3420,0,0,0,0,0,0,14.81,13.68,14.80
$GC,8880,-0.87,-107.1,2598,3830,3465,3421,794.6,-9.2,334,8885,0.00,1.90,0.00,0.000,1030,0.000,0.047,2597,2715,3442,3464,3420,0,0,0,0,0,0,14.35,14.26,14.37
$STATE,8947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8947,begin apogee
$GC,8956,-0.23,0.0,2598,2221,3465,3421,800.8,-8.8,337,9071,0.80,0.10,112.55,1.810,10244,0.189,0.179,2819,2277,3048,3090,3006,0,0,0,0,0,0,13.67,13.88,12.98
$STATE,9072,end apogee,CONTROL_FINISHED_OK
$STATE,9073,begin climb
$GC,9077,0.93,107.1,2821,2277,3084,3001,803.4,0.0,339,9204,1.12,2.55,114.75,1.753,10756,0.093,0.054,3184,871,2619,2681,2558,0,0,0,0,0,0,14.02,14.05,12.94
$GC,9239,0.83,131.6,3184,874,2680,2546,799.4,6.5,364,9272,0.00,2.47,27.15,1.817,9382,0.000,0.065,3183,2239,2520,2592,2448,0,0,0,0,0,0,14.25,14.12,13.09
$GC,9625,0.72,131.6,3184,2239,2590,2431,763.5,9.7,377,9631,0.15,2.78,0.00,0.000,4484,0.228,0.129,3135,3658,2509,2589,2429,0,0,0,0,0,0,14.01,14.05,14.15
$GC,9722,0.62,131.6,3135,3659,2590,2428,754.3,9.3,391,9728,0.15,2.42,0.00,0.000,5254,0.226,0.043,3106,2250,2513,2598,2428,0,0,0,0,0,0,14.02,14.40,14.32
$GC,10073,0.63,143.2,3108,2247,2589,2427,729.0,7.1,399,10084,0.00,2.78,4.10,1.545,8484,0.000,0.131,3105,3648,2483,2559,2408,0,0,0,0,0,0,14.81,14.26,13.08
$GC,10114,0.64,146.1,3105,3648,2560,2422,725.8,7.6,405,10127,0.00,2.40,4.10,1.675,9254,0.000,0.044,3116,2247,2472,2544,2401,0,0,0,0,0,0,14.57,14.50,13.05
$GC,10465,0.65,157.1,3115,2248,2546,2419,700.4,7.2,413,10488,0.00,0.00,21.27,1.826,8230,0.000,0.000,3116,2247,2424,2500,2349,0,0,0,0,0,0,14.81,14.32,13.33
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$STATE,19162,end climb,SURFACE_DEPTH_REACHED
$STATE,19162,begin surface coast
$FINISH,-0.4,1.022146
$STATE,19190,end surface coast,CONTROL_FINISHED_OK
$STATE,19190,begin surface
$SM_CCo,19215,64.57,0.153,0,0,1057,500.14
$SM_GC,-1.26,9.30,1.02,64.57,0.076,0.109,0.153,170,2761,1057,-8.40,-0.65,500.14,0,0,0,0,0,0,14.40,14.00,14.12
$IRIDIUM_FIX,1002.64,-12511.37,300117,031650
$TT8_MAMPS,0.036701,0.433671
$HUMID,58.23
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.00
$XPDR_PINGS,1
$SC_FREEKB,3671264
$PM_FREEKB,52713920
$24V_AH,12.62,214.560
$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,24.700,190.300,434.250,64.575,0.000,0.000,0.000,540.050,0.250,0.000,4.254,0.000,16288.040,772.676,2427.686,680.250,0.000,2032.641,0.000,1448.047,0.000,0.839,0.000
$DEVICE_MAMPS,380.970,179.010,1862.775,153.000,0.000,0.000,0.000,173.655,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19254.000,19201.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.615,2.447,0.000,0.000
$MEM,334820
$DATA_FILE_SIZE,30072,804
$CAP_FILE_SIZE,146663,0
$CFSIZE,1024409600,914702336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.028,267.83,1
$GPS,300117,142730,1003.118,-12514.757,33,1.0,33,9.0,0.7,18.4,9,3.6