version: 66.13
glider: 220
mission: 6
dive: 622
start: 1 30 117 14 40 16
data:
$ID,220
$MISSION,6
$DIVE,622
$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,13
$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
$GPS1,300117,142730,1003.1184,-12514.7568,33,1.0,33,9.0,0.7,18.4,9,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.04
$_SM_ANGLEo,-68.4
$GPS2,300117,143954,1003.2074,-12514.6113,3,0.9,3,9.0,0.4,94.0,11,9.8
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,221.8,10547,-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,-107.1,108,2776,1100,1016,0.0,0.0,0,102,0.00,0.00,-82.00,0.000,16390,0.000,0.000,107,2775,3479,3470,3488,0,0,0,0,0,0,14.64,12.62,14.59
$GC,106,-0.93,-107.1,107,2776,3471,3488,4.6,-9.6,3,123,12.05,2.45,0.00,0.000,2564,0.386,0.034,2589,1352,3479,3470,3488,0,0,0,0,0,0,13.94,14.41,14.32
$GC,207,-0.75,-107.1,2591,1351,3473,3489,36.5,-17.1,18,214,0.28,2.67,0.00,0.000,3206,0.247,0.084,2654,2771,3480,3472,3488,0,0,0,0,0,0,13.91,14.08,14.21
$GC,523,-0.75,-107.1,2653,2773,3477,3488,63.9,-8.1,30,528,0.00,2.08,0.00,0.000,260,0.000,0.142,2645,3827,3480,3476,3484,0,0,0,0,0,0,14.78,14.00,14.77
$GC,585,-0.75,-107.1,2646,3828,3477,3489,70.5,-10.7,39,590,0.00,1.83,0.00,0.000,1030,0.000,0.043,2645,2736,3482,3477,3487,0,0,0,0,0,0,14.42,14.40,14.45
$GC,915,-0.75,-107.1,2646,2738,3478,3487,100.0,-9.4,53,920,0.00,2.17,0.00,0.000,260,0.000,0.134,2637,3836,3482,3477,3488,0,0,0,0,0,0,14.85,14.01,14.85
$GC,1027,-0.75,-107.1,2637,3836,3477,3489,110.5,-9.5,69,1032,0.00,1.73,0.00,0.000,1030,0.000,0.043,2637,2766,3482,3477,3488,0,0,0,0,0,0,14.53,14.47,14.54
$GC,1363,-0.75,-107.1,2637,2767,3479,3486,142.4,-9.7,82,1368,0.00,2.35,0.00,0.000,516,0.000,0.042,2637,1402,3479,3476,3482,0,0,0,0,0,0,14.83,14.33,14.83
$GC,1467,-0.75,-107.1,2639,1402,3478,3486,153.0,-10.0,97,1474,0.10,2.58,0.00,0.000,3078,0.242,0.085,2654,2780,3480,3477,3484,0,0,0,0,0,0,13.83,14.07,14.12
$GC,1811,-0.75,-107.1,2655,2780,3476,3482,184.0,-8.9,104,1816,0.00,2.40,0.00,0.000,516,0.000,0.044,2654,1405,3479,3477,3481,0,0,0,0,0,0,14.85,14.31,14.87
$GC,1880,-0.75,-107.1,2655,1406,3478,3481,190.1,-8.7,114,1885,0.00,2.58,0.00,0.000,1030,0.000,0.085,2644,2775,3479,3477,3481,0,0,0,0,0,0,14.31,14.06,14.35
$GC,2203,-0.75,-107.1,2645,2774,3478,3477,220.2,-9.5,125,2208,0.00,2.40,0.00,0.000,516,0.000,0.043,2645,1404,3476,3477,3476,0,0,0,0,0,0,14.84,14.32,14.84
$GC,2244,-0.75,-107.1,2645,1404,3478,3476,224.2,-9.5,131,2249,0.00,2.55,0.00,0.000,1030,0.000,0.086,2637,2773,3475,3477,3474,0,0,0,0,0,0,14.31,14.05,14.36
$GC,2595,-0.75,-107.1,2636,2773,3478,3469,256.9,-9.2,139,2599,0.00,2.40,0.00,0.000,516,0.000,0.043,2636,1400,3473,3477,3470,0,0,0,0,0,0,14.88,14.32,14.88
$GC,2629,-0.75,-107.1,2636,1401,3478,3469,259.9,-9.0,144,2634,0.10,2.60,0.00,0.000,3078,0.242,0.086,2655,2773,3473,3477,3469,0,0,0,0,0,0,13.96,14.05,14.21
$GC,2987,-0.75,-107.1,2655,2773,3477,3466,288.2,-8.0,153,2992,0.00,2.40,0.00,0.000,516,0.000,0.044,2655,1408,3473,3481,3465,0,0,0,0,0,0,14.88,14.28,14.88
$GC,3014,-0.75,-107.1,2656,1408,3478,3465,290.6,-8.5,157,3020,0.00,2.58,0.00,0.000,1030,0.000,0.089,2645,2773,3470,3476,3464,0,0,0,0,0,0,14.26,13.99,14.31
$GC,3379,-0.75,-107.1,2646,2773,3478,3462,321.6,-8.5,167,3384,0.00,2.42,0.00,0.000,516,0.000,0.044,2645,1401,3468,3477,3460,0,0,0,0,0,0,14.85,14.26,14.85
$GC,3427,-0.75,-107.1,2644,1402,3478,3460,325.9,-8.6,174,3433,0.00,2.60,0.00,0.000,1030,0.000,0.090,2637,2767,3468,3477,3460,0,0,0,0,0,0,14.24,13.97,14.30
$GC,3771,-0.75,-107.1,2637,2767,3478,3456,357.0,-9.1,181,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2767,3466,3477,3456,0,0,0,0,0,0,14.82,14.82,14.83
$GC,4107,-0.75,-107.1,2637,2768,3478,3452,388.3,-9.3,187,4111,0.00,2.40,0.00,0.000,516,0.000,0.044,2636,1405,3464,3477,3452,0,0,0,0,0,0,14.85,14.26,14.85
$GC,4148,-0.75,-107.1,2638,1403,3478,3453,392.3,-9.4,193,4154,0.10,2.60,0.00,0.000,3078,0.241,0.088,2656,2771,3464,3477,3452,0,0,0,0,0,0,13.91,14.02,14.17
$GC,4499,-0.75,-107.1,2656,2772,3478,3449,422.1,-8.5,201,4504,0.00,2.42,0.00,0.000,516,0.000,0.045,2656,1404,3463,3477,3450,0,0,0,0,0,0,14.88,14.26,14.88
$GC,4555,-0.83,-107.1,2655,1405,3478,3449,426.9,-8.6,209,4561,0.00,2.60,0.00,0.000,1158,0.000,0.091,2646,2772,3463,3477,3449,0,0,0,0,0,0,14.22,13.94,14.27
$GC,4891,-0.83,-107.1,2647,2773,3478,3446,456.5,-8.8,222,4896,0.00,2.42,0.00,0.000,516,0.000,0.045,2646,1405,3461,3477,3445,0,0,0,0,0,0,14.87,14.23,14.87
$GC,4925,-0.83,-107.1,2647,1405,3477,3446,459.7,-9.3,227,4930,0.00,2.60,0.00,0.000,1030,0.000,0.090,2639,2771,3461,3477,3445,0,0,0,0,0,0,14.21,13.94,14.26
$GC,5283,-0.83,-107.1,2640,2764,3477,3444,491.6,-8.9,236,5287,0.00,2.42,0.00,0.000,516,0.000,0.044,2638,1401,3459,3476,3442,0,0,0,0,0,0,14.87,14.22,14.87
$GC,5352,-0.83,-107.1,2639,1401,3477,3443,497.7,-8.6,246,5357,0.00,2.60,0.00,0.000,1030,0.000,0.091,2630,2761,3458,3475,3442,0,0,0,0,0,0,14.19,13.92,14.24
$GC,5675,-0.83,-107.1,2630,2761,3477,3438,526.0,-8.8,257,5680,0.00,2.40,0.00,0.000,516,0.000,0.044,2629,1410,3458,3477,3439,0,0,0,0,0,0,14.87,14.21,14.87
$GC,5723,-0.83,-107.1,2629,1409,3477,3440,530.4,-8.9,264,5729,0.00,2.60,0.00,0.000,1030,0.000,0.091,2620,2755,3457,3477,3438,0,0,0,0,0,0,14.16,13.90,14.22
$GC,6067,-0.83,-107.1,2620,2756,3484,3438,560.6,-8.8,271,6072,0.00,2.38,0.00,0.000,516,0.000,0.044,2620,1410,3456,3476,3436,0,0,0,0,0,0,14.87,14.19,14.86
$GC,6101,-0.83,-107.1,2621,1408,3478,3438,563.8,-9.3,276,6106,0.00,2.60,0.00,0.000,1030,0.000,0.090,2611,2767,3456,3476,3436,0,0,0,0,0,0,14.16,13.88,14.22
$GC,6459,-0.83,-107.1,2612,2768,3478,3433,596.4,-9.2,285,6464,0.00,2.42,0.00,0.000,516,0.000,0.044,2610,1401,3455,3477,3433,0,0,0,0,0,0,14.83,14.19,14.82
$GC,6493,-0.83,-107.1,2611,1401,3477,3434,599.7,-9.5,290,6499,0.10,2.60,0.00,0.000,3078,0.248,0.091,2629,2752,3454,3476,3432,0,0,0,0,0,0,13.80,13.90,14.07
$GC,6851,-0.83,-107.1,2630,2753,3477,3434,628.2,-7.8,299,6855,0.00,2.17,0.00,0.000,260,0.000,0.146,2622,3835,3454,3477,3431,0,0,0,0,0,0,14.82,13.73,14.82
$GC,6892,-0.83,-107.1,2622,3835,3477,3433,631.6,-8.4,305,6897,0.00,1.83,0.00,0.000,1030,0.000,0.045,2620,2780,3453,3476,3431,0,0,0,0,0,0,14.32,14.28,14.33
$GC,7243,-0.83,-107.1,2621,2781,3474,3432,660.8,-8.5,313,7248,0.00,2.50,0.00,0.000,516,0.000,0.044,2620,1369,3451,3472,3431,0,0,0,0,0,0,14.85,14.16,14.85
$GC,7291,-0.83,-107.1,2621,1367,3472,3432,665.3,-9.0,320,7297,0.00,2.70,0.00,0.000,1030,0.000,0.090,2612,2755,3451,3472,3431,0,0,0,0,0,0,14.09,13.80,14.15
$GC,7635,-0.83,-107.1,2612,2756,3472,3430,697.8,-9.6,327,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2755,3450,3471,3430,0,0,0,0,0,0,14.85,14.85,14.85
$GC,7971,-0.83,-107.1,2610,2755,3471,3428,728.1,-8.9,333,7977,0.00,2.50,0.00,0.000,516,0.000,0.045,2612,1376,3448,3470,3427,0,0,0,0,0,0,14.85,14.13,14.85
$GC,8012,-0.83,-107.1,2611,1376,3472,3429,731.7,-8.6,339,8017,0.08,2.67,0.00,0.000,3078,0.263,0.092,2626,2757,3448,3471,3426,0,0,0,0,0,0,13.72,13.81,14.00
$GC,8363,-0.83,-107.1,2626,2757,3471,3428,757.7,-7.3,347,8367,0.00,2.47,0.00,0.000,548,0.000,0.045,2626,1376,3448,3470,3427,0,0,0,0,0,0,14.85,14.14,14.85
$GC,8419,-0.83,-107.1,2626,1376,3470,3428,761.8,-7.4,355,8423,0.00,2.67,0.00,0.000,1062,0.000,0.093,2617,2753,3448,3470,3426,0,0,0,0,0,0,14.08,13.81,14.14
$GC,8755,-0.83,-107.1,2617,2760,3470,3427,788.1,-7.9,368,8759,0.00,2.47,0.00,0.000,516,0.000,0.046,2616,1377,3447,3469,3426,0,0,0,0,0,0,14.85,14.09,14.85
$GC,8782,-0.83,-107.1,2616,1378,3471,3426,790.4,-8.2,372,8787,0.00,2.65,0.00,0.000,1030,0.000,0.093,2608,2747,3446,3466,3426,0,0,0,0,0,0,14.04,13.76,14.11
$STATE,8919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8919,begin apogee
$GC,8929,-0.23,0.0,2607,2232,3470,3425,802.4,-8.6,378,9046,0.77,0.08,114.43,1.802,10244,0.187,0.200,2821,2252,3048,3089,3008,0,0,0,0,0,0,13.66,13.88,12.97
$STATE,9047,end apogee,CONTROL_FINISHED_OK
$STATE,9047,begin climb
$GC,9051,0.93,107.1,2822,2253,3085,2999,805.6,0.0,380,9178,1.12,2.50,116.40,1.751,10756,0.094,0.060,3186,883,2621,2681,2562,0,0,0,0,0,0,14.00,14.04,12.96
$GC,9247,0.85,140.9,3186,883,2676,2539,801.3,6.0,410,9288,0.00,2.53,35.83,1.787,9382,0.000,0.070,3186,2260,2488,2562,2415,0,0,0,0,0,0,14.28,14.11,13.09
$GC,9648,0.73,140.9,3186,2259,2556,2393,767.4,8.8,425,9653,0.12,2.75,0.00,0.000,4484,0.228,0.134,3144,3658,2473,2555,2391,0,0,0,0,0,0,14.02,14.04,14.19
$GC,9695,0.63,140.9,3145,3658,2556,2390,763.1,8.9,432,9702,0.17,2.42,0.00,0.000,5254,0.226,0.044,3108,2269,2472,2554,2391,0,0,0,0,0,0,13.99,14.35,14.29
$GC,10039,0.66,164.8,3109,2269,2556,2388,740.5,6.5,439,10071,0.00,2.55,25.73,1.825,8740,0.000,0.065,3117,861,2385,2468,2302,0,0,0,0,0,0,14.80,14.30,13.26
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$STATE,19295,end climb,SURFACE_DEPTH_REACHED
$STATE,19295,begin surface coast
$FINISH,1.3,1.022154
$STATE,19302,end surface coast,CONTROL_FINISHED_OK
$STATE,19302,begin surface
$SM_CCo,19330,62.60,0.151,0,0,1057,500.14
$SM_GC,-1.25,9.30,3.58,62.60,0.081,0.082,0.151,190,2768,1057,-8.40,-0.17,500.14,0,0,0,0,0,0,14.36,13.99,14.13
$IRIDIUM_FIX,958.26,-12513.16,300117,085539
$TT8_MAMPS,0.038199,0.26215
$HUMID,56.85
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,22.20
$XPDR_PINGS,1
$SC_FREEKB,3670880
$PM_FREEKB,52702784
$24V_AH,12.62,214.842
$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,24.925,218.825,437.100,62.600,0.000,0.000,0.000,374.825,0.250,0.000,4.605,0.000,16267.089,794.552,2428.946,626.439,0.000,1945.420,0.000,1521.412,0.000,0.839,0.000
$DEVICE_MAMPS,386.325,199.665,1824.525,151.470,0.000,0.000,0.000,175.950,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19367.000,19314.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.593,2.449,0.000,0.000
$MEM,334760
$DATA_FILE_SIZE,30028,857
$CAP_FILE_SIZE,153077,0
$CFSIZE,1024409600,914538496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035,287.56,1
$GPS,300117,200430,1001.983,-12516.141,25,0.9,25,9.0,0.8,71.3,9,5.5