version: 66.13
glider: 220
mission: 6
dive: 623
start: 1 30 117 20 23 34
data:
$ID,220
$MISSION,6
$DIVE,623
$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,49
$R_STBD_OVSHOOT,12
$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
$GPS1,300117,200430,1001.9830,-12516.1406,25,0.9,25,9.0,0.8,71.3,9,5.5
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.99
$_SM_ANGLEo,-70.7
$GPS2,300117,202312,1002.0065,-12515.8770,3,0.7,3,9.0,0.5,112.6,12,9.1
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,222.2,7406,-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,-107.1,109,2781,1103,1020,0.0,0.0,0,101,0.00,0.00,-80.55,0.000,16390,0.000,0.000,107,2780,3477,3468,3487,0,0,0,0,0,0,14.64,12.98,14.62
$GC,106,-0.93,-107.1,112,2782,3470,3489,5.4,-10.7,3,123,11.90,2.40,0.00,0.000,2564,0.382,0.032,2588,1358,3478,3470,3487,0,0,0,0,0,0,13.94,14.38,14.23
$GC,221,-0.71,-107.1,2589,1358,3472,3488,40.0,-18.9,20,226,0.30,2.65,0.00,0.000,3206,0.239,0.088,2662,2769,3479,3471,3487,0,0,0,0,0,0,13.99,14.14,14.28
$GC,551,-0.71,-107.1,2661,2770,3473,3487,72.8,-8.3,34,555,0.00,2.08,0.00,0.000,260,0.000,0.142,2654,3833,3480,3474,3487,0,0,0,0,0,0,14.81,14.04,14.81
$GC,635,-0.71,-107.1,2654,3833,3475,3488,79.8,-8.2,46,639,0.00,1.80,0.00,0.000,1030,0.000,0.044,2653,2731,3480,3474,3487,0,0,0,0,0,0,14.52,14.45,14.56
$GC,971,-0.71,-107.1,2654,2732,3473,3488,105.9,-8.1,60,975,0.00,2.17,0.00,0.000,260,0.000,0.135,2645,3836,3483,3475,3492,0,0,0,0,0,0,14.85,14.04,14.85
$GC,1047,-0.71,-107.1,2646,3835,3475,3488,112.8,-9.2,71,1052,0.00,1.77,0.00,0.000,1030,0.000,0.044,2645,2760,3480,3475,3486,0,0,0,0,0,0,14.46,14.44,14.47
$GC,1363,-0.71,-107.1,2645,2761,3476,3491,140.8,-8.9,81,1369,0.00,2.33,0.00,0.000,516,0.000,0.040,2648,1401,3479,3475,3483,0,0,0,0,0,0,14.86,14.36,14.87
$GC,1460,-0.71,-107.1,2646,1400,3475,3483,149.1,-8.4,95,1465,0.10,2.55,0.00,0.000,3078,0.236,0.084,2665,2771,3478,3475,3481,0,0,0,0,0,0,14.02,14.10,14.27
$GC,1811,-0.71,-107.1,2666,2771,3475,3478,174.6,-7.2,103,1816,0.00,2.38,0.00,0.000,548,0.000,0.042,2665,1406,3475,3474,3476,0,0,0,0,0,0,14.85,14.33,14.85
$GC,1880,-0.79,-107.1,2667,1406,3475,3477,179.7,-7.2,113,1886,0.00,2.53,0.00,0.000,1190,0.000,0.086,2664,2763,3475,3474,3476,0,0,0,0,0,0,14.35,14.11,14.40
$GC,2203,-0.79,-107.1,2657,2764,3476,3470,203.9,-7.5,124,2204,0.00,0.00,0.00,0.000,38,0.000,0.000,2657,2763,3472,3474,3470,0,0,0,0,0,0,14.84,14.85,14.85
$GC,2539,-0.79,-107.1,2657,2764,3476,3465,230.8,-8.2,130,2543,0.00,2.40,0.00,0.000,516,0.000,0.041,2656,1399,3469,3474,3465,0,0,0,0,0,0,14.85,14.34,14.85
$GC,2615,-0.79,-107.1,2656,1400,3476,3462,237.1,-8.2,141,2621,0.00,2.55,0.00,0.000,1030,0.000,0.086,2648,2763,3469,3475,3463,0,0,0,0,0,0,14.31,14.05,14.35
$GC,2931,-0.79,-107.1,2648,2764,3474,3460,263.2,-8.3,151,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2762,3467,3475,3460,0,0,0,0,0,0,14.88,14.88,14.88
$GC,3267,-0.79,-107.1,2649,2763,3475,3457,291.6,-8.5,157,3272,0.00,2.40,0.00,0.000,516,0.000,0.041,2648,1399,3464,3474,3455,0,0,0,0,0,0,14.88,14.31,14.88
$GC,3336,-0.79,-107.1,2648,1401,3475,3455,297.4,-8.2,167,3341,0.00,2.55,0.00,0.000,1030,0.000,0.085,2640,2759,3464,3474,3454,0,0,0,0,0,0,14.28,14.04,14.32
$GC,3659,-0.79,-107.1,2640,2760,3475,3450,324.0,-8.2,178,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2759,3462,3474,3451,0,0,0,0,0,0,14.85,14.85,14.85
$GC,3995,-0.79,-107.1,2639,2760,3475,3447,351.6,-8.3,184,3999,0.00,2.40,0.00,0.000,516,0.000,0.042,2638,1399,3460,3474,3447,0,0,0,0,0,0,14.85,14.29,14.85
$GC,4064,-0.79,-107.1,2640,1398,3475,3448,357.6,-8.4,194,4069,0.00,2.55,0.00,0.000,1030,0.000,0.084,2630,2756,3460,3474,3446,0,0,0,0,0,0,14.28,14.02,14.33
$GC,4387,-0.79,-107.1,2630,2757,3475,3443,385.9,-8.8,205,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2756,3458,3474,3443,0,0,0,0,0,0,14.85,14.85,14.85
$GC,4723,-0.79,-107.1,2631,2754,3475,3441,415.6,-8.8,211,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2756,3457,3474,3440,0,0,0,0,0,0,14.88,14.88,14.88
$GC,5059,-0.79,-107.1,2631,2756,3475,3438,446.1,-9.1,217,5064,0.00,2.40,0.00,0.000,516,0.000,0.041,2630,1400,3453,3471,3436,0,0,0,0,0,0,14.84,14.26,14.84
$GC,5135,-0.79,-107.1,2630,1401,3475,3436,453.1,-8.9,228,5140,0.00,2.55,0.00,0.000,1030,0.000,0.084,2620,2756,3455,3474,3436,0,0,0,0,0,0,14.25,13.99,14.30
$GC,5451,-0.79,-107.1,2620,2757,3475,3430,482.3,-9.3,238,5456,0.00,2.38,0.00,0.000,516,0.000,0.041,2622,1405,3453,3474,3433,0,0,0,0,0,0,14.83,14.24,14.83
$GC,5492,-0.79,-107.1,2620,1405,3474,3433,486.2,-9.3,244,5497,0.10,2.55,0.00,0.000,3078,0.240,0.085,2638,2759,3453,3474,3432,0,0,0,0,0,0,13.87,13.93,14.13
$GC,5843,-0.79,-107.1,2638,2759,3474,3429,514.7,-8.0,252,5847,0.00,2.40,0.00,0.000,516,0.000,0.042,2638,1403,3452,3474,3430,0,0,0,0,0,0,14.87,14.23,14.87
$GC,5899,-0.79,-107.1,2638,1404,3474,3430,519.1,-7.9,260,5903,0.00,2.58,0.00,0.000,1030,0.000,0.087,2629,2756,3452,3474,3430,0,0,0,0,0,0,14.19,13.93,14.25
$GC,6235,-0.79,-107.1,2629,2756,3474,3429,545.8,-7.9,273,6235,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2756,3450,3473,3427,0,0,0,0,0,0,14.83,14.83,14.83
$GC,6571,-0.79,-107.1,2627,2757,3473,3426,572.7,-8.0,279,6575,0.00,2.40,0.00,0.000,516,0.000,0.042,2628,1400,3448,3471,3426,0,0,0,0,0,0,14.83,14.21,14.83
$GC,6633,-0.79,-107.1,2628,1400,3472,3426,577.9,-8.2,288,6638,0.00,2.58,0.00,0.000,1030,0.000,0.087,2619,2754,3448,3471,3426,0,0,0,0,0,0,14.17,13.90,14.23
$GC,6963,-0.79,-107.1,2619,2754,3471,3426,606.0,-8.6,300,6967,0.00,2.17,0.00,0.000,260,0.000,0.142,2611,3837,3446,3467,3426,0,0,0,0,0,0,14.83,13.73,14.82
$GC,7004,-0.79,-107.1,2606,3838,3470,3427,609.8,-9.3,306,7009,0.10,1.85,0.00,0.000,3078,0.207,0.047,2639,2782,3447,3469,3426,0,0,0,0,0,0,13.84,14.28,14.00
$GC,7355,-0.79,-107.1,2639,2784,3467,3427,638.0,-8.0,314,7359,0.00,2.53,0.00,0.000,516,0.000,0.043,2639,1358,3445,3466,3425,0,0,0,0,0,0,14.86,14.14,14.86
$GC,7417,-0.87,-107.1,2640,1357,3468,3426,643.2,-8.2,323,7422,0.00,2.65,0.00,0.000,1158,0.000,0.083,2630,2753,3445,3467,3424,0,0,0,0,0,0,14.07,13.78,14.12
$GC,7747,-0.87,-107.1,2630,2752,3467,3424,670.4,-8.3,335,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2753,3444,3466,3423,0,0,0,0,0,0,14.82,14.83,14.82
$GC,8083,-0.87,-107.1,2630,2752,3465,3423,697.9,-8.1,341,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2753,3443,3464,3422,0,0,0,0,0,0,14.85,14.85,14.85
$GC,8419,-0.87,-107.1,2630,2754,3466,3420,724.2,-7.8,347,8423,0.00,2.50,0.00,0.000,516,0.000,0.044,2629,1361,3442,3464,3420,0,0,0,0,0,0,14.81,14.14,14.81
$GC,8460,-0.87,-107.1,2630,1361,3465,3422,727.4,-7.6,353,8466,0.00,2.65,0.00,0.000,1062,0.000,0.083,2620,2752,3442,3465,3420,0,0,0,0,0,0,14.11,13.83,14.16
$GC,8811,-0.87,-107.1,2621,2747,3463,3421,753.8,-7.5,361,8817,0.00,2.47,0.00,0.000,548,0.000,0.044,2620,1367,3441,3462,3420,0,0,0,0,0,0,14.81,14.13,14.81
$GC,8845,-0.87,-107.1,2620,1367,3462,3421,756.5,-7.9,366,8850,0.00,2.62,0.00,0.000,1030,0.000,0.085,2611,2746,3441,3462,3420,0,0,0,0,0,0,14.09,13.81,14.14
$GC,9203,-0.87,-107.1,2611,2746,3463,3418,783.4,-7.5,375,9204,0.00,0.00,0.00,0.000,38,0.000,0.000,2611,2746,3439,3461,3418,0,0,0,0,0,0,14.80,14.81,14.80
$STATE,9423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9423,begin apogee
$GC,9433,-0.23,0.0,2612,2217,3463,3417,800.3,-7.6,379,9540,0.77,0.10,99.68,2.492,10244,0.184,0.187,2826,2272,3050,3089,3011,0,0,0,0,1,0,13.67,13.78,12.55
$STATE,9542,end apogee,CONTROL_FINISHED_OK
$STATE,9542,begin climb
$GC,9546,0.93,107.1,2827,2273,3092,3027,802.6,0.0,381,9680,1.10,2.55,124.28,1.784,10756,0.087,0.055,3185,885,2621,2682,2561,0,0,0,0,0,0,13.95,13.97,12.96
$GC,9736,0.82,127.1,3185,885,2676,2540,798.8,6.7,409,9764,0.00,2.42,21.55,1.870,9382,0.000,0.062,3185,2239,2537,2607,2468,0,0,0,0,0,0,14.28,14.16,13.10
$GC,10101,0.70,127.1,3185,2240,2605,2456,767.5,8.6,419,10106,0.17,2.75,0.00,0.000,4484,0.223,0.126,3130,3650,2526,2604,2448,0,0,0,0,0,0,14.00,14.07,14.18
$GC,10149,0.61,127.1,3131,3645,2604,2449,763.5,8.2,426,10157,0.15,2.40,0.00,0.000,5254,0.228,0.044,3100,2274,2525,2603,2447,0,0,0,0,0,0,13.97,14.31,14.25
$GC,10493,0.66,167.4,3101,2274,2605,2446,743.4,5.7,433,10539,0.00,0.00,44.33,1.766,8742,0.000,0.000,3100,2274,2381,2461,2301,0,0,0,0,0,0,14.76,14.19,13.24
$GC,10885,0.68,186.1,3100,2275,2454,2279,717.4,6.8,447,10911,0.00,2.70,19.70,1.854,8484,0.000,0.132,3099,3651,2299,2386,2213,0,0,0,0,0,0,14.72,14.23,13.30
$GC,10968,0.69,190.3,3100,3650,2383,2209,711.4,7.5,459,10973,0.00,2.42,0.00,0.000,1062,0.000,0.043,3109,2246,2294,2383,2206,0,0,0,0,0,0,14.47,14.39,14.48
$GC,11333,0.70,201.7,3109,2245,2384,2201,685.8,7.2,469,11353,0.00,2.83,15.80,1.875,8484,0.000,0.133,3109,3656,2240,2331,2150,0,0,0,0,0,0,14.77,14.23,13.29
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$STATE,19865,end climb,SURFACE_DEPTH_REACHED
$STATE,19865,begin surface coast
$FINISH,-2.1,1.010217
$STATE,19893,end surface coast,CONTROL_FINISHED_OK
$STATE,19893,begin surface
$SM_CCo,19918,57.53,0.151,0,0,1056,500.14
$SM_GC,-1.27,8.98,1.00,57.53,0.050,0.127,0.151,187,2761,1056,-8.39,-0.48,500.14,0,0,0,0,0,0,14.36,13.91,14.14
$IRIDIUM_FIX,956.07,-12514.95,300117,201042
$TT8_MAMPS,0.038948,0.412699
$HUMID,56.10
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,21.20
$XPDR_PINGS,0
$SC_FREEKB,3670496
$PM_FREEKB,52691648
$24V_AH,12.55,215.163
$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
$DEVICE_SECS,24.225,172.050,442.675,57.525,0.000,0.000,0.000,691.025,0.000,0.000,4.707,0.000,17040.887,747.226,2663.632,625.454,0.000,2167.457,0.000,1479.361,0.000,1.132,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.591,2.436,0.000,0.000
$MEM,334736
$DATA_FILE_SIZE,29995,821
$CAP_FILE_SIZE,148386,0
$CFSIZE,1024409600,914391040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.039,259.64,1
$GPS,310117,015730,1000.594,-12517.436,24,0.7,24,9.0,1.4,167.3,12,4.9