version: 66.13
glider: 220
mission: 6
dive: 627
start: 1 31 117 18 46 14
data:
$ID,220
$MISSION,6
$DIVE,627
$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,53
$R_STBD_OVSHOOT,26
$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
$GPS1,310117,183330,957.7569,-12516.2031,28,0.9,28,9.0,0.3,298.3,10,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.09
$_SM_ANGLEo,-69.2
$GPS2,310117,184552,957.7905,-12516.3223,3,0.7,4,9.0,0.3,321.8,12,6.2
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,135.6,43189,-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,-107.1,148,2794,1098,1020,0.0,0.0,0,102,0.00,0.00,-81.43,0.000,16390,0.000,0.000,140,2795,3478,3470,3487,0,0,0,0,0,0,14.65,12.63,14.60
$GC,106,-0.93,-107.1,142,2795,3470,3488,4.8,-10.2,3,123,11.90,2.50,0.00,0.000,2564,0.387,0.034,2587,1354,3479,3471,3487,0,0,0,0,0,0,13.92,14.43,14.21
$GC,165,-0.69,-107.1,2587,1354,3473,3486,28.2,-23.5,12,170,0.35,2.65,0.00,0.000,3206,0.251,0.099,2669,2751,3480,3473,3487,0,0,0,0,0,0,14.00,14.16,14.31
$GC,495,-0.69,-107.1,2670,2751,3476,3489,68.9,-8.9,26,499,0.00,2.12,0.00,0.000,260,0.000,0.148,2661,3827,3480,3475,3486,0,0,0,0,0,0,14.79,14.02,14.79
$GC,700,-0.69,-107.1,2661,3828,3478,3486,84.7,-8.0,55,705,0.00,1.80,0.00,0.000,1030,0.000,0.044,2661,2714,3481,3477,3486,0,0,0,0,0,0,14.53,14.49,14.54
$GC,1028,-0.69,-107.1,2658,2715,3478,3487,109.7,-7.2,67,1028,0.00,0.00,0.00,0.000,38,0.000,0.000,2661,2714,3482,3477,3487,0,0,0,0,0,0,14.83,14.83,14.83
$GC,1363,-0.69,-107.1,2662,2714,3478,3487,136.1,-8.1,73,1369,0.00,2.22,0.00,0.000,260,0.000,0.143,2652,3828,3479,3478,3481,0,0,0,0,0,0,14.86,14.00,14.86
$GC,1397,-0.69,-107.1,2653,3829,3478,3486,139.3,-9.2,78,1402,0.00,1.85,0.00,0.000,1030,0.000,0.043,2652,2714,3481,3478,3485,0,0,0,0,0,0,14.47,14.45,14.48
$GC,1756,-0.69,-107.1,2653,2714,3478,3482,172.6,-9.3,87,1756,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2714,3478,3477,3480,0,0,0,0,0,0,14.84,14.84,14.84
$GC,2091,-0.69,-107.1,2653,2715,3478,3474,199.9,-7.9,93,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2714,3476,3477,3476,0,0,0,0,0,0,14.85,14.85,14.84
$GC,2427,-0.69,-107.1,2653,2714,3478,3472,225.6,-7.7,99,2432,0.00,2.35,0.00,0.000,548,0.000,0.044,2653,1376,3473,3477,3470,0,0,0,0,0,0,14.85,14.23,14.83
$GC,2517,-0.69,-107.1,2653,1377,3478,3469,232.8,-7.9,112,2523,0.10,2.60,0.00,0.000,3078,0.226,0.087,2672,2754,3471,3477,3466,0,0,0,0,0,0,13.94,14.00,14.17
$GC,2876,-0.78,-107.1,2672,2755,3478,3470,259.5,-7.5,121,2881,0.00,2.45,0.00,0.000,676,0.000,0.044,2671,1366,3471,3477,3465,0,0,0,0,0,0,14.87,14.29,14.87
$GC,2923,-0.88,-107.1,2672,1367,3478,3465,263.2,-7.7,128,2930,0.10,2.62,0.00,0.000,5254,0.112,0.087,2587,2745,3470,3477,3464,0,0,0,0,0,0,14.25,14.00,14.34
$GC,3267,-0.80,-107.1,2584,2750,3478,3462,302.0,-11.5,135,3269,0.20,0.00,0.00,0.000,2182,0.224,0.000,2639,2751,3469,3477,3461,0,0,0,0,0,0,13.98,14.33,14.25
$GC,3603,-0.80,-107.1,2640,2753,3478,3457,330.6,-8.3,141,3609,0.00,2.45,0.00,0.000,516,0.000,0.044,2639,1367,3466,3477,3455,0,0,0,0,0,0,14.90,14.27,14.88
$GC,3651,-0.80,-107.1,2639,1368,3478,3456,334.6,-8.2,148,3658,0.00,2.62,0.00,0.000,1030,0.000,0.088,2629,2752,3466,3477,3456,0,0,0,0,0,0,14.25,13.99,14.30
$GC,3995,-0.80,-107.1,2630,2753,3477,3453,363.5,-8.5,155,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2753,3464,3477,3452,0,0,0,0,0,0,14.84,14.84,14.84
$GC,4331,-0.80,-107.1,2629,2754,3478,3449,392.4,-8.6,161,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2753,3463,3477,3449,0,0,0,0,0,0,14.83,14.84,14.83
$GC,4667,-0.80,-107.1,2630,2754,3480,3445,421.1,-8.5,167,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2753,3461,3477,3445,0,0,0,0,0,0,14.83,14.84,14.84
$GC,5003,-0.80,-107.1,2629,2754,3478,3443,449.4,-8.3,173,5009,0.00,2.47,0.00,0.000,516,0.000,0.045,2629,1372,3456,3469,3443,0,0,0,0,0,0,14.83,14.23,14.83
$GC,5044,-0.80,-107.1,2629,1373,3479,3442,452.9,-8.4,179,5050,0.00,2.60,0.00,0.000,1030,0.000,0.086,2619,2748,3460,3477,3443,0,0,0,0,0,0,14.20,13.92,14.25
$GC,5395,-0.80,-107.1,2620,2749,3478,3439,484.1,-9.1,187,5396,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2748,3458,3477,3439,0,0,0,0,0,0,14.83,14.83,14.83
$GC,5731,-0.80,-107.1,2620,2749,3478,3437,515.3,-9.4,193,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2748,3457,3477,3437,0,0,0,0,0,0,14.86,14.86,14.85
$GC,6067,-0.80,-107.1,2620,2748,3477,3436,546.8,-9.4,199,6072,0.00,2.15,0.00,0.000,260,0.000,0.143,2611,3824,3453,3473,3434,0,0,0,0,0,0,14.86,13.52,14.87
$GC,6108,-0.80,-107.1,2612,3826,3478,3430,551.0,-10.2,205,6114,0.00,1.90,0.00,0.000,1030,0.000,0.049,2611,2737,3455,3477,3434,0,0,0,0,0,0,14.33,14.30,14.35
$GC,6459,-0.80,-107.1,2611,2739,3478,3431,585.9,-9.9,213,6465,0.00,2.40,0.00,0.000,516,0.000,0.043,2610,1374,3454,3477,3432,0,0,0,0,0,0,14.86,14.22,14.86
$GC,6493,-0.80,-107.1,2611,1376,3478,3431,589.4,-10.0,218,6499,0.12,2.60,0.00,0.000,3078,0.230,0.086,2635,2746,3453,3476,3431,0,0,0,0,0,0,13.81,13.90,14.07
$GC,6851,-0.80,-107.1,2634,2746,3478,3429,621.0,-8.7,227,6856,0.00,2.45,0.00,0.000,516,0.000,0.044,2635,1373,3452,3477,3428,0,0,0,0,0,0,14.85,14.21,14.85
$GC,6885,-0.80,-107.1,2630,1372,3477,3430,624.1,-8.7,232,6891,0.00,2.62,0.00,0.000,1030,0.000,0.088,2626,2742,3452,3476,3428,0,0,0,0,0,0,14.15,13.87,14.21
$GC,7243,-0.80,-107.1,2627,2742,3474,3428,655.0,-8.6,241,7244,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2742,3450,3474,3427,0,0,0,0,0,0,14.81,14.81,14.81
$GC,7579,-0.80,-107.1,2627,2741,3472,3428,682.9,-8.3,247,7584,0.00,2.47,0.00,0.000,516,0.000,0.043,2625,1367,3449,3471,3427,0,0,0,0,0,0,14.87,14.16,14.84
$GC,7641,-0.80,-107.1,2626,1367,3472,3427,688.1,-8.3,256,7646,0.00,2.65,0.00,0.000,1030,0.000,0.087,2614,2744,3449,3471,3427,0,0,0,0,0,0,14.11,13.83,14.16
$GC,7971,-0.80,-107.1,2617,2745,3471,3427,716.6,-8.7,268,7972,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2743,3448,3471,3426,0,0,0,0,0,0,14.79,14.81,14.80
$GC,8307,-0.80,-107.1,2617,2744,3471,3425,745.6,-8.6,274,8312,0.00,2.47,0.00,0.000,516,0.000,0.044,2615,1369,3447,3470,3425,0,0,0,0,0,0,14.83,14.13,14.85
$GC,8334,-0.80,-107.1,2612,1370,3471,3423,748.0,-8.8,278,8340,0.10,2.65,0.00,0.000,3078,0.243,0.087,2634,2738,3447,3470,3425,0,0,0,0,0,0,13.73,13.80,13.99
$GC,8699,-0.80,-107.1,2635,2738,3470,3424,776.1,-7.6,288,8700,0.00,0.00,0.00,0.000,38,0.000,0.000,2634,2738,3446,3469,3423,0,0,0,0,0,0,14.83,14.84,14.84
$GC,9035,-0.80,-107.1,2634,2739,3467,3423,799.6,-6.9,294,9036,0.00,0.00,0.00,0.000,38,0.000,0.000,2634,2738,3444,3466,3422,0,0,0,0,0,0,14.84,14.84,14.84
$STATE,9087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9087,begin apogee
$GC,9097,-0.23,0.0,2635,2220,3467,3422,803.2,-6.7,295,9215,0.65,0.10,115.88,1.808,10244,0.172,0.184,2819,2275,3049,3090,3009,0,0,0,0,0,0,13.72,13.87,12.95
$STATE,9217,end apogee,CONTROL_FINISHED_OK
$STATE,9217,begin climb
$GC,9221,0.93,107.1,2821,2275,3084,2999,805.4,0.0,297,9351,1.12,2.55,116.78,1.762,10756,0.093,0.055,3183,890,2614,2677,2552,0,0,0,0,0,0,14.00,14.03,12.95
$GC,9429,0.82,116.6,3183,890,2677,2536,798.4,7.3,329,9441,0.00,2.45,3.12,1.060,9382,0.000,0.064,3183,2243,2588,2654,2522,0,0,0,0,0,0,14.30,14.15,12.90
$GC,9765,0.69,116.6,3184,2243,2654,2540,772.4,7.7,342,9772,0.17,2.83,1.65,0.194,12676,0.225,0.128,3128,3650,2582,2647,2517,0,0,0,0,0,0,13.94,14.02,13.94
$GC,9873,0.62,138.2,3128,3649,2654,2536,765.2,6.6,357,9912,0.12,2.40,30.70,1.816,13478,0.230,0.044,3104,2267,2494,2567,2421,0,0,0,0,0,0,13.99,14.35,13.22
$GC,10273,0.67,181.7,3104,2266,2565,2409,742.8,5.5,372,10330,0.00,2.83,48.58,1.761,8484,0.000,0.134,3104,3655,2319,2401,2237,0,0,0,0,0,0,14.72,14.09,13.19
$GC,10367,0.68,189.9,3103,3657,2400,2230,736.8,7.3,386,10374,0.00,2.45,2.80,0.885,9254,0.000,0.044,3113,2251,2291,2374,2209,0,0,0,0,0,0,14.37,14.30,12.88
$GC,10718,0.69,201.7,3113,2251,2377,2229,712.1,7.1,394,10743,0.00,2.78,19.65,1.831,8484,0.000,0.138,3113,3657,2240,2325,2156,0,0,0,0,0,0,14.74,14.21,13.28
$GC,10780,0.69,201.7,3113,3658,2321,2150,706.9,8.9,403,10785,0.00,2.42,0.00,0.000,1030,0.000,0.044,3121,2254,2234,2320,2148,0,0,0,0,0,0,14.47,14.38,14.49
$GC,11110,0.69,201.7,3122,2251,2321,2143,678.4,8.8,415,11114,0.00,2.80,0.00,0.000,260,0.000,0.135,3122,3658,2230,2320,2141,0,0,0,0,0,0,14.73,14.03,14.74
$GC,11130,0.69,201.7,3122,3658,2321,2143,676.4,9.1,418,11136,0.00,2.42,0.00,0.000,1030,0.000,0.045,3131,2257,2230,2320,2141,0,0,0,0,0,0,14.47,14.38,14.50
$GC,11445,0.69,201.7,3132,2255,2322,2140,646.0,9.7,428,11446,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2254,2229,2319,2140,0,0,0,0,0,0,14.77,14.77,14.77
$GC,11782,0.69,201.7,3132,2254,2321,2140,614.4,9.3,434,11787,0.00,2.83,0.00,0.000,260,0.000,0.137,3132,3651,2229,2320,2138,0,0,0,0,0,0,14.78,13.95,14.78
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$STATE,19290,end climb,SURFACE_DEPTH_REACHED
$STATE,19291,begin surface coast
$FINISH,-1.8,1.022010
$STATE,19319,end surface coast,CONTROL_FINISHED_OK
$STATE,19319,begin surface
$SM_CCo,19343,28.12,0.155,0,0,1057,500.14
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$TT8_MAMPS,0.036701,0.289114
$HUMID,60.15
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,19.90
$XPDR_PINGS,1
$SC_FREEKB,3668960
$PM_FREEKB,52647616
$24V_AH,12.63,216.335
$10V_AH,12.47,0.000
$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
$DEVICE_SECS,24.575,153.600,504.975,28.125,0.000,0.000,0.000,368.925,0.250,0.000,5.489,0.000,16539.842,735.129,2207.573,611.328,0.000,1778.775,0.000,1353.203,0.000,0.839,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.592,2.440,0.000,0.000
$MEM,334708
$DATA_FILE_SIZE,26760,738
$CAP_FILE_SIZE,138450,0
$CFSIZE,1024409600,913817600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,126.61,1
$GPS,010217,001000,956.257,-12514.823,19,1.1,19,9.0,0.4,277.5,7,7.5