version: 66.13
glider: 220
mission: 6
dive: 628
start: 2 1 117 0 22 57
data:
$ID,220
$MISSION,6
$DIVE,628
$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,18
$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
$GPS1,010217,001000,956.2570,-12514.8232,19,1.1,19,9.0,0.4,277.5,7,7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.20
$_SM_ANGLEo,-68.9
$GPS2,010217,002235,956.3636,-12515.0312,2,1.1,3,9.0,0.6,279.6,7,7.1
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,129.1,39650,-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,-107.1,171,2789,1103,1019,0.0,0.0,0,101,0.00,0.00,-81.03,0.000,16390,0.000,0.000,169,2789,3478,3469,3488,0,0,0,0,0,0,14.64,12.63,14.58
$GC,106,-0.93,-107.1,170,2790,3471,3488,5.1,-11.1,3,122,11.82,2.42,0.00,0.000,2564,0.389,0.035,2591,1371,3483,3471,3495,0,0,0,0,0,0,13.92,14.31,14.19
$GC,159,-0.63,-107.1,2588,1371,3473,3489,27.1,-26.7,11,164,0.43,2.65,0.00,0.000,3206,0.249,0.103,2692,2769,3479,3472,3487,0,0,0,0,0,0,14.00,14.13,14.30
$GC,495,-0.63,-107.1,2692,2769,3476,3489,64.4,-9.0,26,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2769,3481,3476,3487,0,0,0,0,0,0,14.81,14.81,14.81
$GC,803,-0.63,-107.1,2692,2770,3479,3489,86.4,-7.0,37,808,0.00,2.10,0.00,0.000,292,0.000,0.150,2684,3826,3482,3478,3487,0,0,0,0,0,0,14.83,13.92,14.83
$GC,859,-0.63,-107.1,2683,3826,3479,3487,90.1,-6.8,45,864,0.00,1.77,0.00,0.000,1062,0.000,0.047,2686,2744,3482,3478,3487,0,0,0,0,0,0,14.51,14.46,14.52
$GC,1195,-0.63,-107.1,2684,2744,3479,3488,112.3,-6.9,57,1201,0.00,2.35,0.00,0.000,548,0.000,0.044,2683,1392,3482,3478,3487,0,0,0,0,0,0,14.83,14.28,14.83
$GC,1278,-0.72,-107.1,2684,1393,3479,3486,118.4,-7.3,69,1284,0.00,2.60,0.00,0.000,1190,0.000,0.091,2674,2772,3482,3478,3486,0,0,0,0,0,0,14.31,14.04,14.35
$GC,1643,-0.72,-107.1,2675,2772,3478,3485,147.4,-8.2,79,1647,0.00,2.10,0.00,0.000,260,0.000,0.146,2666,3830,3480,3478,3483,0,0,0,0,0,0,14.84,13.86,14.84
$GC,1670,-0.72,-107.1,2667,3830,3478,3484,149.7,-8.3,83,1675,0.00,1.77,0.00,0.000,1030,0.000,0.046,2665,2785,3480,3478,3483,0,0,0,0,0,0,14.40,14.38,14.42
$GC,2035,-0.72,-107.1,2666,2786,3479,3478,179.1,-8.1,93,2041,0.00,2.42,0.00,0.000,516,0.000,0.042,2666,1387,3478,3478,3478,0,0,0,0,0,0,14.84,14.29,14.84
$GC,2153,-0.81,-107.1,2670,1387,3478,3478,188.7,-8.0,110,2158,0.00,2.62,0.00,0.000,1158,0.000,0.090,2657,2770,3477,3478,3476,0,0,0,0,0,0,14.26,13.99,14.31
$GC,2483,-0.81,-107.1,2658,2769,3473,3472,215.1,-8.0,122,2487,0.00,2.45,0.00,0.000,516,0.000,0.043,2656,1380,3474,3478,3471,0,0,0,0,0,0,14.83,14.26,14.84
$GC,2566,-0.81,-107.1,2657,1382,3479,3470,221.9,-8.0,134,2571,0.00,2.60,0.00,0.000,1030,0.000,0.090,2649,2758,3474,3478,3470,0,0,0,0,0,0,14.28,14.03,14.33
$GC,2931,-0.81,-107.1,2649,2759,3478,3468,253.2,-8.7,144,2935,0.00,2.42,0.00,0.000,516,0.000,0.043,2648,1386,3472,3477,3467,0,0,0,0,0,0,14.84,14.28,14.85
$GC,2965,-0.81,-107.1,2649,1386,3476,3468,256.3,-9.1,149,2971,0.00,2.60,0.00,0.000,1030,0.000,0.089,2640,2762,3471,3477,3466,0,0,0,0,0,0,14.28,14.02,14.33
$GC,3323,-0.81,-107.1,2640,2763,3478,3463,287.1,-8.6,158,3328,0.00,2.42,0.00,0.000,516,0.000,0.042,2642,1389,3469,3477,3462,0,0,0,0,0,0,14.83,14.28,14.83
$GC,3364,-0.81,-107.1,2638,1390,3478,3462,290.7,-8.5,164,3369,0.00,2.60,0.00,0.000,1030,0.000,0.095,2630,2759,3469,3477,3461,0,0,0,0,0,0,14.09,13.53,14.19
$GC,3715,-0.81,-107.1,2631,2759,3478,3459,319.8,-8.3,172,3715,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2759,3468,3478,3458,0,0,0,0,0,0,14.88,14.88,14.88
$GC,4051,-0.81,-107.1,2629,2760,3478,3454,346.9,-8.1,178,4056,0.00,2.45,0.00,0.000,516,0.000,0.044,2630,1381,3465,3477,3454,0,0,0,0,0,0,14.84,14.26,14.84
$GC,4085,-0.81,-107.1,2633,1381,3477,3454,349.8,-8.3,183,4090,0.00,2.62,0.00,0.000,1030,0.000,0.088,2620,2768,3465,3477,3454,0,0,0,0,0,0,14.23,13.96,14.29
$GC,4443,-0.81,-107.1,2621,2768,3478,3452,381.0,-8.9,192,4447,0.00,2.10,0.00,0.000,260,0.000,0.142,2613,3826,3464,3477,3451,0,0,0,0,0,0,14.87,13.82,14.86
$GC,4470,-0.81,-107.1,2613,3826,3471,3452,383.6,-9.4,196,4475,0.00,1.85,0.00,0.000,1030,0.000,0.049,2611,2762,3464,3477,3451,0,0,0,0,0,0,14.42,14.31,14.44
$GC,4835,-0.81,-107.1,2613,2762,3477,3450,419.1,-10.0,206,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2762,3462,3477,3447,0,0,0,0,0,0,14.83,14.83,14.84
$GC,5171,-0.81,-107.1,2612,2762,3477,3446,454.0,-10.5,212,5176,0.00,2.45,0.00,0.000,516,0.000,0.044,2611,1379,3460,3477,3444,0,0,0,0,0,0,14.83,14.22,14.83
$GC,5212,-0.81,-107.1,2611,1380,3479,3444,458.5,-10.7,218,5218,0.12,2.65,0.00,0.000,3078,0.230,0.090,2636,2761,3460,3477,3444,0,0,0,0,0,0,13.74,13.84,14.00
$GC,5563,-0.81,-107.1,2636,2762,3479,3441,491.7,-9.3,226,5567,0.00,2.47,0.00,0.000,516,0.000,0.044,2635,1376,3459,3477,3441,0,0,0,0,0,0,14.82,14.22,14.83
$GC,5597,-0.81,-107.1,2635,1377,3478,3441,495.1,-10.0,231,5602,0.00,2.65,0.00,0.000,1030,0.000,0.090,2634,2762,3459,3478,3441,0,0,0,0,0,0,14.19,13.91,14.24
$GC,5955,-0.81,-107.1,2631,2762,3478,3439,529.2,-9.5,240,5960,0.00,2.47,0.00,0.000,516,0.000,0.044,2625,1375,3457,3477,3437,0,0,0,0,0,0,14.85,14.20,14.84
$GC,5975,-0.81,-107.1,2620,1375,3478,3439,531.3,-9.6,243,5980,0.00,2.67,0.00,0.000,1030,0.000,0.089,2616,2759,3457,3477,3438,0,0,0,0,0,0,14.15,13.88,14.21
$GC,6291,-0.81,-107.1,2616,2760,3478,3436,561.7,-9.6,253,6296,0.00,2.15,0.00,0.000,260,0.000,0.145,2608,3829,3458,3480,3437,0,0,0,0,0,0,14.86,12.65,14.86
$GC,6332,-0.81,-107.1,2606,3829,3478,3437,565.8,-10.1,259,6337,0.10,1.88,0.00,0.000,3078,0.204,0.048,2636,2762,3457,3477,3438,0,0,0,0,0,0,13.84,14.28,13.99
$GC,6683,-0.81,-107.1,2637,2763,3478,3433,595.6,-8.4,267,6688,0.00,2.47,0.00,0.000,516,0.000,0.044,2636,1366,3454,3477,3432,0,0,0,0,0,0,14.85,14.16,14.85
$GC,6724,-0.81,-107.1,2637,1367,3478,3432,599.1,-8.4,273,6730,0.00,2.65,0.00,0.000,1030,0.000,0.086,2627,2752,3453,3474,3432,0,0,0,0,0,0,14.14,13.86,14.19
$GC,7075,-0.81,-107.1,2626,2753,3478,3431,628.7,-8.4,281,7080,0.00,2.47,0.00,0.000,516,0.000,0.044,2626,1368,3453,3477,3430,0,0,0,0,0,0,14.85,14.15,14.85
$GC,7102,-0.81,-107.1,2626,1369,3478,3430,631.0,-8.5,285,7108,0.00,2.67,0.00,0.000,1030,0.000,0.088,2616,2757,3453,3477,3430,0,0,0,0,0,0,14.11,13.83,14.17
$GC,7467,-0.81,-107.1,2617,2757,3475,3430,662.2,-8.5,295,7471,0.00,2.15,0.00,0.000,260,0.000,0.142,2609,3825,3452,3475,3429,0,0,0,0,0,0,14.85,13.69,14.87
$GC,7494,-0.81,-107.1,2609,3827,3478,3429,664.7,-9.0,299,7499,0.08,1.90,0.00,0.000,3078,0.213,0.049,2630,2751,3451,3474,3429,0,0,0,0,0,0,13.81,14.21,13.95
$GC,7859,-0.81,-107.1,2630,2751,3473,3429,693.4,-7.8,309,7864,0.00,2.47,0.00,0.000,516,0.000,0.044,2631,1357,3450,3471,3429,0,0,0,0,0,0,14.81,14.13,14.81
$GC,7928,-0.81,-107.1,2631,1358,3473,3429,699.1,-7.9,319,7933,0.00,2.67,0.00,0.000,1030,0.000,0.086,2622,2751,3450,3471,3430,0,0,0,0,0,0,14.10,13.82,14.16
$GC,8251,-0.81,-107.1,2622,2753,3471,3429,725.9,-8.4,330,8252,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2752,3449,3470,3428,0,0,0,0,0,0,14.81,14.81,14.81
$GC,8587,-0.81,-107.1,2622,2751,3472,3426,755.0,-8.7,336,8591,0.00,2.50,0.00,0.000,516,0.000,0.044,2621,1359,3448,3470,3426,0,0,0,0,0,0,14.85,14.10,14.85
$GC,8628,-0.81,-107.1,2621,1358,3471,3427,758.7,-8.8,342,8633,0.00,2.67,0.00,0.000,1030,0.000,0.088,2613,2750,3445,3465,3426,0,0,0,0,0,0,14.03,13.77,14.12
$GC,8979,-0.81,-107.1,2613,2750,3471,3426,790.2,-9.0,350,8980,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2750,3447,3470,3425,0,0,0,0,0,0,14.84,14.84,14.84
$STATE,9087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9087,begin apogee
$GC,9096,-0.23,0.0,2612,2206,3471,3422,800.2,-9.0,352,9215,0.75,0.12,115.60,1.796,10244,0.181,0.161,2822,2275,3049,3090,3008,0,0,0,0,0,0,13.69,13.92,12.97
$STATE,9216,end apogee,CONTROL_FINISHED_OK
$STATE,9216,begin climb
$GC,9220,0.93,107.1,2822,2276,3084,2999,804.0,0.0,354,9350,1.12,2.53,116.85,1.763,10756,0.091,0.056,3187,896,2615,2678,2553,0,0,0,0,0,0,13.97,14.02,12.95
$GC,9428,0.84,137.6,3186,896,2677,2540,800.0,6.2,386,9467,0.00,2.42,33.08,1.815,9382,0.000,0.065,3185,2241,2496,2569,2423,0,0,0,0,0,0,14.29,14.15,13.06
$GC,9820,0.72,137.6,3186,2241,2566,2405,767.1,8.8,400,9825,0.15,2.78,0.00,0.000,4484,0.222,0.129,3137,3657,2484,2565,2403,0,0,0,0,0,0,13.98,14.03,14.17
$GC,9882,0.63,137.6,3138,3658,2566,2403,761.7,8.6,409,9888,0.15,2.38,0.00,0.000,5254,0.222,0.044,3106,2277,2484,2565,2403,0,0,0,0,0,0,14.02,14.39,14.31
$GC,10212,0.65,158.9,3107,2276,2566,2401,739.7,6.7,421,10236,0.00,0.00,22.90,1.840,8230,0.000,0.000,3107,2276,2416,2497,2336,0,0,0,0,0,0,14.80,14.28,13.28
$GC,10548,0.66,166.9,3107,2276,2488,2314,715.4,7.3,427,10554,0.00,2.80,1.58,0.220,8484,0.000,0.132,3106,3653,2386,2473,2300,0,0,0,0,0,0,14.76,14.05,14.01
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$STATE,19567,end climb,SURFACE_DEPTH_REACHED
$STATE,19568,begin surface coast
$FINISH,-1.3,1.022125
$STATE,19596,end surface coast,CONTROL_FINISHED_OK
$STATE,19596,begin surface
$SM_CCo,19620,59.58,0.151,0,0,1057,500.14
$SM_GC,-1.19,8.85,1.00,59.58,0.046,0.114,0.151,191,2767,1057,-8.40,-0.42,500.14,0,0,0,0,0,0,14.30,14.03,14.13
$IRIDIUM_FIX,953.88,-12516.74,310117,183943
$TT8_MAMPS,0.036701,0.423934
$HUMID,57.00
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.70
$XPDR_PINGS,2
$SC_FREEKB,3668576
$PM_FREEKB,52636480
$24V_AH,12.63,216.624
$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,24.325,202.275,458.175,59.575,0.000,0.000,0.000,384.575,0.500,0.000,5.340,0.000,16567.613,785.068,2432.965,630.984,0.000,1925.125,0.000,1516.005,0.000,0.839,0.000
$DEVICE_MAMPS,388.620,161.415,1839.825,151.470,0.000,0.000,0.000,172.125,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19659.000,19608.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.638,2.424,0.000,0.000
$MEM,334676
$DATA_FILE_SIZE,30034,846
$CAP_FILE_SIZE,152768,0
$CFSIZE,1024409600,913653760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.007,122.01,1
$GPS,010217,055200,955.233,-12513.562,27,1.5,27,9.0,0.9,327.9,5,8.2