version: 66.13
glider: 220
mission: 6
dive: 629
start: 2 1 117 6 7 28
data:
$ID,220
$MISSION,6
$DIVE,629
$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,40
$R_STBD_OVSHOOT,15
$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
$GPS1,010217,055200,955.2332,-12513.5625,27,1.5,27,9.0,0.9,327.9,5,8.2
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.27
$_SM_ANGLEo,-67.6
$GPS2,010217,060706,955.4697,-12513.7275,3,1.6,4,9.0,0.1,0.0,5,9.5
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,128.8,36812,-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,-107.1,141,2780,1102,1019,0.0,0.0,0,102,0.00,0.00,-81.70,0.000,16390,0.000,0.000,137,2780,3478,3470,3487,0,0,0,0,0,0,14.64,12.64,14.60
$GC,106,-0.93,-107.1,138,2780,3469,3488,4.6,-9.9,3,123,11.98,2.45,0.00,0.000,2564,0.389,0.031,2591,1322,3479,3471,3487,0,0,0,0,0,0,13.95,14.42,14.33
$GC,187,-0.71,-107.1,2591,1323,3473,3487,32.5,-21.4,15,192,0.32,2.67,0.00,0.000,3206,0.255,0.089,2669,2769,3479,3472,3487,0,0,0,0,0,0,13.93,14.10,14.23
$GC,523,-0.71,-107.1,2666,2763,3475,3488,64.7,-6.8,30,528,0.00,2.08,0.00,0.000,292,0.000,0.146,2658,3822,3480,3475,3486,0,0,0,0,0,0,14.79,13.99,14.78
$GC,663,-0.71,-107.1,2658,3822,3477,3492,75.8,-8.0,50,667,0.00,1.77,0.00,0.000,1030,0.000,0.044,2658,2735,3481,3476,3487,0,0,0,0,0,0,14.43,14.39,14.44
$GC,1027,-0.71,-107.1,2658,2735,3475,3488,104.9,-8.3,65,1032,0.00,2.30,0.00,0.000,516,0.000,0.041,2658,1386,3481,3476,3486,0,0,0,0,0,0,14.83,14.33,14.84
$GC,1089,-0.71,-107.1,2658,1386,3477,3487,110.2,-8.3,74,1094,0.00,2.58,0.00,0.000,1030,0.000,0.086,2649,2773,3481,3476,3486,0,0,0,0,0,0,14.33,14.08,14.38
$GC,1419,-0.71,-107.1,2649,2773,3477,3484,138.1,-8.5,86,1423,0.00,2.08,0.00,0.000,260,0.000,0.143,2640,3828,3479,3476,3483,0,0,0,0,0,0,14.84,13.97,14.86
$GC,1453,-0.71,-107.1,2641,3827,3476,3484,141.2,-9.1,91,1458,0.00,1.77,0.00,0.000,1030,0.000,0.045,2640,2772,3479,3476,3483,0,0,0,0,0,0,14.45,14.42,14.46
$GC,1811,-0.71,-107.1,2641,2774,3476,3474,171.8,-8.7,100,1816,0.08,2.40,0.00,0.000,2564,0.258,0.038,2667,1378,3477,3476,3478,0,0,0,0,0,0,14.17,14.33,14.28
$GC,1901,-0.80,-107.1,2668,1380,3477,3477,179.0,-7.8,113,1907,0.00,2.60,0.00,0.000,1158,0.000,0.087,2658,2767,3476,3476,3477,0,0,0,0,0,0,14.30,14.04,14.35
$GC,2259,-0.80,-107.1,2658,2768,3477,3472,209.3,-8.6,122,2263,0.00,2.42,0.00,0.000,516,0.000,0.041,2658,1386,3472,3474,3471,0,0,0,0,0,0,14.88,14.31,14.88
$GC,2335,-0.80,-107.1,2658,1386,3477,3470,216.2,-8.8,133,2341,0.00,2.58,0.00,0.000,1030,0.000,0.085,2650,2772,3473,3476,3470,0,0,0,0,0,0,14.28,14.01,14.33
$GC,2651,-0.80,-107.1,2650,2773,3477,3467,244.7,-9.1,143,2655,0.00,2.42,0.00,0.000,516,0.000,0.041,2649,1380,3471,3475,3467,0,0,0,0,0,0,14.88,14.31,14.88
$GC,2713,-0.80,-107.1,2650,1380,3476,3467,250.3,-8.7,152,2718,0.00,2.58,0.00,0.000,1030,0.000,0.085,2641,2756,3470,3476,3465,0,0,0,0,0,0,14.27,14.02,14.32
$GC,3043,-0.80,-107.1,2642,2756,3475,3461,279.1,-8.7,164,3047,0.00,2.40,0.00,0.000,516,0.000,0.041,2641,1383,3468,3476,3461,0,0,0,0,0,0,14.84,14.30,14.84
$GC,3070,-0.80,-107.1,2642,1384,3476,3462,281.5,-8.8,168,3075,0.00,2.58,0.00,0.000,1030,0.000,0.086,2633,2758,3468,3475,3461,0,0,0,0,0,0,14.27,14.02,14.33
$GC,3435,-0.80,-107.1,2633,2757,3477,3456,313.7,-8.9,178,3440,0.00,2.12,0.00,0.000,260,0.000,0.141,2624,3836,3466,3476,3456,0,0,0,0,0,0,14.89,13.86,14.83
$GC,3462,-0.80,-107.1,2624,3837,3476,3455,316.3,-9.1,182,3467,0.00,1.85,0.00,0.000,1030,0.000,0.047,2623,2763,3465,3475,3456,0,0,0,0,0,0,14.39,14.36,14.40
$GC,3827,-0.80,-107.1,2623,2763,3476,3453,348.9,-9.0,192,3832,0.00,2.45,0.00,0.000,516,0.000,0.043,2623,1369,3463,3475,3452,0,0,0,0,0,0,14.84,14.26,14.84
$GC,3875,-0.80,-107.1,2624,1364,3477,3451,353.3,-8.9,199,3881,0.00,2.65,0.00,0.000,1030,0.000,0.085,2614,2758,3463,3475,3451,0,0,0,0,0,0,14.21,13.95,14.26
$GC,4219,-0.80,-107.1,2615,2758,3476,3449,384.3,-9.1,206,4223,0.00,2.12,0.00,0.000,260,0.000,0.141,2606,3829,3460,3475,3446,0,0,0,0,0,0,14.84,13.83,14.84
$GC,4260,-0.80,-107.1,2606,3830,3476,3447,388.3,-9.8,212,4265,0.10,1.88,0.00,0.000,3078,0.211,0.047,2635,2754,3461,3475,3447,0,0,0,0,0,0,13.87,14.31,14.03
$GC,4611,-0.80,-107.1,2635,2754,3477,3443,417.4,-8.3,220,4616,0.00,2.42,0.00,0.000,516,0.000,0.043,2635,1368,3460,3477,3444,0,0,0,0,0,0,14.83,14.23,14.83
$GC,4645,-0.80,-107.1,2634,1369,3476,3444,420.5,-8.7,225,4651,0.00,2.62,0.00,0.000,1030,0.000,0.084,2625,2762,3459,3475,3443,0,0,0,0,0,0,14.23,13.97,14.28
$GC,5003,-0.80,-107.1,2625,2763,3476,3438,451.2,-8.7,234,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2762,3457,3475,3440,0,0,0,0,0,0,14.87,14.87,14.87
$GC,5339,-0.80,-107.1,2625,2763,3476,3437,481.0,-8.8,240,5343,0.00,2.47,0.00,0.000,516,0.000,0.043,2624,1369,3456,3475,3437,0,0,0,0,0,0,14.83,14.23,14.83
$GC,5387,-0.80,-107.1,2625,1368,3476,3438,485.4,-9.0,247,5393,0.00,2.65,0.00,0.000,1030,0.000,0.085,2615,2764,3455,3475,3436,0,0,0,0,0,0,14.19,13.93,14.25
$GC,5731,-0.80,-107.1,2616,2762,3476,3435,518.2,-9.7,254,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2764,3454,3475,3434,0,0,0,0,0,0,14.83,14.82,14.83
$GC,6067,-0.80,-107.1,2615,2765,3476,3432,551.2,-9.8,260,6067,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2763,3453,3475,3432,0,0,0,0,0,0,14.83,14.83,14.83
$GC,6403,-0.80,-107.1,2615,2764,3473,3430,582.1,-9.0,266,6408,0.00,2.50,0.00,0.000,516,0.000,0.042,2614,1361,3452,3475,3429,0,0,0,0,0,0,14.86,14.19,14.86
$GC,6444,-0.80,-107.1,2615,1361,3476,3430,585.9,-8.9,272,6449,0.12,2.65,0.00,0.000,3078,0.235,0.083,2639,2755,3452,3475,3429,0,0,0,0,0,0,13.77,13.88,14.04
$GC,6795,-0.80,-107.1,2640,2755,3473,3428,611.7,-7.3,280,6796,0.00,0.00,0.00,0.000,38,0.000,0.000,2636,2755,3449,3472,3427,0,0,0,0,0,0,14.85,14.85,14.85
$GC,7131,-0.80,-107.1,2640,2756,3471,3427,635.5,-7.0,286,7136,0.00,2.47,0.00,0.000,548,0.000,0.043,2639,1363,3449,3471,3427,0,0,0,0,0,0,14.81,14.15,14.81
$GC,7158,-0.80,-107.1,2639,1363,3471,3428,637.5,-7.1,290,7163,0.00,2.65,0.00,0.000,1062,0.000,0.084,2630,2757,3448,3470,3427,0,0,0,0,0,0,14.15,13.88,14.21
$GC,7523,-0.80,-107.1,2630,2758,3470,3427,665.8,-7.9,300,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2757,3448,3469,3427,0,0,0,0,0,0,14.85,14.87,14.85
$GC,7859,-0.80,-107.1,2630,2758,3470,3425,692.7,-8.0,306,7859,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2757,3446,3468,3425,0,0,0,0,0,0,14.84,14.81,14.81
$GC,8195,-0.80,-107.1,2631,2757,3470,3424,718.9,-7.7,312,8199,0.00,2.50,0.00,0.000,516,0.000,0.044,2629,1371,3445,3469,3422,0,0,0,0,0,0,14.81,14.12,14.81
$GC,8251,-0.80,-107.1,2629,1372,3471,3422,723.4,-8.0,320,8255,0.00,2.67,0.00,0.000,1030,0.000,0.087,2620,2757,3444,3467,3422,0,0,0,0,0,0,14.07,13.80,14.12
$GC,8587,-0.80,-107.1,2621,2757,3466,3423,750.3,-8.1,333,8588,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2756,3443,3465,3422,0,0,0,0,0,0,14.80,14.80,14.80
$GC,8923,-0.80,-107.1,2621,2756,3465,3422,778.2,-8.4,339,8928,0.00,2.53,0.00,0.000,516,0.000,0.044,2620,1366,3442,3464,3421,0,0,0,0,0,0,14.80,14.10,14.80
$GC,8950,-0.80,-107.1,2620,1367,3466,3421,780.7,-8.9,343,8955,0.10,2.67,0.00,0.000,3078,0.233,0.084,2638,2754,3442,3464,3421,0,0,0,0,0,0,13.73,13.78,14.00
$STATE,9199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9199,begin apogee
$GC,9209,-0.23,0.0,2639,2222,3465,3421,800.3,-7.8,351,9324,0.65,0.10,113.18,1.803,10244,0.170,0.183,2824,2277,3052,3093,3012,0,0,0,0,0,0,13.71,13.87,12.97
$STATE,9326,end apogee,CONTROL_FINISHED_OK
$STATE,9326,begin climb
$GC,9330,0.93,107.1,2825,2278,3088,3004,803.8,0.0,353,9458,1.10,2.55,117.30,1.762,10756,0.087,0.055,3183,879,2625,2686,2565,0,0,0,0,0,0,14.00,14.02,12.93
$GC,9535,0.85,144.9,3189,881,2678,2541,800.8,5.8,384,9583,0.00,2.47,41.75,1.787,9382,0.000,0.064,3183,2247,2468,2542,2394,0,0,0,0,0,0,14.29,14.14,13.06
$GC,9927,0.74,144.9,3181,2253,2538,2372,767.6,8.8,398,9933,0.12,2.75,0.00,0.000,4484,0.232,0.128,3142,3655,2455,2538,2372,0,0,0,0,0,0,14.02,14.01,14.19
$GC,10003,0.64,144.9,3143,3657,2538,2373,760.9,8.6,409,10009,0.15,2.40,0.00,0.000,5254,0.220,0.044,3111,2268,2454,2537,2372,0,0,0,0,0,0,14.02,14.38,14.31
$GC,10319,0.67,170.2,3112,2266,2539,2369,740.3,6.5,419,10352,0.00,2.72,26.85,1.821,8484,0.000,0.132,3107,3658,2364,2448,2281,0,0,0,0,0,0,14.76,14.21,13.28
$GC,10381,0.69,182.5,3111,3658,2444,2276,735.9,7.1,428,10394,0.00,2.45,5.32,1.740,9254,0.000,0.044,3121,2245,2324,2407,2242,0,0,0,0,0,0,14.47,14.40,13.11
$GC,10711,0.70,191.3,3121,2244,2408,2263,711.7,7.3,440,10736,0.00,2.83,16.77,1.883,8484,0.000,0.133,3121,3656,2280,2364,2197,0,0,0,0,0,0,14.73,14.23,13.26
$GC,10767,0.70,191.3,3121,3656,2358,2191,707.3,7.8,448,10772,0.00,2.45,0.00,0.000,1030,0.000,0.044,3130,2246,2278,2364,2192,0,0,0,0,0,0,14.48,14.40,14.50
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$STATE,19717,end climb,SURFACE_DEPTH_REACHED
$STATE,19717,begin surface coast
$FINISH,-2.2,1.022145
$STATE,19746,end surface coast,CONTROL_FINISHED_OK
$STATE,19746,begin surface
$SM_CCo,19770,48.78,0.152,0,0,1058,500.14
$SM_GC,-1.25,9.00,0.93,48.78,0.046,0.087,0.152,170,2774,1058,-8.44,-0.57,500.14,0,0,0,0,0,0,14.38,14.19,14.13
$IRIDIUM_FIX,951.69,-12514.95,010217,055815
$TT8_MAMPS,0.038948,0.38948
$HUMID,57.40
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,20.80
$XPDR_PINGS,1
$SC_FREEKB,3668192
$PM_FREEKB,52625344
$24V_AH,12.64,216.929
$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,24.375,182.175,473.700,48.775,0.000,0.000,0.000,467.800,0.250,0.000,5.787,0.000,16820.393,757.157,2497.724,629.102,0.000,1973.851,0.000,1508.429,0.000,0.840,0.000
$DEVICE_MAMPS,388.620,182.835,1883.430,152.235,0.000,0.000,0.000,172.890,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19810.000,19758.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.590,2.426,0.000,0.000
$MEM,334748
$DATA_FILE_SIZE,30041,841
$CAP_FILE_SIZE,148179,0
$CFSIZE,1024409600,913506304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,97.45,1
$GPS,010217,113901,954.340,-12511.718,38,0.7,38,9.0,0.2,107.0,12,3.2