version: 66.13
glider: 220
mission: 6
dive: 633
start: 2 2 117 4 7 27
data:
$ID,220
$MISSION,6
$DIVE,633
$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,55
$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
$GPS1,020217,035425,950.1919,-12507.7529,18,0.7,35,9.0,0.9,12.7,12,3.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.19
$_SM_ANGLEo,-70.4
$GPS2,020217,040705,950.2893,-12507.6357,2,0.8,4,9.0,0.8,53.4,12,5.3
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,132.4,22273,-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,17,-0.93,-107.1,142,2785,1102,1017,0.0,0.0,0,101,0.00,0.00,-80.57,0.000,16390,0.000,0.000,135,2783,3479,3470,3488,0,0,0,0,0,0,14.64,12.66,14.58
$GC,106,-0.93,-107.1,136,2783,3469,3489,4.5,-11.3,3,122,11.93,2.40,0.00,0.000,2564,0.386,0.031,2591,1355,3479,3470,3488,0,0,0,0,0,0,13.93,14.32,14.21
$GC,187,-0.71,-107.1,2591,1356,3474,3487,32.1,-20.9,15,192,0.32,2.65,0.00,0.000,3206,0.250,0.094,2666,2773,3480,3473,3487,0,0,0,0,0,0,13.94,14.15,14.24
$GC,523,-0.71,-107.1,2666,2774,3478,3491,71.5,-8.9,30,527,0.00,2.08,0.00,0.000,260,0.000,0.144,2658,3836,3482,3477,3487,0,0,0,0,0,0,14.78,13.95,14.77
$GC,760,-0.71,-107.1,2657,3836,3479,3489,92.1,-7.1,64,765,0.00,1.83,0.00,0.000,1062,0.000,0.044,2658,2740,3482,3477,3487,0,0,0,0,0,0,14.40,14.39,14.43
$GC,1111,-0.71,-107.1,2665,2740,3477,3489,118.1,-7.9,74,1115,0.00,2.15,0.00,0.000,260,0.000,0.136,2650,3832,3483,3478,3488,0,0,0,0,0,0,14.83,14.00,14.84
$GC,1187,-0.71,-107.1,2650,3833,3480,3487,125.5,-9.7,85,1193,0.00,1.77,0.00,0.000,1030,0.000,0.045,2649,2767,3482,3478,3487,0,0,0,0,0,0,14.47,14.40,14.45
$GC,1503,-0.71,-107.1,2650,2767,3479,3486,151.5,-8.0,95,1507,0.00,2.38,0.00,0.000,516,0.000,0.042,2652,1387,3481,3478,3485,0,0,0,0,0,0,14.83,14.25,14.84
$GC,1615,-0.71,-107.1,2650,1388,3479,3483,160.4,-7.8,111,1619,0.00,2.58,0.00,0.000,1030,0.000,0.085,2640,2767,3483,3483,3483,0,0,0,0,0,0,14.32,14.07,14.37
$GC,1951,-0.71,-107.1,2641,2766,3479,3479,189.6,-8.9,124,1955,0.00,2.08,0.00,0.000,260,0.000,0.138,2632,3829,3478,3478,3479,0,0,0,0,0,0,14.84,13.96,14.84
$GC,1978,-0.71,-107.1,2636,3830,3479,3479,192.2,-9.4,128,1983,0.10,1.80,0.00,0.000,3078,0.197,0.046,2661,2782,3478,3478,3478,0,0,0,0,0,0,13.98,14.35,14.12
$GC,2343,-0.71,-107.1,2662,2787,3479,3473,221.6,-8.0,138,2348,0.00,2.45,0.00,0.000,516,0.000,0.042,2662,1378,3475,3478,3473,0,0,0,0,0,0,14.87,14.28,14.87
$GC,2482,-0.79,-107.1,2660,1373,3479,3470,232.9,-8.0,158,2487,0.00,2.60,0.00,0.000,1158,0.000,0.082,2652,2763,3474,3478,3470,0,0,0,0,0,0,14.31,13.97,14.27
$GC,2847,-0.79,-107.1,2651,2764,3479,3466,264.7,-8.8,168,2851,0.00,2.42,0.00,0.000,516,0.000,0.041,2652,1370,3472,3478,3466,0,0,0,0,0,0,14.87,14.30,14.87
$GC,2881,-0.79,-107.1,2652,1370,3480,3467,267.8,-9.1,173,2887,0.00,2.60,0.00,0.000,1030,0.000,0.083,2644,2766,3472,3478,3466,0,0,0,0,0,0,14.28,14.03,14.33
$GC,3239,-0.79,-107.1,2644,2765,3479,3463,299.6,-8.8,182,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2765,3469,3478,3461,0,0,0,0,0,0,14.87,14.88,14.88
$GC,3575,-0.79,-107.1,2644,2767,3479,3458,326.1,-7.8,188,3579,0.00,2.45,0.00,0.000,516,0.000,0.043,2644,1371,3467,3478,3457,0,0,0,0,0,0,14.85,14.28,14.88
$GC,3651,-0.79,-107.1,2645,1371,3478,3458,332.0,-7.5,199,3656,0.00,2.60,0.00,0.000,1062,0.000,0.083,2636,2756,3467,3478,3456,0,0,0,0,0,0,14.24,13.99,14.29
$GC,3967,-0.79,-107.1,2636,2756,3479,3453,358.1,-8.4,209,3972,0.00,2.12,0.00,0.000,260,0.000,0.139,2628,3835,3465,3477,3453,0,0,0,0,0,0,14.83,13.84,14.85
$GC,3994,-0.79,-107.1,2628,3836,3479,3453,360.5,-8.6,213,4000,0.00,1.88,0.00,0.000,1030,0.000,0.047,2627,2725,3465,3478,3452,0,0,0,0,0,0,14.42,14.33,14.47
$GC,4359,-0.79,-107.1,2627,2726,3479,3450,391.5,-8.5,223,4364,0.00,2.35,0.00,0.000,516,0.000,0.043,2627,1375,3463,3478,3449,0,0,0,0,0,0,14.83,14.23,14.83
$GC,4415,-0.79,-107.1,2628,1375,3478,3450,396.3,-8.4,231,4419,0.00,2.62,0.00,0.000,1030,0.000,0.083,2618,2765,3463,3478,3449,0,0,0,0,0,0,14.23,13.97,14.28
$GC,4751,-0.79,-107.1,2618,2766,3479,3445,426.6,-9.2,244,4751,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2766,3461,3477,3446,0,0,0,0,0,0,14.83,14.83,14.83
$GC,5087,-0.79,-107.1,2618,2765,3479,3444,457.9,-9.3,250,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2765,3460,3478,3443,0,0,0,0,0,0,14.83,14.83,14.83
$GC,5423,-0.79,-107.1,2619,2767,3478,3442,490.6,-9.7,256,5428,0.00,2.47,0.00,0.000,516,0.000,0.044,2617,1370,3459,3478,3440,0,0,0,0,0,0,14.82,14.21,14.83
$GC,5464,-0.79,-107.1,2617,1369,3478,3441,494.8,-10.0,262,5469,0.12,2.62,0.00,0.000,3078,0.231,0.083,2642,2758,3458,3478,3439,0,0,0,0,0,0,13.80,13.92,14.07
$GC,5815,-0.79,-107.1,2643,2759,3477,3437,524.3,-8.2,270,5819,0.00,2.45,0.00,0.000,516,0.000,0.043,2642,1372,3457,3478,3437,0,0,0,0,0,0,14.82,14.20,14.82
$GC,5856,-0.79,-107.1,2642,1372,3479,3437,527.7,-8.0,276,5861,0.00,2.60,0.00,0.000,1030,0.000,0.083,2633,2754,3457,3478,3437,0,0,0,0,0,0,14.17,13.91,14.22
$GC,6207,-0.79,-107.1,2634,2755,3479,3433,555.8,-8.0,284,6212,0.00,2.45,0.00,0.000,516,0.000,0.043,2632,1370,3455,3478,3433,0,0,0,0,0,0,14.81,14.19,14.82
$GC,6248,-0.79,-107.1,2633,1369,3478,3434,559.2,-8.1,290,6253,0.00,2.60,0.00,0.000,1030,0.000,0.082,2628,2750,3455,3478,3432,0,0,0,0,0,0,14.15,13.88,14.21
$GC,6599,-0.79,-107.1,2623,2750,3478,3433,589.0,-8.6,298,6599,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2750,3455,3478,3432,0,0,0,0,0,0,14.82,14.82,14.82
$GC,6935,-0.79,-107.1,2624,2750,3478,3430,618.4,-8.7,304,6940,0.00,2.15,0.00,0.000,260,0.000,0.141,2614,3828,3452,3475,3429,0,0,0,0,0,0,14.81,13.72,14.82
$GC,6983,-0.79,-107.1,2615,3827,3477,3427,623.0,-9.6,311,6989,0.00,1.88,0.00,0.000,1030,0.000,0.048,2613,2758,3452,3476,3429,0,0,0,0,0,0,14.23,14.21,14.26
$GC,7327,-0.79,-107.1,2614,2759,3475,3429,654.1,-9.0,318,7331,0.00,2.45,0.00,0.000,516,0.000,0.042,2614,1369,3451,3473,3429,0,0,0,0,0,0,14.81,14.15,14.81
$GC,7383,-0.79,-107.1,2614,1370,3474,3428,659.1,-9.0,326,7388,0.12,2.62,0.00,0.000,3078,0.236,0.081,2639,2750,3451,3473,3429,0,0,0,0,0,0,13.71,13.85,14.00
$GC,7719,-0.79,-107.1,2640,2751,3471,3430,684.4,-7.4,339,7724,0.00,2.47,0.00,0.000,548,0.000,0.044,2639,1359,3449,3471,3428,0,0,0,0,0,0,14.85,14.13,14.85
$GC,7760,-0.79,-107.1,2640,1362,3473,3429,687.5,-7.4,345,7766,0.00,2.65,0.00,0.000,1062,0.000,0.082,2630,2756,3449,3471,3427,0,0,0,0,0,0,14.10,13.83,14.16
$GC,8111,-0.79,-107.1,2630,2757,3471,3427,715.6,-8.3,353,8112,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2756,3448,3470,3427,0,0,0,0,0,0,14.81,14.81,14.80
$GC,8447,-0.79,-107.1,2630,2757,3471,3426,745.2,-8.9,359,8448,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2756,3446,3466,3426,0,0,0,0,0,0,14.84,14.84,14.84
$GC,8783,-0.79,-107.1,2630,2757,3471,3423,773.6,-8.3,365,8789,0.00,2.50,0.00,0.000,516,0.000,0.044,2629,1361,3446,3470,3423,0,0,0,0,0,0,14.80,14.10,14.79
$GC,8817,-0.79,-107.1,2629,1362,3471,3423,776.4,-8.5,370,8822,0.00,2.65,0.00,0.000,1030,0.000,0.083,2620,2749,3446,3470,3423,0,0,0,0,0,0,14.07,13.79,14.12
$STATE,9171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9171,begin apogee
$GC,9180,-0.23,0.0,2620,2223,3468,3423,803.8,-7.5,379,9289,0.73,0.10,100.80,2.511,10244,0.176,0.194,2825,2278,3053,3093,3014,0,0,0,0,1,0,13.69,13.75,12.57
$STATE,9291,end apogee,CONTROL_FINISHED_OK
$STATE,9291,begin climb
$GC,9295,0.93,107.1,2826,2278,3093,3023,806.2,0.0,381,9421,1.10,2.55,107.22,2.717,10756,0.086,0.056,3182,884,2625,2683,2568,0,0,0,0,1,0,13.94,13.96,12.43
$GC,9491,0.83,133.0,3181,885,2684,2576,801.9,6.4,410,9531,0.00,2.42,35.42,1.828,9382,0.000,0.060,3182,2242,2517,2586,2448,0,0,0,0,0,0,14.28,14.15,13.05
$GC,9852,0.71,133.0,3182,2242,2583,2428,768.9,9.5,426,9857,0.15,2.70,0.00,0.000,4484,0.227,0.122,3134,3647,2503,2582,2425,0,0,0,0,0,0,14.04,14.10,14.21
$GC,9899,0.61,133.0,3134,3649,2583,2427,764.1,9.1,433,9906,0.15,2.38,0.00,0.000,5254,0.216,0.044,3101,2266,2504,2581,2427,0,0,0,0,0,0,14.06,14.37,14.33
$GC,10243,0.64,154.3,3103,2266,2583,2433,740.7,6.7,440,10268,0.00,0.00,23.17,1.860,8230,0.000,0.000,3103,2266,2434,2513,2356,0,0,0,0,0,0,14.79,14.28,13.27
$GC,10580,0.67,178.5,3103,2267,2508,2339,718.6,6.5,446,10613,0.00,2.72,26.55,1.851,8484,0.000,0.126,3102,3658,2333,2418,2249,0,0,0,0,0,0,14.75,14.21,13.26
$GC,10697,0.67,182.3,3102,3659,2418,2243,710.2,7.5,463,10703,0.00,2.40,0.00,0.000,1062,0.000,0.043,3111,2257,2329,2417,2242,0,0,0,0,0,0,14.45,14.38,14.47
$GC,11027,0.70,205.5,3112,2254,2417,2238,688.4,6.6,475,11066,0.00,2.80,30.55,1.806,8484,0.000,0.129,3112,3655,2224,2313,2135,0,0,0,0,0,0,14.74,14.20,13.27
$GC,11096,0.70,205.5,3111,3657,2312,2133,683.2,7.8,485,11101,0.00,2.40,0.00,0.000,1030,0.000,0.043,3131,2261,2219,2308,2131,0,0,0,0,0,0,14.43,14.35,14.45
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$STATE,19738,end climb,SURFACE_DEPTH_REACHED
$STATE,19738,begin surface coast
$FINISH,-0.9,1.022164
$STATE,19766,end surface coast,CONTROL_FINISHED_OK
$STATE,19766,begin surface
$SM_CCo,19791,44.70,0.153,0,0,1056,500.14
$SM_GC,-1.75,9.35,1.00,44.70,0.076,0.113,0.153,193,2770,1056,-8.39,-0.40,500.14,0,0,0,0,0,0,14.35,14.00,14.10
$IRIDIUM_FIX,949.50,-12426.34,010217,221947
$TT8_MAMPS,0.038948,0.455392
$HUMID,58.30
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,20.40
$XPDR_PINGS,0
$SC_FREEKB,3666656
$PM_FREEKB,52581312
$24V_AH,12.43,218.174
$10V_AH,12.37,0.000
$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,24.625,190.075,444.750,44.700,0.000,0.000,0.000,386.900,0.000,0.000,5.547,0.000,16751.279,744.160,2454.728,628.706,0.000,1892.263,0.000,1537.776,0.000,0.838,0.000
$DEVICE_MAMPS,386.325,194.310,2717.280,153.000,0.000,0.000,0.000,175.950,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.593,2.431,0.000,0.000
$MEM,334724
$DATA_FILE_SIZE,30085,862
$CAP_FILE_SIZE,149209,0
$CFSIZE,1024409600,912916480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.068,71.86,1
$GPS,020217,093900,949.325,-12505.674,21,0.8,21,9.0,0.1,0.0,10,3.5