version: 66.13
glider: 220
mission: 6
dive: 635
start: 2 2 117 15 31 39
data:
$ID,220
$MISSION,6
$DIVE,635
$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,48
$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
$GPS1,020217,151830,947.4724,-12504.8652,34,0.8,34,9.0,0.8,61.0,12,3.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.34
$_SM_ANGLEo,-70.9
$GPS2,020217,153114,947.5502,-12504.7627,2,0.8,4,9.0,0.6,61.0,12,3.1
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,136.1,15061,-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,-107.1,148,2785,1100,1015,0.0,0.0,0,102,0.00,0.00,-81.60,0.000,16390,0.000,0.000,141,2784,3479,3470,3489,0,0,0,0,0,0,14.64,12.64,14.60
$GC,106,-0.93,-107.1,142,2786,3471,3489,3.0,-12.4,3,123,11.90,2.45,0.00,0.000,2564,0.386,0.037,2591,1363,3480,3472,3489,0,0,0,0,0,0,13.94,14.38,14.33
$GC,172,-0.69,-107.1,2590,1364,3473,3495,27.9,-22.5,13,178,0.35,2.62,0.00,0.000,3206,0.253,0.091,2672,2770,3481,3474,3488,0,0,0,0,0,0,13.95,14.16,14.24
$GC,495,-0.69,-107.1,2673,2770,3476,3489,69.3,-9.9,26,499,0.00,2.05,0.00,0.000,260,0.000,0.137,2664,3826,3482,3476,3488,0,0,0,0,0,0,14.78,14.02,14.79
$GC,613,-0.69,-107.1,2664,3826,3478,3489,79.1,-8.0,43,618,0.00,1.83,0.00,0.000,1030,0.000,0.045,2664,2737,3482,3477,3488,0,0,0,0,0,0,14.42,14.42,14.43
$GC,943,-0.69,-107.1,2664,2745,3480,3488,104.4,-7.6,56,947,0.00,2.12,0.00,0.000,292,0.000,0.130,2654,3825,3483,3478,3488,0,0,0,0,0,0,14.83,13.96,14.83
$GC,1033,-0.69,-107.1,2656,3822,3479,3488,111.9,-8.2,69,1039,0.00,1.77,0.00,0.000,1030,0.000,0.045,2655,2760,3483,3479,3488,0,0,0,0,0,0,14.45,14.42,14.46
$GC,1391,-0.69,-107.1,2656,2761,3480,3486,138.6,-7.6,78,1392,0.00,0.00,0.00,0.000,38,0.000,0.000,2656,2760,3482,3478,3487,0,0,0,0,0,0,14.88,14.88,14.88
$GC,1727,-0.69,-107.1,2656,2760,3479,3484,167.5,-8.8,84,1732,0.00,2.35,0.00,0.000,516,0.000,0.041,2655,1396,3480,3478,3482,0,0,0,0,0,0,14.87,14.34,14.88
$GC,1810,-0.69,-107.1,2655,1395,3479,3481,175.0,-8.7,96,1815,0.10,2.58,0.00,0.000,3078,0.225,0.082,2676,2770,3479,3478,3481,0,0,0,0,0,0,14.02,14.07,14.26
$GC,2175,-0.78,-107.1,2677,2770,3479,3479,202.4,-7.4,106,2180,0.00,2.42,0.00,0.000,676,0.000,0.041,2676,1383,3477,3478,3476,0,0,0,0,0,0,14.87,14.35,14.88
$GC,2216,-0.88,-107.1,2676,1385,3479,3476,205.4,-6.9,112,2221,0.10,2.58,0.00,0.000,5286,0.112,0.083,2586,2762,3476,3477,3476,0,0,0,0,0,0,14.28,14.06,14.38
$GC,2567,-0.81,-107.1,2586,2762,3479,3470,239.8,-9.9,120,2568,0.17,0.00,0.00,0.000,2182,0.223,0.000,2634,2762,3474,3479,3470,0,0,0,0,0,0,14.02,14.35,14.26
$GC,2903,-0.81,-107.1,2635,2762,3479,3467,269.3,-9.0,126,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2762,3472,3478,3466,0,0,0,0,0,0,14.84,14.84,14.85
$GC,3239,-0.81,-107.1,2634,2762,3472,3463,301.4,-9.5,132,3244,0.00,2.42,0.00,0.000,516,0.000,0.042,2634,1391,3470,3478,3462,0,0,0,0,0,0,14.85,14.28,14.85
$GC,3287,-0.81,-107.1,2634,1392,3479,3458,305.9,-9.2,139,3293,0.00,2.60,0.00,0.000,1030,0.000,0.083,2625,2762,3469,3478,3461,0,0,0,0,0,0,14.23,13.98,14.28
$GC,3631,-0.81,-107.1,2625,2762,3475,3458,337.3,-9.1,146,3635,0.00,2.40,0.00,0.000,516,0.000,0.041,2624,1392,3467,3478,3456,0,0,0,0,0,0,14.84,14.28,14.83
$GC,3665,-0.81,-107.1,2625,1391,3479,3457,340.3,-8.6,151,3670,0.00,2.58,0.00,0.000,1030,0.000,0.083,2615,2770,3467,3478,3456,0,0,0,0,0,0,14.24,13.98,14.29
$GC,4023,-0.81,-107.1,2615,2770,3478,3452,372.1,-8.9,160,4024,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2770,3465,3478,3452,0,0,0,0,0,0,14.83,14.83,14.83
$GC,4359,-0.81,-107.1,2616,2770,3479,3451,402.6,-9.3,166,4363,0.00,2.42,0.00,0.000,516,0.000,0.041,2614,1391,3463,3478,3449,0,0,0,0,0,0,14.84,14.26,14.84
$GC,4393,-0.81,-107.1,2614,1390,3479,3450,406.0,-9.5,171,4398,0.12,2.60,0.00,0.000,3078,0.229,0.081,2639,2766,3463,3478,3448,0,0,0,0,0,0,13.83,13.89,14.10
$GC,4751,-0.81,-107.1,2640,2766,3479,3446,436.8,-8.7,180,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2766,3461,3478,3445,0,0,0,0,0,0,14.83,14.83,14.83
$GC,5087,-0.81,-107.1,2639,2766,3479,3444,465.8,-8.6,186,5091,0.00,2.42,0.00,0.000,516,0.000,0.042,2639,1396,3460,3478,3442,0,0,0,0,0,0,14.83,14.23,14.83
$GC,5128,-0.81,-107.1,2640,1396,3479,3443,469.2,-8.1,192,5133,0.00,2.58,0.00,0.000,1030,0.000,0.083,2630,2755,3459,3478,3441,0,0,0,0,0,0,14.21,13.95,14.27
$GC,5479,-0.81,-107.1,2631,2755,3478,3440,497.6,-8.0,200,5480,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2755,3456,3476,3437,0,0,0,0,0,0,14.86,14.87,14.86
$GC,5815,-0.81,-107.1,2632,2755,3479,3442,524.9,-8.2,206,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2755,3455,3478,3432,0,0,0,0,0,0,14.83,14.83,14.83
$GC,6151,-0.81,-107.1,2631,2755,3479,3432,554.4,-8.9,212,6156,0.00,2.45,0.00,0.000,516,0.000,0.044,2630,1389,3455,3478,3433,0,0,0,0,0,0,14.83,14.20,14.83
$GC,6248,-0.81,-107.1,2636,1389,3479,3433,563.4,-9.1,226,6253,0.00,2.62,0.00,0.000,1030,0.000,0.086,2621,2765,3454,3477,3432,0,0,0,0,0,0,14.16,13.90,14.23
$GC,6599,-0.81,-107.1,2622,2765,3480,3432,595.4,-9.0,234,6604,0.00,2.12,0.00,0.000,260,0.000,0.142,2613,3826,3453,3477,3430,0,0,0,0,0,0,14.85,13.75,14.85
$GC,6640,-0.81,-107.1,2614,3826,3477,3431,599.2,-9.3,240,6645,0.00,1.83,0.00,0.000,1030,0.000,0.049,2612,2784,3453,3476,3430,0,0,0,0,0,0,14.26,14.23,14.28
$GC,6991,-0.81,-107.1,2612,2785,3474,3429,628.2,-8.1,248,6995,0.00,2.50,0.00,0.000,516,0.000,0.043,2612,1367,3453,3473,3433,0,0,0,0,0,0,14.85,14.17,14.85
$GC,7047,-0.81,-107.1,2610,1368,3474,3430,632.6,-7.6,256,7052,0.12,2.65,0.00,0.000,3110,0.231,0.081,2637,2760,3451,3473,3430,0,0,0,0,0,0,13.74,13.88,14.02
$GC,7383,-0.81,-107.1,2637,2760,3472,3431,654.2,-6.3,269,7384,0.00,0.00,0.00,0.000,38,0.000,0.000,2637,2760,3450,3471,3430,0,0,0,0,0,0,14.81,14.81,14.81
$GC,7719,-0.81,-107.1,2637,2761,3471,3429,676.3,-6.7,275,7724,0.00,2.50,0.00,0.000,548,0.000,0.044,2637,1364,3449,3470,3428,0,0,0,0,0,0,14.85,14.16,14.85
$GC,7788,-0.81,-107.1,2638,1364,3471,3426,681.2,-6.9,285,7794,0.00,2.65,0.00,0.000,1062,0.000,0.083,2627,2756,3449,3470,3428,0,0,0,0,0,0,14.09,13.83,14.16
$GC,8111,-0.81,-107.1,2628,2756,3471,3427,705.9,-7.8,296,8111,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2757,3448,3470,3426,0,0,0,0,0,0,14.85,14.85,14.85
$GC,8447,-0.81,-107.1,2628,2756,3470,3425,732.3,-7.9,302,8452,0.00,2.50,0.00,0.000,516,0.000,0.044,2626,1365,3447,3470,3425,0,0,0,0,0,0,14.81,14.12,14.80
$GC,8509,-0.81,-107.1,2626,1366,3471,3425,737.3,-7.6,311,8514,0.00,2.67,0.00,0.000,1062,0.000,0.084,2618,2762,3446,3469,3424,0,0,0,0,0,0,14.09,13.82,14.14
$GC,8839,-0.81,-107.1,2619,2763,3467,3424,764.2,-8.2,323,8844,0.00,2.50,0.00,0.000,516,0.000,0.043,2617,1369,3445,3467,3423,0,0,0,0,0,0,14.80,14.09,14.80
$GC,8880,-0.81,-107.1,2618,1369,3468,3425,767.7,-8.4,329,8887,0.10,2.67,0.00,0.000,3078,0.233,0.084,2636,2756,3448,3474,3423,0,0,0,0,0,0,13.71,13.81,13.99
$GC,9231,-0.81,-107.1,2637,2756,3468,3422,794.4,-7.7,337,9232,0.00,0.00,0.00,0.000,38,0.000,0.000,2636,2756,3444,3467,3422,0,0,0,0,0,0,14.83,14.83,14.84
$STATE,9339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9339,begin apogee
$GC,9348,-0.23,0.0,2637,2224,3467,3423,803.0,-7.7,339,9463,0.65,0.08,112.12,1.839,10244,0.169,0.213,2822,2257,3052,3092,3013,0,0,0,0,0,0,13.72,13.85,12.95
$STATE,9465,end apogee,CONTROL_FINISHED_OK
$STATE,9465,begin climb
$GC,9469,0.93,107.1,2823,2257,3088,3004,806.5,0.0,341,9592,1.15,0.00,118.88,1.786,11270,0.086,0.000,3199,2257,2617,2681,2554,0,0,0,0,0,0,14.00,14.28,12.93
$GC,9905,0.79,124.5,3199,2258,2677,2535,786.7,6.9,370,9930,0.12,2.53,17.65,1.887,12964,0.242,0.058,3172,878,2544,2616,2472,0,0,0,0,0,0,13.96,14.26,13.20
$GC,10020,0.74,150.0,3170,878,2615,2472,779.2,6.5,386,10056,0.10,2.45,28.10,1.841,13478,0.233,0.063,3142,2249,2445,2522,2369,0,0,0,0,0,0,14.09,14.25,13.19
$GC,10412,0.75,156.7,3142,2250,2522,2353,750.8,7.4,400,10421,0.00,2.83,1.50,0.223,8484,0.000,0.128,3145,3659,2425,2507,2344,0,0,0,0,0,0,14.69,14.04,13.95
$GC,10521,0.65,156.7,3142,3660,2509,2357,741.5,8.3,416,10526,0.15,2.42,0.00,0.000,5254,0.224,0.044,3112,2252,2432,2508,2357,0,0,0,0,0,0,14.00,14.38,14.26
$GC,10857,0.69,188.6,3110,2250,2509,2357,720.4,6.1,429,10904,0.00,2.83,42.62,1.778,8484,0.000,0.125,3111,3658,2292,2375,2209,0,0,0,0,0,0,14.76,14.16,13.25
$GC,10939,0.69,188.6,3111,3659,2370,2200,714.4,7.7,441,10945,0.00,2.42,0.00,0.000,1030,0.000,0.044,3121,2257,2284,2370,2198,0,0,0,0,0,0,14.41,14.35,14.43
$GC,11298,0.69,190.8,3121,2254,2367,2193,687.5,7.6,450,11304,0.00,2.78,0.00,0.000,292,0.000,0.130,3120,3654,2280,2369,2191,0,0,0,0,0,0,14.75,14.00,14.75
$GC,11332,0.69,190.8,3121,3654,2370,2193,684.5,8.4,455,11337,0.00,2.42,0.00,0.000,1030,0.000,0.044,3130,2256,2280,2369,2191,0,0,0,0,0,0,14.37,14.28,14.40
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$STATE,19757,end climb,SURFACE_DEPTH_REACHED
$STATE,19757,begin surface coast
$FINISH,-2.7,1.022101
$STATE,19785,end surface coast,CONTROL_FINISHED_OK
$STATE,19785,begin surface
$SM_CCo,19810,45.38,0.151,0,0,1057,500.14
$SM_GC,-2.13,9.10,1.02,45.38,0.057,0.119,0.151,189,2776,1057,-8.38,-0.20,500.14,0,0,0,0,0,0,14.38,14.05,14.14
$IRIDIUM_FIX,945.12,-12502.75,020217,094519
$TT8_MAMPS,0.038199,0.300349
$HUMID,57.44
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.10
$XPDR_PINGS,0
$SC_FREEKB,3665888
$PM_FREEKB,52559040
$24V_AH,12.64,218.764
$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,24.875,183.225,479.025,45.375,0.000,0.000,0.000,388.500,0.000,0.000,6.001,0.000,16838.943,753.919,2379.324,630.528,0.000,1877.448,0.000,1471.357,0.000,0.840,0.000
$DEVICE_MAMPS,386.325,212.670,1887.255,150.705,0.000,0.000,0.000,175.185,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19850.000,19797.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.566,2.430,0.000,0.000
$MEM,334748
$DATA_FILE_SIZE,30008,815
$CAP_FILE_SIZE,148791,0
$CFSIZE,1024409600,912621568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,104.13,1
$GPS,020217,210339,946.164,-12502.985,19,1.2,28,9.0,0.3,130.6,10,5.3