version: 66.13
glider: 220
mission: 6
dive: 636
start: 2 2 117 21 22 4
data:
$ID,220
$MISSION,6
$DIVE,636
$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,42
$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
$GPS1,020217,210339,946.1636,-12502.9854,19,1.2,28,9.0,0.3,130.6,10,5.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.01
$_SM_ANGLEo,-67.2
$GPS2,020217,212142,946.1357,-12502.8955,3,1.0,5,9.0,0.6,227.8,10,7.3
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,156.8,11027,-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,-107.1,109,2788,1106,1019,0.0,0.0,0,101,0.00,0.00,-80.60,0.000,16390,0.000,0.000,106,2789,3477,3469,3485,0,0,0,0,0,0,14.65,12.67,14.60
$GC,106,-0.93,-107.1,107,2786,3469,3487,4.0,-10.2,3,123,11.82,2.42,0.00,0.000,2564,0.377,0.032,2590,1353,3478,3470,3486,0,0,0,0,0,0,13.97,14.34,14.23
$GC,159,-0.62,-107.1,2590,1354,3473,3486,25.9,-26.7,11,164,0.43,2.62,0.00,0.000,3206,0.244,0.090,2694,2764,3478,3471,3485,0,0,0,0,0,0,14.04,14.20,14.33
$GC,495,-0.62,-107.1,2694,2764,3473,3487,66.4,-8.7,26,499,0.00,2.45,0.00,0.000,516,0.000,0.043,2694,1357,3479,3473,3485,0,0,0,0,0,0,14.81,14.32,14.82
$GC,725,-0.62,-107.1,2695,1357,3475,3487,82.2,-6.5,59,730,0.00,2.65,0.00,0.000,1062,0.000,0.087,2684,2780,3479,3473,3486,0,0,0,0,0,0,14.35,14.11,14.39
$GC,1055,-0.62,-107.1,2685,2780,3475,3487,104.9,-7.1,72,1059,0.00,2.05,0.00,0.000,292,0.000,0.139,2677,3833,3479,3473,3485,0,0,0,0,0,0,14.86,13.99,14.87
$GC,1131,-0.62,-107.1,2676,3834,3476,3485,111.1,-8.2,83,1136,0.00,1.83,0.00,0.000,1030,0.000,0.044,2676,2742,3480,3475,3485,0,0,0,0,0,0,14.42,14.42,14.45
$GC,1447,-0.62,-107.1,2677,2742,3475,3483,137.0,-8.3,93,1452,0.00,2.15,0.00,0.000,260,0.000,0.135,2668,3832,3478,3474,3482,0,0,0,0,0,0,14.85,13.99,14.85
$GC,1503,-0.69,-107.1,2669,3832,3475,3483,141.6,-8.3,101,1508,0.00,1.75,0.00,0.000,1158,0.000,0.049,2668,2784,3477,3474,3481,0,0,0,0,0,0,14.41,14.36,14.42
$GC,1839,-0.69,-107.1,2669,2783,3475,3478,165.7,-7.0,114,1844,0.00,2.42,0.00,0.000,548,0.000,0.044,2668,1385,3475,3474,3477,0,0,0,0,0,0,14.85,14.30,14.85
$GC,1951,-0.78,-107.1,2669,1385,3475,3476,173.3,-6.7,130,1956,0.00,2.62,0.00,0.000,1190,0.000,0.088,2659,2778,3474,3473,3475,0,0,0,0,0,0,14.33,14.07,14.36
$GC,2287,-0.78,-107.1,2659,2780,3475,3469,196.9,-7.2,143,2292,0.00,2.45,0.00,0.000,548,0.000,0.044,2659,1385,3471,3474,3469,0,0,0,0,0,0,14.85,14.29,14.85
$GC,2343,-0.78,-107.1,2659,1385,3474,3470,201.1,-7.6,151,2347,0.00,2.62,0.00,0.000,1062,0.000,0.088,2651,2778,3471,3474,3469,0,0,0,0,0,0,14.31,14.06,14.35
$GC,2679,-0.78,-107.1,2652,2780,3479,3463,229.2,-8.5,164,2683,0.00,2.45,0.00,0.000,516,0.000,0.045,2652,1386,3468,3474,3463,0,0,0,0,0,0,14.85,14.28,14.85
$GC,2741,-0.78,-107.1,2651,1386,3475,3463,234.5,-8.4,173,2747,0.00,2.60,0.00,0.000,1030,0.000,0.088,2644,2772,3469,3475,3463,0,0,0,0,0,0,14.28,14.02,14.33
$GC,3071,-0.78,-107.1,2645,2772,3475,3459,262.2,-8.4,185,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2772,3466,3474,3459,0,0,0,0,0,0,14.88,14.88,14.88
$GC,3407,-0.78,-107.1,2645,2773,3475,3453,290.6,-8.5,191,3412,0.00,2.47,0.00,0.000,516,0.000,0.046,2644,1378,3463,3474,3453,0,0,0,0,0,0,14.85,14.28,14.85
$GC,3448,-0.78,-107.1,2646,1378,3474,3454,294.2,-8.6,197,3454,0.00,2.62,0.00,0.000,1030,0.000,0.088,2635,2770,3463,3474,3453,0,0,0,0,0,0,14.28,14.02,14.33
$GC,3799,-0.78,-107.1,2636,2771,3475,3449,324.3,-8.5,205,3804,0.00,2.45,0.00,0.000,516,0.000,0.044,2635,1381,3461,3474,3449,0,0,0,0,0,0,14.88,14.26,14.88
$GC,3847,-0.78,-107.1,2635,1382,3475,3449,328.4,-8.2,212,3853,0.00,2.62,0.00,0.000,1030,0.000,0.086,2626,2765,3461,3474,3448,0,0,0,0,0,0,14.26,14.00,14.29
$GC,4191,-0.78,-107.1,2627,2765,3474,3446,358.6,-8.9,219,4191,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2765,3458,3473,3444,0,0,0,0,0,0,14.84,14.84,14.84
$GC,4527,-0.78,-107.1,2627,2765,3474,3442,387.0,-8.4,225,4532,0.00,2.45,0.00,0.000,516,0.000,0.046,2626,1385,3457,3473,3441,0,0,0,0,0,0,14.87,14.24,14.88
$GC,4589,-0.78,-107.1,2626,1386,3474,3442,392.3,-8.4,234,4594,0.10,2.62,0.00,0.000,3078,0.234,0.086,2644,2770,3457,3474,3440,0,0,0,0,0,0,13.88,13.96,14.13
$GC,4919,-0.78,-107.1,2644,2771,3475,3437,417.1,-7.5,246,4920,0.00,0.00,0.00,0.000,38,0.000,0.000,2644,2770,3452,3469,3436,0,0,0,0,0,0,14.83,14.83,14.83
$GC,5255,-0.78,-107.1,2644,2771,3473,3435,443.8,-8.0,252,5259,0.00,2.47,0.00,0.000,516,0.000,0.046,2644,1382,3453,3473,3434,0,0,0,0,0,0,14.84,14.21,14.84
$GC,5289,-0.78,-107.1,2645,1383,3475,3433,446.6,-8.1,257,5295,0.00,2.60,0.00,0.000,1030,0.000,0.086,2636,2760,3453,3473,3434,0,0,0,0,0,0,14.20,13.94,14.25
$GC,5647,-0.78,-107.1,2636,2761,3474,3432,476.5,-8.5,266,5652,0.00,2.45,0.00,0.000,516,0.000,0.046,2635,1386,3452,3473,3432,0,0,0,0,0,0,14.83,14.19,14.83
$GC,5688,-0.78,-107.1,2634,1386,3473,3433,480.1,-8.5,272,5693,0.00,2.62,0.00,0.000,1030,0.000,0.087,2626,2767,3456,3474,3438,0,0,0,0,0,0,14.19,13.93,14.25
$GC,6039,-0.78,-107.1,2626,2768,3475,3428,510.8,-8.8,280,6043,0.00,2.12,0.00,0.000,260,0.000,0.142,2615,3835,3450,3473,3428,0,0,0,0,0,0,14.83,13.78,14.83
$GC,6066,-0.78,-107.1,2618,3835,3474,3427,513.3,-9.0,284,6071,0.08,1.88,0.00,0.000,3078,0.208,0.050,2640,2773,3450,3473,3428,0,0,0,0,0,0,13.87,14.25,14.01
$GC,6431,-0.78,-107.1,2640,2770,3471,3430,542.4,-7.9,294,6436,0.00,2.50,0.00,0.000,516,0.000,0.046,2640,1362,3449,3470,3428,0,0,0,0,0,0,14.82,14.19,14.82
$GC,6521,-0.78,-107.1,2640,1364,3471,3428,549.7,-8.1,307,6526,0.00,2.65,0.00,0.000,1030,0.000,0.083,2630,2763,3448,3470,3427,0,0,0,0,0,0,14.14,13.90,14.21
$GC,6879,-0.78,-107.1,2630,2764,3470,3427,579.7,-8.5,316,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2763,3448,3469,3427,0,0,0,0,0,0,14.82,14.82,14.82
$GC,7215,-0.78,-107.1,2631,2763,3469,3426,606.9,-8.0,322,7220,0.00,2.50,0.00,0.000,516,0.000,0.044,2629,1366,3447,3469,3425,0,0,0,0,0,0,14.81,14.16,14.81
$GC,7242,-0.78,-107.1,2629,1366,3468,3426,609.2,-8.2,326,7247,0.00,2.65,0.00,0.000,1030,0.000,0.085,2621,2757,3446,3469,3424,0,0,0,0,0,0,14.13,13.87,14.19
$GC,7607,-0.78,-107.1,2620,2757,3466,3427,638.9,-8.1,336,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2757,3444,3466,3423,0,0,0,0,0,0,14.81,14.81,14.82
$GC,7943,-0.78,-107.1,2621,2758,3466,3421,665.3,-7.8,342,7947,0.00,2.50,0.00,0.000,516,0.000,0.046,2622,1370,3442,3464,3420,0,0,0,0,0,0,14.81,14.09,14.81
$GC,7984,-0.78,-107.1,2620,1369,3465,3422,668.7,-8.1,348,7989,0.12,2.65,0.00,0.000,3078,0.226,0.085,2645,2753,3443,3465,3421,0,0,0,0,0,0,13.72,13.83,14.00
$GC,8335,-0.78,-107.1,2645,2754,3466,3420,693.3,-7.0,356,8336,0.00,0.00,0.00,0.000,38,0.000,0.000,2648,2753,3442,3465,3420,0,0,0,0,0,0,14.81,14.81,14.81
$GC,8671,-0.78,-107.1,2645,2754,3465,3419,718.2,-7.4,362,8676,0.00,2.50,0.00,0.000,548,0.000,0.046,2645,1366,3441,3463,3419,0,0,0,0,0,0,14.84,14.11,14.81
$GC,8727,-0.86,-107.1,2645,1365,3464,3421,722.4,-7.6,370,8732,0.00,2.67,0.00,0.000,1190,0.000,0.086,2636,2752,3441,3463,3419,0,0,0,0,0,0,14.07,13.80,14.12
$GC,9063,-0.86,-107.1,2636,2752,3463,3419,747.8,-7.5,383,9064,0.00,0.00,0.00,0.000,38,0.000,0.000,2636,2751,3440,3462,3418,0,0,0,0,0,0,14.83,14.83,14.83
$GC,9399,-0.86,-107.1,2637,2753,3462,3417,772.5,-7.3,389,9404,0.00,2.50,0.00,0.000,548,0.000,0.045,2636,1365,3439,3461,3417,0,0,0,0,0,0,14.86,14.09,14.84
$GC,9489,-0.94,-107.1,2636,1366,3462,3417,779.2,-7.8,402,9494,0.00,2.70,0.00,0.000,1158,0.000,0.087,2627,2760,3438,3460,3417,0,0,0,0,0,0,14.03,13.76,14.09
$STATE,9787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9787,begin apogee
$GC,9796,-0.23,0.0,2627,2217,3461,3416,801.8,-7.6,410,9902,0.70,0.08,94.70,2.677,10244,0.174,0.162,2825,2263,3054,3090,3018,0,0,0,0,1,0,13.68,13.64,12.57
$STATE,9904,end apogee,CONTROL_FINISHED_OK
$STATE,9904,begin climb
$GC,9908,0.93,107.1,2826,2263,3090,3025,804.9,0.0,412,10032,1.10,2.55,105.72,2.725,10756,0.084,0.057,3184,877,2625,2682,2569,0,0,0,0,1,0,13.93,13.96,12.46
$GC,10123,0.85,148.7,3184,878,2683,2580,801.7,5.6,443,10185,0.00,2.50,53.25,1.802,9382,0.000,0.064,3184,2252,2449,2524,2375,0,0,0,0,0,0,14.31,14.17,13.00
$GC,10526,0.74,148.7,3184,2252,2523,2362,767.2,9.0,458,10531,0.12,2.72,0.00,0.000,4484,0.238,0.125,3143,3654,2441,2522,2360,0,0,0,0,0,0,14.04,14.07,14.21
$GC,10573,0.64,148.7,3144,3654,2525,2362,762.5,9.0,465,10581,0.15,2.40,0.00,0.000,5254,0.228,0.045,3112,2270,2443,2526,2360,0,0,0,0,0,0,14.03,14.39,14.33
$GC,10917,0.67,174.5,3112,2269,2522,2358,739.9,6.4,472,10950,0.00,2.70,27.62,1.838,8484,0.000,0.126,3111,3658,2351,2434,2268,0,0,0,0,0,0,14.76,14.10,13.27
$GC,10979,0.68,181.3,3111,3660,2430,2260,735.3,7.4,481,10986,0.00,2.42,2.35,0.620,9254,0.000,0.045,3121,2260,2329,2410,2248,0,0,0,0,0,0,14.45,14.38,12.90
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$STATE,20167,end climb,SURFACE_DEPTH_REACHED
$STATE,20167,begin surface coast
$FINISH,-1.3,1.022120
$STATE,20195,end surface coast,CONTROL_FINISHED_OK
$STATE,20196,begin surface
$SM_CCo,20221,52.35,0.151,0,0,1058,500.14
$SM_GC,-2.46,9.05,0.95,52.35,0.063,0.093,0.151,188,2770,1058,-8.40,-0.57,500.14,0,0,0,0,0,0,14.31,14.13,14.14
$IRIDIUM_FIX,940.75,-12502.75,020217,211610
$TT8_MAMPS,0.038199,0.384237
$HUMID,57.95
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.00
$XPDR_PINGS,0
$SC_FREEKB,3665504
$PM_FREEKB,52547392
$24V_AH,12.46,219.113
$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,24.100,178.150,443.675,52.350,0.000,0.000,0.000,582.975,0.000,0.000,6.426,0.000,17322.303,752.715,2613.576,648.068,0.000,2073.278,0.000,1520.499,0.000,1.132,0.000
$DEVICE_MAMPS,377.145,162.180,2724.930,150.705,0.000,0.000,0.000,162.945,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20260.000,20208.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.589,2.432,0.000,0.000
$MEM,334736
$DATA_FILE_SIZE,30060,846
$CAP_FILE_SIZE,151194,0
$CFSIZE,1024409600,912474112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.077,141.11,1
$GPS,030217,030100,943.905,-12501.644,27,0.9,27,9.0,0.6,140.1,9,5.1