version: 66.13
glider: 220
mission: 6
dive: 662
start: 2 8 117 23 6 21
data:
$ID,220
$MISSION,6
$DIVE,662
$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,44
$R_STBD_OVSHOOT,23
$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
$GPS1,080217,225240,1017.2798,-12459.3184,17,1.1,26,9.0,0.6,349.0,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-8.95
$_SM_ANGLEo,-67.2
$GPS2,080217,230558,1017.3132,-12459.4053,3,1.1,7,9.0,0.4,146.2,10,10.0
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,355.2,3464,-20.5,-7.729,-26.63,1624
$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,-1.04,-84.1,107,2772,1103,1018,0.0,0.0,0,101,0.00,0.00,-79.38,0.000,16390,0.000,0.000,106,2772,3385,3370,3401,0,0,0,0,0,0,14.61,12.93,14.56
$GC,106,-1.04,-84.1,107,2773,3370,3401,-3.8,-9.0,3,122,11.77,1.98,0.00,0.000,2308,0.381,0.109,2545,3827,3386,3372,3401,0,0,0,0,0,0,13.91,14.26,14.19
$GC,187,-0.72,-84.1,2546,3828,3374,3400,23.5,-23.4,15,192,0.45,1.77,0.00,0.000,3206,0.261,0.041,2660,2710,3387,3373,3401,0,0,0,0,0,0,13.91,14.45,14.23
$GC,523,-0.72,-84.1,2660,2711,3378,3401,59.8,-9.5,30,528,0.00,2.35,0.00,0.000,516,0.000,0.044,2668,1362,3389,3379,3400,0,0,0,0,0,0,14.76,14.17,14.76
$GC,715,-0.75,-107.1,2660,1363,3376,3400,75.5,-4.6,57,722,0.00,2.62,0.00,0.000,1062,0.000,0.087,2650,2748,3389,3378,3400,0,0,0,0,0,0,14.26,14.00,14.31
$GC,1027,-0.75,-107.1,2650,2749,3380,3400,97.3,-6.4,69,1033,0.00,2.45,0.00,0.000,548,0.000,0.044,2649,1362,3389,3378,3401,0,0,0,0,0,0,14.79,14.21,14.80
$GC,1111,-0.83,-107.1,2650,1363,3380,3400,100.6,-2.4,81,1117,0.00,2.62,0.00,0.000,1190,0.000,0.086,2640,2751,3389,3379,3400,0,0,0,0,0,0,14.25,13.97,14.28
$GC,1475,-0.83,-107.1,2641,2751,3383,3398,133.2,-9.6,91,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2751,3387,3378,3397,0,0,0,0,0,0,14.84,14.85,14.85
$GC,1811,-0.83,-107.1,2640,2752,3380,3394,160.1,-8.0,97,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2751,3386,3378,3394,0,0,0,0,0,0,14.85,14.85,14.85
$GC,2147,-0.91,-107.1,2641,2751,3379,3389,186.7,-7.8,103,2152,0.00,2.47,0.00,0.000,644,0.000,0.044,2640,1366,3383,3378,3388,0,0,0,0,0,0,14.84,14.10,14.85
$GC,2181,-1.00,-107.1,2646,1367,3380,3388,186.7,1.3,108,2187,0.10,2.62,0.00,0.000,5286,0.111,0.083,2556,2753,3383,3378,3388,0,0,0,0,0,0,14.19,13.93,14.29
$GC,2539,-1.00,-107.1,2556,2755,3379,3383,222.0,-10.9,117,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2753,3380,3378,3383,0,0,0,0,0,0,14.81,14.81,14.81
$GC,2875,-1.00,-107.1,2556,2753,3379,3380,258.4,-9.3,123,2880,0.00,2.10,0.00,0.000,260,0.000,0.130,2547,3829,3378,3378,3378,0,0,0,0,0,0,14.81,13.81,14.81
$GC,2993,-0.91,-107.1,2548,3829,3379,3378,273.2,-0.1,140,2998,0.20,1.85,0.00,0.000,3238,0.230,0.049,2599,2737,3377,3378,3377,0,0,0,0,0,0,13.74,14.34,14.04
$GC,3323,-0.91,-107.1,2600,2738,3379,3374,307.2,-8.6,152,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2737,3376,3377,3375,0,0,0,0,0,0,14.84,14.85,14.84
$GC,3659,-0.91,-107.1,2600,2738,3379,3370,333.4,-8.3,158,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2738,3374,3378,3370,0,0,0,0,0,0,14.85,14.85,14.85
$GC,3995,-0.91,-107.1,2600,2738,3380,3366,363.2,-8.3,164,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2737,3371,3378,3365,0,0,0,0,0,0,14.82,14.85,14.85
$GC,4331,-0.91,-107.1,2599,2738,3379,3364,388.8,-7.6,170,4336,0.00,2.42,0.00,0.000,548,0.000,0.043,2599,1378,3370,3378,3363,0,0,0,0,0,0,14.80,14.16,14.80
$GC,4393,-0.91,-107.1,2599,1378,3378,3364,396.8,-10.2,179,4398,0.00,2.62,0.00,0.000,1030,0.000,0.080,2590,2759,3370,3378,3363,0,0,0,0,0,0,14.13,13.85,14.19
$GC,4723,-0.91,-107.1,2590,2760,3379,3359,426.8,-9.4,191,4728,0.00,2.12,0.00,0.000,260,0.000,0.132,2582,3835,3368,3378,3358,0,0,0,0,0,0,14.80,13.73,14.80
$GC,4757,-0.91,-107.1,2582,3833,3379,3359,430.0,-7.6,196,4762,0.00,1.88,0.00,0.000,1062,0.000,0.050,2581,2769,3368,3378,3358,0,0,0,0,0,0,14.25,14.21,14.26
$GC,5115,-0.91,-107.1,2580,2768,3379,3357,463.0,-10.7,205,5121,0.00,2.47,0.00,0.000,516,0.000,0.042,2580,1373,3366,3378,3355,0,0,0,0,0,0,14.83,14.12,14.83
$GC,5171,-0.91,-107.1,2581,1373,3379,3356,473.5,-7.9,213,5177,0.12,2.62,0.00,0.000,3078,0.233,0.080,2604,2756,3366,3378,3355,0,0,0,0,0,0,13.71,13.83,13.98
$GC,5507,-0.91,-107.1,2604,2759,3379,3351,502.4,-8.4,226,5512,0.00,2.12,0.00,0.000,260,0.000,0.132,2597,3831,3364,3378,3351,0,0,0,0,0,0,14.83,13.69,14.83
$GC,5534,-0.91,-107.1,2597,3831,3378,3352,504.1,-6.9,230,5539,0.00,1.88,0.00,0.000,1062,0.000,0.051,2596,2749,3364,3378,3351,0,0,0,0,0,0,14.31,14.23,14.33
$GC,5899,-0.91,-107.1,2597,2750,3377,3351,531.9,-7.5,240,5900,0.00,0.00,0.00,0.000,38,0.000,0.000,2596,2750,3364,3380,3349,0,0,0,0,0,0,14.83,14.83,14.83
$GC,6235,-0.91,-107.1,2596,2751,3382,3346,557.5,-7.4,246,6236,0.00,0.00,0.00,0.000,38,0.000,0.000,2596,2750,3362,3378,3346,0,0,0,0,0,0,14.83,14.83,14.83
$GC,6571,-0.91,-107.1,2597,2751,3379,3343,585.9,-8.4,252,6576,0.00,2.47,0.00,0.000,516,0.000,0.044,2596,1362,3364,3378,3351,0,0,0,0,0,0,14.83,14.05,14.83
$GC,6598,-0.91,-107.1,2596,1364,3379,3342,587.3,-5.7,256,6603,0.00,2.67,0.00,0.000,1062,0.000,0.080,2587,2763,3360,3378,3342,0,0,0,0,0,0,14.03,13.75,14.09
$GC,6963,-0.91,-107.1,2588,2764,3378,3340,614.9,-7.4,266,6968,0.00,2.12,0.00,0.000,292,0.000,0.131,2580,3830,3359,3378,3340,0,0,0,0,0,0,14.78,13.65,14.78
$GC,7046,-0.91,-107.1,2579,3830,3377,3341,618.9,-6.5,278,7051,0.10,1.88,0.00,0.000,3110,0.243,0.051,2605,2755,3356,3375,3337,0,0,0,0,0,0,13.76,14.21,14.01
$GC,7411,-0.91,-107.1,2605,2752,3374,3340,644.4,-6.7,288,7416,0.00,2.50,0.00,0.000,548,0.000,0.043,2605,1360,3356,3373,3340,0,0,0,0,0,0,14.76,14.02,14.77
$GC,7445,-0.91,-107.1,2606,1359,3374,3341,656.0,-36.2,293,7451,0.00,2.67,0.00,0.000,1030,0.000,0.078,2596,2759,3356,3373,3340,0,0,0,0,0,0,14.02,13.75,14.07
$GC,7803,-0.91,-107.1,2597,2759,3371,3341,691.0,-9.0,302,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2759,3355,3371,3340,0,0,0,0,0,0,14.77,14.77,14.77
$GC,8139,-0.91,-107.1,2596,2759,3368,3341,719.8,-9.0,308,8140,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2759,3353,3368,3339,0,0,0,0,0,0,14.81,14.81,14.81
$GC,8475,-0.91,-107.1,2596,2758,3369,3338,748.8,-7.8,314,8476,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2759,3353,3369,3337,0,0,0,0,0,0,14.76,14.76,14.76
$GC,8811,-0.91,-107.1,2596,2759,3369,3336,781.2,-9.2,320,8816,0.00,2.53,0.00,0.000,516,0.000,0.043,2595,1365,3351,3368,3335,0,0,0,0,0,0,14.76,14.00,14.76
$GC,8859,-0.91,-107.1,2595,1366,3370,3334,787.2,-11.6,327,8866,0.00,2.70,0.00,0.000,1030,0.000,0.081,2586,2756,3351,3368,3334,0,0,0,0,0,0,13.96,13.69,14.02
$STATE,9031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9031,begin apogee
$GC,9041,-0.23,0.0,2587,2220,3367,3335,800.9,-7.5,331,9129,0.85,0.10,79.68,2.447,10244,0.189,0.177,2818,2280,3050,3085,3015,0,0,0,0,1,0,13.63,13.82,12.62
$STATE,9130,end apogee,CONTROL_FINISHED_OK
$STATE,9130,begin climb
$GC,9134,1.06,107.1,2820,2281,3086,3028,802.4,0.0,332,9275,1.27,2.55,125.60,1.841,10756,0.095,0.054,3228,886,2614,2673,2555,0,0,0,0,0,0,13.94,13.99,12.92
$GC,9331,1.00,158.2,3228,887,2673,2550,793.5,4.5,366,9393,0.00,2.42,57.20,1.817,9382,0.000,0.059,3227,2243,2420,2493,2347,0,0,0,0,0,0,14.29,14.17,13.01
$GC,9713,0.89,158.2,3226,2242,2486,2320,753.9,11.8,385,9719,0.10,2.72,0.00,0.000,4484,0.272,0.116,3197,3656,2401,2484,2319,0,0,0,0,0,0,13.92,14.04,14.10
$GC,9740,0.77,158.2,3197,3657,2485,2319,749.1,16.0,389,9746,0.20,2.40,0.00,0.000,5254,0.236,0.045,3154,2270,2401,2484,2319,0,0,0,0,0,0,13.94,14.34,14.26
$GC,10105,0.77,158.2,3155,2265,2484,2315,717.1,9.0,399,10106,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2266,2399,2484,2314,0,0,0,0,0,0,14.76,14.76,14.76
$GC,10441,0.77,158.2,3154,2268,2485,2313,691.1,7.8,405,10442,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2267,2397,2481,2313,0,0,0,0,0,0,14.75,14.75,14.75
$GC,10777,0.77,158.2,3154,2267,2485,2311,664.6,7.9,411,10777,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2266,2397,2484,2311,0,0,0,0,0,0,14.76,14.76,14.76
$GC,11113,0.77,158.2,3154,2271,2485,2312,639.1,8.1,417,11119,0.00,2.75,0.00,0.000,260,0.000,0.121,3154,3655,2397,2484,2310,0,0,0,0,0,0,14.76,13.88,14.76
$GC,11147,0.77,158.2,3154,3654,2485,2312,634.7,13.9,422,11152,0.00,2.45,0.00,0.000,1030,0.000,0.045,3164,2261,2397,2484,2310,0,0,0,0,0,0,14.38,14.29,14.40
$GC,11505,0.77,158.2,3165,2259,2485,2309,606.0,7.9,431,11510,0.00,2.78,0.00,0.000,260,0.000,0.125,3165,3648,2396,2484,2309,0,0,0,0,0,0,14.80,13.83,14.80
$GC,11546,0.77,158.2,3166,3648,2485,2310,601.9,11.2,437,11552,0.00,2.45,0.00,0.000,1030,0.000,0.044,3175,2247,2396,2484,2309,0,0,0,0,0,0,14.33,14.24,14.36
$GC,11897,0.81,183.6,3176,2244,2485,2310,574.3,6.1,445,11924,0.00,0.00,25.48,1.728,8230,0.000,0.000,3175,2244,2319,2405,2234,0,0,0,0,0,0,14.79,14.25,13.31
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$FREEZE,37.83,26.728,-1.903,0,1,0
$STATE,18599,end climb,NO_VERTICAL_VELOCITY
$STATE,18603,begin surface
$SM_CCo,18609,190.15,0.301,0,0,498,640.56
$SM_GC,-8.90,8.95,0.98,0.00,0.056,0.109,0.000,193,2762,507,-8.39,-0.68,639.05,0,0,0,0,0,0,14.31,13.95,14.38
$IRIDIUM_FIX,1009.21,-12455.57,080217,173731
$TT8_MAMPS,0.038199,0.313831
$HUMID,56.65
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,17.90
$XPDR_PINGS,0
$SC_FREEKB,3655520
$PM_FREEKB,52253760
$24V_AH,12.62,226.870
$10V_AH,12.36,0.000
$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,24.600,145.300,366.925,190.150,0.000,0.000,0.000,413.025,0.000,0.000,8.647,0.000,16436.945,770.252,2170.615,620.951,0.000,1821.062,0.000,1282.744,0.000,0.838,0.000
$DEVICE_MAMPS,380.970,177.480,2447.235,300.645,0.000,0.000,0.000,172.890,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18667.000,18615.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.588,2.448,0.000,0.000
$MEM,334700
$DATA_FILE_SIZE,23400,695
$CAP_FILE_SIZE,132784,0
$CFSIZE,1024409600,908656640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.073,333.67,1
$GPS,090217,042739,1019.585,-12459.703,24,1.1,24,9.0,0.5,251.7,9,7.0