version: 66.13
glider: 220
mission: 6
dive: 679
start: 2 12 117 22 29 44
data:
$ID,220
$MISSION,6
$DIVE,679
$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,65
$R_STBD_OVSHOOT,14
$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
$GPS1,120217,221556,953.0180,-12510.5312,37,1.3,38,9.0,0.5,338.8,7,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.32
$_SM_ANGLEo,-68.7
$GPS2,120217,222922,953.0024,-12510.5820,2,1.2,4,9.0,0.4,23.5,8,8.6
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,131.9,29576,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.93,-107.1,150,2786,1103,1019,0.0,0.0,0,102,0.00,0.00,-81.25,0.000,16390,0.000,0.000,141,2782,3478,3468,3489,0,0,0,0,0,0,14.61,12.66,14.55
$GC,106,-0.93,-107.1,142,2787,3471,3489,2.7,-9.8,3,123,11.85,2.45,0.00,0.000,2564,0.382,0.035,2590,1377,3478,3471,3486,0,0,0,0,0,0,13.88,14.38,14.28
$GC,172,-0.70,-107.1,2590,1378,3474,3487,27.0,-22.4,13,178,0.32,2.65,0.00,0.000,3206,0.244,0.101,2667,2763,3485,3474,3496,0,0,0,0,0,0,13.90,14.07,14.19
$GC,495,-0.70,-107.1,2668,2765,3476,3489,67.8,-7.7,26,500,0.00,2.12,0.00,0.000,292,0.000,0.148,2659,3833,3481,3475,3488,0,0,0,0,0,0,14.74,13.84,14.74
$GC,732,-0.70,-107.1,2659,3833,3474,3489,84.2,-7.5,60,737,0.00,1.83,0.00,0.000,1062,0.000,0.052,2659,2740,3482,3477,3488,0,0,0,0,0,0,14.36,14.31,14.38
$GC,1055,-0.70,-107.1,2659,2739,3479,3489,113.1,-9.5,71,1060,0.00,2.22,0.00,0.000,260,0.000,0.146,2650,3832,3482,3478,3487,0,0,0,0,0,0,14.79,13.78,14.79
$GC,1201,-0.70,-107.1,2651,3832,3475,3489,127.2,-8.7,92,1206,0.00,1.80,0.00,0.000,1030,0.000,0.054,2649,2798,3483,3478,3488,0,0,0,0,0,0,14.28,14.24,14.28
$GC,1559,-0.70,-107.1,2646,2799,3479,3486,155.2,-7.8,101,1565,0.00,2.50,0.00,0.000,516,0.000,0.045,2650,1386,3482,3478,3486,0,0,0,0,0,0,14.79,14.13,14.78
$GC,1677,-0.70,-107.1,2651,1386,3479,3486,165.0,-8.1,118,1683,0.10,2.70,0.00,0.000,3078,0.228,0.096,2668,2785,3481,3479,3484,0,0,0,0,0,0,13.73,13.86,13.99
$GC,2007,-0.70,-107.1,2670,2785,3478,3481,190.9,-7.9,130,2012,0.00,2.50,0.00,0.000,516,0.000,0.044,2668,1387,3478,3478,3479,0,0,0,0,0,0,14.83,14.14,14.84
$GC,2063,-0.79,-107.1,2669,1387,3479,3480,195.2,-7.8,138,2068,0.00,2.67,0.00,0.000,1158,0.000,0.094,2658,2778,3478,3478,3478,0,0,0,0,0,0,14.11,13.83,14.16
$GC,2399,-0.79,-107.1,2659,2778,3479,3474,219.7,-7.1,151,2404,0.00,2.50,0.00,0.000,548,0.000,0.044,2659,1378,3476,3478,3474,0,0,0,0,0,0,14.78,14.12,14.78
$GC,2433,-0.79,-107.1,2659,1379,3479,3473,222.2,-7.4,156,2438,0.00,2.70,0.00,0.000,1062,0.000,0.095,2650,2778,3475,3478,3473,0,0,0,0,0,0,14.09,13.81,14.15
$GC,2791,-0.79,-107.1,2651,2778,3479,3469,249.2,-7.7,165,2797,0.00,2.50,0.00,0.000,548,0.000,0.043,2650,1378,3473,3478,3468,0,0,0,0,0,0,14.81,14.12,14.78
$GC,2839,-0.79,-107.1,2650,1379,3479,3468,253.2,-8.0,172,2846,0.00,2.75,0.00,0.000,1030,0.000,0.095,2641,2779,3473,3479,3468,0,0,0,0,0,0,14.07,13.79,14.14
$GC,3183,-0.79,-107.1,2641,2780,3479,3462,282.0,-8.3,179,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2778,3469,3476,3462,0,0,0,0,0,0,14.79,14.79,14.78
$GC,3519,-0.79,-107.1,2642,2778,3479,3461,306.9,-7.2,185,3525,0.00,2.53,0.00,0.000,548,0.000,0.043,2640,1379,3469,3478,3460,0,0,0,0,0,0,14.78,14.12,14.78
$GC,3588,-0.79,-107.1,2642,1380,3478,3460,312.0,-7.5,195,3593,0.00,2.72,0.00,0.000,1062,0.000,0.095,2631,2785,3468,3478,3458,0,0,0,0,0,0,14.05,13.76,14.11
$GC,3911,-0.79,-107.1,2628,2781,3479,3455,339.0,-8.6,206,3916,0.00,2.12,0.00,0.000,260,0.000,0.151,2624,3823,3466,3477,3455,0,0,0,0,0,0,14.83,13.68,14.83
$GC,3952,-0.79,-107.1,2624,3818,3478,3456,342.9,-9.5,212,3957,0.00,1.85,0.00,0.000,1030,0.000,0.058,2623,2765,3466,3478,3455,0,0,0,0,0,0,14.26,14.16,14.28
$GC,4303,-0.79,-107.1,2623,2763,3478,3453,375.5,-9.3,220,4308,0.00,2.50,0.00,0.000,516,0.000,0.044,2623,1368,3468,3486,3450,0,0,0,0,0,0,14.77,14.05,14.77
$GC,4351,-0.79,-107.1,2623,1368,3478,3452,380.1,-9.6,227,4358,0.10,2.72,0.00,0.000,3078,0.239,0.092,2641,2773,3463,3476,3451,0,0,0,0,0,0,13.71,13.75,13.97
$GC,4695,-0.79,-107.1,2641,2772,3478,3448,410.0,-8.7,234,4700,0.00,2.55,0.00,0.000,516,0.000,0.044,2641,1359,3462,3478,3447,0,0,0,0,0,0,14.82,14.02,14.82
$GC,4722,-0.79,-107.1,2641,1361,3479,3447,412.4,-8.6,238,4727,0.00,2.75,0.00,0.000,1030,0.000,0.093,2631,2775,3462,3477,3447,0,0,0,0,0,0,14.02,13.73,14.08
$GC,5087,-0.79,-107.1,2631,2776,3479,3442,445.2,-9.0,248,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2775,3461,3478,3444,0,0,0,0,0,0,14.82,14.82,14.82
$GC,5423,-0.79,-107.1,2632,2775,3478,3442,474.9,-8.9,254,5428,0.00,2.55,0.00,0.000,516,0.000,0.044,2629,1366,3458,3477,3440,0,0,0,0,0,0,14.81,14.02,14.82
$GC,5485,-0.79,-107.1,2631,1367,3479,3440,480.5,-8.7,263,5490,0.00,2.75,0.00,0.000,1030,0.000,0.091,2621,2772,3455,3478,3433,0,0,0,0,0,0,14.00,13.71,14.06
$GC,5815,-0.79,-107.1,2622,2772,3478,3437,509.8,-8.9,275,5820,0.00,2.55,0.00,0.000,516,0.000,0.044,2621,1365,3456,3476,3437,0,0,0,0,0,0,14.77,14.02,14.79
$GC,5849,-0.79,-107.1,2621,1366,3479,3437,512.9,-8.8,280,5854,0.10,2.75,0.00,0.000,3078,0.236,0.092,2639,2774,3457,3477,3437,0,0,0,0,0,0,13.68,13.72,13.94
$GC,6207,-0.79,-107.1,2640,2774,3478,3436,541.4,-7.9,289,6208,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2774,3456,3477,3435,0,0,0,0,0,0,14.76,14.76,14.76
$GC,6543,-0.79,-107.1,2639,2776,3478,3432,567.7,-7.8,295,6548,0.00,2.58,0.00,0.000,516,0.000,0.044,2639,1364,3454,3477,3432,0,0,0,0,0,0,14.76,13.95,14.76
$GC,6599,-0.79,-107.1,2639,1364,3478,3433,572.1,-7.9,303,6604,0.00,2.75,0.00,0.000,1030,0.000,0.093,2629,2768,3454,3477,3432,0,0,0,0,0,0,13.97,13.68,14.04
$GC,6935,-0.79,-107.1,2629,2769,3477,3430,599.3,-8.1,316,6940,0.00,2.55,0.00,0.000,516,0.000,0.044,2628,1368,3452,3475,3430,0,0,0,0,0,0,14.76,13.95,14.77
$GC,6962,-0.79,-107.1,2627,1370,3476,3430,601.5,-7.9,320,6967,0.00,2.75,0.00,0.000,1030,0.000,0.093,2619,2767,3452,3475,3430,0,0,0,0,0,0,14.12,13.83,14.16
$GC,7327,-0.79,-107.1,2620,2767,3473,3431,630.2,-7.8,330,7332,0.00,2.17,0.00,0.000,260,0.000,0.147,2611,3835,3451,3472,3430,0,0,0,0,0,0,14.76,13.77,14.76
$GC,7361,-0.79,-107.1,2611,3830,3473,3430,633.1,-8.8,335,7366,0.10,1.92,0.00,0.000,3078,0.199,0.057,2639,2771,3451,3472,3430,0,0,0,0,0,0,13.63,14.05,13.79
$GC,7719,-0.79,-107.1,2639,2772,3469,3429,658.8,-7.2,344,7724,0.00,2.55,0.00,0.000,548,0.000,0.043,2640,1358,3450,3471,3429,0,0,0,0,0,0,14.80,13.94,14.80
$GC,7781,-0.87,-107.1,2640,1358,3471,3430,663.4,-7.1,353,7787,0.00,2.75,0.00,0.000,1190,0.000,0.090,2629,2767,3450,3471,3429,0,0,0,0,0,0,13.97,13.67,14.03
$GC,8111,-0.87,-107.1,2629,2768,3471,3427,689.0,-7.9,365,8116,0.00,2.17,0.00,0.000,260,0.000,0.145,2621,3833,3448,3470,3427,0,0,0,0,0,0,14.75,13.69,14.75
$GC,8167,-0.87,-107.1,2621,3834,3471,3426,693.8,-8.9,373,8172,0.00,1.92,0.00,0.000,1030,0.000,0.057,2620,2758,3448,3470,3427,0,0,0,0,0,0,14.17,14.09,14.19
$GC,8503,-0.87,-107.1,2621,2753,3470,3428,722.3,-8.5,386,8504,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2753,3448,3469,3428,0,0,0,0,0,0,14.74,14.74,14.74
$GC,8839,-0.87,-107.1,2620,2754,3471,3424,750.3,-8.3,392,8844,0.00,2.55,0.00,0.000,516,0.000,0.043,2620,1352,3447,3470,3424,0,0,0,0,0,0,14.72,13.91,14.73
$GC,8887,-0.87,-107.1,2621,1352,3470,3425,754.5,-8.8,399,8893,0.00,2.80,0.00,0.000,1030,0.000,0.088,2612,2767,3446,3470,3423,0,0,0,0,0,0,13.93,13.64,13.99
$GC,9231,-0.87,-107.1,2612,2772,3468,3423,785.2,-9.1,406,9236,0.00,2.17,0.00,0.000,260,0.000,0.143,2603,3831,3444,3466,3423,0,0,0,0,0,0,14.72,13.71,14.73
$GC,9265,-0.87,-107.1,2607,3830,3467,3425,788.5,-9.7,411,9270,0.00,1.98,0.00,0.000,1030,0.000,0.056,2603,2750,3444,3466,3423,0,0,0,0,0,0,14.02,13.99,14.04
$STATE,9395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9395,begin apogee
$GC,9405,-0.23,0.0,2605,2199,3466,3424,801.3,-9.6,416,9523,0.80,0.12,115.38,1.798,10244,0.188,0.164,2822,2267,3051,3091,3012,0,0,0,0,0,0,13.66,13.94,13.06
$STATE,9524,end apogee,CONTROL_FINISHED_OK
$STATE,9525,begin climb
$GC,9529,0.93,107.1,2822,2268,3085,3001,805.5,0.0,418,9659,1.12,2.53,118.32,1.738,10756,0.091,0.053,3183,888,2617,2679,2556,0,0,0,0,0,0,13.90,13.95,13.02
$GC,9722,0.87,161.4,3184,888,2675,2538,803.7,5.0,448,9792,0.00,2.45,59.88,1.740,9382,0.000,0.063,3183,2242,2396,2474,2318,0,0,0,0,0,0,14.23,14.10,13.05
$GC,10133,0.75,161.4,3183,2243,2473,2299,767.9,9.4,464,10138,0.10,2.78,0.00,0.000,4484,0.246,0.128,3150,3651,2386,2473,2300,0,0,0,0,0,0,13.97,14.01,14.12
$GC,10208,0.65,161.4,3149,3653,2474,2299,760.3,9.8,475,10213,0.17,2.38,0.00,0.000,5254,0.232,0.047,3113,2274,2385,2472,2299,0,0,0,0,0,0,13.93,14.33,14.24
$GC,10524,0.66,176.8,3114,2270,2473,2297,738.2,7.0,485,10530,0.00,0.00,5.12,1.632,8230,0.000,0.000,3113,2270,2349,2436,2262,0,0,0,0,0,0,14.72,14.33,13.26
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$STATE,19930,end climb,SURFACE_DEPTH_REACHED
$STATE,19930,begin surface coast
$FINISH,-0.7,1.022328
$STATE,19958,end surface coast,CONTROL_FINISHED_OK
$STATE,19958,begin surface
$SM_CCo,19984,46.35,0.151,0,0,1057,500.14
$SM_GC,-3.26,9.48,0.95,46.35,0.083,0.107,0.151,168,2772,1057,-8.40,-0.34,500.14,0,0,0,0,0,0,14.49,14.00,14.12
$IRIDIUM_FIX,949.50,-12510.11,120217,164213
$TT8_MAMPS,0.036701,0.301098
$HUMID,56.57
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.50
$XPDR_PINGS,2
$SC_FREEKB,3648992
$PM_FREEKB,52062912
$24V_AH,12.66,232.355
$10V_AH,12.33,0.000
$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,24.875,203.925,467.625,46.350,0.000,0.000,0.000,415.250,0.500,0.000,5.566,0.000,16812.018,771.477,2543.777,688.353,0.000,1984.475,0.000,1586.339,0.000,0.840,0.000
$DEVICE_MAMPS,381.735,163.710,1808.460,150.705,0.000,0.000,0.000,173.655,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20024.000,19971.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.567,2.433,0.000,0.000
$MEM,334736
$DATA_FILE_SIZE,33390,896
$CAP_FILE_SIZE,154180,0
$CFSIZE,1024409600,906117120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083,165.73,1
$GPS,130217,040430,950.881,-12509.119,19,0.9,19,9.0,0.6,242.0,9,3.8