version: 66.13
glider: 220
mission: 6
dive: 690
start: 2 15 117 13 35 43
data:
$ID,220
$MISSION,6
$DIVE,690
$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,45
$R_STBD_OVSHOOT,12
$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
$GPS1,150217,131930,945.2917,-12456.0742,33,0.7,33,9.0,0.4,75.5,12,3.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.33
$_SM_ANGLEo,-69.9
$GPS2,150217,133521,945.3408,-12456.1992,2,0.8,3,9.0,0.9,289.9,12,10.0
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,39.6,39312,-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,-107.1,108,2779,1101,1020,0.0,0.0,0,101,0.00,0.00,-80.18,0.000,16390,0.000,0.000,106,2780,3477,3469,3486,0,0,0,0,0,0,14.59,12.64,14.54
$GC,106,-0.93,-107.1,107,2779,3470,3489,3.0,-11.3,3,123,12.02,2.05,0.00,0.000,2308,0.381,0.130,2585,3834,3477,3470,3485,0,0,0,0,0,0,13.89,14.16,14.28
$GC,179,-0.64,-107.1,2585,3834,3482,3486,31.3,-24.7,14,186,0.40,1.85,0.00,0.000,3206,0.252,0.049,2689,2712,3479,3472,3486,0,0,0,0,0,0,13.89,14.40,14.21
$GC,495,-0.64,-107.1,2690,2712,3474,3487,67.4,-7.3,26,500,0.00,2.28,0.00,0.000,292,0.000,0.150,2681,3829,3479,3473,3486,0,0,0,0,0,0,14.73,13.89,14.73
$GC,515,-0.64,-107.1,2681,3830,3473,3486,69.2,-7.7,29,523,0.00,1.88,0.00,0.000,1030,0.000,0.057,2680,2767,3479,3471,3487,0,0,0,0,0,0,14.31,14.28,14.33
$GC,831,-0.64,-107.1,2679,2766,3476,3486,92.3,-6.8,41,837,0.00,2.45,0.00,0.000,548,0.000,0.043,2680,1364,3481,3476,3486,0,0,0,0,0,0,14.76,14.16,14.76
$GC,995,-0.64,-107.1,2681,1364,3476,3488,103.3,-7.1,64,1001,0.00,2.72,0.00,0.000,1062,0.000,0.099,2671,2783,3481,3476,3486,0,0,0,0,0,0,14.14,13.85,14.20
$GC,1335,-0.64,-107.1,2671,2784,3477,3484,128.4,-7.2,71,1340,0.00,2.12,0.00,0.000,292,0.000,0.157,2662,3832,3480,3476,3485,0,0,0,0,0,0,14.81,13.74,14.79
$GC,1418,-0.64,-107.1,2662,3830,3477,3483,135.0,-7.9,83,1423,0.10,1.83,0.00,0.000,3078,0.213,0.060,2691,2767,3480,3476,3484,0,0,0,0,0,0,13.84,14.16,14.05
$GC,1783,-0.74,-107.1,2688,2769,3476,3480,158.5,-6.6,93,1790,0.00,2.45,0.00,0.000,676,0.000,0.045,2692,1377,3477,3476,3479,0,0,0,0,0,0,14.78,14.15,14.78
$GC,1874,-0.88,-107.1,2692,1379,3478,3478,165.6,-7.6,106,1879,0.15,2.72,0.00,0.000,5286,0.081,0.101,2582,2780,3476,3475,3477,0,0,0,0,0,0,14.13,13.78,14.23
$GC,2232,-0.79,-107.1,2583,2780,3477,3471,207.0,-11.8,115,2237,0.20,2.15,0.00,0.000,2436,0.220,0.156,2635,3826,3473,3476,3470,0,0,0,0,0,0,13.70,13.74,13.87
$GC,2258,-0.79,-107.1,2635,3827,3477,3471,209.9,-10.4,119,2263,0.00,1.85,0.00,0.000,1030,0.000,0.057,2635,2775,3473,3476,3471,0,0,0,0,0,0,14.26,14.09,14.28
$GC,2624,-0.79,-107.1,2635,2777,3477,3467,241.9,-8.7,129,2629,0.00,2.47,0.00,0.000,516,0.000,0.044,2632,1369,3471,3475,3467,0,0,0,0,0,0,14.76,14.07,14.76
$GC,2680,-0.79,-107.1,2635,1370,3477,3466,246.9,-8.7,137,2685,0.00,2.78,0.00,0.000,1030,0.000,0.099,2625,2789,3470,3475,3465,0,0,0,0,0,0,14.06,13.76,14.12
$GC,3016,-0.79,-107.1,2626,2789,3476,3463,277.3,-9.1,150,3020,0.00,2.12,0.00,0.000,260,0.000,0.157,2617,3824,3468,3476,3461,0,0,0,0,0,0,14.76,13.73,14.77
$GC,3071,-0.79,-107.1,2617,3825,3477,3456,282.8,-9.9,158,3076,0.10,1.83,0.00,0.000,3078,0.223,0.057,2645,2777,3468,3476,3461,0,0,0,0,0,0,13.86,14.26,14.07
$GC,3408,-0.79,-107.1,2645,2778,3476,3457,310.6,-8.2,171,3412,0.00,2.50,0.00,0.000,516,0.000,0.044,2646,1367,3465,3474,3456,0,0,0,0,0,0,14.76,13.93,14.76
$GC,3498,-0.79,-107.1,2646,1367,3481,3457,317.8,-7.8,184,3503,0.00,2.75,0.00,0.000,1030,0.000,0.103,2636,2778,3465,3475,3455,0,0,0,0,0,0,14.16,13.87,14.21
$GC,3856,-0.79,-107.1,2636,2779,3476,3451,346.0,-7.9,193,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2778,3462,3475,3450,0,0,0,0,0,0,14.81,14.81,14.81
$GC,4191,-0.79,-107.1,2637,2779,3476,3447,373.9,-8.4,199,4196,0.00,2.55,0.00,0.000,516,0.000,0.045,2636,1363,3461,3475,3447,0,0,0,0,0,0,14.81,14.00,14.76
$GC,4254,-0.79,-107.1,2636,1363,3476,3446,379.4,-8.7,208,4259,0.00,2.78,0.00,0.000,1030,0.000,0.101,2626,2775,3460,3475,3446,0,0,0,0,0,0,14.04,13.75,14.10
$GC,4584,-0.79,-107.1,2626,2776,3476,3444,409.3,-9.0,220,4588,0.00,2.55,0.00,0.000,516,0.000,0.044,2626,1361,3459,3475,3444,0,0,0,0,0,0,14.74,14.02,14.76
$GC,4618,-0.79,-107.1,2626,1361,3473,3444,412.5,-9.0,225,4624,0.00,2.78,0.00,0.000,1030,0.000,0.102,2617,2774,3459,3475,3443,0,0,0,0,0,0,14.15,13.86,14.20
$GC,4976,-0.79,-107.1,2617,2775,3476,3439,445.3,-9.1,234,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2774,3457,3475,3439,0,0,0,0,0,0,14.76,14.74,14.74
$GC,5311,-0.79,-107.1,2617,2775,3476,3436,475.1,-8.9,240,5313,0.10,0.00,0.00,0.000,2054,0.256,0.000,2644,2774,3455,3473,3437,0,0,0,0,0,0,13.91,14.15,14.08
$GC,5648,-0.79,-107.1,2645,2774,3476,3434,502.8,-8.3,246,5652,0.00,2.58,0.00,0.000,516,0.000,0.047,2644,1369,3453,3473,3434,0,0,0,0,0,0,14.75,13.83,14.75
$GC,5675,-0.79,-107.1,2645,1369,3472,3434,505.2,-8.6,250,5680,0.00,2.80,0.00,0.000,1030,0.000,0.106,2635,2778,3454,3475,3433,0,0,0,0,0,0,14.14,13.85,14.19
$GC,6040,-0.79,-107.1,2635,2779,3476,3431,537.4,-8.8,260,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2778,3452,3474,3431,0,0,0,0,0,0,14.75,14.75,14.75
$GC,6375,-0.79,-107.1,2636,2778,3476,3429,565.9,-8.4,266,6380,0.00,2.58,0.00,0.000,516,0.000,0.046,2634,1369,3451,3475,3428,0,0,0,0,0,0,14.74,13.93,14.74
$GC,6445,-0.79,-107.1,2634,1370,3475,3428,571.7,-8.1,276,6450,0.00,2.80,0.00,0.000,1030,0.000,0.104,2625,2772,3451,3475,3427,0,0,0,0,0,0,14.13,13.83,14.18
$GC,6767,-0.79,-107.1,2626,2772,3472,3428,599.4,-8.7,287,6772,0.00,2.55,0.00,0.000,516,0.000,0.045,2625,1371,3449,3472,3426,0,0,0,0,0,0,14.74,13.92,14.73
$GC,6795,-0.79,-107.1,2625,1372,3469,3426,601.9,-8.9,291,6800,0.10,2.78,0.00,0.000,3078,0.237,0.103,2644,2771,3449,3472,3427,0,0,0,0,0,0,13.74,13.75,14.00
$GC,7159,-0.79,-107.1,2645,2770,3471,3428,632.0,-8.3,301,7165,0.00,2.20,0.00,0.000,260,0.000,0.165,2637,3826,3448,3470,3426,0,0,0,0,0,0,14.72,13.82,14.77
$GC,7200,-0.79,-107.1,2636,3827,3471,3426,635.5,-8.7,307,7205,0.00,1.88,0.00,0.000,1030,0.000,0.057,2636,2749,3448,3470,3426,0,0,0,0,0,0,14.19,14.10,14.20
$GC,7551,-0.79,-107.1,2636,2750,3469,3426,663.9,-8.0,315,7556,0.00,2.47,0.00,0.000,516,0.000,0.046,2636,1373,3447,3468,3426,0,0,0,0,0,0,14.77,13.90,14.77
$GC,7586,-0.79,-107.1,2636,1373,3470,3425,666.5,-7.5,320,7591,0.00,2.75,0.00,0.000,1062,0.000,0.104,2627,2776,3446,3467,3425,0,0,0,0,0,0,14.11,13.81,14.16
$GC,7944,-0.79,-107.1,2627,2777,3469,3422,694.4,-7.8,329,7949,0.00,2.55,0.00,0.000,516,0.000,0.046,2625,1372,3445,3468,3423,0,0,0,0,0,0,14.77,13.90,14.77
$GC,7978,-0.79,-107.1,2626,1373,3469,3422,697.2,-7.9,334,7983,0.00,2.78,0.00,0.000,1030,0.000,0.103,2617,2774,3445,3468,3422,0,0,0,0,0,0,14.13,13.84,14.18
$GC,8336,-0.79,-107.1,2618,2773,3465,3418,725.8,-8.0,343,8340,0.00,2.17,0.00,0.000,260,0.000,0.161,2609,3828,3442,3463,3422,0,0,0,0,0,0,14.72,13.81,14.71
$GC,8363,-0.79,-107.1,2609,3829,3466,3421,728.2,-8.5,347,8368,0.12,1.90,0.00,0.000,3078,0.216,0.060,2644,2742,3443,3464,3422,0,0,0,0,0,0,13.66,14.07,13.91
$GC,8728,-0.86,-107.1,2644,2742,3465,3421,754.7,-7.3,357,8734,0.00,2.47,0.00,0.000,676,0.000,0.047,2644,1374,3442,3465,3420,0,0,0,0,0,0,14.76,13.85,14.76
$GC,8818,-0.95,-107.1,2645,1374,3465,3421,761.4,-7.3,370,8823,0.08,2.78,0.00,0.000,5286,0.131,0.103,2570,2772,3442,3464,3420,0,0,0,0,0,0,14.00,13.73,14.12
$GC,9175,-0.95,-107.1,2570,2772,3463,3421,796.8,-10.0,379,9176,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2772,3440,3462,3419,0,0,0,0,0,0,14.71,14.71,14.72
$STATE,9227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9227,begin apogee
$GC,9237,-0.23,0.0,2570,2233,3462,3421,802.7,-10.2,380,9344,0.93,0.08,98.65,2.526,10244,0.199,0.228,2819,2251,3051,3090,3013,0,0,0,0,1,0,13.72,13.72,12.62
$STATE,9345,end apogee,CONTROL_FINISHED_OK
$STATE,9345,begin climb
$GC,9350,0.93,107.1,2819,2251,3092,3029,806.0,0.0,382,9486,1.15,2.53,124.90,1.802,10756,0.088,0.054,3187,878,2619,2680,2558,0,0,0,0,0,0,13.78,13.87,13.01
$GC,9564,0.83,136.1,3187,874,2676,2540,801.6,6.3,413,9602,0.00,2.55,31.02,1.821,9382,0.000,0.073,3187,2257,2501,2574,2429,0,0,0,0,0,0,14.23,14.06,13.09
$GC,9963,0.70,136.1,3187,2258,2572,2413,767.4,8.7,428,9968,0.20,2.80,0.00,0.000,4484,0.239,0.146,3128,3665,2491,2572,2411,0,0,0,0,0,0,13.88,13.97,14.07
$GC,10019,0.61,136.1,3128,3663,2572,2412,763.1,7.9,436,10024,0.15,2.40,0.00,0.000,5254,0.232,0.048,3099,2268,2491,2571,2412,0,0,0,0,0,0,13.96,14.33,14.26
$GC,10355,0.67,182.3,3099,2267,2572,2410,744.3,5.4,449,10411,0.00,0.00,52.10,1.754,8230,0.000,0.000,3098,2263,2318,2401,2236,0,0,0,0,0,0,14.71,14.11,13.23
$GC,10747,0.70,212.4,3099,2262,2398,2217,720.2,6.2,456,10788,0.00,2.83,33.40,1.765,8484,0.000,0.149,3098,3660,2194,2285,2104,0,0,0,0,0,0,14.66,14.05,13.28
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$STATE,19634,end climb,SURFACE_DEPTH_REACHED
$STATE,19634,begin surface coast
$FINISH,-3.6,1.022195
$STATE,19662,end surface coast,CONTROL_FINISHED_OK
$STATE,19662,begin surface
$SM_CCo,19687,41.40,0.150,0,0,1058,500.14
$SM_GC,-2.78,9.02,1.02,41.40,0.039,0.109,0.150,181,2766,1058,-8.39,-0.45,500.14,0,0,0,0,0,0,14.38,13.88,14.10
$IRIDIUM_FIX,940.75,-12456.65,150217,074431
$TT8_MAMPS,0.03745,0.432922
$HUMID,57.95
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,21.40
$XPDR_PINGS,6
$SC_FREEKB,3644768
$PM_FREEKB,51940416
$24V_AH,12.62,235.773
$10V_AH,12.22,0.000
$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,25.425,188.100,493.050,41.400,0.000,0.000,0.000,555.800,1.500,0.000,4.935,0.000,16650.254,778.212,2482.992,746.663,0.000,2071.862,0.000,1481.498,0.000,0.841,0.000
$DEVICE_MAMPS,380.970,227.970,2526.030,149.940,0.000,0.000,0.000,175.950,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19728.000,19675.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.592,2.439,0.000,0.000
$MEM,334872
$DATA_FILE_SIZE,30061,824
$CAP_FILE_SIZE,152047,0
$CFSIZE,1024409600,904511488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.037,345.50,1
$GPS,150217,190530,946.992,-12455.082,21,0.8,21,9.0,0.3,35.0,10,5.0