version: 66.13
glider: 220
mission: 6
dive: 692
start: 2 16 117 1 1 1
data:
$ID,220
$MISSION,6
$DIVE,692
$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,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
$GPS1,160217,004524,948.4662,-12453.5459,33,0.7,33,9.0,1.1,204.9,12,5.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.24
$_SM_ANGLEo,-68.3
$GPS2,160217,010039,948.4479,-12453.6377,3,0.8,4,9.0,0.5,298.5,12,6.0
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,45.1,31972,-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,-107.1,110,2780,1105,1019,0.0,0.0,0,102,0.00,0.00,-82.62,0.000,16390,0.000,0.000,108,2779,3478,3469,3487,0,0,0,0,0,0,14.59,12.65,14.53
$GC,106,-0.93,-107.1,108,2780,3470,3487,1.3,-8.0,3,123,12.10,2.40,0.00,0.000,2564,0.380,0.034,2593,1357,3479,3471,3487,0,0,0,0,0,0,13.83,14.31,14.23
$GC,151,-0.46,-107.1,2593,1358,3473,3486,20.2,-30.7,10,158,0.60,2.72,0.00,0.000,3206,0.236,0.108,2743,2766,3479,3472,3486,0,0,0,0,0,0,13.83,14.00,14.14
$GC,467,-0.46,-107.1,2743,2767,3474,3486,56.7,-8.4,22,472,0.00,2.17,0.00,0.000,260,0.000,0.166,2735,3832,3480,3474,3486,0,0,0,0,0,0,14.67,13.76,14.67
$GC,639,-0.61,-107.1,2737,3831,3479,3487,65.0,-5.4,46,644,0.00,1.83,0.00,0.000,1190,0.000,0.062,2735,2789,3480,3474,3486,0,0,0,0,0,0,14.30,14.21,14.32
$GC,974,-0.74,-107.1,2735,2791,3478,3486,86.3,-4.9,61,980,0.15,2.50,0.00,0.000,4772,0.084,0.041,2627,1352,3481,3476,3486,0,0,0,0,0,0,14.35,14.12,14.35
$GC,1058,-0.74,-107.1,2629,1352,3477,3487,93.0,-9.1,73,1064,0.12,2.78,0.00,0.000,3078,0.233,0.101,2653,2781,3481,3477,3486,0,0,0,0,0,0,13.81,13.84,14.07
$GC,1394,-0.74,-107.1,2654,2781,3477,3487,121.4,-8.8,84,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2781,3481,3477,3486,0,0,0,0,0,0,14.81,14.81,14.81
$GC,1730,-0.74,-107.1,2654,2780,3476,3483,147.5,-7.7,90,1735,0.00,2.53,0.00,0.000,548,0.000,0.044,2653,1355,3478,3476,3481,0,0,0,0,0,0,14.82,14.09,14.82
$GC,1771,-0.74,-107.1,2653,1357,3478,3481,150.3,-5.9,96,1776,0.00,2.75,0.00,0.000,1062,0.000,0.103,2644,2773,3478,3476,3481,0,0,0,0,0,0,14.07,13.78,14.13
$GC,2122,-0.74,-107.1,2643,2772,3478,3476,178.6,-8.3,104,2127,0.00,2.17,0.00,0.000,260,0.000,0.168,2636,3826,3476,3477,3476,0,0,0,0,0,0,14.82,13.86,14.83
$GC,2178,-0.74,-107.1,2636,3827,3478,3475,183.2,-9.9,112,2183,0.00,1.85,0.00,0.000,1030,0.000,0.057,2635,2754,3476,3476,3476,0,0,0,0,0,0,14.35,14.27,14.35
$GC,2514,-0.74,-107.1,2636,2753,3477,3471,212.5,-9.0,125,2520,0.00,2.45,0.00,0.000,516,0.000,0.042,2635,1362,3472,3476,3469,0,0,0,0,0,0,14.81,14.09,14.81
$GC,2548,-0.74,-107.1,2636,1362,3477,3471,215.9,-8.8,130,2554,0.10,2.78,0.00,0.000,3078,0.241,0.099,2654,2779,3472,3476,3469,0,0,0,0,0,0,13.74,13.76,14.00
$GC,2906,-0.74,-107.1,2653,2781,3478,3465,243.5,-7.7,139,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2779,3470,3476,3465,0,0,0,0,0,0,14.77,14.77,14.77
$GC,3242,-0.74,-107.1,2654,2778,3477,3462,275.9,-11.0,145,3248,0.00,2.53,0.00,0.000,516,0.000,0.044,2654,1373,3468,3477,3460,0,0,0,0,0,0,14.78,14.03,14.78
$GC,3283,-0.74,-107.1,2654,1372,3477,3461,279.7,-8.1,151,3289,0.00,2.75,0.00,0.000,1030,0.000,0.103,2645,2773,3468,3476,3460,0,0,0,0,0,0,14.07,13.74,14.11
$GC,3634,-0.74,-107.1,2645,2773,3477,3456,307.9,-7.9,159,3639,0.00,2.53,0.00,0.000,516,0.000,0.044,2644,1368,3465,3476,3455,0,0,0,0,0,0,14.77,14.05,14.77
$GC,3696,-0.74,-107.1,2645,1370,3477,3454,313.3,-8.1,168,3701,0.00,2.80,0.00,0.000,1030,0.000,0.104,2636,2780,3465,3476,3454,0,0,0,0,0,0,14.04,13.74,14.10
$GC,4026,-0.74,-107.1,2636,2782,3477,3451,340.9,-8.4,180,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2780,3463,3476,3451,0,0,0,0,0,0,14.81,14.81,14.81
$GC,4362,-0.74,-107.1,2637,2781,3477,3447,370.1,-8.8,186,4367,0.00,2.55,0.00,0.000,516,0.000,0.044,2635,1365,3461,3476,3447,0,0,0,0,0,0,14.81,14.01,14.81
$GC,4438,-0.74,-107.1,2636,1365,3476,3448,377.0,-8.7,197,4445,0.10,2.78,0.00,0.000,3078,0.240,0.102,2654,2774,3460,3476,3445,0,0,0,0,0,0,13.74,13.74,14.00
$GC,4754,-0.74,-107.1,2655,2774,3477,3448,402.7,-8.1,207,4759,0.00,2.53,0.00,0.000,516,0.000,0.044,2654,1373,3459,3476,3443,0,0,0,0,0,0,14.83,14.00,14.81
$GC,4803,-0.83,-107.1,2654,1370,3477,3444,406.8,-8.0,214,4809,0.00,2.75,0.00,0.000,1158,0.000,0.101,2645,2764,3459,3476,3443,0,0,0,0,0,0,14.04,13.72,14.10
$GC,5147,-0.83,-107.1,2645,2766,3477,3439,434.8,-8.2,221,5152,0.00,2.50,0.00,0.000,516,0.000,0.044,2645,1373,3457,3476,3439,0,0,0,0,0,0,14.79,14.00,14.80
$GC,5180,-0.83,-107.1,2645,1372,3476,3440,437.8,-8.6,226,5185,0.00,2.75,0.00,0.000,1030,0.000,0.101,2636,2761,3457,3476,3438,0,0,0,0,0,0,14.03,13.73,14.09
$GC,5538,-0.83,-107.1,2636,2762,3477,3436,468.1,-8.4,235,5543,0.00,2.17,0.00,0.000,260,0.000,0.160,2628,3827,3456,3476,3436,0,0,0,0,0,0,14.80,13.85,14.80
$GC,5579,-0.83,-107.1,2629,3827,3476,3438,471.8,-8.8,241,5585,0.00,1.90,0.00,0.000,1030,0.000,0.062,2627,2750,3456,3476,3437,0,0,0,0,0,0,14.23,14.14,14.26
$GC,5931,-0.83,-107.1,2626,2751,3484,3432,502.9,-8.9,249,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2750,3454,3477,3432,0,0,0,0,0,0,14.74,14.75,14.74
$GC,6266,-0.83,-107.1,2628,2750,3476,3432,531.6,-8.3,255,6271,0.00,2.50,0.00,0.000,516,0.000,0.044,2628,1356,3451,3475,3427,0,0,0,0,0,0,14.74,13.95,14.76
$GC,6300,-0.83,-107.1,2629,1357,3476,3432,534.6,-8.8,260,6305,0.00,2.78,0.00,0.000,1030,0.000,0.098,2618,2764,3453,3476,3430,0,0,0,0,0,0,14.04,13.72,14.09
$GC,6659,-0.83,-107.1,2619,2764,3473,3429,564.1,-8.2,269,6659,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2764,3450,3472,3429,0,0,0,0,0,0,14.74,14.74,14.74
$GC,6994,-0.83,-107.1,2619,2764,3472,3429,593.1,-8.7,275,6999,0.00,2.55,0.00,0.000,516,0.000,0.044,2621,1364,3450,3471,3429,0,0,0,0,0,0,14.73,13.90,14.73
$GC,7028,-0.83,-107.1,2618,1364,3471,3430,596.1,-9.0,280,7033,0.00,2.75,0.00,0.000,1030,0.000,0.100,2609,2766,3449,3470,3429,0,0,0,0,0,0,14.13,13.84,14.18
$GC,7387,-0.83,-107.1,2609,2766,3471,3428,629.8,-9.4,289,7392,0.00,2.17,0.00,0.000,260,0.000,0.158,2601,3824,3448,3469,3428,0,0,0,0,0,0,14.78,13.76,14.78
$GC,7421,-0.83,-107.1,2602,3824,3470,3429,633.2,-9.6,294,7426,0.10,1.90,0.00,0.000,3078,0.232,0.060,2628,2765,3448,3469,3428,0,0,0,0,0,0,13.69,14.10,13.93
$GC,7778,-0.83,-107.1,2628,2765,3470,3427,662.8,-8.1,303,7783,0.00,2.55,0.00,0.000,516,0.000,0.044,2628,1355,3449,3473,3425,0,0,0,0,0,0,14.73,13.89,14.72
$GC,7834,-0.83,-107.1,2628,1351,3470,3425,667.3,-8.4,311,7839,0.00,2.80,0.00,0.000,1030,0.000,0.096,2620,2766,3447,3469,3425,0,0,0,0,0,0,14.03,13.73,14.11
$GC,8170,-0.83,-107.1,2619,2767,3469,3423,696.3,-8.8,324,8175,0.00,2.58,0.00,0.000,516,0.000,0.044,2618,1358,3445,3467,3424,0,0,0,0,0,0,14.72,13.91,14.72
$GC,8204,-0.83,-107.1,2619,1359,3469,3426,699.6,-9.5,329,8210,0.00,2.78,0.00,0.000,1030,0.000,0.099,2609,2766,3445,3467,3423,0,0,0,0,0,0,14.12,13.83,14.16
$GC,8563,-0.83,-107.1,2610,2765,3466,3423,733.1,-9.5,338,8567,0.00,2.17,0.00,0.000,260,0.000,0.159,2601,3830,3444,3465,3423,0,0,0,0,0,0,14.77,13.85,14.77
$GC,8596,-0.83,-107.1,2601,3830,3465,3423,736.7,-10.2,343,8602,0.10,1.95,0.00,0.000,3078,0.206,0.060,2628,2764,3443,3464,3422,0,0,0,0,0,0,13.62,14.04,13.80
$GC,8954,-0.83,-107.1,2628,2763,3465,3422,766.3,-8.2,352,8959,0.00,2.55,0.00,0.000,516,0.000,0.044,2628,1355,3443,3465,3421,0,0,0,0,0,0,14.76,13.87,14.76
$GC,9010,-0.83,-107.1,2628,1356,3465,3420,770.7,-8.5,360,9015,0.00,2.78,0.00,0.000,1030,0.000,0.096,2619,2753,3442,3465,3420,0,0,0,0,0,0,14.04,13.73,14.09
$GC,9346,-0.83,-107.1,2620,2753,3464,3421,796.7,-7.8,373,9352,0.00,2.22,0.00,0.000,260,0.000,0.158,2611,3829,3442,3464,3420,0,0,0,0,0,0,14.71,13.77,14.71
$STATE,9383,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9383,begin apogee
$GC,9395,-0.23,0.0,2610,2218,3463,3421,800.2,-8.4,379,9502,0.77,0.10,99.10,2.495,10244,0.187,0.201,2824,2272,3052,3092,3013,0,0,0,0,1,0,13.69,13.74,12.64
$STATE,9503,end apogee,CONTROL_FINISHED_OK
$STATE,9503,begin climb
$GC,9508,0.93,107.1,2825,2273,3094,3030,802.8,0.0,381,9648,1.10,2.62,126.40,1.786,10756,0.083,0.054,3181,846,2613,2675,2552,0,0,0,0,0,0,13.83,13.88,13.08
$GC,9726,0.82,122.0,3184,846,2674,2537,797.5,7.0,413,9744,0.00,2.55,14.02,1.913,9382,0.000,0.070,3184,2246,2564,2634,2495,0,0,0,0,0,0,14.25,14.09,13.12
$GC,10062,0.69,122.0,3183,2247,2628,2473,769.8,8.3,426,10068,0.20,2.80,0.00,0.000,4484,0.232,0.142,3123,3657,2549,2626,2473,0,0,0,0,0,0,13.90,13.98,14.09
$GC,10166,0.61,135.0,3123,3659,2627,2473,761.8,7.1,441,10185,0.12,2.47,11.70,1.929,13478,0.242,0.050,3101,2231,2510,2586,2434,0,0,0,0,0,0,13.96,14.35,13.31
$GC,10514,0.66,172.2,3101,2231,2586,2424,741.4,5.9,455,10565,0.00,2.88,43.58,1.770,8484,0.000,0.146,3096,3651,2357,2438,2277,0,0,0,0,0,0,14.66,14.05,13.24
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$STATE,19872,end climb,SURFACE_DEPTH_REACHED
$STATE,19872,begin surface coast
$FINISH,1.0,1.022214
$STATE,19880,end surface coast,CONTROL_FINISHED_OK
$STATE,19880,begin surface
$SM_CCo,19908,50.62,0.154,0,0,1056,500.14
$SM_GC,-3.71,9.60,3.67,50.62,0.090,0.098,0.154,187,2769,1056,-8.40,-0.31,500.14,0,0,0,0,0,0,14.37,13.81,14.10
$IRIDIUM_FIX,942.94,-12454.86,150217,191210
$TT8_MAMPS,0.036701,0.166278
$HUMID,57.36
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,21.50
$XPDR_PINGS,5
$SC_FREEKB,3644000
$PM_FREEKB,51918144
$24V_AH,12.64,236.397
$10V_AH,12.26,0.000
$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,25.775,211.625,456.250,50.625,0.000,0.000,0.000,517.125,1.250,0.000,5.594,0.000,16801.438,777.979,2498.301,773.206,0.000,2067.377,0.000,1526.935,0.000,0.842,0.000
$DEVICE_MAMPS,380.205,201.195,2494.665,153.765,0.000,0.000,0.000,177.480,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19947.000,19894.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.638,2.434,0.000,0.000
$MEM,334808
$DATA_FILE_SIZE,30004,855
$CAP_FILE_SIZE,154380,0
$CFSIZE,1024409600,904216576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.052,7.31,1
$GPS,160217,063438,950.157,-12452.235,21,1.0,21,9.0,1.2,338.8,7,10.0