version: 66.13
glider: 220
mission: 6
dive: 600
start: 1 25 117 10 34 56
data:
$ID,220
$MISSION,6
$DIVE,600
$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,55
$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
$GPS1,250117,101800,958.5480,-12443.5127,31,0.8,31,9.0,0.4,258.6,10,3.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.85
$_SM_ANGLEo,-69.4
$GPS2,250117,103434,958.6490,-12443.5283,2,0.7,3,9.0,0.7,342.9,12,4.7
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,60.4,5880,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,16,-0.93,-107.1,107,2778,1107,1019,0.0,0.0,0,101,0.00,0.00,-81.43,0.000,16390,0.000,0.000,107,2778,3478,3470,3486,0,0,0,0,0,0,14.66,12.59,14.62
$GC,105,-0.93,-107.1,107,2778,3470,3488,-0.1,-10.3,3,122,12.23,2.42,0.00,0.000,2564,0.393,0.035,2592,1363,3479,3472,3487,0,0,0,0,0,0,13.95,14.40,14.34
$GC,143,-0.19,-107.1,2593,1364,3474,3486,18.8,-42.7,9,149,0.98,2.58,0.00,0.000,3206,0.255,0.086,2835,2766,3480,3473,3487,0,0,0,0,0,0,14.02,14.22,14.33
$GC,466,-0.43,-107.1,2835,2767,3476,3486,41.9,-4.9,22,471,0.12,2.00,0.00,0.000,4516,0.116,0.120,2761,3827,3480,3474,3486,0,0,0,0,0,0,14.40,14.12,14.45
$GC,507,-0.59,-107.1,2761,3827,3475,3488,44.2,-6.9,28,512,0.10,1.80,0.00,0.000,5286,0.077,0.044,2680,2763,3480,3474,3486,0,0,0,0,0,0,14.35,14.45,14.41
$GC,830,-0.59,-107.1,2681,2763,3478,3488,68.8,-6.6,41,835,0.00,2.38,0.00,0.000,548,0.000,0.042,2680,1370,3482,3478,3486,0,0,0,0,0,0,14.84,14.38,14.84
$GC,997,-0.59,-107.1,2680,1369,3479,3488,81.7,-7.9,65,1003,0.12,2.55,0.00,0.000,3078,0.220,0.073,2706,2772,3482,3478,3486,0,0,0,0,0,0,14.09,14.23,14.33
$GC,1366,-0.70,-107.1,2706,2774,3479,3486,104.1,-6.0,80,1366,0.00,0.00,0.00,0.000,166,0.000,0.000,2705,2773,3481,3477,3486,0,0,0,0,0,0,14.82,14.83,14.82
$GC,1698,-0.83,-107.1,2706,2774,3478,3482,122.6,-5.5,86,1703,0.12,2.38,0.00,0.000,4772,0.096,0.040,2614,1371,3479,3477,3482,0,0,0,0,0,0,14.54,14.40,14.57
$GC,1739,-0.83,-107.1,2615,1372,3482,3482,125.9,-9.0,92,1744,0.00,2.58,0.00,0.000,1030,0.000,0.070,2605,2788,3479,3478,3480,0,0,0,0,0,0,14.45,14.23,14.48
$GC,2089,-0.83,-107.1,2606,2789,3479,3477,162.1,-10.6,100,2094,0.00,1.95,0.00,0.000,260,0.000,0.110,2598,3828,3477,3478,3477,0,0,0,0,0,0,14.92,14.20,14.90
$GC,2109,-0.83,-107.1,2598,3829,3479,3477,164.6,-11.2,103,2115,0.10,1.80,0.00,0.000,3078,0.213,0.040,2625,2758,3477,3478,3476,0,0,0,0,0,0,14.07,14.47,14.23
$GC,2426,-0.83,-107.1,2625,2759,3479,3471,196.2,-10.0,113,2431,0.00,2.38,0.00,0.000,516,0.000,0.044,2625,1378,3474,3478,3471,0,0,0,0,0,0,14.87,14.37,14.88
$GC,2453,-0.83,-107.1,2625,1380,3479,3471,198.9,-9.9,117,2459,0.00,2.55,0.00,0.000,1030,0.000,0.071,2615,2767,3473,3478,3468,0,0,0,0,0,0,14.43,14.23,14.47
$GC,2818,-0.83,-107.1,2616,2767,3478,3468,234.3,-9.6,127,2822,0.00,2.00,0.00,0.000,260,0.000,0.110,2607,3828,3472,3478,3467,0,0,0,0,0,0,14.90,14.17,14.90
$GC,2845,-0.83,-107.1,2607,3829,3479,3466,237.1,-10.1,131,2850,0.00,1.83,0.00,0.000,1030,0.000,0.039,2606,2725,3472,3478,3466,0,0,0,0,0,0,14.50,14.48,14.52
$GC,3209,-0.83,-107.1,2607,2725,3478,3462,274.0,-10.1,141,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2725,3469,3477,3461,0,0,0,0,0,0,14.88,14.88,14.88
$GC,3546,-0.83,-107.1,2607,2725,3478,3457,308.9,-10.4,147,3550,0.00,2.15,0.00,0.000,260,0.000,0.110,2599,3828,3466,3477,3455,0,0,0,0,0,0,14.88,14.12,14.88
$GC,3622,-0.83,-107.1,2599,3828,3478,3457,317.0,-10.9,158,3627,0.10,1.77,0.00,0.000,3078,0.213,0.042,2626,2794,3466,3477,3456,0,0,0,0,0,0,14.03,14.45,14.19
$GC,3938,-0.83,-107.1,2626,2792,3478,3453,344.9,-8.8,168,3942,0.00,2.47,0.00,0.000,516,0.000,0.044,2626,1371,3464,3477,3451,0,0,0,0,0,0,14.87,14.35,14.87
$GC,4007,-0.83,-107.1,2626,1372,3478,3451,350.8,-9.0,178,4012,0.00,2.58,0.00,0.000,1030,0.000,0.071,2619,2767,3464,3477,3451,0,0,0,0,0,0,14.38,14.18,14.42
$GC,4329,-0.83,-107.1,2616,2767,3478,3449,379.0,-8.8,189,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2767,3462,3477,3447,0,0,0,0,0,0,14.90,14.90,14.90
$GC,4666,-0.83,-107.1,2617,2768,3477,3445,408.7,-8.8,195,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2767,3460,3477,3443,0,0,0,0,0,0,14.89,14.90,14.90
$GC,5001,-0.83,-107.1,2617,2768,3478,3440,438.4,-8.8,201,5007,0.00,2.47,0.00,0.000,516,0.000,0.043,2616,1370,3458,3477,3440,0,0,0,0,0,0,14.90,14.26,14.90
$GC,5036,-0.83,-107.1,2617,1370,3478,3439,441.2,-8.2,206,5041,0.00,2.60,0.00,0.000,1030,0.000,0.072,2608,2767,3460,3477,3444,0,0,0,0,0,0,14.35,14.14,14.40
$GC,5394,-0.83,-107.1,2609,2767,3478,3438,471.9,-8.6,215,5398,0.00,2.45,0.00,0.000,516,0.000,0.043,2607,1377,3456,3476,3437,0,0,0,0,0,0,14.85,14.31,14.85
$GC,5442,-0.83,-107.1,2608,1385,3478,3436,476.0,-7.6,222,5449,0.10,2.58,0.00,0.000,3110,0.251,0.073,2625,2763,3461,3486,3437,0,0,0,0,0,0,13.87,14.04,14.14
$GC,5786,-0.83,-107.1,2625,2763,3478,3434,500.6,-7.1,229,5791,0.00,2.42,0.00,0.000,548,0.000,0.043,2625,1379,3455,3477,3433,0,0,0,0,0,0,14.88,14.30,14.88
$GC,5827,-0.83,-107.1,2626,1380,3478,3432,503.7,-6.6,235,5832,0.00,2.58,0.00,0.000,1062,0.000,0.075,2616,2768,3455,3477,3433,0,0,0,0,0,0,14.31,14.09,14.35
$GC,6178,-0.83,-107.1,2616,2769,3474,3430,530.5,-7.9,243,6182,0.00,2.45,0.00,0.000,516,0.000,0.044,2616,1374,3453,3477,3429,0,0,0,0,0,0,14.88,14.28,14.88
$GC,6205,-0.83,-107.1,2616,1375,3478,3430,533.0,-9.2,247,6210,0.00,2.58,0.00,0.000,1030,0.000,0.074,2607,2759,3454,3477,3431,0,0,0,0,0,0,14.30,14.08,14.35
$GC,6570,-0.83,-107.1,2608,2759,3479,3428,564.5,-8.9,257,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2759,3452,3477,3427,0,0,0,0,0,0,14.88,14.88,14.88
$GC,6905,-0.83,-107.1,2608,2759,3472,3428,595.5,-9.1,263,6910,0.00,2.40,0.00,0.000,516,0.000,0.044,2605,1373,3449,3473,3426,0,0,0,0,0,0,14.88,14.22,14.88
$GC,6975,-0.83,-107.1,2605,1373,3474,3428,601.8,-9.8,273,6981,0.10,2.58,0.00,0.000,3078,0.251,0.074,2624,2758,3449,3473,3426,0,0,0,0,0,0,13.88,14.05,14.14
$GC,7297,-0.83,-107.1,2623,2758,3471,3428,629.7,-8.6,284,7298,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2757,3450,3475,3426,0,0,0,0,0,0,14.84,14.85,14.85
$GC,7634,-0.83,-107.1,2621,2759,3471,3426,658.8,-8.8,290,7638,0.00,2.45,0.00,0.000,516,0.000,0.044,2624,1373,3447,3470,3425,0,0,0,0,0,0,14.84,14.25,14.84
$GC,7696,-0.83,-107.1,2625,1373,3471,3426,664.3,-9.0,299,7701,0.00,2.60,0.00,0.000,1030,0.000,0.076,2616,2755,3447,3470,3425,0,0,0,0,0,0,14.26,14.06,14.31
$GC,8026,-0.83,-107.1,2616,2756,3471,3422,693.9,-8.9,311,8026,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2755,3446,3469,3423,0,0,0,0,0,0,14.85,14.84,14.83
$GC,8362,-0.83,-107.1,2616,2755,3468,3424,721.5,-8.1,317,8368,0.00,2.47,0.00,0.000,516,0.000,0.044,2615,1374,3444,3467,3422,0,0,0,0,0,0,14.83,14.13,14.83
$GC,8424,-0.83,-107.1,2615,1375,3468,3421,726.4,-7.9,326,8429,0.00,2.62,0.00,0.000,1030,0.000,0.079,2606,2755,3444,3467,3421,0,0,0,0,0,0,14.21,13.97,14.26
$GC,8754,-0.83,-107.1,2606,2758,3468,3420,751.0,-7.4,338,8758,0.00,2.45,0.00,0.000,548,0.000,0.044,2605,1378,3444,3468,3420,0,0,0,0,0,0,14.83,14.21,14.83
$GC,8781,-0.83,-107.1,2605,1378,3467,3421,753.4,-8.9,342,8786,0.12,2.60,0.00,0.000,3078,0.246,0.079,2629,2758,3442,3465,3420,0,0,0,0,0,0,13.78,13.97,14.07
$GC,9146,-0.83,-107.1,2630,2758,3465,3421,776.7,-6.5,352,9147,0.00,0.00,0.00,0.000,38,0.000,0.000,2629,2758,3442,3466,3419,0,0,0,0,0,0,14.86,14.86,14.86
$GC,9482,-0.83,-107.1,2630,2758,3465,3420,799.0,-6.8,358,9486,0.00,2.45,0.00,0.000,548,0.000,0.044,2629,1376,3441,3464,3418,0,0,0,0,0,0,14.85,14.15,14.85
$STATE,9505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9505,begin apogee
$GC,9515,-0.23,0.0,2626,2264,3465,3419,800.6,-5.5,362,9623,0.73,0.00,100.47,2.535,10244,0.194,0.000,2826,2263,3050,3091,3010,0,0,0,0,1,0,13.71,13.84,12.50
$STATE,9624,end apogee,CONTROL_FINISHED_OK
$STATE,9624,begin climb
$GC,9628,0.93,107.1,2826,2264,3092,3022,802.1,0.0,364,9763,1.12,2.53,125.30,1.825,10756,0.107,0.058,3179,869,2622,2682,2562,0,0,0,0,0,0,13.93,13.97,12.96
$GC,9805,0.89,178.2,3179,870,2677,2542,800.9,4.2,390,9889,0.00,2.50,78.12,1.762,9382,0.000,0.060,3179,2261,2337,2419,2256,0,0,0,0,0,0,14.26,14.13,13.05
$GC,10236,0.80,178.2,3187,2261,2414,2230,761.3,9.5,409,10242,0.00,2.67,0.00,0.000,388,0.000,0.120,3179,3653,2321,2413,2229,0,0,0,0,0,0,14.69,14.13,14.69
$GC,10284,0.65,178.2,3178,3655,2415,2229,756.3,10.4,416,10291,0.28,2.40,0.00,0.000,5254,0.236,0.042,3117,2258,2321,2414,2229,0,0,0,0,0,0,14.00,14.38,14.32
$GC,10628,0.66,186.2,3117,2259,2415,2225,731.3,7.3,423,10633,0.00,2.55,1.62,0.220,8740,0.000,0.061,3127,856,2305,2401,2209,0,0,0,0,0,0,14.78,14.25,14.00
$GC,10655,0.67,193.3,3127,855,2402,2218,729.0,7.4,427,10675,0.00,2.50,12.15,2.012,9254,0.000,0.062,3127,2258,2276,2369,2184,0,0,0,0,0,0,14.43,14.27,13.33
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$STATE,19623,end climb,SURFACE_DEPTH_REACHED
$STATE,19623,begin surface coast
$FINISH,1.3,1.022081
$STATE,19625,end surface coast,CONTROL_FINISHED_OK
$STATE,19625,begin surface
$SM_CCo,19651,56.50,0.160,0,0,1057,500.14
$SM_GC,-5.57,9.45,1.52,56.50,0.084,0.044,0.160,189,2760,1057,-8.40,1.70,500.14,0,0,0,0,0,0,14.43,14.45,14.15
$IRIDIUM_FIX,951.69,-12443.37,250117,102626
$TT8_MAMPS,0.03745,0.42693
$HUMID,58.11
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,21.80
$XPDR_PINGS,2
$SC_FREEKB,3679328
$PM_FREEKB,52950848
$24V_AH,12.50,208.035
$10V_AH,12.40,0.000
$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,26.350,186.750,451.925,56.500,0.000,0.000,0.000,511.600,0.500,0.000,5.001,0.000,16800.973,763.218,2509.836,607.577,0.000,2008.234,0.000,1483.115,0.000,0.839,0.000
$DEVICE_MAMPS,393.210,128.520,2535.210,159.885,0.000,0.000,0.000,176.715,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19689.000,19637.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.636,2.462,0.000,0.000
$MEM,334744
$DATA_FILE_SIZE,30057,820
$CAP_FILE_SIZE,149410,0
$CFSIZE,1024409600,917782528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.050,350.70,1
$GPS,250117,160430,1000.091,-12442.032,32,0.9,32,9.0,0.6,65.3,10,3.9