version: 66.13
glider: 220
mission: 6
dive: 506
start: 1 3 117 15 26 21
data:
$ID,220
$MISSION,6
$DIVE,506
$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,54
$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
$GPS1,030117,151430,1005.9650,-12447.7441,29,0.8,29,9.0,1.0,357.0,9,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.83
$_SM_ANGLEo,-69.8
$GPS2,030117,152600,1006.0842,-12447.7080,2,0.8,3,9.0,1.2,282.2,9,5.1
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,306.3,32890,-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,16,-0.93,-107.1,108,2780,1100,1012,0.0,0.0,0,100,0.00,0.00,-80.95,0.000,16390,0.000,0.000,106,2779,3478,3470,3486,0,0,0,0,0,0,14.66,12.55,14.64
$GC,104,-0.93,-107.1,103,2780,3469,3486,2.1,-10.7,3,121,11.93,1.92,0.00,0.000,2308,0.386,0.083,2583,3835,3478,3470,3486,0,0,0,0,0,0,13.95,14.35,14.24
$GC,353,-0.73,-107.1,2587,3835,3473,3487,59.3,-12.9,39,358,0.28,1.77,0.00,0.000,3206,0.226,0.037,2659,2729,3481,3476,3487,0,0,0,0,0,0,14.07,14.50,14.33
$GC,689,-0.73,-107.1,2660,2728,3480,3487,85.5,-7.7,54,694,0.00,2.08,0.00,0.000,292,0.000,0.108,2651,3828,3482,3479,3486,0,0,0,0,0,0,14.85,14.26,14.85
$GC,723,-0.73,-107.1,2652,3828,3480,3487,88.6,-9.0,59,729,0.00,1.75,0.00,0.000,1030,0.000,0.041,2652,2772,3482,3478,3486,0,0,0,0,0,0,14.50,14.48,14.51
$GC,1081,-0.73,-107.1,2651,2773,3480,3486,120.5,-8.8,70,1086,0.00,2.35,0.00,0.000,516,0.000,0.041,2651,1390,3482,3478,3486,0,0,0,0,0,0,14.88,14.47,14.88
$GC,1137,-0.73,-107.1,2651,1390,3480,3485,125.2,-8.5,78,1142,0.00,2.45,0.00,0.000,1030,0.000,0.067,2641,2765,3481,3478,3484,0,0,0,0,0,0,14.54,14.37,14.57
$GC,1473,-0.73,-107.1,2642,2765,3479,3482,156.4,-9.4,91,1478,0.00,2.00,0.00,0.000,260,0.000,0.111,2634,3838,3480,3479,3481,0,0,0,0,0,0,14.90,14.18,14.89
$GC,1529,-0.73,-107.1,2634,3839,3480,3481,162.0,-10.1,99,1534,0.00,1.80,0.00,0.000,1030,0.000,0.038,2633,2753,3480,3479,3481,0,0,0,0,0,0,14.57,14.54,14.58
$GC,1865,-0.73,-107.1,2633,2754,3480,3476,194.5,-9.6,112,1870,0.10,2.03,0.00,0.000,2308,0.236,0.111,2651,3824,3477,3478,3476,0,0,0,0,0,0,14.29,14.27,14.46
$GC,1899,-0.73,-107.1,2653,3824,3479,3477,197.6,-8.7,117,1906,0.00,1.77,0.00,0.000,1030,0.000,0.041,2655,2768,3477,3479,3476,0,0,0,0,0,0,14.59,14.57,14.61
$GC,2257,-0.73,-107.1,2655,2768,3479,3472,226.4,-8.0,126,2262,0.00,2.38,0.00,0.000,516,0.000,0.041,2655,1378,3474,3479,3470,0,0,0,0,0,0,14.92,14.48,14.92
$GC,2333,-0.73,-107.1,2655,1376,3480,3469,232.6,-8.2,137,2340,0.00,2.53,0.00,0.000,1030,0.000,0.067,2645,2756,3473,3478,3469,0,0,0,0,0,0,14.38,14.28,14.42
$GC,2649,-0.73,-107.1,2645,2757,3480,3466,259.4,-8.6,147,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2756,3472,3478,3466,0,0,0,0,0,0,14.92,14.93,14.93
$GC,2985,-0.73,-107.1,2647,2757,3479,3464,287.9,-8.4,153,2991,0.00,2.38,0.00,0.000,516,0.000,0.041,2645,1387,3469,3478,3461,0,0,0,0,0,0,14.90,14.47,14.90
$GC,3019,-0.73,-107.1,2645,1387,3480,3461,290.8,-8.4,158,3025,0.00,2.53,0.00,0.000,1030,0.000,0.069,2637,2766,3469,3478,3461,0,0,0,0,0,0,14.39,14.30,14.43
$GC,3377,-0.73,-107.1,2637,2768,3479,3457,321.7,-8.6,167,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2767,3467,3478,3457,0,0,0,0,0,0,14.92,14.93,14.93
$GC,3713,-0.73,-107.1,2637,2767,3479,3455,352.8,-9.6,173,3719,0.00,2.40,0.00,0.000,516,0.000,0.042,2637,1387,3465,3478,3453,0,0,0,0,0,0,14.93,14.44,14.93
$GC,3747,-0.73,-107.1,2637,1387,3479,3454,355.9,-8.7,178,3753,0.10,2.53,0.00,0.000,3078,0.215,0.068,2656,2757,3467,3478,3457,0,0,0,0,0,0,14.07,14.27,14.40
$GC,4105,-0.73,-107.1,2656,2756,3479,3452,380.6,-6.8,187,4106,0.00,0.00,0.00,0.000,38,0.000,0.000,2658,2756,3464,3478,3451,0,0,0,0,0,0,14.92,14.92,14.92
$GC,4441,-0.73,-107.1,2656,2757,3479,3447,405.5,-7.6,193,4447,0.00,2.40,0.00,0.000,548,0.000,0.042,2656,1383,3462,3478,3447,0,0,0,0,0,0,14.90,14.43,14.90
$GC,4489,-0.82,-107.1,2657,1383,3479,3448,409.3,-7.7,200,4496,0.00,2.55,0.00,0.000,1158,0.000,0.067,2647,2762,3462,3478,3446,0,0,0,0,0,0,14.35,14.27,14.40
$GC,4833,-0.82,-107.1,2647,2764,3479,3444,438.1,-8.6,207,4838,0.00,2.03,0.00,0.000,260,0.000,0.114,2640,3827,3461,3479,3444,0,0,0,0,0,0,14.92,14.12,14.92
$GC,4874,-0.82,-107.1,2639,3827,3478,3445,441.9,-9.3,213,4880,0.00,1.85,0.00,0.000,1030,0.000,0.044,2639,2763,3460,3478,3443,0,0,0,0,0,0,14.54,14.51,14.55
$GC,5225,-0.82,-107.1,2639,2764,3479,3440,471.2,-8.3,221,5231,0.00,2.42,0.00,0.000,516,0.000,0.042,2638,1362,3459,3478,3440,0,0,0,0,0,0,14.89,14.42,14.90
$GC,5259,-0.82,-107.1,2639,1362,3479,3442,474.1,-8.4,226,5265,0.00,2.58,0.00,0.000,1030,0.000,0.067,2629,2761,3458,3477,3440,0,0,0,0,0,0,14.35,14.25,14.40
$GC,5617,-0.82,-107.1,2627,2760,3478,3438,503.7,-8.3,235,5618,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2761,3457,3478,3437,0,0,0,0,0,0,14.91,14.92,14.92
$GC,5953,-0.82,-107.1,2630,2762,3479,3435,531.7,-8.2,241,5959,0.00,2.45,0.00,0.000,516,0.000,0.043,2629,1369,3456,3478,3434,0,0,0,0,0,0,14.91,14.42,14.91
$GC,6001,-0.82,-107.1,2629,1370,3479,3433,535.8,-8.2,248,6008,0.00,2.55,0.00,0.000,1030,0.000,0.067,2620,2751,3455,3478,3433,0,0,0,0,0,0,14.32,14.21,14.35
$GC,6345,-0.82,-107.1,2620,2752,3478,3433,563.7,-8.1,255,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2752,3454,3477,3432,0,0,0,0,0,0,14.88,14.88,14.88
$GC,6681,-0.82,-107.1,2620,2752,3479,3430,591.0,-8.2,261,6687,0.00,2.42,0.00,0.000,516,0.000,0.043,2619,1371,3453,3478,3429,0,0,0,0,0,0,14.89,14.38,14.89
$GC,6729,-0.82,-107.1,2619,1372,3479,3428,595.1,-8.5,268,6736,0.00,2.55,0.00,0.000,1030,0.000,0.066,2609,2758,3453,3478,3428,0,0,0,0,0,0,14.30,14.19,14.35
$GC,7073,-0.82,-107.1,2610,2759,3475,3428,624.7,-8.7,275,7078,0.00,2.03,0.00,0.000,260,0.000,0.116,2601,3826,3451,3474,3428,0,0,0,0,0,0,14.90,14.11,14.90
$GC,7114,-0.82,-107.1,2601,3828,3474,3428,628.4,-9.2,281,7121,0.10,1.88,0.00,0.000,3078,0.211,0.044,2629,2754,3449,3473,3426,0,0,0,0,0,0,14.03,14.43,14.19
$GC,7465,-0.82,-107.1,2629,2755,3472,3428,656.8,-8.0,289,7471,0.00,2.40,0.00,0.000,516,0.000,0.044,2631,1372,3449,3471,3428,0,0,0,0,0,0,14.88,14.36,14.88
$GC,7534,-0.82,-107.1,2630,1373,3472,3429,662.4,-7.7,299,7540,0.00,2.55,0.00,0.000,1062,0.000,0.066,2620,2753,3449,3471,3428,0,0,0,0,0,0,14.43,14.18,14.47
$GC,7857,-0.82,-107.1,2620,2754,3470,3429,689.6,-8.4,310,7862,0.00,2.03,0.00,0.000,260,0.000,0.113,2611,3821,3448,3470,3427,0,0,0,0,0,0,14.88,14.09,14.88
$GC,7905,-0.82,-107.1,2613,3821,3471,3428,694.2,-9.6,317,7913,0.00,1.88,0.00,0.000,1030,0.000,0.044,2611,2743,3446,3469,3424,0,0,0,0,0,0,14.45,14.43,14.47
$GC,8249,-0.82,-107.1,2612,2743,3471,3427,723.4,-8.4,324,8254,0.00,2.40,0.00,0.000,516,0.000,0.044,2611,1372,3448,3470,3426,0,0,0,0,0,0,14.90,14.34,14.90
$GC,8290,-0.82,-107.1,2611,1374,3471,3425,727.0,-8.2,330,8296,0.10,2.55,0.00,0.000,3078,0.254,0.067,2630,2750,3447,3470,3425,0,0,0,0,0,0,13.97,14.13,14.25
$GC,8641,-0.82,-107.1,2630,2751,3471,3423,751.7,-6.8,338,8646,0.00,2.05,0.00,0.000,292,0.000,0.115,2623,3821,3446,3470,3423,0,0,0,0,0,0,14.87,14.06,14.87
$GC,8710,-0.82,-107.1,2621,3822,3470,3423,756.9,-7.5,348,8716,0.00,1.85,0.00,0.000,1062,0.000,0.046,2621,2754,3446,3470,3423,0,0,0,0,0,0,14.43,14.40,14.45
$GC,9033,-0.82,-107.1,2621,2754,3468,3425,779.1,-6.9,359,9038,0.00,2.42,0.00,0.000,548,0.000,0.044,2621,1369,3445,3467,3423,0,0,0,0,0,0,14.86,14.30,14.86
$GC,9067,-0.82,-107.1,2623,1369,3468,3423,781.7,-7.4,364,9073,0.00,2.58,0.00,0.000,1062,0.000,0.067,2612,2753,3445,3467,3423,0,0,0,0,0,0,14.21,14.11,14.26
$STATE,9310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9310,begin apogee
$GC,9318,-0.23,0.0,2612,2218,3468,3420,800.7,-7.8,371,9433,0.73,0.10,112.30,1.846,10244,0.175,0.164,2822,2279,3051,3091,3011,0,0,0,0,0,0,13.97,13.95,12.97
$STATE,9435,end apogee,CONTROL_FINISHED_OK
$STATE,9435,begin climb
$GC,9438,0.93,107.1,2821,2280,3086,3002,803.4,0.0,373,9566,1.10,2.53,115.95,1.802,10756,0.087,0.054,3184,890,2618,2679,2558,0,0,0,0,0,0,14.03,14.07,12.97
$GC,9629,0.84,135.9,3185,890,2678,2545,799.5,6.3,402,9665,0.00,2.42,31.70,1.868,9382,0.000,0.051,3184,2258,2507,2579,2436,0,0,0,0,0,0,14.29,14.18,13.13
$GC,9982,0.73,135.9,3192,2259,2573,2412,770.5,8.5,417,9987,0.15,2.62,0.00,0.000,4484,0.228,0.098,3136,3657,2492,2572,2413,0,0,0,0,0,0,14.14,14.25,14.34
$GC,10008,0.63,135.9,3141,3658,2573,2413,768.2,8.0,421,10013,0.12,2.40,0.00,0.000,5254,0.212,0.040,3104,2275,2493,2573,2413,0,0,0,0,0,0,14.14,14.41,14.42
$GC,10373,0.67,168.5,3104,2274,2573,2411,745.6,6.1,431,10410,0.00,0.00,35.83,1.837,8230,0.000,0.000,3104,2274,2378,2459,2298,0,0,0,0,0,0,14.82,14.27,13.29
$GC,10709,0.68,179.1,3104,2274,2453,2279,722.1,7.2,437,10721,0.00,2.65,4.05,1.639,8484,0.000,0.102,3104,3654,2341,2424,2259,0,0,0,0,0,0,14.76,14.32,12.95
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$STATE,19408,end climb,SURFACE_DEPTH_REACHED
$STATE,19408,begin surface coast
$FINISH,-0.1,1.021949
$STATE,19437,end surface coast,CONTROL_FINISHED_OK
$STATE,19437,begin surface
$SM_CCo,19460,40.58,0.160,0,0,1057,500.14
$SM_GC,-3.23,9.25,0.95,40.58,0.076,0.090,0.160,192,2767,1057,-8.38,-0.65,500.14,0,0,0,0,0,0,14.45,14.28,14.15
$IRIDIUM_FIX,958.26,-12443.37,030117,092909
$TT8_MAMPS,0.038199,0.39697
$HUMID,57.87
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.10
$XPDR_PINGS,0
$SC_FREEKB,3715456
$PM_FREEKB,53991552
$24V_AH,12.55,178.473
$10V_AH,12.55,0.000
$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,24.825,192.450,465.750,40.575,0.000,0.000,0.000,362.900,0.000,0.000,4.706,0.000,16471.471,802.665,2375.217,523.528,0.000,1909.288,0.000,1490.194,0.000,0.838,0.000
$DEVICE_MAMPS,385.560,164.475,1940.040,159.885,0.000,0.000,0.000,172.890,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19497.000,19447.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.565,2.446,0.000,0.000
$MEM,334672
$DATA_FILE_SIZE,30000,833
$CAP_FILE_SIZE,150716,0
$CFSIZE,1024409600,931594240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054,359.52,1
$GPS,030117,205230,1007.783,-12449.064,35,0.7,35,9.0,0.5,45.6,12,4.7