version: 66.13
glider: 220
mission: 6
dive: 507
start: 1 3 117 21 4 28
data:
$ID,220
$MISSION,6
$DIVE,507
$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,50
$R_STBD_OVSHOOT,21
$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
$GPS1,030117,205230,1007.7825,-12449.0645,35,0.7,35,9.0,0.5,45.6,12,4.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.52
$_SM_ANGLEo,-68.9
$GPS2,030117,210404,1007.8862,-12449.0400,2,0.6,3,9.0,0.1,0.0,12,6.5
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,294.8,28798,-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,-107.1,107,2781,1099,1018,0.0,0.0,0,100,0.00,0.00,-80.88,0.000,16390,0.000,0.000,105,2781,3478,3469,3487,0,0,0,0,0,0,14.66,12.55,14.64
$GC,104,-0.93,-107.1,106,2782,3472,3487,2.6,-10.7,3,121,11.88,1.90,0.00,0.000,2308,0.383,0.086,2581,3828,3478,3470,3487,0,0,0,0,0,0,13.97,14.34,14.24
$GC,163,-0.50,-107.1,2581,3829,3472,3487,27.8,-29.3,12,169,0.57,1.85,0.00,0.000,3206,0.256,0.045,2729,2762,3479,3472,3487,0,0,0,0,0,0,13.98,14.40,14.19
$GC,493,-0.59,-107.1,2730,2762,3477,3488,56.6,-8.0,26,498,0.00,2.03,0.00,0.000,388,0.000,0.112,2722,3831,3481,3476,3486,0,0,0,0,0,0,14.83,14.19,14.83
$GC,534,-0.69,-107.1,2723,3830,3477,3488,59.5,-7.1,32,540,0.08,1.83,0.00,0.000,5286,0.087,0.041,2646,2752,3481,3476,3487,0,0,0,0,0,0,14.40,14.50,14.45
$GC,857,-0.69,-107.1,2647,2752,3478,3489,87.9,-8.1,45,863,0.10,2.33,0.00,0.000,2564,0.232,0.042,2676,1372,3482,3478,3487,0,0,0,0,0,0,14.31,14.45,14.51
$GC,941,-0.69,-107.1,2676,1373,3479,3487,93.7,-6.7,57,947,0.00,2.50,0.00,0.000,1062,0.000,0.067,2666,2775,3482,3478,3487,0,0,0,0,0,0,14.54,14.37,14.57
$GC,1277,-0.69,-107.1,2666,2776,3479,3485,118.9,-7.6,68,1282,0.00,2.40,0.00,0.000,548,0.000,0.041,2666,1374,3482,3478,3486,0,0,0,0,0,0,14.88,14.47,14.89
$GC,1325,-0.69,-107.1,2667,1374,3478,3488,123.0,-8.8,75,1332,0.00,2.53,0.00,0.000,1030,0.000,0.067,2657,2768,3482,3478,3486,0,0,0,0,0,0,14.41,14.31,14.45
$GC,1669,-0.69,-107.1,2657,2769,3479,3482,151.3,-8.0,82,1674,0.00,2.42,0.00,0.000,516,0.000,0.042,2657,1370,3480,3478,3482,0,0,0,0,0,0,14.90,14.48,14.90
$GC,1717,-0.69,-107.1,2659,1370,3479,3483,155.2,-7.7,89,1725,0.08,2.55,0.00,0.000,3078,0.220,0.068,2673,2769,3479,3478,3481,0,0,0,0,0,0,14.14,14.31,14.31
$GC,2061,-0.69,-107.1,2671,2769,3479,3479,179.1,-7.0,96,2066,0.00,2.40,0.00,0.000,548,0.000,0.042,2671,1380,3477,3477,3477,0,0,0,0,0,0,14.92,14.47,14.90
$GC,2095,-0.77,-107.1,2672,1379,3478,3478,181.8,-7.7,101,2102,0.00,2.50,0.00,0.000,1190,0.000,0.068,2662,2775,3477,3478,3477,0,0,0,0,0,0,14.54,14.37,14.58
$GC,2453,-0.77,-107.1,2663,2775,3478,3473,210.6,-8.3,110,2458,0.00,2.40,0.00,0.000,516,0.000,0.042,2661,1380,3474,3477,3471,0,0,0,0,0,0,14.92,14.48,14.92
$GC,2495,-0.85,-107.1,2663,1380,3479,3471,214.3,-8.7,116,2500,0.00,2.47,0.00,0.000,1158,0.000,0.067,2654,2768,3474,3478,3470,0,0,0,0,0,0,14.54,14.37,14.57
$GC,2845,-0.85,-107.1,2655,2768,3478,3469,245.2,-8.8,124,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2768,3472,3477,3468,0,0,0,0,0,0,14.93,14.93,14.93
$GC,3181,-0.85,-107.1,2655,2768,3478,3464,271.5,-7.5,130,3186,0.00,2.42,0.00,0.000,548,0.000,0.043,2654,1373,3469,3477,3462,0,0,0,0,0,0,14.93,14.47,14.93
$GC,3264,-0.85,-107.1,2655,1373,3478,3463,277.6,-7.2,142,3270,0.00,2.53,0.00,0.000,1062,0.000,0.067,2645,2774,3470,3478,3462,0,0,0,0,0,0,14.51,14.33,14.54
$GC,3629,-0.85,-107.1,2646,2775,3478,3460,305.8,-7.8,152,3630,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2775,3468,3477,3459,0,0,0,0,0,0,14.90,14.90,14.90
$GC,3965,-0.85,-107.1,2645,2776,3479,3455,332.3,-7.9,158,3970,0.00,2.42,0.00,0.000,516,0.000,0.042,2645,1376,3466,3478,3455,0,0,0,0,0,0,14.90,14.46,14.90
$GC,4013,-0.85,-107.1,2646,1376,3478,3455,336.2,-7.7,165,4021,0.00,2.55,0.00,0.000,1062,0.000,0.069,2637,2762,3465,3477,3454,0,0,0,0,0,0,14.38,14.28,14.40
$GC,4357,-0.85,-107.1,2637,2762,3478,3451,363.3,-7.9,172,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2762,3464,3477,3451,0,0,0,0,0,0,14.90,14.90,14.90
$GC,4694,-0.85,-107.1,2637,2762,3478,3443,389.1,-7.7,178,4698,0.00,2.42,0.00,0.000,548,0.000,0.044,2636,1375,3466,3477,3455,0,0,0,0,0,0,14.90,14.45,14.90
$GC,4727,-0.85,-107.1,2637,1375,3478,3449,391.8,-7.7,183,4733,0.00,2.58,0.00,0.000,1062,0.000,0.069,2627,2765,3463,3479,3448,0,0,0,0,0,0,14.50,14.25,14.54
$GC,5085,-0.85,-107.1,2627,2766,3478,3445,426.3,-9.4,192,5090,0.00,2.00,0.00,0.000,260,0.000,0.114,2619,3823,3461,3477,3445,0,0,0,0,0,0,14.90,14.21,14.90
$GC,5112,-0.85,-107.1,2619,3823,3478,3446,428.6,-8.4,196,5118,0.00,1.83,0.00,0.000,1030,0.000,0.044,2618,2767,3461,3477,3445,0,0,0,0,0,0,14.53,14.51,14.54
$GC,5477,-0.85,-107.1,2618,2767,3478,3442,460.0,-8.6,206,5482,0.00,2.42,0.00,0.000,516,0.000,0.043,2618,1369,3459,3477,3441,0,0,0,0,0,0,14.90,14.42,14.90
$GC,5533,-0.85,-107.1,2619,1369,3478,3442,464.7,-8.4,214,5538,0.00,2.53,0.00,0.000,1030,0.000,0.067,2608,2768,3459,3477,3441,0,0,0,0,0,0,14.49,14.32,14.52
$GC,5869,-0.85,-107.1,2609,2770,3478,3438,494.9,-9.0,227,5874,0.00,2.00,0.00,0.000,260,0.000,0.113,2601,3834,3457,3476,3439,0,0,0,0,0,0,14.91,14.19,14.91
$GC,5938,-0.85,-107.1,2601,3833,3478,3439,501.6,-9.7,237,5945,0.00,1.88,0.00,0.000,1030,0.000,0.043,2600,2746,3457,3477,3438,0,0,0,0,0,0,14.45,14.42,14.46
$GC,6261,-0.85,-107.1,2600,2748,3478,3444,532.9,-9.8,248,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2746,3456,3477,3436,0,0,0,0,0,0,14.89,14.89,14.89
$GC,6597,-0.85,-107.1,2600,2746,3477,3434,566.4,-10.0,254,6602,0.00,2.08,0.00,0.000,260,0.000,0.112,2592,3824,3454,3477,3432,0,0,0,0,0,0,14.89,14.16,14.89
$GC,6624,-0.85,-107.1,2592,3825,3478,3431,569.2,-10.0,258,6630,0.10,1.83,0.00,0.000,3078,0.207,0.044,2620,2774,3454,3476,3433,0,0,0,0,0,0,14.07,14.47,14.23
$GC,6989,-0.85,-107.1,2621,2774,3478,3432,601.9,-8.8,268,6994,0.00,2.45,0.00,0.000,516,0.000,0.043,2620,1370,3454,3478,3431,0,0,0,0,0,0,14.88,14.38,14.88
$GC,7058,-0.85,-107.1,2621,1369,3478,3432,607.9,-8.4,278,7064,0.00,2.58,0.00,0.000,1030,0.000,0.067,2610,2766,3453,3477,3430,0,0,0,0,0,0,14.30,14.19,14.35
$GC,7381,-0.85,-107.1,2612,2765,3475,3431,636.7,-8.9,289,7387,0.00,2.03,0.00,0.000,260,0.000,0.112,2603,3833,3451,3474,3429,0,0,0,0,0,0,14.89,14.10,14.88
$GC,7415,-0.85,-107.1,2603,3832,3474,3431,640.0,-9.2,294,7421,0.00,1.88,0.00,0.000,1030,0.000,0.044,2602,2748,3451,3473,3429,0,0,0,0,0,0,14.50,14.47,14.52
$GC,7773,-0.85,-107.1,2603,2749,3473,3429,671.0,-8.6,303,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2748,3450,3472,3429,0,0,0,0,0,0,14.91,14.90,14.91
$GC,8109,-0.85,-107.1,2602,2749,3471,3429,699.8,-8.5,309,8114,0.00,2.08,0.00,0.000,260,0.000,0.111,2594,3826,3450,3471,3429,0,0,0,0,0,0,14.88,14.12,14.88
$GC,8136,-0.85,-107.1,2594,3827,3471,3429,702.4,-9.5,313,8143,0.10,1.85,0.00,0.000,3078,0.207,0.045,2622,2774,3449,3470,3429,0,0,0,0,0,0,14.04,14.45,14.20
$GC,8501,-0.85,-107.1,2622,2775,3471,3428,731.2,-7.9,323,8502,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2774,3449,3470,3428,0,0,0,0,0,0,14.87,14.88,14.88
$GC,8837,-0.85,-107.1,2621,2775,3472,3426,759.7,-8.5,329,8843,0.00,2.47,0.00,0.000,516,0.000,0.044,2622,1359,3448,3471,3425,0,0,0,0,0,0,14.88,14.34,14.88
$GC,8906,-0.85,-107.1,2623,1359,3471,3426,765.5,-8.2,339,8912,0.00,2.58,0.00,0.000,1030,0.000,0.067,2612,2751,3447,3470,3425,0,0,0,0,0,0,14.23,14.14,14.28
$GC,9229,-0.85,-107.1,2613,2753,3469,3425,793.8,-9.0,350,9234,0.00,2.05,0.00,0.000,260,0.000,0.113,2605,3829,3446,3467,3425,0,0,0,0,0,0,14.90,14.07,14.90
$GC,9277,-0.85,-107.1,2605,3829,3468,3426,798.5,-9.5,357,9285,0.00,1.90,0.00,0.000,1030,0.000,0.045,2604,2742,3446,3467,3425,0,0,0,0,0,0,14.42,14.39,14.43
$STATE,9338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9338,begin apogee
$GC,9346,-0.23,0.0,2604,2220,3468,3423,803.8,-8.6,359,9459,0.75,0.08,110.72,1.856,10244,0.180,0.181,2821,2262,3049,3089,3009,0,0,0,0,0,0,13.98,13.95,13.02
$STATE,9460,end apogee,CONTROL_FINISHED_OK
$STATE,9461,begin climb
$GC,9464,0.93,107.1,2822,2261,3084,3003,807.7,0.0,361,9588,1.10,2.55,115.07,1.817,10756,0.089,0.053,3182,849,2622,2681,2564,0,0,0,0,0,0,14.04,14.07,12.98
$GC,9617,0.87,175.2,3181,850,2677,2544,806.0,4.3,384,9698,0.00,2.50,74.07,1.795,9382,0.000,0.050,3182,2253,2345,2425,2266,0,0,0,0,0,0,14.21,14.10,13.02
$GC,10011,0.77,175.2,3182,2253,2422,2244,769.7,9.9,405,10016,0.08,2.60,0.00,0.000,4484,0.265,0.097,3156,3652,2332,2423,2242,0,0,0,0,0,0,14.19,14.26,14.34
$GC,10051,0.67,175.2,3156,3652,2424,2243,765.4,10.3,411,10057,0.17,2.42,0.00,0.000,5254,0.221,0.040,3117,2235,2331,2423,2240,0,0,0,0,0,0,14.16,14.46,14.42
$GC,10402,0.69,184.7,3117,2232,2424,2238,739.7,7.3,419,10405,0.00,0.00,2.15,0.425,8230,0.000,0.000,3117,2231,2313,2405,2221,0,0,0,0,0,0,14.84,14.27,12.90
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$STATE,19604,end climb,SURFACE_DEPTH_REACHED
$STATE,19604,begin surface coast
$FINISH,-1.6,1.021944
$STATE,19632,end surface coast,CONTROL_FINISHED_OK
$STATE,19632,begin surface
$SM_CCo,19655,27.98,0.157,0,0,1057,500.14
$SM_GC,-3.68,9.40,0.90,27.98,0.081,0.085,0.157,188,2766,1057,-8.40,-0.79,500.14,0,0,0,0,0,0,14.45,14.31,14.13
$IRIDIUM_FIX,958.26,-12719.81,030117,152014
$TT8_MAMPS,0.038948,0.415695
$HUMID,57.56
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.30
$XPDR_PINGS,0
$SC_FREEKB,3715072
$PM_FREEKB,53980928
$24V_AH,11.21,178.762
$10V_AH,12.58,0.000
$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,25.425,192.650,493.200,27.975,0.000,0.000,0.000,367.200,0.000,0.000,4.648,0.000,16676.693,784.000,2362.669,538.536,0.000,1891.094,0.000,1469.990,0.000,0.838,0.000
$DEVICE_MAMPS,383.265,180.540,1855.890,156.825,0.000,0.000,0.000,179.010,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19691.000,19641.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.613,2.434,0.000,0.000
$MEM,334736
$DATA_FILE_SIZE,30009,816
$CAP_FILE_SIZE,155417,0
$CFSIZE,1024409600,931446784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032,26.12,1
$GPS,040117,023330,1008.974,-12450.449,26,0.9,26,9.0,0.6,140.9,9,4.6