version: 66.13
glider: 220
mission: 6
dive: 516
start: 1 5 117 22 58 22
data:
$ID,220
$MISSION,6
$DIVE,516
$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,59
$R_STBD_OVSHOOT,18
$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
$GPS1,050117,224601,1017.0368,-12500.6523,16,1.3,17,9.1,0.0,0.0,7,7.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.69
$_SM_ANGLEo,-68.9
$GPS2,050117,225758,1017.1141,-12500.6494,2,1.3,3,9.1,1.0,286.8,7,8.0
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,220.2,46613,-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,-107.1,105,2774,1097,1015,0.0,0.0,0,100,0.00,0.00,-81.22,0.000,16390,0.000,0.000,104,2774,3478,3469,3487,0,0,0,0,0,0,14.67,12.54,14.65
$GC,104,-0.93,-107.1,106,2774,3470,3489,5.4,-10.7,3,121,12.07,2.38,0.00,0.000,2564,0.392,0.029,2588,1345,3479,3470,3488,0,0,0,0,0,0,13.96,14.35,14.24
$GC,205,-0.70,-107.1,2589,1348,3474,3487,38.2,-21.9,18,213,0.30,2.60,0.00,0.000,3206,0.239,0.074,2669,2764,3479,3472,3487,0,0,0,0,0,0,14.02,14.25,14.33
$GC,522,-0.70,-107.1,2667,2764,3476,3488,66.7,-6.5,30,526,0.00,1.98,0.00,0.000,292,0.000,0.110,2661,3826,3481,3475,3487,0,0,0,0,0,0,14.83,14.25,14.83
$GC,639,-0.70,-107.1,2662,3826,3477,3488,75.9,-7.8,47,645,0.00,1.80,0.00,0.000,1030,0.000,0.038,2665,2735,3481,3476,3487,0,0,0,0,0,0,14.55,14.54,14.57
$GC,969,-0.70,-107.1,2662,2735,3478,3488,104.9,-8.8,60,974,0.00,2.25,0.00,0.000,516,0.000,0.040,2661,1401,3482,3477,3487,0,0,0,0,0,0,14.88,14.47,14.88
$GC,1038,-0.70,-107.1,2661,1401,3478,3486,111.0,-8.8,70,1044,0.00,2.47,0.00,0.000,1030,0.000,0.067,2651,2762,3482,3477,3487,0,0,0,0,0,0,14.40,14.31,14.45
$GC,1361,-0.70,-107.1,2652,2762,3478,3487,140.4,-9.0,81,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2762,3481,3477,3486,0,0,0,0,0,0,14.92,14.92,14.92
$GC,1697,-0.70,-107.1,2652,2762,3478,3480,168.0,-8.0,87,1702,0.00,2.35,0.00,0.000,516,0.000,0.041,2651,1397,3479,3477,3482,0,0,0,0,0,0,14.92,14.43,14.92
$GC,1738,-0.70,-107.1,2651,1398,3478,3481,171.6,-8.4,93,1745,0.00,2.47,0.00,0.000,1030,0.000,0.067,2643,2760,3482,3477,3487,0,0,0,0,0,0,14.40,14.31,14.45
$GC,2089,-0.70,-107.1,2644,2759,3478,3478,203.2,-9.1,101,2095,0.10,2.00,0.00,0.000,2308,0.243,0.109,2671,3832,3476,3477,3476,0,0,0,0,0,0,14.27,14.26,14.40
$GC,2180,-0.78,-107.1,2671,3832,3478,3477,210.3,-7.5,114,2185,0.00,1.77,0.00,0.000,1190,0.000,0.040,2672,2769,3476,3477,3476,0,0,0,0,0,0,14.59,14.57,14.60
$GC,2538,-0.86,-107.1,2670,2770,3478,3470,236.9,-7.5,123,2543,0.08,2.35,0.00,0.000,4772,0.143,0.037,2590,1388,3473,3477,3469,0,0,0,0,0,0,14.59,14.42,14.61
$GC,2593,-0.86,-107.1,2591,1387,3477,3469,242.6,-10.7,131,2598,0.12,2.47,0.00,0.000,3078,0.240,0.069,2614,2766,3473,3477,3469,0,0,0,0,0,0,14.20,14.37,14.42
$GC,2929,-0.86,-107.1,2615,2767,3478,3464,276.8,-10.2,144,2934,0.00,1.98,0.00,0.000,260,0.000,0.112,2608,3819,3471,3477,3465,0,0,0,0,0,0,14.90,14.23,14.90
$GC,2956,-0.86,-107.1,2608,3822,3477,3466,279.9,-10.9,148,2962,0.00,1.77,0.00,0.000,1030,0.000,0.041,2607,2772,3471,3477,3465,0,0,0,0,0,0,14.59,14.58,14.60
$GC,3321,-0.86,-107.1,2606,2769,3478,3463,318.4,-10.4,158,3326,0.00,2.00,0.00,0.000,260,0.000,0.109,2600,3823,3469,3477,3461,0,0,0,0,0,0,14.92,14.26,14.92
$GC,3362,-0.86,-107.1,2600,3823,3477,3462,322.7,-10.5,164,3368,0.00,1.80,0.00,0.000,1030,0.000,0.042,2599,2767,3468,3477,3460,0,0,0,0,0,0,14.56,14.56,14.57
$GC,3713,-0.86,-107.1,2600,2766,3477,3457,356.9,-9.7,172,3718,0.00,2.03,0.00,0.000,260,0.000,0.109,2590,3833,3463,3472,3455,0,0,0,0,0,0,14.93,14.24,14.93
$GC,3775,-0.86,-107.1,2591,3833,3477,3456,363.6,-10.8,181,3782,0.08,1.85,0.00,0.000,3078,0.216,0.041,2613,2764,3466,3477,3455,0,0,0,0,0,0,14.17,14.53,14.32
$GC,4105,-0.86,-107.1,2613,2765,3478,3452,395.9,-10.0,193,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2764,3463,3476,3451,0,0,0,0,0,0,14.90,14.90,14.90
$GC,4441,-0.86,-107.1,2613,2765,3478,3448,429.0,-9.8,199,4442,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2764,3463,3477,3449,0,0,0,0,0,0,14.90,14.89,14.90
$GC,4777,-0.86,-107.1,2613,2765,3477,3446,459.7,-9.0,205,4783,0.00,2.42,0.00,0.000,516,0.000,0.042,2613,1369,3460,3477,3444,0,0,0,0,0,0,14.89,14.44,14.90
$GC,4818,-0.86,-107.1,2613,1369,3477,3446,463.4,-8.6,211,4824,0.00,2.55,0.00,0.000,1030,0.000,0.067,2603,2758,3459,3475,3444,0,0,0,0,0,0,14.36,14.27,14.41
$GC,5169,-0.86,-107.1,2604,2759,3478,3441,494.2,-8.9,219,5174,0.00,2.03,0.00,0.000,260,0.000,0.109,2595,3829,3457,3476,3439,0,0,0,0,0,0,14.90,14.19,14.90
$GC,5273,-0.86,-107.1,2595,3829,3478,3441,504.1,-9.5,234,5280,0.00,1.85,0.00,0.000,1030,0.000,0.044,2594,2765,3458,3477,3440,0,0,0,0,0,0,14.50,14.48,14.52
$GC,5617,-0.86,-107.1,2594,2765,3477,3437,537.3,-9.8,241,5623,0.00,2.05,0.00,0.000,260,0.000,0.110,2587,3829,3456,3476,3436,0,0,0,0,0,0,14.89,14.18,14.89
$GC,5673,-0.86,-107.1,2586,3829,3477,3437,543.2,-10.8,249,5679,0.10,1.85,0.00,0.000,3078,0.208,0.044,2615,2771,3456,3476,3437,0,0,0,0,0,0,14.08,14.46,14.24
$GC,6009,-0.86,-107.1,2615,2772,3478,3433,574.0,-9.0,262,6014,0.00,2.45,0.00,0.000,516,0.000,0.042,2615,1366,3454,3476,3433,0,0,0,0,0,0,14.89,14.40,14.89
$GC,6078,-0.86,-107.1,2615,1365,3477,3434,580.1,-8.7,272,6084,0.00,2.58,0.00,0.000,1030,0.000,0.066,2605,2766,3454,3476,3432,0,0,0,0,0,0,14.32,14.22,14.37
$GC,6401,-0.86,-107.1,2606,2766,3476,3432,608.8,-8.9,283,6406,0.00,2.00,0.00,0.000,260,0.000,0.110,2597,3829,3452,3476,3429,0,0,0,0,0,0,14.88,14.15,14.88
$GC,6505,-0.86,-107.1,2598,3828,3475,3432,618.7,-9.4,298,6512,0.00,1.85,0.00,0.000,1030,0.000,0.044,2596,2760,3452,3474,3430,0,0,0,0,0,0,14.47,14.45,14.50
$GC,6849,-0.86,-107.1,2597,2761,3472,3432,650.6,-9.4,305,6855,0.00,2.40,0.00,0.000,516,0.000,0.042,2596,1376,3450,3471,3430,0,0,0,0,0,0,14.91,14.38,14.91
$GC,6883,-0.86,-107.1,2597,1376,3472,3432,654.0,-9.8,310,6889,0.12,2.58,0.00,0.000,3078,0.239,0.067,2621,2771,3449,3469,3430,0,0,0,0,0,0,14.02,14.19,14.30
$GC,7241,-0.86,-107.1,2621,2773,3471,3432,685.0,-8.7,319,7246,0.00,2.00,0.00,0.000,260,0.000,0.111,2613,3829,3450,3470,3430,0,0,0,0,0,0,14.90,14.12,14.91
$GC,7324,-0.86,-107.1,2615,3827,3470,3432,692.8,-9.2,331,7330,0.00,1.85,0.00,0.000,1030,0.000,0.045,2614,2772,3449,3469,3429,0,0,0,0,0,0,14.42,14.40,14.45
$GC,7689,-0.86,-107.1,2614,2773,3471,3427,726.2,-9.3,341,7690,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2772,3448,3470,3427,0,0,0,0,0,0,14.88,14.88,14.88
$GC,8025,-0.86,-107.1,2614,2773,3470,3426,756.9,-9.1,347,8026,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2772,3447,3469,3426,0,0,0,0,0,0,14.87,14.88,14.88
$GC,8361,-0.86,-107.1,2614,2772,3466,3427,787.7,-9.2,353,8362,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2772,3445,3465,3426,0,0,0,0,0,0,14.90,14.90,14.90
$STATE,8526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8526,begin apogee
$GC,8534,-0.23,0.0,2615,2221,3467,3425,803.3,-9.3,356,8647,0.73,0.08,110.15,1.848,10244,0.180,0.180,2822,2263,3048,3089,3008,0,0,0,0,0,0,13.96,13.95,13.02
$STATE,8649,end apogee,CONTROL_FINISHED_OK
$STATE,8649,begin climb
$GC,8652,0.93,107.1,2823,2264,3085,3001,807.5,0.0,358,8775,1.10,2.53,113.32,1.807,10756,0.097,0.055,3179,883,2622,2682,2562,0,0,0,0,0,0,14.03,14.09,13.00
$GC,8796,0.89,204.1,3179,885,2679,2546,807.0,2.9,380,8906,0.00,2.45,103.60,1.766,9382,0.000,0.050,3179,2257,2231,2317,2146,0,0,0,0,0,0,14.20,14.10,13.02
$GC,9261,0.89,204.1,3179,2258,2316,2121,765.0,9.9,404,9266,0.00,2.60,0.00,0.000,260,0.000,0.101,3179,3652,2217,2314,2121,0,0,0,0,0,0,14.72,14.26,14.72
$GC,9293,0.78,204.1,3178,3652,2315,2123,761.1,10.8,409,9300,0.12,2.40,0.00,0.000,5254,0.225,0.041,3147,2281,2220,2319,2121,0,0,0,0,0,0,14.12,14.42,14.41
$GC,9651,0.78,204.1,3144,2279,2315,2118,728.4,9.2,418,9656,0.00,2.50,0.00,0.000,516,0.000,0.059,3157,863,2216,2314,2118,0,0,0,0,0,0,14.83,14.35,14.83
$GC,9692,0.78,204.1,3156,864,2317,2117,724.4,9.4,424,9698,0.00,2.47,0.00,0.000,1030,0.000,0.052,3164,2253,2215,2314,2117,0,0,0,0,0,0,14.42,14.35,14.46
$GC,10043,0.78,204.1,3157,2252,2315,2117,689.2,10.2,432,10048,0.00,2.65,0.00,0.000,260,0.000,0.101,3155,3659,2214,2314,2115,0,0,0,0,0,0,14.85,14.25,14.85
$GC,10105,0.70,204.1,3157,3659,2315,2116,682.1,11.6,441,10112,0.15,2.42,0.00,0.000,5254,0.238,0.041,3125,2246,2214,2314,2115,0,0,0,0,0,0,14.12,14.47,14.42
$GC,10435,0.70,204.1,3126,2243,2315,2114,652.5,8.8,453,10436,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2242,2213,2314,2113,0,0,0,0,0,0,14.84,14.84,14.83
$GC,10771,0.70,204.1,3125,2243,2315,2112,623.0,8.8,459,10776,0.00,2.70,0.00,0.000,260,0.000,0.099,3124,3655,2213,2314,2112,0,0,0,0,0,0,14.85,14.21,14.85
$GC,10812,0.70,204.1,3124,3657,2315,2111,619.0,9.8,465,10819,0.00,2.45,0.00,0.000,1030,0.000,0.040,3134,2256,2212,2312,2112,0,0,0,0,0,0,14.45,14.42,14.49
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$STATE,18544,end climb,SURFACE_DEPTH_REACHED
$STATE,18544,begin surface coast
$FINISH,-1.8,1.021973
$STATE,18573,end surface coast,CONTROL_FINISHED_OK
$STATE,18573,begin surface
$SM_CCo,18596,35.65,0.154,0,0,1059,500.14
$SM_GC,-0.86,8.93,0.85,35.65,0.047,0.067,0.154,147,2780,1059,-8.44,-0.59,500.14,0,0,0,0,0,0,14.51,14.38,14.14
$IRIDIUM_FIX,1015.78,-12453.77,050117,170803
$TT8_MAMPS,0.038948,0.298102
$HUMID,56.26
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.20
$XPDR_PINGS,1
$SC_FREEKB,3711584
$PM_FREEKB,53880640
$24V_AH,12.54,181.542
$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,24.550,181.675,464.025,35.650,0.000,0.000,0.000,386.725,0.250,0.000,5.402,0.000,15687.870,770.808,2352.813,521.963,0.000,1892.873,0.000,1459.612,0.000,0.838,0.000
$DEVICE_MAMPS,391.680,179.775,1848.240,153.765,0.000,0.000,0.000,174.420,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18633.000,18582.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.594,2.438,0.000,0.000
$MEM,334768
$DATA_FILE_SIZE,30024,821
$CAP_FILE_SIZE,144457,0
$CFSIZE,1024409600,930136064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030,140.78,1
$GPS,060117,041000,1015.744,-12501.785,33,0.8,33,9.0,0.4,57.8,11,3.4