version: 66.13
glider: 220
mission: 6
dive: 517
start: 1 6 117 4 25 33
data:
$ID,220
$MISSION,6
$DIVE,517
$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,56
$R_STBD_OVSHOOT,32
$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
$GPS1,060117,041000,1015.7441,-12501.7852,33,0.8,33,9.0,0.4,57.8,11,3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.85
$_SM_ANGLEo,-68.9
$GPS2,060117,042509,1015.8254,-12501.6982,2,0.8,3,9.0,0.2,0.0,11,5.3
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,228.7,43590,-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,-107.1,105,2793,1104,1015,0.0,0.0,0,101,0.00,0.00,-81.40,0.000,16390,0.000,0.000,104,2793,3478,3469,3488,0,0,0,0,0,0,14.69,12.51,14.66
$GC,104,-0.93,-107.1,106,2794,3470,3488,5.1,-10.3,3,121,12.05,1.90,0.00,0.000,2308,0.389,0.093,2582,3826,3479,3471,3487,0,0,0,0,0,0,13.95,14.35,14.24
$GC,157,-0.44,-107.1,2582,3826,3475,3489,30.1,-34.8,11,162,0.65,1.77,0.00,0.000,3206,0.250,0.036,2753,2718,3480,3472,3489,0,0,0,0,0,0,14.01,14.52,14.32
$GC,496,-0.57,-107.1,2754,2716,3476,3488,57.7,-6.2,26,501,0.08,2.08,0.00,0.000,4516,0.148,0.106,2665,3816,3481,3475,3487,0,0,0,0,0,0,14.53,14.25,14.55
$GC,535,-0.57,-107.1,2668,3816,3476,3488,60.9,-8.1,32,541,0.15,1.70,0.00,0.000,3078,0.198,0.039,2709,2808,3481,3475,3487,0,0,0,0,0,0,14.14,14.53,14.31
$GC,859,-0.65,-107.1,2709,2809,3478,3487,81.4,-5.9,45,864,0.00,1.90,0.00,0.000,420,0.000,0.109,2701,3816,3482,3476,3488,0,0,0,0,0,0,14.87,14.27,14.87
$GC,887,-0.75,-107.1,2702,3816,3477,3489,83.0,-5.9,49,893,0.08,1.73,0.00,0.000,5286,0.137,0.040,2628,2751,3482,3476,3488,0,0,0,0,0,0,14.51,14.60,14.59
$GC,1251,-0.75,-107.1,2629,2750,3477,3488,116.9,-9.2,62,1256,0.10,2.28,0.00,0.000,2564,0.236,0.040,2658,1390,3481,3476,3487,0,0,0,0,0,0,14.32,14.50,14.53
$GC,1320,-0.75,-107.1,2658,1392,3477,3488,122.1,-6.9,72,1325,0.00,2.47,0.00,0.000,1062,0.000,0.066,2648,2761,3481,3476,3486,0,0,0,0,0,0,14.42,14.33,14.46
$GC,1643,-0.75,-107.1,2649,2761,3477,3485,145.6,-7.4,83,1647,0.00,1.98,0.00,0.000,292,0.000,0.109,2640,3828,3480,3476,3484,0,0,0,0,0,0,14.90,14.29,14.90
$GC,1704,-0.75,-107.1,2641,3828,3477,3484,150.9,-8.2,92,1710,0.00,1.75,0.00,0.000,1030,0.000,0.040,2640,2770,3479,3476,3483,0,0,0,0,0,0,14.61,14.59,14.62
$GC,2035,-0.75,-107.1,2640,2771,3477,3479,179.1,-8.6,104,2039,0.00,2.00,0.00,0.000,260,0.000,0.108,2631,3826,3476,3476,3477,0,0,0,0,0,0,14.90,14.28,14.91
$GC,2068,-0.75,-107.1,2632,3827,3477,3478,182.1,-9.0,109,2075,0.00,1.75,0.00,0.000,1030,0.000,0.040,2631,2768,3476,3476,3477,0,0,0,0,0,0,14.56,14.53,14.57
$GC,2426,-0.75,-107.1,2633,2768,3477,3474,216.7,-10.1,118,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2768,3473,3474,3473,0,0,0,0,0,0,14.95,14.90,14.91
$GC,2762,-0.75,-107.1,2632,2770,3477,3468,250.6,-9.9,124,2767,0.00,2.35,0.00,0.000,516,0.000,0.039,2631,1391,3472,3476,3468,0,0,0,0,0,0,14.90,14.46,14.90
$GC,2796,-0.75,-107.1,2631,1392,3477,3468,253.9,-9.5,129,2803,0.10,2.53,0.00,0.000,3078,0.210,0.068,2652,2778,3472,3476,3468,0,0,0,0,0,0,14.14,14.32,14.30
$GC,3155,-0.75,-107.1,2652,2778,3476,3463,281.7,-7.5,138,3156,0.00,0.00,0.00,0.000,38,0.000,0.000,2651,2778,3468,3475,3462,0,0,0,0,0,0,14.92,14.92,14.92
$GC,3491,-0.75,-107.1,2652,2778,3476,3460,306.8,-7.5,144,3495,0.00,1.98,0.00,0.000,292,0.000,0.112,2644,3834,3467,3476,3458,0,0,0,0,0,0,14.92,14.27,14.93
$GC,3517,-0.75,-107.1,2644,3834,3476,3459,309.2,-8.3,148,3523,0.00,1.77,0.00,0.000,1030,0.000,0.042,2643,2790,3466,3475,3458,0,0,0,0,0,0,14.58,14.56,14.60
$GC,3883,-0.75,-107.1,2644,2791,3472,3453,341.7,-9.2,158,3887,0.00,2.42,0.00,0.000,516,0.000,0.041,2643,1377,3463,3475,3451,0,0,0,0,0,0,14.91,14.47,14.92
$GC,3945,-0.75,-107.1,2642,1376,3475,3454,347.6,-9.4,167,3950,0.00,2.53,0.00,0.000,1030,0.000,0.066,2633,2783,3463,3475,3452,0,0,0,0,0,0,14.50,14.33,14.54
$GC,4274,-0.75,-107.1,2633,2784,3476,3448,381.1,-10.4,179,4279,0.00,1.95,0.00,0.000,260,0.000,0.112,2625,3829,3463,3476,3450,0,0,0,0,0,0,14.90,14.21,14.90
$GC,4351,-0.75,-107.1,2626,3829,3476,3450,389.2,-10.4,190,4356,0.10,1.80,0.00,0.000,3078,0.193,0.044,2663,2783,3462,3476,3449,0,0,0,0,0,0,14.16,14.52,14.31
$GC,4667,-0.75,-107.1,2656,2785,3476,3447,415.6,-8.1,200,4671,0.00,2.45,0.00,0.000,516,0.000,0.043,2656,1368,3460,3475,3445,0,0,0,0,0,0,14.92,14.44,14.92
$GC,4694,-0.75,-107.1,2656,1369,3477,3445,417.5,-6.9,204,4699,0.00,2.55,0.00,0.000,1062,0.000,0.067,2646,2789,3462,3475,3450,0,0,0,0,0,0,14.48,14.29,14.52
$GC,5059,-0.75,-107.1,2646,2788,3476,3443,440.5,-6.1,214,5060,0.00,0.00,0.00,0.000,38,0.000,0.000,2646,2788,3458,3475,3442,0,0,0,0,0,0,14.89,14.89,14.87
$GC,5395,-0.75,-107.1,2646,2788,3476,3438,463.7,-7.1,220,5399,0.00,2.47,0.00,0.000,548,0.000,0.043,2645,1371,3456,3475,3438,0,0,0,0,0,0,14.92,14.43,14.92
$GC,5450,-0.75,-107.1,2646,1372,3476,3438,468.1,-7.8,228,5455,0.00,2.53,0.00,0.000,1030,0.000,0.067,2637,2778,3456,3475,3437,0,0,0,0,0,0,14.49,14.32,14.52
$GC,5786,-0.75,-107.1,2639,2776,3481,3437,494.8,-8.0,241,5792,0.00,1.98,0.00,0.000,260,0.000,0.111,2628,3829,3455,3475,3436,0,0,0,0,0,0,14.91,14.19,14.92
$GC,5806,-0.75,-107.1,2629,3830,3475,3437,496.6,-8.2,244,5813,0.08,1.83,0.00,0.000,3078,0.203,0.044,2651,2777,3455,3475,3436,0,0,0,0,0,0,14.12,14.48,14.28
$GC,6123,-0.75,-107.1,2652,2778,3476,3432,522.8,-8.4,254,6127,0.00,2.45,0.00,0.000,516,0.000,0.044,2652,1369,3453,3475,3432,0,0,0,0,0,0,14.91,14.38,14.92
$GC,6192,-0.83,-107.1,2653,1368,3476,3433,528.9,-8.6,264,6198,0.00,2.55,0.00,0.000,1158,0.000,0.067,2643,2772,3450,3475,3426,0,0,0,0,0,0,14.44,14.25,14.48
$GC,6514,-0.83,-107.1,2644,2773,3475,3431,555.9,-8.3,275,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2772,3452,3475,3429,0,0,0,0,0,0,14.89,14.88,14.88
$GC,6851,-0.83,-107.1,2644,2772,3476,3428,580.2,-7.1,281,6856,0.00,2.47,0.00,0.000,548,0.000,0.044,2643,1368,3451,3475,3427,0,0,0,0,0,0,14.88,14.39,14.88
$GC,6920,-0.91,-107.1,2644,1368,3475,3426,585.3,-7.1,291,6925,0.00,2.55,0.00,0.000,1190,0.000,0.067,2634,2771,3450,3475,3426,0,0,0,0,0,0,14.45,14.26,14.49
$GC,7243,-0.91,-107.1,2634,2771,3472,3427,609.3,-7.5,302,7247,0.00,2.00,0.00,0.000,292,0.000,0.113,2625,3828,3448,3472,3425,0,0,0,0,0,0,14.87,14.12,14.88
$GC,7299,-0.91,-107.1,2626,3828,3472,3427,614.0,-8.1,310,7303,0.00,1.83,0.00,0.000,1030,0.000,0.047,2625,2748,3448,3471,3426,0,0,0,0,0,0,14.57,14.51,14.59
$GC,7634,-0.91,-107.1,2625,2749,3472,3426,640.9,-8.0,323,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2748,3447,3468,3426,0,0,0,0,0,0,14.88,14.88,14.88
$GC,7970,-0.91,-107.1,2625,2748,3471,3426,668.1,-8.1,329,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2748,3446,3468,3424,0,0,0,0,0,0,14.88,14.88,14.88
$GC,8307,-0.91,-107.1,2625,2748,3469,3423,695.0,-7.9,335,8311,0.00,2.10,0.00,0.000,260,0.000,0.112,2617,3832,3445,3467,3423,0,0,0,0,0,0,14.88,14.09,14.88
$GC,8340,-0.91,-107.1,2615,3833,3476,3423,697.9,-8.7,340,8346,0.00,1.85,0.00,0.000,1030,0.000,0.046,2617,2779,3444,3466,3423,0,0,0,0,0,0,14.45,14.41,14.45
$GC,8698,-0.91,-107.1,2617,2778,3465,3423,726.5,-7.9,349,8704,0.00,2.47,0.00,0.000,516,0.000,0.044,2616,1369,3443,3464,3422,0,0,0,0,0,0,14.86,14.33,14.87
$GC,8726,-0.91,-107.1,2617,1370,3466,3424,728.8,-8.6,353,8732,0.00,2.55,0.00,0.000,1030,0.000,0.068,2607,2766,3443,3464,3422,0,0,0,0,0,0,14.40,14.20,14.43
$GC,9090,-0.91,-107.1,2608,2766,3465,3422,759.2,-8.4,363,9095,0.00,2.03,0.00,0.000,260,0.000,0.111,2599,3834,3442,3464,3421,0,0,0,0,0,0,14.86,14.06,14.86
$GC,9167,-0.91,-107.1,2599,3835,3466,3420,766.3,-8.9,374,9172,0.00,1.88,0.00,0.000,1030,0.000,0.045,2599,2765,3442,3464,3421,0,0,0,0,0,0,14.42,14.38,14.42
$GC,9482,-0.91,-107.1,2600,2765,3463,3422,793.0,-8.4,384,9487,0.00,2.45,0.00,0.000,516,0.000,0.043,2599,1362,3442,3464,3420,0,0,0,0,0,0,14.90,14.31,14.89
$GC,9524,-0.91,-107.1,2599,1363,3464,3422,796.6,-8.3,390,9529,0.00,2.62,0.00,0.000,1030,0.000,0.068,2589,2784,3441,3463,3420,0,0,0,0,0,0,14.33,14.12,14.37
$STATE,9591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9591,begin apogee
$GC,9600,-0.23,0.0,2590,2208,3463,3421,802.5,-8.5,393,9709,0.82,0.12,100.95,2.541,10244,0.190,0.142,2822,2283,3052,3091,3013,0,0,0,0,1,0,13.91,13.86,12.50
$STATE,9710,end apogee,CONTROL_FINISHED_OK
$STATE,9710,begin climb
$GC,9714,0.93,107.1,2823,2284,3092,3024,805.3,0.0,395,9847,1.12,2.58,122.15,1.808,10756,0.098,0.054,3183,888,2617,2678,2557,0,0,0,0,0,0,13.93,13.97,12.97
$GC,9932,0.83,126.3,3183,887,2678,2544,799.2,6.8,427,9958,0.00,2.40,20.27,1.913,9382,0.000,0.050,3183,2248,2543,2614,2473,0,0,0,0,0,0,14.35,14.23,13.16
$GC,10268,0.71,126.3,3183,2245,2611,2456,771.5,8.3,440,10269,0.17,0.00,0.00,0.000,4230,0.235,0.000,3130,2252,2534,2611,2457,0,0,0,0,0,0,14.14,14.47,14.42
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$STATE,20275,end climb,SURFACE_DEPTH_REACHED
$STATE,20275,begin surface coast
$FINISH,-1.1,1.022003
$STATE,20303,end surface coast,CONTROL_FINISHED_OK
$STATE,20303,begin surface
$SM_CCo,20326,39.15,0.155,0,0,1057,500.14
$SM_GC,-2.64,9.25,0.90,39.15,0.073,0.096,0.155,194,2762,1057,-8.40,-0.79,500.14,0,0,0,0,0,0,14.41,14.26,14.16
$IRIDIUM_FIX,1009.21,-12501.68,060117,041536
$TT8_MAMPS,0.036701,0.406707
$HUMID,58.26
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.00
$XPDR_PINGS,0
$SC_FREEKB,3711200
$PM_FREEKB,53868992
$24V_AH,12.50,181.854
$10V_AH,12.42,0.000
$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,25.425,183.900,457.375,39.150,0.000,0.000,0.000,518.900,0.000,0.000,4.750,0.000,17368.773,768.197,2560.421,562.459,0.000,2040.454,0.000,1521.175,0.000,1.133,0.000
$DEVICE_MAMPS,389.385,142.290,2540.565,155.295,0.000,0.000,0.000,153.000,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20362.000,20313.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.589,2.438,0.000,0.000
$MEM,334716
$DATA_FILE_SIZE,30046,843
$CAP_FILE_SIZE,157627,0
$CFSIZE,1024409600,929972224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.033,209.46,1
$GPS,060117,100600,1014.501,-12503.356,28,0.8,28,9.0,0.8,204.1,11,3.2