version: 66.13
glider: 220
mission: 6
dive: 520
start: 1 6 117 21 43 50
data:
$ID,220
$MISSION,6
$DIVE,520
$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,62
$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
$GPS1,060117,213100,1011.7012,-12506.5674,18,0.8,18,9.0,0.3,24.9,11,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.31
$_SM_ANGLEo,-65.8
$GPS2,060117,214329,1011.7603,-12506.5898,2,0.8,3,9.0,0.6,42.0,11,7.1
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,219.5,31927,-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,-107.1,106,2781,1101,1012,0.0,0.0,0,101,0.00,0.00,-81.03,0.000,16390,0.000,0.000,105,2779,3479,3469,3489,0,0,0,0,0,0,14.66,13.08,14.64
$GC,105,-0.93,-107.1,106,2780,3470,3490,5.3,-11.7,3,123,11.98,2.38,0.00,0.000,2820,0.389,0.034,2585,1376,3479,3470,3489,0,0,0,0,0,0,13.97,14.35,14.25
$GC,215,-0.76,-107.1,2585,1376,3474,3485,36.4,-13.3,19,220,0.28,2.50,0.00,0.000,3206,0.243,0.067,2651,2769,3480,3472,3488,0,0,0,0,0,0,14.04,14.31,14.33
$GC,550,-0.76,-107.1,2651,2770,3478,3488,68.5,-7.9,34,555,0.00,1.98,0.00,0.000,260,0.000,0.111,2642,3828,3482,3476,3488,0,0,0,0,0,0,14.83,14.25,14.83
$GC,741,-0.76,-107.1,2643,3826,3478,3487,86.4,-9.1,61,748,0.00,1.77,0.00,0.000,1030,0.000,0.041,2643,2758,3483,3478,3488,0,0,0,0,0,0,14.53,14.51,14.55
$GC,1054,-0.76,-107.1,2643,2758,3478,3489,116.6,-9.8,70,1059,0.00,2.03,0.00,0.000,260,0.000,0.108,2634,3825,3483,3478,3488,0,0,0,0,0,0,14.88,14.25,14.87
$GC,1081,-0.76,-107.1,2634,3825,3477,3489,119.4,-10.0,74,1087,0.00,1.75,0.00,0.000,1030,0.000,0.039,2635,2766,3482,3477,3488,0,0,0,0,0,0,14.57,14.55,14.59
$GC,1446,-0.76,-107.1,2634,2767,3480,3486,153.8,-9.3,84,1451,0.00,2.03,0.00,0.000,260,0.000,0.107,2626,3833,3481,3477,3485,0,0,0,0,0,0,14.90,14.26,14.90
$GC,1487,-0.76,-107.1,2626,3832,3478,3487,157.7,-9.5,90,1493,0.00,1.75,0.00,0.000,1030,0.000,0.039,2625,2770,3481,3477,3485,0,0,0,0,0,0,14.59,14.58,14.61
$GC,1838,-0.76,-107.1,2625,2773,3479,3481,187.7,-8.5,98,1843,0.00,2.35,0.00,0.000,516,0.000,0.041,2625,1393,3479,3477,3481,0,0,0,0,0,0,14.90,14.47,14.90
$GC,1872,-0.76,-107.1,2626,1393,3478,3482,190.8,-9.0,103,1878,0.10,2.53,0.00,0.000,3078,0.213,0.069,2645,2776,3478,3477,3480,0,0,0,0,0,0,14.11,14.29,14.28
$GC,2230,-0.76,-107.1,2650,2773,3478,3477,220.4,-8.3,112,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2775,3475,3477,3474,0,0,0,0,0,0,14.90,14.90,14.90
$GC,2566,-0.76,-107.1,2646,2777,3478,3470,250.1,-8.9,118,2571,0.00,2.38,0.00,0.000,516,0.000,0.041,2646,1399,3473,3477,3470,0,0,0,0,0,0,14.86,14.46,14.87
$GC,2600,-0.76,-107.1,2646,1399,3478,3471,253.3,-9.3,123,2606,0.00,2.50,0.00,0.000,1030,0.000,0.069,2636,2768,3473,3477,3469,0,0,0,0,0,0,14.40,14.29,14.45
$GC,2958,-0.76,-107.1,2636,2773,3479,3466,288.3,-9.9,132,2963,0.00,2.00,0.00,0.000,260,0.000,0.111,2628,3834,3471,3477,3465,0,0,0,0,0,0,14.90,14.23,14.90
$GC,3014,-0.76,-107.1,2628,3837,3479,3465,294.0,-10.3,140,3019,0.00,1.77,0.00,0.000,1030,0.000,0.042,2628,2790,3470,3476,3465,0,0,0,0,0,0,14.61,14.51,14.62
$GC,3350,-0.76,-107.1,2628,2790,3478,3462,325.0,-9.0,153,3356,0.00,2.42,0.00,0.000,516,0.000,0.041,2627,1378,3469,3477,3461,0,0,0,0,0,0,14.90,14.45,14.90
$GC,3377,-0.76,-107.1,2628,1376,3477,3461,327.4,-8.8,157,3384,0.08,2.55,0.00,0.000,3078,0.226,0.067,2649,2775,3468,3476,3461,0,0,0,0,0,0,14.09,14.27,14.37
$GC,3742,-0.76,-107.1,2648,2776,3478,3456,355.0,-7.6,167,3743,0.00,0.00,0.00,0.000,38,0.000,0.000,2648,2775,3464,3473,3456,0,0,0,0,0,0,14.90,14.90,14.90
$GC,4078,-0.76,-107.1,2648,2776,3478,3452,381.9,-8.1,173,4084,0.00,2.42,0.00,0.000,516,0.000,0.042,2648,1383,3464,3477,3452,0,0,0,0,0,0,14.92,14.45,14.92
$GC,4126,-0.76,-107.1,2649,1384,3478,3452,386.0,-8.5,180,4133,0.00,2.55,0.00,0.000,1030,0.000,0.067,2639,2779,3464,3476,3452,0,0,0,0,0,0,14.35,14.25,14.40
$GC,4470,-0.76,-107.1,2640,2780,3477,3450,416.9,-9.1,187,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2779,3463,3477,3449,0,0,0,0,0,0,14.92,14.92,14.92
$GC,4806,-0.76,-107.1,2640,2781,3478,3445,445.1,-8.2,193,4812,0.00,1.98,0.00,0.000,260,0.000,0.112,2631,3828,3461,3477,3446,0,0,0,0,0,0,14.90,14.19,14.90
$GC,4847,-0.76,-107.1,2632,3828,3477,3446,448.7,-8.8,199,4853,0.00,1.80,0.00,0.000,1030,0.000,0.044,2631,2779,3461,3477,3445,0,0,0,0,0,0,14.54,14.51,14.55
$GC,5198,-0.76,-107.1,2631,2778,3478,3441,478.0,-8.4,207,5203,0.00,2.42,0.00,0.000,516,0.000,0.044,2631,1377,3460,3477,3443,0,0,0,0,0,0,14.90,14.40,14.92
$GC,5254,-0.76,-107.1,2631,1377,3477,3443,482.7,-8.3,215,5259,0.10,2.53,0.00,0.000,3078,0.243,0.067,2650,2772,3459,3477,3442,0,0,0,0,0,0,14.09,14.26,14.36
$GC,5590,-0.76,-107.1,2650,2773,3476,3440,507.5,-7.4,228,5595,0.00,2.00,0.00,0.000,292,0.000,0.114,2642,3826,3458,3478,3439,0,0,0,0,0,0,14.92,14.15,14.92
$GC,5638,-0.76,-107.1,2642,3826,3477,3440,511.3,-7.6,235,5645,0.00,1.83,0.00,0.000,1062,0.000,0.044,2640,2773,3457,3477,3438,0,0,0,0,0,0,14.48,14.46,14.50
$GC,5982,-0.76,-107.1,2642,2773,3477,3438,537.0,-7.5,242,5983,0.00,0.00,0.00,0.000,38,0.000,0.000,2641,2773,3455,3475,3436,0,0,0,0,0,0,14.88,14.89,14.88
$GC,6318,-0.76,-107.1,2642,2777,3477,3434,561.7,-7.3,248,6323,0.00,2.45,0.00,0.000,548,0.000,0.044,2642,1373,3454,3476,3432,0,0,0,0,0,0,14.95,14.38,14.92
$GC,6345,-0.76,-107.1,2641,1374,3478,3432,563.7,-7.3,252,6351,0.00,2.55,0.00,0.000,1062,0.000,0.066,2631,2779,3453,3473,3433,0,0,0,0,0,0,14.42,14.22,14.46
$GC,6711,-0.76,-107.1,2632,2780,3478,3431,591.1,-7.6,262,6711,0.00,0.00,0.00,0.000,38,0.000,0.000,2632,2779,3454,3476,3433,0,0,0,0,0,0,14.88,14.88,14.88
$GC,7046,-0.76,-107.1,2633,2779,3474,3432,617.3,-7.8,268,7051,0.00,2.47,0.00,0.000,516,0.000,0.044,2631,1372,3452,3473,3431,0,0,0,0,0,0,14.90,14.36,14.91
$GC,7087,-0.76,-107.1,2632,1371,3474,3432,620.6,-8.2,274,7093,0.10,2.58,0.00,0.000,3078,0.240,0.067,2650,2766,3451,3473,3430,0,0,0,0,0,0,14.04,14.16,14.29
$GC,7439,-0.84,-107.1,2650,2767,3471,3431,646.5,-7.4,282,7443,0.00,2.03,0.00,0.000,420,0.000,0.114,2642,3831,3451,3471,3431,0,0,0,0,0,0,14.85,14.09,14.87
$GC,7472,-0.84,-107.1,2642,3833,3472,3430,649.1,-7.7,287,7478,0.00,1.85,0.00,0.000,1030,0.000,0.045,2641,2769,3450,3471,3430,0,0,0,0,0,0,14.44,14.42,14.47
$GC,7830,-0.84,-107.1,2641,2770,3471,3429,676.8,-7.7,296,7835,0.00,2.45,0.00,0.000,548,0.000,0.043,2641,1366,3449,3470,3429,0,0,0,0,0,0,14.87,14.34,14.88
$GC,7886,-0.92,-107.1,2642,1365,3469,3430,681.2,-8.0,304,7891,0.00,2.55,0.00,0.000,1158,0.000,0.067,2632,2770,3449,3470,3429,0,0,0,0,0,0,14.41,14.21,14.45
$GC,8222,-0.92,-107.1,2632,2771,3471,3427,707.0,-7.7,317,8228,0.00,2.45,0.00,0.000,548,0.000,0.042,2631,1372,3448,3470,3426,0,0,0,0,0,0,14.86,14.31,14.86
$GC,8249,-0.92,-107.1,2632,1371,3470,3428,709.1,-7.6,321,8256,0.00,2.58,0.00,0.000,1062,0.000,0.067,2622,2765,3448,3470,3427,0,0,0,0,0,0,14.25,14.14,14.30
$GC,8614,-0.92,-107.1,2622,2765,3469,3426,738.2,-7.9,331,8619,0.00,2.03,0.00,0.000,260,0.000,0.113,2614,3826,3447,3468,3426,0,0,0,0,0,0,14.89,14.04,14.89
$GC,8641,-0.92,-107.1,2614,3826,3468,3427,740.4,-7.7,335,8647,0.00,1.85,0.00,0.000,1062,0.000,0.045,2613,2770,3446,3467,3426,0,0,0,0,0,0,14.41,14.38,14.42
$GC,9006,-0.92,-107.1,2615,2769,3466,3427,771.1,-8.4,345,9012,0.00,2.45,0.00,0.000,516,0.000,0.044,2613,1368,3445,3466,3425,0,0,0,0,0,0,14.85,14.30,14.85
$GC,9054,-0.92,-107.1,2614,1368,3466,3426,775.3,-8.3,352,9061,0.00,2.60,0.00,0.000,1030,0.000,0.068,2605,2763,3446,3467,3425,0,0,0,0,0,0,14.18,14.08,14.23
$STATE,9339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9339,begin apogee
$GC,9347,-0.23,0.0,2606,2214,3466,3424,800.4,-8.8,358,9462,0.77,0.10,111.93,1.834,10244,0.185,0.163,2825,2276,3050,3089,3011,0,0,0,0,0,0,13.90,13.97,13.02
$STATE,9464,end apogee,CONTROL_FINISHED_OK
$STATE,9464,begin climb
$GC,9467,0.93,107.1,2826,2276,3084,3004,803.0,0.0,360,9595,1.10,2.53,115.03,1.782,10756,0.096,0.054,3181,885,2616,2677,2556,0,0,0,0,0,0,14.03,14.08,13.00
$GC,9707,0.84,125.8,3178,886,2678,2543,794.9,6.8,396,9735,0.00,2.40,20.00,1.911,9382,0.000,0.051,3181,2254,2542,2613,2471,0,0,0,0,0,0,14.41,14.25,13.19
$GC,10072,0.72,125.8,3182,2254,2612,2459,765.8,8.2,406,10077,0.12,2.60,0.00,0.000,4484,0.240,0.097,3141,3648,2534,2611,2458,0,0,0,0,0,0,14.12,14.26,14.30
$GC,10148,0.61,125.8,3141,3649,2613,2457,759.1,8.1,417,10154,0.17,2.38,0.00,0.000,5254,0.237,0.041,3104,2261,2533,2611,2456,0,0,0,0,0,0,14.10,14.45,14.44
$GC,10464,0.65,158.5,3104,2261,2612,2455,739.7,6.1,427,10501,0.00,0.00,36.30,1.825,8230,0.000,0.000,3104,2260,2417,2495,2340,0,0,0,0,0,0,14.83,14.27,13.33
$GC,10800,0.68,181.9,3104,2260,2489,2321,717.6,6.6,433,10833,0.00,2.67,26.00,1.844,8484,0.000,0.101,3104,3648,2317,2401,2233,0,0,0,0,0,0,14.76,14.26,13.35
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$STATE,19749,end climb,SURFACE_DEPTH_REACHED
$STATE,19749,begin surface coast
$FINISH,-2.3,1.022113
$STATE,19777,end surface coast,CONTROL_FINISHED_OK
$STATE,19777,begin surface
$SM_CCo,19800,51.67,0.153,0,0,1056,500.14
$SM_GC,-1.37,9.00,0.88,51.67,0.054,0.086,0.153,185,2761,1056,-8.38,-0.76,500.14,0,0,0,0,0,0,14.48,14.28,14.16
$IRIDIUM_FIX,1009.21,-12505.26,060117,155828
$TT8_MAMPS,0.03745,0.446404
$HUMID,56.97
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.50
$XPDR_PINGS,0
$SC_FREEKB,3710048
$PM_FREEKB,53835584
$24V_AH,13.00,182.717
$10V_AH,12.57,0.000
$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,24.375,182.825,437.725,51.675,0.000,0.000,0.000,418.375,0.000,0.000,4.585,0.000,16917.275,777.559,2359.086,529.218,0.000,1905.032,0.000,1431.357,0.000,0.838,0.000
$DEVICE_MAMPS,389.385,162.945,1910.970,153.000,0.000,0.000,0.000,172.890,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19836.000,19786.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.569,2.421,0.000,0.000
$MEM,334744
$DATA_FILE_SIZE,30077,789
$CAP_FILE_SIZE,146562,0
$CFSIZE,1024409600,929546240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,242.55,1
$GPS,070117,031539,1010.399,-12508.226,15,0.8,24,9.0,0.9,41.6,12,4.1