version: 66.13
glider: 220
mission: 6
dive: 528
start: 1 8 117 14 44 23
data:
$ID,220
$MISSION,6
$DIVE,528
$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,35
$R_STBD_OVSHOOT,17
$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
$GPS1,080117,143331,1001.8601,-12517.3408,12,0.7,35,9.0,0.6,321.5,12,2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.77
$_SM_ANGLEo,-62.0
$GPS2,080117,144359,1001.9056,-12517.3027,2,0.7,3,9.0,1.0,52.2,12,10.0
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,227.1,5191,-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,-107.1,125,2774,529,407,0.0,0.0,0,121,0.00,0.00,-104.18,0.000,16390,0.000,0.000,109,2776,3479,3461,3497,0,0,0,0,0,0,14.66,12.43,14.65
$GC,125,-0.93,-107.1,111,2776,3461,3498,-3.4,-2.1,3,145,12.25,2.45,0.00,0.000,2564,0.391,0.035,2590,1342,3480,3464,3497,0,0,0,0,0,0,13.83,14.31,14.26
$GC,267,-0.76,-107.1,2591,1342,3469,3493,38.3,-16.2,24,272,0.25,2.60,0.00,0.000,3206,0.230,0.072,2649,2776,3481,3470,3493,0,0,0,0,0,0,14.05,14.28,14.33
$GC,594,-0.76,-107.1,2649,2776,3472,3494,64.7,-7.3,38,598,0.00,1.95,0.00,0.000,292,0.000,0.109,2641,3825,3481,3471,3492,0,0,0,0,0,0,14.81,14.25,14.81
$GC,670,-0.76,-107.1,2642,3825,3472,3495,65.6,-8.8,49,678,0.00,1.83,0.00,0.000,1030,0.000,0.039,2641,2726,3482,3471,3493,0,0,0,0,0,0,14.53,14.52,14.55
$GC,986,-0.76,-107.1,2642,2727,3472,3493,90.0,-7.6,61,991,0.00,2.28,0.00,0.000,548,0.000,0.043,2641,1389,3481,3471,3492,0,0,0,0,0,0,14.85,14.47,14.85
$GC,1014,-0.76,-107.1,2639,1389,3472,3493,92.6,-9.6,65,1020,0.00,2.47,0.00,0.000,1030,0.000,0.067,2631,2778,3482,3471,3493,0,0,0,0,0,0,14.54,14.37,14.56
$GC,1378,-0.76,-107.1,2631,2778,3476,3493,130.6,-10.1,76,1383,0.00,1.92,0.00,0.000,260,0.000,0.107,2623,3822,3481,3472,3491,0,0,0,0,0,0,14.86,14.30,14.86
$GC,1447,-0.76,-107.1,2624,3822,3471,3492,138.6,-9.9,86,1453,0.08,1.75,0.00,0.000,3078,0.209,0.041,2645,2790,3481,3471,3491,0,0,0,0,0,0,14.23,14.56,14.38
$GC,1770,-0.76,-107.1,2646,2790,3472,3485,167.2,-8.6,97,1775,0.00,2.42,0.00,0.000,516,0.000,0.042,2645,1371,3479,3471,3487,0,0,0,0,0,0,14.88,14.47,14.88
$GC,1811,-0.76,-107.1,2647,1371,3472,3488,170.4,-7.9,103,1816,0.00,2.50,0.00,0.000,1030,0.000,0.066,2636,2774,3479,3471,3487,0,0,0,0,0,0,14.54,14.36,14.57
$GC,2162,-0.76,-107.1,2637,2773,3471,3484,201.0,-8.5,111,2167,0.00,2.42,0.00,0.000,516,0.000,0.041,2636,1373,3476,3470,3482,0,0,0,0,0,0,14.88,14.50,14.88
$GC,2196,-0.76,-107.1,2636,1375,3472,3482,203.4,-7.5,116,2201,0.00,2.50,0.00,0.000,1062,0.000,0.065,2626,2770,3476,3471,3482,0,0,0,0,0,0,14.54,14.35,14.57
$GC,2554,-0.76,-107.1,2627,2770,3471,3479,235.4,-9.0,125,2559,0.00,1.98,0.00,0.000,260,0.000,0.108,2618,3831,3474,3471,3477,0,0,0,0,0,0,14.90,14.28,14.90
$GC,2602,-0.76,-107.1,2618,3831,3472,3477,239.9,-9.5,132,2609,0.10,1.83,0.00,0.000,3078,0.205,0.041,2647,2757,3473,3471,3476,0,0,0,0,0,0,14.18,14.54,14.34
$GC,2946,-0.76,-107.1,2648,2757,3471,3474,267.5,-8.0,139,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2757,3472,3471,3473,0,0,0,0,0,0,14.88,14.88,14.88
$GC,3282,-0.76,-107.1,2648,2758,3472,3469,293.6,-7.7,145,3287,0.00,2.03,0.00,0.000,260,0.000,0.108,2639,3822,3469,3469,3469,0,0,0,0,0,0,14.91,14.27,14.91
$GC,3309,-0.76,-107.1,2640,3822,3472,3470,295.2,-5.5,149,3315,0.00,1.83,0.00,0.000,1062,0.000,0.042,2640,2756,3470,3471,3469,0,0,0,0,0,0,14.56,14.53,14.57
$GC,3674,-0.76,-107.1,2640,2756,3472,3467,330.3,-8.0,159,3678,0.00,2.38,0.00,0.000,516,0.000,0.042,2639,1380,3468,3471,3465,0,0,0,0,0,0,14.88,14.45,14.88
$GC,3730,-0.76,-107.1,2639,1380,3473,3465,334.8,-7.8,167,3734,0.00,2.50,0.00,0.000,1030,0.000,0.065,2629,2770,3467,3471,3464,0,0,0,0,0,0,14.52,14.35,14.54
$GC,4066,-0.76,-107.1,2627,2770,3471,3463,361.8,-8.1,180,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2775,3465,3470,3461,0,0,0,0,0,0,14.88,14.88,14.88
$GC,4402,-0.76,-107.1,2630,2770,3471,3460,388.8,-8.1,186,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2770,3465,3471,3459,0,0,0,0,0,0,14.88,14.88,14.88
$GC,4738,-0.76,-107.1,2630,2770,3471,3457,417.6,-8.6,192,4743,0.00,2.42,0.00,0.000,516,0.000,0.041,2629,1377,3463,3471,3455,0,0,0,0,0,0,14.88,14.44,14.88
$GC,4779,-0.76,-107.1,2629,1376,3473,3456,421.3,-8.9,198,4785,0.12,2.53,0.00,0.000,3078,0.233,0.065,2655,2760,3463,3471,3455,0,0,0,0,0,0,14.12,14.28,14.39
$GC,5130,-0.76,-107.1,2655,2760,3472,3452,449.1,-7.9,206,5131,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2760,3460,3470,3451,0,0,0,0,0,0,14.88,14.88,14.88
$GC,5466,-0.76,-107.1,2655,2759,3471,3451,475.4,-7.8,212,5470,0.00,2.42,0.00,0.000,516,0.000,0.042,2655,1378,3460,3471,3450,0,0,0,0,0,0,14.88,14.42,14.88
$GC,5514,-0.85,-107.1,2656,1378,3471,3451,479.2,-7.7,219,5521,0.00,2.55,0.00,0.000,1190,0.000,0.065,2647,2769,3460,3471,3450,0,0,0,0,0,0,14.45,14.26,14.50
$GC,5858,-0.85,-107.1,2646,2770,3472,3446,506.1,-7.9,226,5863,0.00,2.00,0.00,0.000,260,0.000,0.111,2638,3826,3458,3471,3446,0,0,0,0,0,0,14.91,14.20,14.88
$GC,5892,-0.85,-107.1,2637,3828,3471,3446,509.1,-8.7,231,5898,0.00,1.83,0.00,0.000,1030,0.000,0.045,2637,2770,3458,3470,3446,0,0,0,0,0,0,14.50,14.47,14.52
$GC,6250,-0.85,-107.1,2637,2771,3469,3446,537.6,-7.9,240,6255,0.00,2.42,0.00,0.000,516,0.000,0.043,2637,1372,3457,3468,3447,0,0,0,0,0,0,14.87,14.40,14.87
$GC,6306,-0.85,-107.1,2637,1373,3468,3446,541.9,-7.7,248,6311,0.00,2.53,0.00,0.000,1062,0.000,0.066,2629,2764,3456,3467,3446,0,0,0,0,0,0,14.48,14.31,14.52
$GC,6642,-0.85,-107.1,2629,2765,3466,3448,566.4,-7.2,261,6643,0.00,0.00,0.00,0.000,38,0.000,0.000,2629,2763,3455,3465,3446,0,0,0,0,0,0,14.87,14.87,14.87
$GC,6978,-0.85,-107.1,2629,2765,3466,3444,590.3,-7.1,267,6982,0.00,2.45,0.00,0.000,548,0.000,0.043,2628,1372,3454,3464,3444,0,0,0,0,0,0,14.87,14.39,14.88
$GC,7005,-0.85,-107.1,2629,1368,3469,3444,592.4,-7.6,271,7010,0.00,2.53,0.00,0.000,1062,0.000,0.066,2619,2759,3453,3464,3443,0,0,0,0,0,0,14.43,14.25,14.47
$GC,7370,-0.85,-107.1,2619,2763,3464,3443,621.8,-8.3,281,7375,0.00,2.05,0.00,0.000,260,0.000,0.112,2611,3835,3452,3462,3443,0,0,0,0,0,0,14.87,14.12,14.86
$GC,7411,-0.85,-107.1,2611,3835,3466,3445,625.6,-9.2,287,7416,0.00,1.88,0.00,0.000,1030,0.000,0.043,2610,2756,3453,3462,3444,0,0,0,0,0,0,14.50,14.46,14.51
$GC,7762,-0.85,-107.1,2611,2750,3471,3442,656.7,-8.9,295,7766,0.00,2.40,0.00,0.000,516,0.000,0.042,2610,1372,3450,3461,3440,0,0,0,0,0,0,14.86,14.36,14.87
$GC,7796,-0.85,-107.1,2610,1373,3463,3441,659.9,-9.2,300,7801,0.00,2.58,0.00,0.000,1030,0.000,0.067,2602,2765,3451,3462,3441,0,0,0,0,0,0,14.29,14.19,14.34
$GC,8154,-0.85,-107.1,2602,2765,3460,3442,694.3,-9.7,309,8159,0.00,2.03,0.00,0.000,260,0.000,0.111,2593,3831,3449,3459,3440,0,0,0,0,0,0,14.89,14.10,14.89
$GC,8216,-0.85,-107.1,2594,3831,3460,3441,700.7,-10.5,318,8222,0.10,1.88,0.00,0.000,3078,0.210,0.044,2621,2758,3448,3456,3440,0,0,0,0,0,0,14.00,14.40,14.15
$GC,8546,-0.85,-107.1,2621,2758,3468,3439,730.7,-9.2,330,8550,0.00,2.42,0.00,0.000,516,0.000,0.044,2621,1371,3448,3458,3438,0,0,0,0,0,0,14.85,14.34,14.85
$GC,8587,-0.85,-107.1,2621,1371,3460,3439,734.6,-9.4,336,8592,0.00,2.55,0.00,0.000,1030,0.000,0.066,2613,2762,3445,3454,3437,0,0,0,0,0,0,14.38,14.19,14.42
$GC,8938,-0.85,-107.1,2613,2764,3459,3443,767.7,-9.4,344,8943,0.00,2.03,0.00,0.000,260,0.000,0.112,2605,3828,3447,3458,3437,0,0,0,0,0,0,14.85,14.08,14.85
$GC,9014,-0.85,-107.1,2605,3828,3458,3438,775.4,-9.8,355,9019,0.00,1.88,0.00,0.000,1030,0.000,0.045,2604,2747,3447,3457,3437,0,0,0,0,0,0,14.44,14.41,14.45
$STATE,9326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9326,begin apogee
$GC,9334,-0.23,0.0,2604,2206,3458,3436,804.6,-9.3,365,9444,0.77,0.12,101.72,2.434,10244,0.190,0.141,2823,2278,3050,3076,3024,0,0,0,0,1,0,13.95,13.85,12.50
$STATE,9445,end apogee,CONTROL_FINISHED_OK
$STATE,9445,begin climb
$GC,9449,0.93,107.1,2825,2279,3080,3038,807.7,0.0,367,9570,1.12,2.62,105.95,2.755,10756,0.096,0.055,3184,853,2622,2672,2573,0,0,0,0,1,0,13.94,13.98,12.37
$GC,9625,0.84,145.8,3184,855,2674,2592,804.8,5.8,393,9680,0.00,2.47,49.97,1.870,9382,0.000,0.048,3187,2245,2468,2532,2404,0,0,0,0,0,0,14.19,14.08,13.00
$GC,10000,0.73,145.8,3185,2246,2526,2379,769.1,10.4,411,10005,0.12,2.60,0.00,0.000,4484,0.240,0.095,3139,3646,2452,2525,2380,0,0,0,0,0,0,14.13,14.26,14.31
$GC,10046,0.64,145.8,3144,3646,2526,2381,763.7,10.6,418,10053,0.12,2.47,0.00,0.000,5254,0.224,0.040,3111,2229,2452,2525,2380,0,0,0,0,0,0,14.12,14.42,14.40
$GC,10390,0.64,145.8,3111,2228,2524,2377,735.2,8.2,425,10396,0.00,2.70,0.00,0.000,260,0.000,0.097,3110,3652,2450,2525,2376,0,0,0,0,0,0,14.82,14.28,14.81
$GC,10438,0.64,145.8,3110,3653,2526,2376,730.8,9.3,432,10445,0.00,2.45,0.00,0.000,1030,0.000,0.041,3120,2242,2450,2525,2375,0,0,0,0,0,0,14.55,14.44,14.57
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$STATE,19976,end climb,SURFACE_DEPTH_REACHED
$STATE,19977,begin surface coast
$FINISH,-1.2,1.022080
$STATE,20008,end surface coast,CONTROL_FINISHED_OK
$STATE,20008,begin surface
$SM_CCo,20031,38.78,0.155,0,0,1057,500.14
$SM_GC,-5.39,9.32,0.98,38.78,0.082,0.090,0.155,190,2762,1057,-8.39,-0.79,500.14,0,0,0,0,0,0,14.50,14.29,14.14
$IRIDIUM_FIX,956.07,-12511.90,080117,102250
$TT8_MAMPS,0.036701,0.26964
$HUMID,57.52
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.60
$XPDR_PINGS,1
$SC_FREEKB,3706976
$PM_FREEKB,53753664
$24V_AH,12.37,185.787
$10V_AH,12.40,0.000
$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,25.000,188.025,475.500,38.775,0.000,0.000,0.000,320.325,0.250,0.000,8.230,0.000,17009.875,803.017,2338.924,537.512,0.000,1863.721,0.000,1497.078,0.000,0.836,0.000
$DEVICE_MAMPS,390.915,140.760,2754.765,155.295,0.000,0.000,0.000,172.890,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20059.000,20019.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.616,2.439,0.000,0.000
$MEM,334716
$DATA_FILE_SIZE,29992,831
$CAP_FILE_SIZE,152837,0
$CFSIZE,1024409600,928399360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.063,196.11,1
$GPS,080117,202001,1000.172,-12518.960,12,0.6,35,9.0,1.1,129.9,12,3.0