version: 66.13
glider: 220
mission: 6
dive: 529
start: 1 8 117 20 35 18
data:
$ID,220
$MISSION,6
$DIVE,529
$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,640.56
$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,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
$GPS1,080117,202001,1000.1725,-12518.9600,12,0.6,35,9.0,1.1,129.9,12,3.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-9.15
$_SM_ANGLEo,-65.4
$GPS2,080117,203454,1000.1838,-12518.8604,2,0.6,2,9.0,1.2,265.2,12,8.8
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,108.5,49595,-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,-107.1,106,2775,1101,1013,0.0,0.0,0,101,0.00,0.00,-81.20,0.000,16390,0.000,0.000,104,2776,3478,3469,3487,0,0,0,0,0,0,14.74,12.50,14.70
$GC,105,-0.93,-107.1,104,2776,3470,3488,-0.2,-9.4,3,119,12.20,0.00,0.00,0.000,2054,0.391,0.000,2590,2776,3478,3470,3487,0,0,0,0,0,0,13.97,14.45,14.38
$GC,410,-0.78,-107.1,2590,2776,3475,3487,59.7,-9.7,14,415,0.17,1.95,0.00,0.000,2436,0.249,0.103,2637,3826,3484,3474,3494,0,0,0,0,0,0,14.07,14.26,14.25
$GC,647,-0.78,-107.1,2637,3828,3477,3487,80.4,-8.8,48,653,0.00,1.77,0.00,0.000,1030,0.000,0.037,2637,2743,3481,3476,3486,0,0,0,0,0,0,14.58,14.56,14.59
$GC,970,-0.78,-107.1,2637,2743,3476,3487,106.2,-8.1,60,975,0.00,2.03,0.00,0.000,260,0.000,0.105,2628,3828,3481,3476,3486,0,0,0,0,0,0,14.90,14.30,14.90
$GC,1154,-0.78,-107.1,2628,3829,3477,3486,123.3,-9.1,86,1159,0.00,1.75,0.00,0.000,1030,0.000,0.040,2628,2772,3481,3476,3486,0,0,0,0,0,0,14.64,14.54,14.64
$GC,1474,-0.78,-107.1,2628,2771,3478,3484,152.5,-9.0,97,1479,0.00,2.35,0.00,0.000,516,0.000,0.043,2628,1392,3479,3475,3483,0,0,0,0,0,0,14.92,14.47,14.92
$GC,1508,-0.78,-107.1,2627,1392,3476,3482,155.6,-8.6,102,1514,0.08,2.47,0.00,0.000,3078,0.217,0.065,2641,2763,3479,3476,3482,0,0,0,0,0,0,14.10,14.27,14.26
$GC,1866,-0.78,-107.1,2641,2764,3478,3472,185.2,-8.4,111,1872,0.00,1.98,0.00,0.000,260,0.000,0.106,2633,3834,3477,3476,3478,0,0,0,0,0,0,14.92,14.28,14.92
$GC,1949,-0.78,-107.1,2634,3834,3476,3478,183.4,-18.1,123,1956,0.00,1.77,0.00,0.000,1030,0.000,0.039,2633,2772,3476,3476,3476,0,0,0,0,0,0,14.59,14.54,14.57
$GC,2314,-0.78,-107.1,2632,2773,3477,3470,215.9,-9.0,133,2319,0.00,2.38,0.00,0.000,516,0.000,0.042,2632,1389,3473,3477,3470,0,0,0,0,0,0,14.90,14.47,14.90
$GC,2355,-0.78,-107.1,2633,1388,3476,3471,220.0,-10.4,139,2362,0.00,2.50,0.00,0.000,1030,0.000,0.066,2623,2770,3472,3476,3469,0,0,0,0,0,0,14.41,14.31,14.46
$GC,2706,-0.78,-107.1,2623,2771,3477,3465,256.9,-10.4,147,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2770,3471,3476,3466,0,0,0,0,0,0,14.90,14.90,14.90
$GC,3042,-0.78,-107.1,2623,2771,3477,3461,287.2,-8.7,153,3047,0.00,2.40,0.00,0.000,516,0.000,0.042,2622,1392,3468,3476,3461,0,0,0,0,0,0,14.90,14.46,14.90
$GC,3062,-0.78,-107.1,2622,1392,3474,3462,290.0,-9.9,156,3068,0.08,2.50,0.00,0.000,3078,0.225,0.067,2643,2763,3468,3476,3461,0,0,0,0,0,0,14.11,14.29,14.41
$GC,3379,-0.78,-107.1,2644,2765,3478,3457,313.3,-7.5,166,3379,0.00,0.00,0.00,0.000,38,0.000,0.000,2643,2761,3466,3475,3457,0,0,0,0,0,0,14.91,14.91,14.92
$GC,3715,-0.78,-107.1,2644,2765,3477,3452,338.6,-7.3,172,3715,0.00,0.00,0.00,0.000,38,0.000,0.000,2643,2764,3464,3475,3453,0,0,0,0,0,0,14.92,14.92,14.92
$GC,4050,-0.78,-107.1,2644,2764,3476,3451,369.1,-10.3,178,4055,0.00,2.40,0.00,0.000,516,0.000,0.043,2644,1389,3462,3475,3450,0,0,0,0,0,0,14.92,14.44,14.92
$GC,4084,-0.78,-107.1,2644,1388,3476,3451,373.6,-12.3,183,4091,0.00,2.53,0.00,0.000,1030,0.000,0.066,2635,2765,3462,3475,3449,0,0,0,0,0,0,14.38,14.27,14.42
$GC,4442,-0.78,-107.1,2635,2765,3476,3447,403.3,-8.5,192,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2765,3460,3475,3445,0,0,0,0,0,0,14.92,14.92,14.92
$GC,4778,-0.78,-107.1,2635,2767,3476,3442,444.1,-13.1,198,4783,0.00,2.00,0.00,0.000,260,0.000,0.109,2625,3826,3458,3475,3442,0,0,0,0,0,0,14.91,14.24,14.91
$GC,4812,-0.78,-107.1,2627,3826,3476,3442,447.6,-8.9,203,4819,0.00,1.80,0.00,0.000,1030,0.000,0.044,2626,2775,3458,3475,3442,0,0,0,0,0,0,14.55,14.52,14.57
$GC,5170,-0.78,-107.1,2626,2775,3476,3439,474.1,-7.3,212,5175,0.00,2.42,0.00,0.000,548,0.000,0.043,2625,1377,3456,3475,3438,0,0,0,0,0,0,14.89,14.41,14.89
$GC,5211,-0.78,-107.1,2629,1376,3476,3439,477.2,-7.3,218,5217,0.10,2.50,0.00,0.000,3110,0.238,0.064,2645,2768,3456,3475,3437,0,0,0,0,0,0,14.14,14.31,14.38
$GC,5562,-0.78,-107.1,2645,2768,3476,3438,501.0,-6.9,226,5567,0.00,2.45,0.00,0.000,548,0.000,0.043,2644,1375,3455,3475,3436,0,0,0,0,0,0,14.91,14.41,14.91
$GC,5611,-0.85,-107.1,2645,1376,3476,3435,504.6,-7.3,233,5617,0.00,2.53,0.00,0.000,1190,0.000,0.065,2636,2764,3454,3474,3435,0,0,0,0,0,0,14.45,14.26,14.49
$GC,5955,-0.85,-107.1,2636,2764,3476,3433,530.6,-7.6,240,5955,0.00,0.00,0.00,0.000,38,0.000,0.000,2636,2763,3453,3475,3432,0,0,0,0,0,0,14.88,14.88,14.88
$GC,6290,-0.85,-107.1,2637,2764,3474,3431,556.8,-7.9,246,6295,0.00,2.42,0.00,0.000,516,0.000,0.043,2636,1378,3452,3475,3429,0,0,0,0,0,0,14.88,14.39,14.89
$GC,6324,-0.85,-107.1,2636,1379,3476,3429,559.7,-8.0,251,6331,0.00,2.53,0.00,0.000,1030,0.000,0.066,2626,2774,3452,3475,3429,0,0,0,0,0,0,14.47,14.23,14.47
$GC,6683,-0.85,-107.1,2627,2775,3474,3427,589.3,-8.3,260,6688,0.00,2.00,0.00,0.000,260,0.000,0.110,2618,3831,3450,3473,3427,0,0,0,0,0,0,14.88,14.13,14.88
$GC,6716,-0.85,-107.1,2615,3832,3473,3427,592.4,-8.7,265,6722,0.00,1.85,0.00,0.000,1030,0.000,0.044,2617,2761,3449,3472,3427,0,0,0,0,0,0,14.50,14.47,14.52
$GC,7074,-0.85,-107.1,2618,2760,3471,3428,622.2,-8.3,274,7075,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2761,3448,3470,3427,0,0,0,0,0,0,14.94,14.90,14.91
$GC,7410,-0.85,-107.1,2617,2762,3471,3427,649.2,-8.0,280,7415,0.00,2.42,0.00,0.000,516,0.000,0.044,2617,1372,3448,3468,3428,0,0,0,0,0,0,14.90,14.36,14.90
$GC,7444,-0.85,-107.1,2617,1373,3470,3427,652.0,-8.1,285,7450,0.00,2.58,0.00,0.000,1030,0.000,0.065,2608,2754,3448,3469,3427,0,0,0,0,0,0,14.27,14.17,14.43
$GC,7802,-0.85,-107.1,2608,2755,3468,3425,682.7,-8.7,294,7807,0.00,2.05,0.00,0.000,260,0.000,0.109,2600,3834,3446,3467,3425,0,0,0,0,0,0,14.87,14.11,14.87
$GC,7850,-0.85,-107.1,2600,3834,3467,3427,687.2,-9.4,301,7857,0.00,1.90,0.00,0.000,1030,0.000,0.044,2600,2746,3445,3466,3425,0,0,0,0,0,0,14.44,14.41,14.46
$GC,8194,-0.85,-107.1,2600,2746,3467,3424,717.3,-8.7,308,8199,0.00,2.40,0.00,0.000,516,0.000,0.043,2599,1376,3444,3466,3423,0,0,0,0,0,0,14.87,14.33,14.87
$GC,8222,-0.85,-107.1,2600,1369,3469,3424,719.7,-8.7,312,8227,0.12,2.53,0.00,0.000,3078,0.246,0.067,2623,2755,3444,3466,3423,0,0,0,0,0,0,13.98,14.22,14.26
$GC,8586,-0.85,-107.1,2624,2755,3465,3423,747.7,-7.6,322,8591,0.00,2.05,0.00,0.000,292,0.000,0.112,2614,3831,3443,3465,3422,0,0,0,0,0,0,14.90,14.07,14.90
$GC,8627,-0.85,-107.1,2617,3831,3465,3423,750.8,-7.9,328,8633,0.00,1.88,0.00,0.000,1030,0.000,0.044,2616,2763,3443,3465,3422,0,0,0,0,0,0,14.42,14.39,14.43
$GC,8978,-0.85,-107.1,2616,2764,3464,3421,777.7,-7.5,336,8983,0.00,2.47,0.00,0.000,548,0.000,0.044,2615,1356,3441,3463,3420,0,0,0,0,0,0,14.86,14.31,14.86
$GC,9019,-0.85,-107.1,2616,1356,3464,3422,781.1,-8.4,342,9025,0.00,2.58,0.00,0.000,1030,0.000,0.066,2607,2755,3442,3463,3421,0,0,0,0,0,0,14.37,14.18,14.40
$STATE,9255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9255,begin apogee
$GC,9264,-0.23,0.0,2606,2204,3464,3421,800.3,-8.2,348,9377,0.75,0.12,110.53,1.896,10244,0.187,0.138,2820,2281,3050,3088,3012,0,0,0,0,0,0,13.94,13.98,12.96
$STATE,9379,end apogee,CONTROL_FINISHED_OK
$STATE,9379,begin climb
$GC,9382,0.93,107.1,2822,2281,3082,3005,802.4,0.0,350,9511,1.12,2.53,117.43,1.812,10756,0.097,0.054,3184,889,2618,2677,2559,0,0,0,0,0,0,14.02,14.06,12.95
$GC,9553,0.85,147.3,3184,890,2676,2544,801.0,5.7,376,9601,0.00,2.40,44.22,1.832,9382,0.000,0.049,3184,2241,2463,2535,2391,0,0,0,0,0,0,14.26,14.16,13.05
$GC,9928,0.73,147.3,3184,2242,2535,2366,769.6,8.8,394,9933,0.12,2.62,0.00,0.000,4484,0.246,0.096,3144,3648,2446,2527,2366,0,0,0,0,0,0,14.06,14.26,14.23
$GC,9974,0.64,147.3,3144,3648,2528,2366,765.2,8.5,401,9981,0.15,2.40,0.00,0.000,5254,0.215,0.041,3114,2272,2446,2526,2366,0,0,0,0,0,0,14.07,14.42,14.26
$GC,10318,0.68,177.7,3114,2271,2527,2364,743.6,6.2,408,10353,0.00,0.00,33.22,1.860,8230,0.000,0.000,3113,2271,2340,2421,2260,0,0,0,0,0,0,14.79,14.27,13.30
$GC,10654,0.69,188.4,3113,2272,2415,2240,720.0,7.2,414,10659,0.00,0.00,3.62,1.377,8230,0.000,0.000,3113,2271,2298,2384,2213,0,0,0,0,0,0,14.76,14.29,12.97
$GC,10990,0.69,188.4,3113,2272,2387,2241,693.8,7.8,420,10996,0.00,2.67,2.05,0.304,8452,0.000,0.099,3110,3645,2299,2381,2218,0,0,0,0,0,0,14.79,14.30,12.47
$GC,11031,0.69,188.4,3111,3645,2383,2234,690.2,9.0,426,11038,0.00,2.42,0.00,0.000,1030,0.000,0.041,3121,2259,2307,2382,2233,0,0,0,0,0,0,14.47,14.42,14.51
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$STATE,19820,end climb,SURFACE_DEPTH_REACHED
$STATE,19821,begin surface coast
$FINISH,-0.7,1.022095
$STATE,19848,end surface coast,CONTROL_FINISHED_OK
$STATE,19848,begin surface
$SM_CCo,19872,105.10,0.157,0,0,497,640.56
$SM_GC,-5.37,9.23,0.95,105.10,0.080,0.090,0.157,181,2764,497,-8.39,-0.68,640.56,0,0,0,0,0,0,14.51,14.27,14.15
$IRIDIUM_FIX,956.07,-12557.46,080117,203140
$TT8_MAMPS,0.03745,0.420189
$HUMID,55.15
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,20.20
$XPDR_PINGS,0
$SC_FREEKB,3706592
$PM_FREEKB,53742528
$24V_AH,11.67,186.072
$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,24.725,179.650,492.925,105.100,0.000,0.000,0.000,306.375,0.000,0.000,4.322,0.000,17219.502,853.553,2249.651,534.799,0.000,1858.829,0.000,1399.212,0.000,0.545,0.000
$DEVICE_MAMPS,390.915,137.700,1896.435,156.825,0.000,0.000,0.000,116.280,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19910.000,19858.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.590,2.427,0.000,0.000
$MEM,334860
$DATA_FILE_SIZE,26690,766
$CAP_FILE_SIZE,147592,0
$CFSIZE,1024409600,928104448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,123.34,1
$GPS,090117,020925,959.069,-12516.803,18,1.4,35,9.0,0.6,91.5,6,4.3