version: 66.13
glider: 220
mission: 6
dive: 701
start: 2 18 117 4 47 23
data:
$ID,220
$MISSION,6
$DIVE,701
$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,47
$R_STBD_OVSHOOT,12
$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
$GPS1,180217,043400,1001.6810,-12443.0527,24,0.7,24,9.0,0.3,67.4,11,3.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.98
$_SM_ANGLEo,-67.2
$GPS2,180217,044701,1001.7196,-12442.9951,2,0.7,3,9.0,0.1,0.0,11,5.7
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,299.0,44664,-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,17,-0.93,-107.1,178,2777,1105,1016,0.0,0.0,0,102,0.00,0.00,-82.22,0.000,16390,0.000,0.000,177,2776,3478,3469,3488,0,0,0,0,0,0,14.59,12.66,14.52
$GC,106,-0.93,-107.1,178,2778,3470,3483,0.9,-8.6,3,123,11.95,2.05,0.00,0.000,2308,0.386,0.123,2583,3834,3479,3470,3488,0,0,0,0,0,0,13.81,14.14,14.22
$GC,221,-0.65,-107.1,2583,3835,3473,3488,35.8,-21.9,20,226,0.40,1.83,0.00,0.000,3206,0.246,0.046,2685,2712,3479,3471,3488,0,0,0,0,0,0,13.74,14.35,14.07
$GC,551,-0.65,-107.1,2686,2714,3476,3488,71.1,-7.4,34,556,0.00,2.38,0.00,0.000,548,0.000,0.043,2686,1361,3481,3475,3488,0,0,0,0,0,0,14.74,14.12,14.72
$GC,683,-0.65,-107.1,2686,1362,3477,3488,80.9,-6.4,53,691,0.00,2.72,0.00,0.000,1062,0.000,0.096,2677,2763,3481,3476,3486,0,0,0,0,0,0,14.11,13.83,14.16
$GC,999,-0.65,-107.1,2676,2763,3478,3487,104.4,-7.5,64,1004,0.00,2.15,0.00,0.000,292,0.000,0.153,2668,3825,3482,3476,3488,0,0,0,0,0,0,14.75,13.81,14.75
$GC,1068,-0.65,-107.1,2669,3825,3477,3489,110.6,-8.7,74,1073,0.00,1.88,0.00,0.000,1030,0.000,0.057,2668,2734,3482,3478,3487,0,0,0,0,0,0,14.26,14.19,14.27
$GC,1391,-0.65,-107.1,2667,2734,3477,3488,133.2,-6.5,85,1392,0.00,0.00,0.00,0.000,38,0.000,0.000,2668,2734,3480,3476,3485,0,0,0,0,0,0,14.76,14.76,14.76
$GC,1727,-0.65,-107.1,2665,2734,3477,3485,158.3,-7.9,91,1732,0.00,2.25,0.00,0.000,260,0.000,0.144,2658,3826,3479,3476,3482,0,0,0,0,0,0,14.77,13.71,14.76
$GC,1761,-0.65,-107.1,2659,3825,3477,3484,161.3,-8.6,96,1766,0.10,1.88,0.00,0.000,3078,0.213,0.059,2689,2751,3479,3476,3483,0,0,0,0,0,0,13.87,14.21,14.07
$GC,2120,-0.76,-107.1,2690,2751,3478,3479,186.5,-6.8,105,2125,0.00,2.45,0.00,0.000,676,0.000,0.042,2689,1372,3477,3476,3478,0,0,0,0,0,0,14.75,14.04,14.75
$GC,2160,-0.88,-107.1,2689,1372,3477,3477,189.5,-7.2,111,2166,0.12,2.70,0.00,0.000,5286,0.095,0.095,2590,2759,3476,3476,3477,0,0,0,0,0,0,14.09,13.77,14.18
$GC,2511,-0.88,-107.1,2591,2760,3477,3472,224.6,-10.1,119,2516,0.00,2.17,0.00,0.000,260,0.000,0.147,2582,3829,3473,3475,3471,0,0,0,0,0,0,14.76,13.72,14.76
$GC,2552,-0.78,-107.1,2583,3830,3477,3472,229.0,-10.6,125,2558,0.22,1.88,0.00,0.000,3206,0.210,0.056,2644,2748,3473,3476,3471,0,0,0,0,0,0,13.65,14.21,13.91
$GC,2903,-0.78,-107.1,2644,2747,3477,3469,255.2,-7.2,133,2904,0.00,0.00,0.00,0.000,38,0.000,0.000,2642,2748,3471,3476,3466,0,0,0,0,0,0,14.76,14.76,14.76
$GC,3239,-0.78,-107.1,2644,2748,3476,3464,282.6,-8.3,139,3244,0.00,2.47,0.00,0.000,516,0.000,0.044,2643,1369,3469,3476,3462,0,0,0,0,0,0,14.75,14.00,14.75
$GC,3295,-0.78,-107.1,2644,1370,3477,3462,287.5,-8.3,147,3300,0.00,2.75,0.00,0.000,1030,0.000,0.097,2634,2759,3469,3476,3462,0,0,0,0,0,0,14.04,13.75,14.10
$GC,3631,-0.78,-107.1,2634,2760,3477,3458,318.2,-9.3,160,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2759,3467,3476,3458,0,0,0,0,0,0,14.76,14.76,14.76
$GC,3967,-0.78,-107.1,2634,2760,3477,3453,351.3,-10.0,166,3972,0.00,2.53,0.00,0.000,516,0.000,0.043,2635,1372,3465,3476,3454,0,0,0,0,0,0,14.79,13.88,14.80
$GC,3994,-0.78,-107.1,2634,1371,3476,3455,354.2,-10.3,170,3999,0.00,2.72,0.00,0.000,1030,0.000,0.096,2624,2751,3464,3476,3453,0,0,0,0,0,0,14.04,13.76,14.11
$GC,4359,-0.78,-107.1,2625,2751,3476,3452,387.7,-8.9,180,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2751,3464,3476,3452,0,0,0,0,0,0,14.74,14.74,14.73
$GC,4695,-0.78,-107.1,2624,2752,3477,3447,415.9,-8.3,186,4700,0.00,2.22,0.00,0.000,260,0.000,0.150,2615,3833,3460,3475,3446,0,0,0,0,0,0,14.74,13.71,14.75
$GC,4757,-0.78,-107.1,2616,3834,3477,3447,421.5,-9.0,195,4762,0.10,1.90,0.00,0.000,3078,0.223,0.057,2644,2752,3462,3477,3447,0,0,0,0,0,0,13.75,14.17,13.97
$GC,5087,-0.78,-107.1,2644,2752,3477,3445,445.9,-7.4,207,5088,0.00,0.00,0.00,0.000,38,0.000,0.000,2644,2751,3460,3476,3444,0,0,0,0,0,0,14.74,14.73,14.73
$GC,5423,-0.78,-107.1,2644,2753,3477,3440,468.9,-6.7,213,5429,0.00,2.50,0.00,0.000,548,0.000,0.043,2649,1364,3458,3476,3440,0,0,0,0,0,0,14.78,13.93,14.78
$GC,5485,-0.78,-107.1,2647,1365,3477,3442,473.3,-7.0,222,5490,0.00,2.78,0.00,0.000,1062,0.000,0.098,2635,2771,3458,3476,3440,0,0,0,0,0,0,14.04,13.75,14.10
$GC,5816,-0.78,-107.1,2635,2773,3477,3437,498.3,-7.7,234,5820,0.00,2.17,0.00,0.000,292,0.000,0.153,2634,3830,3456,3476,3437,0,0,0,0,0,0,14.78,13.74,14.78
$GC,5856,-0.78,-107.1,2627,3830,3477,3437,501.8,-8.3,240,5861,0.00,1.90,0.00,0.000,1030,0.000,0.057,2626,2755,3456,3476,3437,0,0,0,0,0,0,14.19,14.12,14.21
$GC,6207,-0.78,-107.1,2626,2755,3476,3436,532.1,-8.9,248,6212,0.00,2.50,0.00,0.000,516,0.000,0.043,2626,1371,3455,3475,3435,0,0,0,0,0,0,14.73,13.90,14.73
$GC,6290,-0.78,-107.1,2626,1374,3476,3434,539.8,-9.1,260,6295,0.00,2.75,0.00,0.000,1030,0.000,0.098,2617,2754,3454,3476,3433,0,0,0,0,0,0,14.12,13.85,14.17
$GC,6655,-0.78,-107.1,2616,2755,3476,3432,573.7,-9.3,270,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2754,3453,3475,3432,0,0,0,0,0,0,14.78,14.78,14.78
$GC,6991,-0.78,-107.1,2618,2755,3474,3428,606.0,-9.7,276,6996,0.08,2.55,0.00,0.000,2564,0.281,0.042,2644,1365,3451,3475,3428,0,0,0,0,0,0,13.89,13.89,13.97
$GC,7025,-0.78,-107.1,2644,1365,3476,3429,609.4,-9.4,281,7032,0.00,2.75,0.00,0.000,1030,0.000,0.101,2634,2753,3451,3475,3428,0,0,0,0,0,0,14.14,13.85,14.18
$GC,7383,-0.78,-107.1,2634,2754,3473,3429,643.1,-9.6,290,7388,0.00,2.22,0.00,0.000,260,0.000,0.152,2625,3837,3450,3472,3428,0,0,0,0,0,0,14.76,13.76,14.76
$GC,7417,-0.78,-107.1,2625,3838,3472,3428,646.7,-10.4,295,7422,0.00,1.92,0.00,0.000,1030,0.000,0.058,2624,2749,3449,3471,3427,0,0,0,0,0,0,14.15,14.07,14.16
$GC,7775,-0.78,-107.1,2625,2749,3471,3429,678.6,-8.7,304,7780,0.00,2.53,0.00,0.000,516,0.000,0.044,2625,1361,3449,3470,3428,0,0,0,0,0,0,14.71,13.84,14.73
$GC,7823,-0.78,-107.1,2625,1362,3471,3428,682.5,-7.9,311,7830,0.10,2.78,0.00,0.000,3078,0.234,0.096,2644,2750,3448,3469,3427,0,0,0,0,0,0,13.74,13.78,14.00
$GC,8168,-0.78,-107.1,2645,2750,3471,3427,704.5,-6.2,318,8172,0.00,2.22,0.00,0.000,292,0.000,0.152,2639,3835,3448,3470,3426,0,0,0,0,0,0,14.71,13.78,14.71
$GC,8229,-0.78,-107.1,2636,3836,3471,3424,708.6,-6.9,327,8234,0.00,1.95,0.00,0.000,1062,0.000,0.056,2635,2722,3448,3470,3426,0,0,0,0,0,0,14.15,14.09,14.17
$GC,8560,-0.78,-107.1,2636,2722,3468,3426,729.2,-6.3,339,8564,0.00,2.30,0.00,0.000,292,0.000,0.146,2627,3832,3446,3468,3425,0,0,0,0,0,0,14.75,13.80,14.76
$GC,8593,-0.78,-107.1,2628,3830,3470,3425,731.6,-7.0,344,8598,0.00,1.92,0.00,0.000,1062,0.000,0.057,2626,2771,3446,3467,3425,0,0,0,0,0,0,14.00,13.98,14.10
$GC,8951,-0.78,-107.1,2625,2772,3469,3423,758.3,-7.7,353,8957,0.00,2.58,0.00,0.000,548,0.000,0.044,2626,1360,3444,3467,3422,0,0,0,0,0,0,14.69,13.82,14.70
$GC,8999,-0.78,-107.1,2626,1361,3468,3422,762.3,-8.1,360,9006,0.00,2.78,0.00,0.000,1030,0.000,0.095,2618,2751,3444,3467,3422,0,0,0,0,0,0,14.07,13.79,14.12
$GC,9343,-0.78,-107.1,2619,2751,3465,3423,792.0,-8.9,367,9348,0.00,2.20,0.00,0.000,260,0.000,0.148,2610,3829,3441,3462,3421,0,0,0,0,0,0,14.69,13.79,14.69
$GC,9399,-0.78,-107.1,2610,3830,3466,3421,797.2,-9.8,375,9404,0.12,1.92,0.00,0.000,3078,0.213,0.057,2644,2749,3442,3464,3421,0,0,0,0,0,0,13.63,14.07,13.88
$STATE,9429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9429,begin apogee
$GC,9439,-0.23,0.0,2646,2225,3465,3423,800.2,-8.1,380,9548,0.62,0.10,100.68,2.518,10244,0.168,0.192,2821,2272,3049,3088,3011,0,0,0,0,1,0,13.64,13.72,12.62
$STATE,9549,end apogee,CONTROL_FINISHED_OK
$STATE,9549,begin climb
$GC,9554,0.93,107.1,2823,2272,3091,3028,803.7,0.0,382,9694,1.12,2.60,127.07,1.809,10756,0.080,0.055,3187,875,2615,2677,2553,0,0,0,0,0,0,13.81,13.83,13.02
$GC,9772,0.83,141.9,3187,876,2677,2538,801.2,6.0,414,9818,0.00,2.50,37.28,1.819,9382,0.000,0.070,3187,2243,2479,2552,2406,0,0,0,0,0,0,14.23,14.08,13.09
$GC,10164,0.70,141.9,3187,2243,2551,2389,767.0,9.1,428,10169,0.17,2.78,0.00,0.000,4484,0.230,0.131,3132,3656,2469,2550,2388,0,0,0,0,0,0,13.90,14.02,14.09
$GC,10233,0.61,141.9,3133,3657,2552,2388,760.9,9.0,438,10239,0.15,2.42,0.00,0.000,5254,0.224,0.049,3103,2258,2468,2550,2387,0,0,0,0,0,0,13.98,14.35,14.27
$GC,10556,0.65,173.4,3103,2256,2551,2385,740.4,6.2,449,10596,0.00,2.85,35.30,1.808,8484,0.000,0.135,3102,3659,2351,2435,2268,0,0,0,0,0,0,14.74,14.09,13.31
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$STATE,19824,end climb,SURFACE_DEPTH_REACHED
$STATE,19824,begin surface coast
$FINISH,-2.7,1.022219
$STATE,19852,end surface coast,CONTROL_FINISHED_OK
$STATE,19852,begin surface
$SM_CCo,19879,33.10,0.150,0,0,1058,500.14
$SM_GC,-4.31,9.73,1.05,33.10,0.095,0.122,0.150,187,2761,1058,-8.40,-0.51,500.14,0,0,0,0,0,0,14.28,13.85,14.08
$IRIDIUM_FIX,956.07,-12427.58,170217,230040
$TT8_MAMPS,0.038948,0.301098
$HUMID,57.24
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,21.80
$XPDR_PINGS,2
$SC_FREEKB,3640544
$PM_FREEKB,51815872
$24V_AH,12.62,239.320
$10V_AH,12.20,0.000
$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,25.700,200.400,501.225,33.100,0.000,0.000,0.000,382.650,0.500,0.000,4.618,0.000,16769.676,786.468,2423.549,691.486,0.000,1934.363,0.000,1502.732,0.000,0.839,0.000
$DEVICE_MAMPS,386.325,192.015,2518.380,149.940,0.000,0.000,0.000,177.480,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19918.000,19865.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.591,2.435,0.000,0.000
$MEM,334712
$DATA_FILE_SIZE,30060,839
$CAP_FILE_SIZE,154852,0
$CFSIZE,1024409600,902889472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.099,315.53,1
$GPS,180217,102025,1003.512,-12445.218,33,0.8,33,9.0,0.7,225.7,11,3.4