version: 66.13
glider: 220
mission: 6
dive: 706
start: 2 19 117 9 59 17
data:
$ID,220
$MISSION,6
$DIVE,706
$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,67
$R_STBD_OVSHOOT,14
$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
$GPS1,190217,094525,1011.7052,-12453.8809,36,0.6,36,9.0,0.5,212.5,12,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.14
$_SM_ANGLEo,-69.1
$GPS2,190217,095855,1011.7112,-12453.9971,2,0.6,2,9.0,1.0,311.7,12,7.6
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,322.5,17504,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.93,-107.1,162,2781,1104,1015,0.0,0.0,0,103,0.00,0.00,-81.35,0.000,16390,0.000,0.000,158,2780,3478,3469,3488,0,0,0,0,0,0,14.57,12.66,14.50
$GC,107,-0.93,-107.1,158,2781,3470,3488,1.5,-9.8,3,124,11.77,2.08,0.00,0.000,2308,0.379,0.135,2583,3837,3480,3471,3489,0,0,0,0,0,0,13.84,14.13,14.23
$GC,180,-0.62,-107.1,2583,3838,3473,3488,28.5,-24.0,14,187,0.43,1.80,0.00,0.000,3206,0.249,0.048,2692,2721,3480,3472,3489,0,0,0,0,0,0,13.84,14.34,14.16
$GC,496,-0.62,-107.1,2691,2722,3476,3488,64.6,-6.7,26,501,0.00,2.25,0.00,0.000,292,0.000,0.151,2683,3826,3481,3475,3488,0,0,0,0,0,0,14.73,13.79,14.71
$GC,580,-0.62,-107.1,2683,3826,3476,3488,71.4,-7.9,38,585,0.00,1.75,0.00,0.000,1030,0.000,0.058,2683,2817,3482,3476,3488,0,0,0,0,0,0,14.22,14.19,14.29
$GC,916,-0.62,-107.1,2679,2817,3476,3489,95.5,-6.9,53,922,0.00,2.42,0.00,0.000,548,0.000,0.041,2683,1416,3483,3478,3488,0,0,0,0,0,0,14.73,14.12,14.73
$GC,1059,-0.70,-107.1,2683,1417,3478,3489,105.4,-7.4,73,1065,0.00,2.62,0.00,0.000,1190,0.000,0.104,2675,2762,3482,3477,3488,0,0,0,0,0,0,14.07,13.79,14.13
$GC,1423,-0.70,-107.1,2675,2763,3478,3486,133.5,-7.8,83,1428,0.00,2.38,0.00,0.000,516,0.000,0.043,2674,1422,3481,3477,3486,0,0,0,0,0,0,14.79,13.95,14.81
$GC,1485,-0.79,-107.1,2675,1423,3477,3486,138.5,-7.8,92,1490,0.00,2.62,0.00,0.000,1158,0.000,0.104,2666,2762,3481,3477,3485,0,0,0,0,0,0,14.08,13.78,14.14
$GC,1815,-0.79,-107.1,2666,2764,3478,3480,166.1,-8.3,104,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2760,3477,3477,3477,0,0,0,0,0,0,14.73,14.73,14.73
$GC,2151,-0.79,-107.1,2667,2762,3477,3478,191.4,-7.3,110,2156,0.00,2.38,0.00,0.000,548,0.000,0.043,2666,1426,3476,3477,3476,0,0,0,0,0,0,14.79,14.02,14.79
$GC,2213,-0.87,-107.1,2661,1427,3478,3476,195.8,-7.0,119,2218,0.08,2.62,0.00,0.000,5286,0.142,0.102,2593,2769,3476,3477,3475,0,0,0,0,0,0,14.04,13.78,14.16
$GC,2543,-0.87,-107.1,2593,2768,3478,3469,228.8,-10.4,131,2548,0.00,2.15,0.00,0.000,260,0.000,0.149,2583,3835,3473,3476,3470,0,0,0,0,0,0,14.79,13.72,14.78
$GC,2577,-0.79,-107.1,2585,3829,3478,3470,232.6,-10.7,136,2582,0.17,1.83,0.00,0.000,3206,0.195,0.059,2641,2814,3473,3477,3470,0,0,0,0,0,0,13.66,14.09,13.95
$GC,2935,-0.79,-107.1,2641,2813,3477,3467,264.1,-8.8,145,2941,0.00,2.58,0.00,0.000,516,0.000,0.043,2641,1361,3471,3477,3465,0,0,0,0,0,0,14.78,14.00,14.78
$GC,3018,-0.79,-107.1,2641,1361,3477,3466,271.3,-8.6,157,3024,0.00,2.70,0.00,0.000,1030,0.000,0.094,2631,2752,3470,3477,3464,0,0,0,0,0,0,14.06,13.76,14.11
$GC,3383,-0.79,-107.1,2628,2753,3478,3461,304.5,-9.1,167,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2752,3469,3477,3461,0,0,0,0,0,0,14.73,14.74,14.73
$GC,3719,-0.79,-107.1,2631,2753,3480,3456,336.3,-9.5,173,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2752,3466,3477,3456,0,0,0,0,0,0,14.73,14.73,14.73
$GC,4055,-0.79,-107.1,2631,2753,3478,3453,367.3,-9.0,179,4059,0.00,2.20,0.00,0.000,260,0.000,0.148,2623,3828,3464,3476,3452,0,0,0,0,0,0,14.73,13.72,14.73
$GC,4103,-0.79,-107.1,2624,3829,3478,3452,371.6,-8.7,186,4109,0.00,1.95,0.00,0.000,1030,0.000,0.061,2623,2753,3464,3476,3452,0,0,0,0,0,0,14.06,13.98,14.08
$GC,4447,-0.79,-107.1,2623,2752,3478,3449,402.3,-9.0,193,4453,0.00,2.47,0.00,0.000,516,0.000,0.042,2621,1361,3462,3476,3448,0,0,0,0,0,0,14.73,13.97,14.73
$GC,4503,-0.79,-107.1,2625,1362,3477,3448,407.4,-9.1,201,4509,0.10,2.75,0.00,0.000,3078,0.235,0.094,2641,2760,3462,3477,3448,0,0,0,0,0,0,13.78,13.81,14.04
$GC,4839,-0.79,-107.1,2641,2761,3477,3444,435.3,-8.2,214,4844,0.00,2.17,0.00,0.000,260,0.000,0.150,2633,3827,3460,3476,3445,0,0,0,0,0,0,14.77,13.77,14.77
$GC,4873,-0.79,-107.1,2635,3827,3477,3446,438.4,-9.1,219,4878,0.00,1.95,0.00,0.000,1030,0.000,0.061,2632,2753,3460,3476,3444,0,0,0,0,0,0,14.04,14.00,14.07
$GC,5231,-0.79,-107.1,2633,2753,3477,3440,469.1,-8.5,228,5235,0.00,2.50,0.00,0.000,516,0.000,0.042,2633,1353,3459,3477,3441,0,0,0,0,0,0,14.78,13.93,14.78
$GC,5265,-0.79,-107.1,2634,1353,3476,3443,472.0,-8.3,233,5271,0.00,2.75,0.00,0.000,1030,0.000,0.093,2623,2754,3458,3476,3441,0,0,0,0,0,0,14.05,13.76,14.10
$GC,5623,-0.79,-107.1,2624,2754,3477,3438,500.5,-7.8,242,5628,0.00,2.20,0.00,0.000,260,0.000,0.147,2616,3834,3457,3476,3438,0,0,0,0,0,0,14.77,13.71,14.77
$GC,5679,-0.79,-107.1,2616,3835,3477,3438,505.1,-8.4,250,5684,0.10,1.92,0.00,0.000,3078,0.219,0.062,2643,2750,3456,3476,3436,0,0,0,0,0,0,13.72,14.10,13.94
$GC,6015,-0.79,-107.1,2644,2752,3477,3436,529.1,-7.2,263,6020,0.00,2.50,0.00,0.000,548,0.000,0.043,2644,1359,3456,3476,3436,0,0,0,0,0,0,14.71,13.90,14.71
$GC,6077,-0.87,-107.1,2651,1360,3477,3434,533.8,-7.4,272,6082,0.00,2.75,0.00,0.000,1190,0.000,0.093,2635,2761,3455,3476,3435,0,0,0,0,0,0,14.03,13.74,14.09
$GC,6407,-0.87,-107.1,2636,2761,3477,3433,559.6,-8.0,284,6411,0.00,2.17,0.00,0.000,260,0.000,0.148,2628,3828,3453,3475,3432,0,0,0,0,0,0,14.71,13.77,14.71
$GC,6455,-0.87,-107.1,2627,3830,3476,3432,563.6,-8.4,291,6461,0.00,1.95,0.00,0.000,1030,0.000,0.062,2626,2760,3453,3475,3432,0,0,0,0,0,0,14.00,13.98,14.02
$GC,6799,-0.87,-107.1,2627,2759,3472,3432,591.6,-8.1,298,6804,0.00,2.53,0.00,0.000,516,0.000,0.042,2626,1359,3452,3472,3432,0,0,0,0,0,0,14.71,13.85,14.71
$GC,6833,-0.87,-107.1,2626,1360,3473,3432,594.4,-8.0,303,6838,0.00,2.72,0.00,0.000,1030,0.000,0.092,2618,2756,3451,3471,3432,0,0,0,0,0,0,14.14,13.86,14.19
$GC,7191,-0.87,-107.1,2614,2756,3471,3433,624.5,-8.5,312,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2756,3451,3471,3432,0,0,0,0,0,0,14.71,14.71,14.71
$GC,7527,-0.87,-107.1,2618,2757,3472,3429,653.9,-8.7,318,7532,0.00,2.55,0.00,0.000,516,0.000,0.042,2616,1356,3449,3470,3429,0,0,0,0,0,0,14.75,13.84,14.75
$GC,7561,-0.87,-107.1,2618,1357,3471,3430,657.0,-8.7,323,7566,0.00,2.72,0.00,0.000,1030,0.000,0.093,2609,2751,3450,3471,3429,0,0,0,0,0,0,14.07,13.77,14.12
$GC,7919,-0.87,-107.1,2610,2751,3470,3429,689.7,-9.1,332,7923,0.00,2.20,0.00,0.000,260,0.000,0.151,2600,3829,3449,3470,3428,0,0,0,0,0,0,14.69,13.79,14.69
$GC,7960,-0.87,-107.1,2601,3829,3470,3428,693.7,-10.2,338,7965,0.00,1.95,0.00,0.000,1030,0.000,0.062,2600,2744,3448,3469,3428,0,0,0,0,0,0,14.14,14.06,14.16
$GC,8311,-0.87,-107.1,2600,2745,3470,3424,727.3,-9.7,346,8316,0.00,2.50,0.00,0.000,516,0.000,0.041,2599,1359,3447,3469,3426,0,0,0,0,0,0,14.69,13.85,14.69
$GC,8338,-0.87,-107.1,2599,1361,3470,3425,730.0,-9.5,350,8343,0.10,2.75,0.00,0.000,3078,0.241,0.093,2617,2751,3447,3469,3426,0,0,0,0,0,0,13.71,13.75,13.98
$GC,8703,-0.87,-107.1,2617,2752,3468,3425,761.0,-8.3,360,8707,0.00,2.20,0.00,0.000,260,0.000,0.150,2610,3827,3445,3467,3424,0,0,0,0,0,0,14.74,13.78,14.74
$GC,8772,-0.87,-107.1,2610,3827,3467,3425,766.5,-7.8,370,8777,0.00,1.95,0.00,0.000,1030,0.000,0.062,2609,2744,3445,3466,3424,0,0,0,0,0,0,14.12,14.04,14.14
$GC,9095,-0.87,-107.1,2609,2744,3464,3425,790.8,-7.3,381,9096,0.00,0.00,0.00,0.000,38,0.000,0.000,2608,2743,3444,3465,3423,0,0,0,0,0,0,14.67,14.67,14.68
$STATE,9259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9259,begin apogee
$GC,9269,-0.23,0.0,2610,2202,3466,3423,803.0,-7.2,384,9387,0.77,0.12,115.10,1.813,10244,0.174,0.169,2824,2269,3050,3089,3011,0,0,0,0,0,0,13.71,13.91,13.09
$STATE,9389,end apogee,CONTROL_FINISHED_OK
$STATE,9389,begin climb
$GC,9393,0.93,107.1,2825,2273,3084,2999,802.6,0.0,386,9523,1.10,2.50,117.80,1.754,10756,0.079,0.050,3185,889,2618,2680,2557,0,0,0,0,0,0,13.87,13.93,13.05
$GC,9635,0.80,107.1,3186,888,2677,2540,792.8,7.8,423,9640,0.00,2.47,0.00,0.000,1158,0.000,0.067,3185,2250,2606,2676,2536,0,0,0,0,0,0,14.24,14.07,14.28
$GC,9993,0.66,107.1,3185,2251,2677,2533,765.1,7.8,432,9998,0.22,2.75,0.00,0.000,4484,0.220,0.131,3118,3656,2604,2676,2533,0,0,0,0,0,0,13.88,14.00,14.06
$GC,10055,0.59,126.0,3118,3655,2677,2534,760.9,6.8,441,10082,0.12,2.40,18.88,1.860,13478,0.228,0.053,3095,2264,2543,2616,2470,0,0,0,0,0,0,13.95,14.31,13.31
$GC,10445,0.66,181.3,3095,2265,2613,2456,741.2,5.0,454,10515,0.00,2.80,63.67,1.726,8484,0.000,0.135,3094,3660,2321,2402,2241,0,0,0,0,0,0,14.67,14.00,13.21
$GC,10559,0.70,209.9,3094,3661,2398,2229,736.2,6.3,471,10599,0.00,2.45,31.88,1.731,9254,0.000,0.051,3102,2257,2207,2295,2120,0,0,0,0,0,0,14.29,14.23,13.13
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$STATE,19749,end climb,SURFACE_DEPTH_REACHED
$STATE,19749,begin surface coast
$FINISH,1.3,1.022247
$STATE,19756,end surface coast,CONTROL_FINISHED_OK
$STATE,19756,begin surface
$SM_CCo,19784,56.28,0.155,0,0,1056,500.14
$SM_GC,-4.23,9.43,3.62,56.28,0.083,0.088,0.155,189,2760,1056,-8.40,-0.57,500.14,0,0,0,0,0,0,14.26,13.89,14.09
$IRIDIUM_FIX,1007.02,-12449.47,190217,035436
$TT8_MAMPS,0.036701,0.242676
$HUMID,56.53
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,22.50
$XPDR_PINGS,1
$SC_FREEKB,3638624
$PM_FREEKB,51757632
$24V_AH,12.66,240.946
$10V_AH,12.26,0.000
$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
$DEVICE_SECS,25.275,215.700,492.600,56.275,0.000,0.000,0.000,411.525,0.250,0.000,4.148,0.000,16617.217,804.993,2498.584,710.385,0.000,2004.231,0.000,1542.382,0.000,0.839,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.615,2.436,0.000,0.000
$MEM,334700
$DATA_FILE_SIZE,30039,867
$CAP_FILE_SIZE,159963,0
$CFSIZE,1024409600,902152192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.116,308.75,1
$GPS,190217,153100,1014.040,-12455.914,24,0.8,24,9.0,0.7,37.1,10,3.3