version: 66.13
glider: 220
mission: 6
dive: 714
start: 2 21 117 8 37 34
data:
$ID,220
$MISSION,6
$DIVE,714
$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,49
$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
$GPS1,210217,082030,1011.1264,-12507.3701,35,0.8,35,9.0,0.5,3.7,11,3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.12
$_SM_ANGLEo,-68.1
$GPS2,210217,083708,1011.1281,-12507.5293,2,0.6,3,9.0,0.8,317.8,12,4.1
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,193.4,29877,-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,18,-0.93,-107.1,107,2782,1104,1020,0.0,0.0,0,102,0.00,0.00,-80.62,0.000,16390,0.000,0.000,105,2783,3478,3469,3487,0,0,0,0,0,0,14.58,12.69,14.50
$GC,106,-0.93,-107.1,106,2784,3470,3487,1.4,-9.8,3,123,12.07,2.47,0.00,0.000,2564,0.379,0.034,2590,1350,3478,3470,3487,0,0,0,0,0,0,13.83,14.34,14.23
$GC,221,-0.72,-107.1,2590,1351,3473,3486,35.7,-21.8,20,226,0.32,2.75,0.00,0.000,3206,0.249,0.109,2665,2759,3479,3472,3487,0,0,0,0,0,0,13.81,13.93,14.12
$GC,551,-0.72,-107.1,2665,2760,3474,3486,71.9,-8.4,34,556,0.00,2.20,0.00,0.000,260,0.000,0.164,2657,3829,3480,3474,3487,0,0,0,0,0,0,14.73,13.80,14.71
$GC,691,-0.72,-107.1,2654,3829,3475,3488,82.7,-7.0,54,696,0.00,1.83,0.00,0.000,1062,0.000,0.063,2657,2780,3485,3484,3487,0,0,0,0,0,0,14.31,14.23,14.32
$GC,1055,-0.72,-107.1,2655,2780,3476,3488,111.2,-8.4,68,1060,0.00,2.53,0.00,0.000,516,0.000,0.044,2657,1356,3481,3475,3487,0,0,0,0,0,0,14.78,13.97,14.78
$GC,1233,-0.72,-107.1,2657,1357,3476,3486,125.6,-8.1,93,1239,0.00,2.80,0.00,0.000,1030,0.000,0.106,2647,2779,3480,3475,3486,0,0,0,0,0,0,14.09,13.80,14.15
$GC,1562,-0.72,-107.1,2647,2780,3477,3482,153.1,-8.3,105,1567,0.00,2.55,0.00,0.000,516,0.000,0.042,2647,1359,3478,3475,3482,0,0,0,0,0,0,14.78,14.02,14.78
$GC,1617,-0.72,-107.1,2647,1361,3485,3481,157.7,-7.8,113,1623,0.10,2.80,0.00,0.000,3078,0.228,0.106,2666,2773,3478,3476,3481,0,0,0,0,0,0,13.83,13.77,14.07
$GC,1954,-0.72,-107.1,2667,2772,3476,3478,182.2,-7.4,126,1958,0.00,2.55,0.00,0.000,548,0.000,0.043,2667,1357,3476,3475,3477,0,0,0,0,0,0,14.73,14.01,14.73
$GC,1995,-0.80,-107.1,2667,1356,3468,3477,185.4,-7.6,132,2000,0.00,2.80,0.00,0.000,1190,0.000,0.106,2657,2769,3475,3475,3476,0,0,0,0,0,0,14.09,13.79,14.14
$GC,2346,-0.80,-107.1,2657,2770,3476,3470,213.4,-8.1,140,2350,0.00,2.55,0.00,0.000,516,0.000,0.043,2657,1357,3472,3475,3470,0,0,0,0,0,0,14.73,14.01,14.73
$GC,2373,-0.80,-107.1,2657,1358,3476,3470,215.7,-8.4,144,2377,0.00,2.80,0.00,0.000,1030,0.000,0.106,2648,2767,3472,3475,3470,0,0,0,0,0,0,14.10,13.80,14.16
$GC,2738,-0.80,-107.1,2648,2767,3476,3467,245.5,-8.2,154,2742,0.00,2.55,0.00,0.000,516,0.000,0.043,2649,1362,3470,3475,3465,0,0,0,0,0,0,14.74,13.88,14.73
$GC,2786,-0.80,-107.1,2647,1362,3476,3466,249.6,-8.4,161,2793,0.00,2.80,0.00,0.000,1030,0.000,0.105,2639,2764,3469,3475,3464,0,0,0,0,0,0,14.11,13.82,14.14
$GC,3130,-0.80,-107.1,2640,2763,3475,3461,277.3,-8.1,168,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2764,3467,3475,3460,0,0,0,0,0,0,14.73,14.73,14.73
$GC,3466,-0.80,-107.1,2639,2764,3475,3457,305.3,-8.4,174,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2764,3465,3474,3456,0,0,0,0,0,0,14.78,14.77,14.74
$GC,3802,-0.80,-107.1,2641,2762,3475,3456,333.8,-8.4,180,3807,0.00,2.58,0.00,0.000,516,0.000,0.044,2639,1358,3463,3475,3451,0,0,0,0,0,0,14.76,13.93,14.77
$GC,3843,-0.80,-107.1,2640,1358,3476,3453,337.4,-8.6,186,3848,0.00,2.78,0.00,0.000,1030,0.000,0.103,2630,2756,3463,3475,3451,0,0,0,0,0,0,14.10,13.81,14.15
$GC,4194,-0.80,-107.1,2628,2757,3485,3448,366.5,-8.3,194,4198,0.00,2.53,0.00,0.000,516,0.000,0.042,2629,1366,3461,3475,3448,0,0,0,0,0,0,14.72,13.94,14.73
$GC,4228,-0.80,-107.1,2629,1366,3476,3451,369.5,-8.6,199,4233,0.00,2.78,0.00,0.000,1030,0.000,0.103,2620,2759,3461,3475,3447,0,0,0,0,0,0,14.14,13.85,14.17
$GC,4586,-0.80,-107.1,2621,2758,3475,3445,399.1,-8.3,208,4590,0.00,2.55,0.00,0.000,516,0.000,0.042,2620,1358,3459,3475,3444,0,0,0,0,0,0,14.72,13.95,14.73
$GC,4620,-0.80,-107.1,2620,1357,3475,3445,402.0,-8.5,213,4626,0.10,2.78,0.00,0.000,3078,0.242,0.103,2638,2756,3458,3474,3442,0,0,0,0,0,0,13.79,13.81,14.04
$GC,4978,-0.80,-107.1,2638,2756,3476,3440,429.9,-8.0,222,4982,0.00,2.22,0.00,0.000,260,0.000,0.164,2630,3822,3457,3475,3440,0,0,0,0,0,0,14.76,13.78,14.76
$GC,5061,-0.80,-107.1,2631,3825,3475,3440,437.5,-9.2,234,5065,0.00,1.92,0.00,0.000,1030,0.000,0.063,2630,2754,3457,3475,3439,0,0,0,0,0,0,14.17,14.09,14.19
$GC,5426,-0.80,-107.1,2631,2753,3475,3438,471.0,-9.3,244,5430,0.00,2.53,0.00,0.000,516,0.000,0.043,2630,1360,3455,3475,3436,0,0,0,0,0,0,14.71,13.86,14.71
$GC,5474,-0.80,-107.1,2630,1362,3476,3436,475.6,-9.0,251,5480,0.00,2.80,0.00,0.000,1030,0.000,0.099,2621,2760,3455,3474,3436,0,0,0,0,0,0,14.14,13.87,14.19
$GC,5818,-0.80,-107.1,2621,2760,3475,3432,506.0,-8.7,258,5823,0.00,2.22,0.00,0.000,260,0.000,0.162,2613,3831,3452,3474,3431,0,0,0,0,0,0,14.70,13.80,14.71
$GC,5901,-0.80,-107.1,2621,3832,3474,3432,513.4,-8.7,270,5906,0.10,1.95,0.00,0.000,3078,0.223,0.063,2641,2748,3452,3473,3432,0,0,0,0,0,0,13.71,14.09,13.94
$GC,6266,-0.80,-107.1,2641,2749,3472,3432,538.9,-6.9,280,6270,0.00,2.53,0.00,0.000,548,0.000,0.041,2641,1354,3451,3471,3432,0,0,0,0,0,0,14.70,13.86,14.70
$GC,6293,-0.80,-107.1,2642,1357,3470,3433,541.0,-7.4,284,6298,0.00,2.78,0.00,0.000,1062,0.000,0.097,2632,2756,3451,3471,3432,0,0,0,0,0,0,14.07,13.79,14.13
$GC,6658,-0.80,-107.1,2632,2755,3471,3435,568.4,-7.6,294,6663,0.00,2.58,0.00,0.000,548,0.000,0.042,2631,1353,3450,3470,3431,0,0,0,0,0,0,14.69,13.88,14.69
$GC,6692,-0.80,-107.1,2632,1354,3470,3437,571.3,-8.2,299,6697,0.00,2.80,0.00,0.000,1030,0.000,0.101,2623,2767,3450,3470,3431,0,0,0,0,0,0,14.14,13.86,14.19
$GC,7050,-0.80,-107.1,2624,2767,3468,3431,601.0,-8.4,308,7054,0.00,2.58,0.00,0.000,516,0.000,0.042,2622,1362,3448,3467,3429,0,0,0,0,0,0,14.75,13.85,14.75
$GC,7084,-0.80,-107.1,2622,1362,3469,3429,604.0,-9.0,313,7090,0.00,2.78,0.00,0.000,1030,0.000,0.100,2613,2757,3448,3468,3429,0,0,0,0,0,0,14.10,13.83,14.16
$GC,7442,-0.80,-107.1,2614,2759,3469,3427,635.7,-8.9,322,7442,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2757,3447,3468,3427,0,0,0,0,0,0,14.75,14.74,14.75
$GC,7778,-0.80,-107.1,2614,2759,3467,3426,666.0,-8.9,328,7782,0.00,2.58,0.00,0.000,516,0.000,0.043,2612,1361,3447,3466,3429,0,0,0,0,0,0,14.74,13.83,14.74
$GC,7819,-0.80,-107.1,2613,1361,3466,3426,669.7,-9.0,334,7824,0.15,2.80,0.00,0.000,3078,0.225,0.101,2644,2757,3447,3466,3428,0,0,0,0,0,0,13.77,13.83,14.04
$GC,8170,-0.80,-107.1,2644,2765,3465,3425,694.5,-6.9,342,8174,0.00,2.58,0.00,0.000,548,0.000,0.043,2644,1358,3444,3464,3424,0,0,0,0,0,0,14.73,13.86,14.74
$GC,8204,-0.88,-107.1,2644,1359,3466,3424,696.7,-6.6,347,8209,0.00,2.78,0.00,0.000,1190,0.000,0.103,2635,2754,3444,3464,3424,0,0,0,0,0,0,14.14,13.86,14.19
$GC,8562,-0.88,-107.1,2635,2755,3466,3422,720.5,-6.7,356,8562,0.00,0.00,0.00,0.000,38,0.000,0.000,2635,2754,3443,3464,3422,0,0,0,0,0,0,14.67,14.67,14.67
$GC,8898,-0.88,-107.1,2636,2754,3463,3423,744.3,-7.2,362,8898,0.00,0.00,0.00,0.000,38,0.000,0.000,2635,2754,3441,3462,3421,0,0,0,0,0,0,14.71,14.72,14.73
$GC,9234,-0.88,-107.1,2637,2754,3462,3422,769.8,-7.7,368,9239,0.00,2.58,0.00,0.000,548,0.000,0.044,2635,1363,3440,3461,3420,0,0,0,0,0,0,14.71,13.79,14.72
$GC,9268,-0.88,-107.1,2635,1364,3462,3420,772.6,-8.3,373,9274,0.00,2.80,0.00,0.000,1030,0.000,0.102,2627,2760,3440,3461,3420,0,0,0,0,0,0,14.09,13.79,14.14
$STATE,9621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9621,begin apogee
$GC,9632,-0.23,0.0,2627,2213,3462,3420,802.3,-8.3,382,9739,0.70,0.12,99.75,2.520,10244,0.169,0.185,2823,2273,3050,3089,3012,0,0,0,0,1,0,13.72,13.74,12.63
$STATE,9741,end apogee,CONTROL_FINISHED_OK
$STATE,9741,begin climb
$GC,9745,0.93,107.1,2824,2273,3088,3023,806.8,0.0,384,9867,1.12,2.60,106.03,2.739,10756,0.084,0.051,3182,882,2622,2681,2563,0,0,0,0,1,0,13.72,13.78,12.47
$GC,9959,0.86,162.4,3185,881,2684,2579,806.2,5.0,415,10034,0.00,2.55,69.47,1.804,9382,0.000,0.073,3185,2249,2401,2476,2327,0,0,0,0,0,0,14.16,14.00,13.06
$GC,10354,0.74,162.4,3186,2249,2471,2302,773.2,9.1,436,10360,0.12,2.80,0.00,0.000,4484,0.239,0.144,3145,3656,2385,2470,2301,0,0,0,0,0,0,13.95,14.01,14.14
$GC,10410,0.64,162.4,3146,3656,2471,2302,767.7,9.4,444,10415,0.17,2.42,0.00,0.000,5254,0.223,0.054,3108,2263,2385,2470,2301,0,0,0,0,0,0,13.98,14.33,14.26
$GC,10746,0.66,180.6,3108,2260,2471,2300,744.7,6.8,457,10771,0.00,2.80,19.17,1.895,8484,0.000,0.146,3106,3656,2321,2408,2235,0,0,0,0,0,0,14.73,14.05,13.38
$GC,10822,0.66,180.6,3107,3657,2406,2230,738.7,8.5,468,10827,0.00,2.45,0.00,0.000,1030,0.000,0.052,3115,2256,2316,2405,2228,0,0,0,0,0,0,14.40,14.34,14.42
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$STATE,20193,end climb,SURFACE_DEPTH_REACHED
$STATE,20193,begin surface coast
$FINISH,-0.4,1.022252
$STATE,20221,end surface coast,CONTROL_FINISHED_OK
$STATE,20225,begin surface
$SM_CCo,20311,0.00,0.000,0,0,1010,512.20
$SM_GC,-4.05,9.23,1.00,0.00,0.065,0.122,0.000,172,2766,1010,-8.39,-0.45,512.20,0,0,0,0,0,0,14.40,13.83,14.42
$IRIDIUM_FIX,1004.83,-12505.26,210217,082716
$TT8_MAMPS,0.038199,0.216461
$HUMID,57.08
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,21.60
$XPDR_PINGS,4
$SC_FREEKB,3635552
$PM_FREEKB,51664960
$24V_AH,12.47,243.559
$10V_AH,12.15,0.000
$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,24.725,205.075,528.775,0.000,0.000,0.000,0.000,532.200,1.000,0.000,9.207,0.000,17234.797,763.956,2563.348,723.067,0.000,2063.422,0.000,1519.931,0.000,1.133,0.000
$DEVICE_MAMPS,378.675,185.130,2739.465,0.000,0.000,0.000,0.000,168.300,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20292.000,20238.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.614,2.436,0.000,0.000
$MEM,334776
$DATA_FILE_SIZE,30047,847
$CAP_FILE_SIZE,154600,0
$CFSIZE,1024409600,900972544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.071,279.12,1
$GPS,210217,141700,1009.572,-12508.840,23,0.9,23,9.0,0.7,359.4,9,3.8