version: 66.13
glider: 220
mission: 6
dive: 719
start: 2 22 117 13 29 26
data:
$ID,220
$MISSION,6
$DIVE,719
$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,55
$R_STBD_OVSHOOT,15
$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
$GPS1,220217,131600,1003.6414,-12515.3242,19,0.9,19,9.0,0.4,31.1,10,3.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.92
$_SM_ANGLEo,-68.7
$GPS2,220217,132904,1003.6300,-12515.3232,2,0.9,4,9.0,0.4,145.5,10,3.6
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,198.9,10010,-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,-107.1,108,2783,1101,1019,0.0,0.0,0,102,0.00,0.00,-80.80,0.000,16390,0.000,0.000,105,2783,3479,3469,3490,0,0,0,0,0,0,14.55,12.66,14.47
$GC,107,-0.93,-107.1,108,2784,3471,3489,4.1,-10.6,3,124,12.27,2.47,0.00,0.000,2564,0.386,0.035,2588,1366,3480,3471,3489,0,0,0,0,0,0,13.81,14.32,14.22
$GC,229,-0.70,-107.1,2589,1365,3473,3490,39.8,-21.5,21,235,0.35,2.78,0.00,0.000,3206,0.246,0.115,2670,2771,3480,3473,3488,0,0,0,0,0,0,13.82,13.92,14.12
$GC,552,-0.70,-107.1,2669,2771,3477,3489,74.7,-7.5,34,557,0.00,2.50,0.00,0.000,548,0.000,0.042,2670,1368,3482,3476,3488,0,0,0,0,0,0,14.69,14.02,14.71
$GC,677,-0.70,-107.1,2670,1368,3478,3490,84.1,-7.2,52,682,0.00,2.80,0.00,0.000,1062,0.000,0.110,2658,2793,3482,3477,3487,0,0,0,0,0,0,14.07,13.78,14.11
$GC,1000,-0.70,-107.1,2660,2792,3478,3489,111.1,-8.7,63,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2793,3482,3477,3488,0,0,0,0,0,0,14.73,14.73,14.73
$GC,1336,-0.70,-107.1,2659,2794,3476,3487,137.9,-7.6,69,1342,0.00,2.58,0.00,0.000,548,0.000,0.043,2659,1366,3482,3477,3487,0,0,0,0,0,0,14.77,14.00,14.78
$GC,1419,-0.70,-107.1,2659,1365,3477,3487,144.5,-7.5,81,1425,0.00,2.80,0.00,0.000,1062,0.000,0.109,2650,2782,3481,3477,3486,0,0,0,0,0,0,14.12,13.83,14.16
$GC,1784,-0.70,-107.1,2651,2782,3478,3483,174.8,-8.4,91,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2782,3479,3477,3482,0,0,0,0,0,0,14.72,14.72,14.72
$GC,2120,-0.70,-107.1,2651,2782,3478,3479,204.8,-9.0,97,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2783,3477,3477,3477,0,0,0,0,0,0,14.73,14.72,14.73
$GC,2456,-0.83,-107.1,2650,2783,3478,3472,227.2,-6.4,103,2461,0.00,2.20,0.00,0.000,420,0.000,0.172,2643,3830,3474,3477,3471,0,0,0,0,0,0,14.71,13.79,14.71
$GC,2518,-0.83,-107.1,2644,3831,3478,3470,231.3,-6.4,112,2523,0.00,1.85,0.00,0.000,1062,0.000,0.067,2644,2799,3473,3477,3470,0,0,0,0,0,0,14.20,14.11,14.22
$GC,2849,-0.83,-107.1,2644,2801,3478,3467,255.8,-7.7,124,2853,0.00,2.60,0.00,0.000,548,0.000,0.044,2643,1354,3470,3476,3464,0,0,0,0,0,0,14.72,13.91,14.72
$GC,2987,-0.83,-107.1,2644,1353,3477,3466,267.8,-8.5,144,2992,0.00,2.85,0.00,0.000,1030,0.000,0.103,2634,2782,3471,3477,3465,0,0,0,0,0,0,14.11,13.83,14.16
$GC,3352,-0.83,-107.1,2634,2784,3478,3461,300.0,-8.8,154,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2782,3469,3477,3461,0,0,0,0,0,0,14.77,14.78,14.78
$GC,3688,-0.83,-107.1,2634,2783,3478,3457,328.0,-8.2,160,3693,0.00,2.60,0.00,0.000,516,0.000,0.044,2636,1355,3467,3477,3457,0,0,0,0,0,0,14.77,13.92,14.76
$GC,3764,-0.83,-107.1,2634,1355,3480,3457,334.4,-8.1,171,3769,0.00,2.83,0.00,0.000,1030,0.000,0.104,2623,2776,3466,3477,3456,0,0,0,0,0,0,14.11,13.83,14.16
$GC,4080,-0.83,-107.1,2624,2776,3477,3453,361.0,-8.6,181,4086,0.00,2.20,0.00,0.000,260,0.000,0.170,2615,3831,3464,3476,3452,0,0,0,0,0,0,14.76,13.80,14.76
$GC,4107,-0.83,-107.1,2615,3832,3478,3452,363.6,-9.2,185,4113,0.00,1.92,0.00,0.000,1030,0.000,0.063,2614,2777,3464,3477,3452,0,0,0,0,0,0,14.06,14.01,14.07
$GC,4472,-0.83,-107.1,2614,2777,3477,3450,397.6,-9.6,195,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2777,3463,3477,3449,0,0,0,0,0,0,14.71,14.71,14.71
$GC,4808,-0.83,-107.1,2614,2778,3478,3445,431.8,-10.1,201,4814,0.00,2.58,0.00,0.000,516,0.000,0.043,2614,1354,3461,3477,3445,0,0,0,0,0,0,14.76,13.86,14.76
$GC,4835,-0.83,-107.1,2615,1355,3478,3445,434.9,-11.4,205,4841,0.00,2.83,0.00,0.000,1030,0.000,0.101,2605,2776,3461,3477,3445,0,0,0,0,0,0,14.11,13.82,14.16
$GC,5200,-0.83,-107.1,2605,2776,3475,3444,473.0,-10.3,215,5205,0.00,2.60,0.00,0.000,516,0.000,0.043,2604,1353,3459,3476,3442,0,0,0,0,0,0,14.71,13.88,14.71
$GC,5227,-0.83,-107.1,2604,1354,3478,3442,476.1,-10.9,219,5232,0.12,2.85,0.00,0.000,3078,0.230,0.104,2628,2783,3459,3477,3442,0,0,0,0,0,0,13.79,13.84,14.05
$GC,5592,-0.83,-107.1,2628,2783,3477,3440,509.3,-8.9,229,5597,0.00,2.62,0.00,0.000,516,0.000,0.044,2628,1352,3457,3476,3438,0,0,0,0,0,0,14.71,13.85,14.70
$GC,5640,-0.83,-107.1,2628,1354,3478,3438,513.9,-8.5,236,5646,0.00,2.85,0.00,0.000,1030,0.000,0.103,2618,2782,3457,3476,3438,0,0,0,0,0,0,14.12,13.83,14.17
$GC,5984,-0.83,-107.1,2618,2772,3478,3436,544.3,-8.7,243,5989,0.00,2.17,0.00,0.000,260,0.000,0.166,2611,3813,3456,3476,3436,0,0,0,0,0,0,14.75,13.83,14.75
$GC,6018,-0.83,-107.1,2611,3813,3475,3438,547.5,-9.6,248,6023,0.00,1.90,0.00,0.000,1030,0.000,0.066,2606,2761,3456,3476,3437,0,0,0,0,0,0,14.15,14.07,14.17
$GC,6376,-0.83,-107.1,2610,2761,3477,3432,578.5,-8.5,257,6377,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2761,3454,3476,3432,0,0,0,0,0,0,14.70,14.69,14.69
$GC,6712,-0.83,-107.1,2609,2761,3477,3432,606.2,-8.2,263,6717,0.00,2.55,0.00,0.000,516,0.000,0.042,2608,1362,3453,3476,3430,0,0,0,0,0,0,14.69,13.82,14.69
$GC,6739,-0.83,-107.1,2610,1362,3477,3432,608.7,-9.2,267,6744,0.10,2.78,0.00,0.000,3078,0.240,0.100,2627,2758,3453,3476,3430,0,0,0,0,0,0,13.79,13.83,14.04
$GC,7104,-0.83,-107.1,2628,2758,3473,3432,639.1,-8.4,277,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2757,3451,3472,3430,0,0,0,0,0,0,14.67,14.68,14.67
$GC,7440,-0.83,-107.1,2628,2758,3471,3431,668.3,-8.8,283,7441,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2757,3450,3470,3430,0,0,0,0,0,0,14.68,14.68,14.68
$GC,7776,-0.83,-107.1,2627,2757,3470,3431,697.1,-8.6,289,7782,0.00,2.60,0.00,0.000,516,0.000,0.044,2627,1355,3449,3470,3429,0,0,0,0,0,0,14.67,13.81,14.67
$GC,7796,-0.83,-107.1,2627,1355,3471,3431,698.9,-8.7,292,7801,0.00,2.83,0.00,0.000,1030,0.000,0.102,2618,2774,3449,3470,3429,0,0,0,0,0,0,14.11,13.83,14.16
$GC,8112,-0.83,-107.1,2618,2774,3471,3427,725.7,-8.5,302,8117,0.00,2.20,0.00,0.000,260,0.000,0.167,2610,3831,3448,3470,3427,0,0,0,0,0,0,14.73,13.80,14.73
$GC,8146,-0.83,-107.1,2608,3833,3470,3427,728.8,-9.2,307,8151,0.00,1.92,0.00,0.000,1030,0.000,0.065,2608,2775,3448,3470,3427,0,0,0,0,0,0,14.14,14.05,14.15
$GC,8504,-0.83,-107.1,2609,2768,3469,3426,757.5,-8.0,316,8509,0.00,2.60,0.00,0.000,516,0.000,0.043,2608,1347,3447,3469,3425,0,0,0,0,0,0,14.66,13.88,14.66
$GC,8538,-0.83,-107.1,2609,1346,3469,3429,760.5,-8.8,321,8544,0.10,2.85,0.00,0.000,3078,0.243,0.100,2627,2776,3446,3468,3425,0,0,0,0,0,0,13.78,13.83,14.04
$GC,8896,-0.83,-107.1,2626,2777,3468,3423,784.5,-6.7,330,8897,0.00,0.00,0.00,0.000,38,0.000,0.000,2627,2775,3445,3468,3423,0,0,0,0,0,0,14.66,14.66,14.66
$STATE,9172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9172,begin apogee
$GC,9182,-0.23,0.0,2628,2198,3467,3422,802.9,-6.6,335,9290,0.68,0.15,100.28,2.508,10244,0.171,0.161,2818,2265,3052,3091,3014,0,0,0,0,1,0,13.69,13.78,12.65
$STATE,9292,end apogee,CONTROL_FINISHED_OK
$STATE,9292,begin climb
$GC,9296,0.93,107.1,2818,2265,3092,3026,805.3,0.0,337,9435,1.17,2.65,125.18,1.776,10756,0.093,0.051,3185,842,2615,2678,2553,0,0,0,0,0,0,13.70,13.77,13.07
$GC,9471,0.83,136.2,3186,842,2677,2544,802.3,6.3,363,9512,0.00,2.62,31.55,1.799,9382,0.000,0.070,3185,2253,2497,2568,2426,0,0,0,0,0,0,14.08,13.90,13.08
$GC,9850,0.71,136.2,3185,2254,2570,2410,769.7,8.8,375,9855,0.17,2.80,0.00,0.000,4484,0.231,0.145,3132,3658,2489,2570,2409,0,0,0,0,0,0,13.90,13.99,14.09
$GC,9919,0.61,136.2,3132,3659,2571,2413,764.1,8.0,385,9924,0.15,2.50,0.00,0.000,5254,0.235,0.053,3103,2223,2491,2570,2412,0,0,0,0,0,0,13.96,14.34,14.26
$GC,10242,0.66,171.0,3102,2220,2571,2407,744.5,6.0,396,10281,0.00,0.00,38.08,1.786,8230,0.000,0.000,3103,2219,2369,2450,2288,0,0,0,0,0,0,14.68,14.16,13.32
$GC,10578,0.67,183.2,3104,2219,2442,2266,721.2,7.1,402,10589,0.00,2.90,4.90,1.707,8484,0.000,0.148,3100,3658,2323,2407,2240,0,0,0,0,0,0,14.64,14.04,13.09
$GC,10653,0.67,183.2,3103,3658,2408,2259,714.9,8.6,413,10660,0.00,2.45,2.15,0.425,9222,0.000,0.054,3113,2244,2319,2406,2233,0,0,0,0,0,0,14.44,14.36,12.90
$GC,11019,0.67,183.2,3113,2241,2408,2257,686.6,7.8,423,11022,0.00,0.00,1.73,0.220,8198,0.000,0.000,3113,2240,2320,2406,2234,0,0,0,0,0,0,14.71,14.12,13.83
$GC,11355,0.68,193.4,3114,2240,2409,2256,661.8,7.2,429,11379,0.00,2.90,18.05,1.831,8484,0.000,0.151,3113,3657,2274,2360,2188,0,0,0,0,0,0,14.71,14.03,13.43
$GC,11452,0.68,193.4,3113,3657,2358,2184,654.2,7.9,443,11456,0.00,2.45,0.00,0.000,1030,0.000,0.053,3121,2250,2268,2356,2180,0,0,0,0,0,0,14.42,14.35,14.45
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$STATE,19526,end climb,SURFACE_DEPTH_REACHED
$STATE,19526,begin surface coast
$FINISH,1.3,1.022279
$STATE,19533,end surface coast,CONTROL_FINISHED_OK
$STATE,19533,begin surface
$SM_CCo,19559,51.65,0.152,0,0,1057,500.14
$SM_GC,-1.64,9.12,1.02,51.65,0.064,0.124,0.152,169,2773,1057,-8.38,-0.28,500.14,0,0,0,0,0,0,14.41,13.91,14.08
$IRIDIUM_FIX,1000.45,-12510.11,220217,073342
$TT8_MAMPS,0.039697,0.282373
$HUMID,57.36
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,22.50
$XPDR_PINGS,0
$SC_FREEKB,3633632
$PM_FREEKB,51607744
$24V_AH,12.65,245.129
$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,24.750,183.450,474.475,51.650,0.000,0.000,0.000,378.375,0.000,0.000,6.192,0.000,16629.734,772.393,2283.386,688.593,0.000,1848.272,0.000,1404.200,0.000,0.839,0.000
$DEVICE_MAMPS,386.325,172.125,2508.435,152.235,0.000,0.000,0.000,175.950,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19600.000,19546.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.567,2.435,0.000,0.000
$MEM,334752
$DATA_FILE_SIZE,26732,771
$CAP_FILE_SIZE,142508,0
$CFSIZE,1024409600,900251648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.067,279.46,1
$GPS,220217,185730,1002.185,-12516.714,36,0.8,36,9.0,1.1,212.8,11,4.8