version: 66.13
glider: 220
mission: 6
dive: 722
start: 2 23 117 6 47 47
data:
$ID,220
$MISSION,6
$DIVE,722
$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,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
$GPS1,230217,063425,1000.4785,-12517.2217,32,1.1,32,9.0,0.8,79.1,9,4.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.89
$_SM_ANGLEo,-67.9
$GPS2,230217,064725,1000.4292,-12517.2920,3,1.2,4,9.0,0.5,238.9,9,8.6
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,132.9,47993,-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,-107.1,109,2792,1111,1017,0.0,0.0,0,103,0.00,0.00,-81.40,0.000,16390,0.000,0.000,106,2792,3479,3468,3490,0,0,0,0,0,0,14.54,12.64,14.47
$GC,107,-0.93,-107.1,108,2791,3470,3492,2.8,-10.3,3,124,12.10,2.50,0.00,0.000,2564,0.379,0.035,2589,1359,3480,3471,3490,0,0,0,0,0,0,13.81,14.29,14.21
$GC,145,-0.22,-107.1,2589,1359,3468,3489,21.3,-40.2,9,152,0.93,2.75,0.00,0.000,3206,0.239,0.117,2821,2763,3481,3472,3490,0,0,0,0,0,0,13.89,13.99,14.18
$GC,469,-0.40,-107.1,2822,2763,3475,3489,50.8,-6.4,22,473,0.08,2.50,0.00,0.000,4772,0.145,0.041,2745,1364,3481,3475,3488,0,0,0,0,0,0,14.28,14.05,14.28
$GC,537,-0.40,-107.1,2745,1365,3476,3487,57.4,-9.1,32,542,0.10,2.75,0.00,0.000,3078,0.228,0.109,2765,2763,3481,3475,3488,0,0,0,0,0,0,13.81,13.81,14.05
$GC,860,-0.56,-107.1,2766,2762,3478,3489,76.1,-4.6,45,862,0.10,0.00,0.00,0.000,4262,0.114,0.000,2683,2762,3482,3478,3487,0,0,0,0,0,0,14.28,14.29,14.29
$GC,1168,-0.56,-107.1,2682,2763,3481,3488,97.4,-7.6,56,1173,0.08,2.20,0.00,0.000,2340,0.252,0.166,2702,3830,3483,3479,3487,0,0,0,0,0,0,13.95,13.81,14.03
$GC,1350,-0.68,-107.1,2707,3831,3490,3487,109.5,-5.5,82,1354,0.00,1.88,0.00,0.000,1190,0.000,0.061,2701,2752,3483,3479,3487,0,0,0,0,0,0,14.26,14.20,14.28
$GC,1672,-0.79,-107.1,2702,2752,3480,3488,125.8,-5.2,93,1679,0.08,2.45,0.00,0.000,4772,0.136,0.039,2619,1370,3482,3479,3485,0,0,0,0,0,0,14.33,13.99,14.33
$GC,1729,-0.79,-107.1,2622,1371,3480,3485,130.4,-9.0,101,1735,0.10,2.78,0.00,0.000,3078,0.232,0.107,2640,2768,3483,3480,3486,0,0,0,0,0,0,13.87,13.87,14.10
$GC,2065,-0.79,-107.1,2639,2769,3480,3484,160.4,-9.4,114,2069,0.00,2.20,0.00,0.000,260,0.000,0.166,2632,3831,3481,3479,3483,0,0,0,0,0,0,14.71,13.82,14.72
$GC,2155,-0.79,-107.1,2632,3831,3480,3483,169.5,-9.4,127,2160,0.00,1.90,0.00,0.000,1030,0.000,0.060,2631,2763,3480,3479,3481,0,0,0,0,0,0,14.14,14.12,14.14
$GC,2513,-0.79,-107.1,2632,2760,3479,3478,201.0,-8.6,136,2518,0.00,2.50,0.00,0.000,516,0.000,0.044,2632,1367,3476,3475,3477,0,0,0,0,0,0,14.69,13.95,14.71
$GC,2617,-0.79,-107.1,2632,1367,3480,3476,210.1,-8.6,151,2623,0.00,2.80,0.00,0.000,1030,0.000,0.103,2622,2767,3477,3479,3475,0,0,0,0,0,0,14.11,13.83,14.16
$GC,2961,-0.79,-107.1,2623,2767,3480,3471,240.5,-9.0,158,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2767,3474,3479,3470,0,0,0,0,0,0,14.70,14.71,14.70
$GC,3297,-0.79,-107.1,2623,2767,3481,3468,272.7,-9.6,164,3302,0.00,2.55,0.00,0.000,516,0.000,0.045,2621,1371,3472,3479,3466,0,0,0,0,0,0,14.71,13.89,14.72
$GC,3353,-0.79,-107.1,2622,1371,3480,3465,278.0,-9.3,172,3358,0.10,2.78,0.00,0.000,3078,0.233,0.104,2640,2766,3472,3479,3465,0,0,0,0,0,0,13.83,13.83,14.07
$GC,3689,-0.79,-107.1,2641,2765,3479,3463,306.8,-8.6,185,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2765,3470,3478,3462,0,0,0,0,0,0,14.71,14.71,14.71
$GC,4025,-0.79,-107.1,2640,2766,3480,3457,336.5,-8.9,191,4029,0.00,2.55,0.00,0.000,516,0.000,0.045,2640,1376,3467,3477,3457,0,0,0,0,0,0,14.71,13.88,14.71
$GC,4087,-0.79,-107.1,2640,1376,3480,3456,342.2,-8.8,200,4092,0.00,2.75,0.00,0.000,1030,0.000,0.103,2630,2758,3467,3479,3456,0,0,0,0,0,0,14.12,13.83,14.17
$GC,4417,-0.79,-107.1,2631,2760,3480,3452,371.0,-8.6,212,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2758,3465,3479,3452,0,0,0,0,0,0,14.71,14.71,14.71
$GC,4753,-0.79,-107.1,2630,2759,3480,3450,397.2,-7.7,218,4758,0.00,2.55,0.00,0.000,548,0.000,0.044,2630,1370,3464,3479,3449,0,0,0,0,0,0,14.76,13.88,14.76
$GC,4809,-0.79,-107.1,2630,1371,3480,3449,401.5,-7.6,226,4814,0.00,2.80,0.00,0.000,1062,0.000,0.104,2621,2768,3464,3479,3449,0,0,0,0,0,0,14.14,13.85,14.18
$GC,5145,-0.79,-107.1,2621,2770,3480,3445,428.1,-7.9,239,5150,0.00,2.55,0.00,0.000,516,0.000,0.044,2620,1376,3462,3479,3445,0,0,0,0,0,0,14.73,13.88,14.74
$GC,5172,-0.79,-107.1,2621,1377,3480,3445,430.5,-8.4,243,5177,0.12,2.75,0.00,0.000,3078,0.228,0.104,2646,2761,3461,3478,3445,0,0,0,0,0,0,13.81,13.84,14.06
$GC,5537,-0.79,-107.1,2646,2763,3479,3442,457.8,-7.7,253,5543,0.00,2.55,0.00,0.000,548,0.000,0.044,2646,1373,3460,3479,3442,0,0,0,0,0,0,14.74,13.87,14.75
$GC,5578,-0.79,-107.1,2646,1372,3479,3443,461.2,-8.1,259,5583,0.00,2.75,0.00,0.000,1030,0.000,0.103,2637,2758,3460,3479,3441,0,0,0,0,0,0,14.13,13.85,14.18
$GC,5929,-0.79,-107.1,2637,2759,3480,3438,489.5,-8.2,267,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2758,3458,3478,3438,0,0,0,0,0,0,14.74,14.74,14.74
$GC,6265,-0.79,-107.1,2638,2759,3480,3437,516.9,-8.1,273,6271,0.00,2.55,0.00,0.000,516,0.000,0.044,2636,1368,3456,3478,3435,0,0,0,0,0,0,14.74,13.83,14.75
$GC,6299,-0.79,-107.1,2637,1369,3479,3438,520.0,-9.4,278,6304,0.00,2.78,0.00,0.000,1030,0.000,0.104,2626,2757,3457,3478,3436,0,0,0,0,0,0,14.12,13.83,14.17
$GC,6657,-0.79,-107.1,2626,2758,3478,3435,552.1,-9.0,287,6661,0.00,2.22,0.00,0.000,260,0.000,0.164,2618,3830,3455,3479,3432,0,0,0,0,0,0,14.69,13.80,14.69
$GC,6705,-0.79,-107.1,2618,3830,3479,3432,556.9,-9.7,294,6711,0.00,1.95,0.00,0.000,1030,0.000,0.063,2618,2761,3454,3477,3432,0,0,0,0,0,0,14.13,14.04,14.15
$GC,7049,-0.79,-107.1,2618,2758,3475,3434,589.2,-9.4,301,7055,0.00,2.55,0.00,0.000,516,0.000,0.043,2617,1356,3453,3474,3432,0,0,0,0,0,0,14.73,13.82,14.73
$GC,7125,-0.79,-107.1,2619,1351,3474,3434,596.3,-9.2,312,7130,0.12,2.78,0.00,0.000,3078,0.226,0.099,2643,2751,3452,3473,3432,0,0,0,0,0,0,13.79,13.82,14.04
$GC,7441,-0.79,-107.1,2643,2751,3473,3433,621.6,-7.9,322,7442,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2751,3452,3472,3432,0,0,0,0,0,0,14.73,14.72,14.71
$GC,7777,-0.79,-107.1,2644,2751,3471,3433,647.6,-7.6,328,7782,0.00,2.58,0.00,0.000,548,0.000,0.043,2643,1357,3451,3471,3431,0,0,0,0,0,0,14.66,13.85,14.66
$GC,7818,-0.87,-107.1,2644,1358,3472,3431,650.7,-7.5,334,7823,0.00,2.75,0.00,0.000,1190,0.000,0.103,2635,2748,3450,3470,3431,0,0,0,0,0,0,14.16,13.88,14.21
$GC,8169,-0.87,-107.1,2634,2747,3471,3430,676.3,-7.2,342,8170,0.00,0.00,0.00,0.000,38,0.000,0.000,2634,2748,3449,3470,3429,0,0,0,0,0,0,14.66,14.66,14.65
$GC,8505,-0.87,-107.1,2634,2749,3471,3427,699.4,-6.8,348,8506,0.00,0.00,0.00,0.000,38,0.000,0.000,2633,2747,3448,3470,3427,0,0,0,0,0,0,14.65,14.64,14.65
$GC,8841,-0.87,-107.1,2633,2748,3470,3427,723.5,-7.3,354,8846,0.00,2.58,0.00,0.000,548,0.000,0.044,2633,1356,3445,3465,3426,0,0,0,0,0,0,14.71,13.81,14.71
$GC,8917,-0.87,-107.1,2633,1358,3470,3426,729.3,-7.6,365,8923,0.00,2.80,0.00,0.000,1062,0.000,0.101,2623,2752,3448,3469,3427,0,0,0,0,0,0,14.12,13.84,14.16
$GC,9233,-0.87,-107.1,2624,2752,3469,3426,754.7,-8.2,375,9238,0.00,2.22,0.00,0.000,260,0.000,0.164,2613,3828,3446,3468,3425,0,0,0,0,0,0,14.71,13.81,14.71
$GC,9281,-0.87,-107.1,2615,3828,3468,3426,759.1,-9.3,382,9287,0.00,2.00,0.00,0.000,1030,0.000,0.063,2614,2732,3446,3467,3425,0,0,0,0,0,0,14.13,14.05,14.15
$GC,9625,-0.87,-107.1,2614,2733,3466,3422,788.0,-8.4,389,9631,0.00,2.53,0.00,0.000,516,0.000,0.043,2614,1352,3444,3465,3424,0,0,0,0,0,0,14.71,13.82,14.75
$GC,9673,-0.87,-107.1,2615,1352,3465,3425,792.4,-8.4,396,9679,0.00,2.78,0.00,0.000,1030,0.000,0.098,2605,2747,3444,3465,3424,0,0,0,0,0,0,14.11,13.83,14.17
$STATE,9788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9789,begin apogee
$GC,9799,-0.23,0.0,2605,2218,3466,3422,802.7,-8.7,399,9919,0.77,0.10,117.43,1.779,10244,0.184,0.211,2818,2267,3050,3088,3012,0,0,0,0,0,0,13.76,13.85,13.10
$STATE,9921,end apogee,CONTROL_FINISHED_OK
$STATE,9921,begin climb
$GC,9925,0.93,107.1,2820,2271,3082,3001,805.8,0.0,401,10054,1.15,2.58,117.38,1.735,10756,0.091,0.051,3185,873,2621,2681,2561,0,0,0,0,0,0,13.81,13.89,13.08
$GC,10152,0.83,130.0,3186,875,2673,2537,800.0,6.6,436,10185,0.00,2.53,23.83,1.834,9382,0.000,0.072,3185,2242,2522,2592,2452,0,0,0,0,0,0,14.19,14.01,13.17
$GC,10524,0.70,130.0,3186,2242,2593,2436,768.5,8.8,447,10526,0.20,0.00,0.00,0.000,4230,0.223,0.000,3130,2242,2513,2592,2435,0,0,0,0,0,0,13.92,14.28,14.22
$GC,10860,0.72,151.6,3131,2243,2594,2433,745.8,6.6,453,10887,0.00,2.88,22.88,1.842,8484,0.000,0.147,3129,3659,2440,2518,2362,0,0,0,0,0,0,14.68,14.04,13.39
$GC,10957,0.72,151.6,3127,3659,2512,2353,738.5,8.5,467,10964,0.00,2.45,0.00,0.000,1030,0.000,0.054,3141,2261,2431,2512,2350,0,0,0,0,0,0,14.37,14.30,14.39
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$STATE,20530,end climb,SURFACE_DEPTH_REACHED
$STATE,20530,begin surface coast
$FINISH,-1.7,1.022289
$STATE,20562,end surface coast,CONTROL_FINISHED_OK
$STATE,20562,begin surface
$SM_CCo,20588,35.47,0.150,0,0,1057,500.14
$SM_GC,-2.81,8.93,1.02,35.47,0.037,0.128,0.150,142,2765,1057,-8.38,-0.48,500.14,0,0,0,0,0,0,14.32,13.82,14.06
$IRIDIUM_FIX,953.88,-12518.00,230217,005544
$TT8_MAMPS,0.038199,0.235186
$HUMID,56.85
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.00
$XPDR_PINGS,1
$SC_FREEKB,3632480
$PM_FREEKB,51573312
$24V_AH,12.64,246.034
$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,25.625,182.675,486.025,35.475,0.000,0.000,0.000,376.200,0.250,0.000,5.432,0.000,17519.596,761.107,2399.994,704.448,0.000,1872.686,0.000,1499.463,0.000,0.839,0.000
$DEVICE_MAMPS,378.675,211.140,1891.080,149.940,0.000,0.000,0.000,176.715,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20629.000,20574.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.662,2.453,0.000,0.000
$MEM,334792
$DATA_FILE_SIZE,30036,826
$CAP_FILE_SIZE,149642,0
$CFSIZE,1024409600,899792896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,282.68,1
$GPS,230217,123230,959.293,-12516.638,21,0.9,21,9.0,0.4,262.9,9,3.8