version: 66.13
glider: 220
mission: 6
dive: 732
start: 2 25 117 16 55 43
data:
$ID,220
$MISSION,6
$DIVE,732
$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,56
$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
$GPS1,250217,163530,951.5177,-12508.4668,19,0.9,19,9.0,0.5,26.0,10,4.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.11
$_SM_ANGLEo,-67.7
$GPS2,250217,165521,951.6107,-12508.6055,3,0.9,4,9.0,0.6,337.6,10,9.6
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,126.8,25289,-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,-107.1,107,2783,1099,1016,0.0,0.0,0,102,0.00,0.00,-79.93,0.000,16390,0.000,0.000,106,2782,3478,3468,3488,0,0,0,0,0,0,14.57,12.87,14.48
$GC,107,-0.93,-107.1,105,2783,3468,3489,4.1,-10.4,3,124,12.05,2.47,0.00,0.000,2564,0.377,0.034,2590,1360,3479,3470,3488,0,0,0,0,0,0,13.85,14.35,14.25
$GC,138,0.04,-107.1,2591,1359,3479,3489,21.1,-48.6,8,144,1.15,2.75,0.00,0.000,3206,0.224,0.111,2892,2770,3479,3471,3487,0,0,0,0,0,0,13.97,14.06,14.26
$GC,468,-0.48,-107.1,2895,2771,3474,3486,49.6,-10.0,22,470,0.43,0.00,0.00,0.000,4230,0.091,0.000,2745,2770,3476,3466,3486,0,0,0,0,0,0,14.04,14.22,14.17
$GC,777,-0.61,-107.1,2743,2771,3474,3486,73.2,-6.3,33,781,0.08,2.15,0.00,0.000,4516,0.142,0.161,2649,3827,3480,3474,3486,0,0,0,0,0,0,14.36,13.85,14.37
$GC,866,-0.61,-107.1,2649,3828,3475,3487,81.4,-8.8,46,871,0.15,1.88,0.00,0.000,3078,0.187,0.060,2697,2775,3480,3474,3486,0,0,0,0,0,0,13.77,14.14,14.02
$GC,1197,-0.69,-107.1,2700,2775,3477,3487,101.1,-5.8,60,1203,0.00,2.50,0.00,0.000,676,0.000,0.040,2700,1353,3480,3475,3486,0,0,0,0,0,0,14.70,14.02,14.71
$GC,1259,-0.80,-107.1,2700,1355,3477,3486,105.7,-7.3,69,1264,0.10,2.75,0.00,0.000,5286,0.106,0.101,2614,2765,3480,3475,3486,0,0,0,0,0,0,14.16,13.85,14.23
$GC,1589,-0.80,-107.1,2614,2766,3477,3484,136.1,-9.3,81,1594,0.00,2.17,0.00,0.000,260,0.000,0.159,2605,3828,3479,3475,3484,0,0,0,0,0,0,14.71,13.84,14.71
$GC,1616,-0.80,-107.1,2605,3829,3475,3483,138.8,-9.7,85,1621,0.12,1.90,0.00,0.000,3078,0.225,0.057,2639,2719,3479,3475,3484,0,0,0,0,0,0,13.74,14.15,14.00
$GC,1981,-0.80,-107.1,2637,2721,3477,3479,168.1,-8.1,95,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2720,3477,3476,3479,0,0,0,0,0,0,14.71,14.71,14.71
$GC,2317,-0.80,-107.1,2640,2720,3476,3474,197.3,-8.7,101,2322,0.00,2.30,0.00,0.000,260,0.000,0.155,2632,3823,3474,3476,3473,0,0,0,0,0,0,14.71,13.78,14.71
$GC,2400,-0.80,-107.1,2632,3823,3476,3473,204.7,-8.9,113,2405,0.00,1.85,0.00,0.000,1030,0.000,0.060,2631,2769,3473,3475,3472,0,0,0,0,0,0,14.24,14.18,14.26
$GC,2765,-0.80,-107.1,2631,2771,3476,3467,236.1,-8.6,123,2770,0.00,2.50,0.00,0.000,516,0.000,0.041,2636,1371,3469,3475,3464,0,0,0,0,0,0,14.71,13.95,14.71
$GC,2848,-0.80,-107.1,2632,1371,3476,3465,243.5,-8.7,135,2853,0.00,2.75,0.00,0.000,1030,0.000,0.101,2622,2764,3470,3476,3465,0,0,0,0,0,0,14.13,13.83,14.18
$GC,3213,-0.80,-107.1,2623,2765,3475,3460,277.2,-9.4,145,3218,0.00,2.53,0.00,0.000,516,0.000,0.041,2623,1366,3467,3475,3460,0,0,0,0,0,0,14.76,13.93,14.76
$GC,3254,-0.80,-107.1,2622,1366,3476,3461,281.4,-9.9,151,3259,0.00,2.75,0.00,0.000,1030,0.000,0.103,2607,2755,3467,3475,3459,0,0,0,0,0,0,14.16,13.83,14.21
$GC,3605,-0.80,-107.1,2614,2755,3476,3455,316.9,-10.2,159,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2755,3464,3475,3453,0,0,0,0,0,0,14.75,14.75,14.75
$GC,3941,-0.80,-107.1,2613,2756,3476,3450,351.5,-10.3,165,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2755,3462,3475,3450,0,0,0,0,0,0,14.74,14.75,14.75
$GC,4277,-0.80,-107.1,2613,2755,3476,3446,384.6,-9.8,171,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2755,3460,3475,3445,0,0,0,0,0,0,14.75,14.75,14.73
$GC,4613,-0.80,-107.1,2612,2755,3475,3443,415.5,-9.1,177,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2755,3462,3475,3449,0,0,0,0,0,0,14.69,14.69,14.69
$GC,4949,-0.80,-107.1,2613,2757,3476,3437,444.7,-8.6,183,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2755,3456,3475,3437,0,0,0,0,0,0,14.69,14.69,14.69
$GC,5285,-0.80,-107.1,2614,2756,3476,3435,474.5,-9.0,189,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2755,3455,3475,3435,0,0,0,0,0,0,14.68,14.68,14.68
$GC,5621,-0.80,-107.1,2613,2756,3476,3431,506.6,-9.7,195,5626,0.00,2.55,0.00,0.000,516,0.000,0.044,2611,1373,3454,3474,3435,0,0,0,0,0,0,14.69,13.84,14.69
$GC,5662,-0.80,-107.1,2611,1374,3476,3432,511.0,-10.3,201,5668,0.12,2.80,0.00,0.000,3078,0.224,0.106,2637,2762,3452,3474,3431,0,0,0,0,0,0,13.83,13.85,14.08
$GC,6013,-0.80,-107.1,2639,2762,3475,3429,544.2,-9.5,209,6018,0.00,2.20,0.00,0.000,260,0.000,0.165,2630,3824,3451,3474,3428,0,0,0,0,0,0,14.68,13.81,14.68
$GC,6047,-0.80,-107.1,2631,3824,3473,3429,547.8,-10.2,214,6052,0.00,1.90,0.00,0.000,1030,0.000,0.063,2629,2771,3450,3473,3428,0,0,0,0,0,0,14.16,14.09,14.19
$GC,6405,-0.80,-107.1,2630,2770,3471,3429,582.2,-9.6,223,6410,0.00,2.58,0.00,0.000,516,0.000,0.042,2629,1355,3449,3470,3428,0,0,0,0,0,0,14.67,13.88,14.67
$GC,6474,-0.80,-107.1,2630,1355,3471,3428,588.9,-9.5,233,6479,0.00,2.78,0.00,0.000,1030,0.000,0.099,2623,2756,3449,3470,3428,0,0,0,0,0,0,14.17,13.90,14.21
$GC,6797,-0.80,-107.1,2621,2756,3469,3429,618.5,-9.1,244,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2756,3447,3468,3427,0,0,0,0,0,0,14.66,14.66,14.66
$GC,7133,-0.80,-107.1,2620,2757,3469,3419,647.7,-8.6,250,7138,0.00,2.22,0.00,0.000,260,0.000,0.162,2612,3830,3446,3468,3425,0,0,0,0,0,0,14.66,13.81,14.66
$GC,7167,-0.80,-107.1,2613,3829,3468,3426,650.8,-8.7,255,7172,0.10,1.95,0.00,0.000,3078,0.222,0.063,2641,2748,3446,3467,3425,0,0,0,0,0,0,13.74,14.10,13.95
$GC,7525,-0.80,-107.1,2641,2749,3468,3422,677.7,-7.4,264,7531,0.00,2.50,0.00,0.000,548,0.000,0.041,2636,1358,3444,3467,3422,0,0,0,0,0,0,14.66,13.83,14.66
$GC,7559,-0.80,-107.1,2641,1357,3468,3423,680.5,-7.8,269,7564,0.00,2.78,0.00,0.000,1030,0.000,0.096,2632,2758,3444,3466,3422,0,0,0,0,0,0,14.12,13.85,14.16
$GC,7917,-0.80,-107.1,2632,2756,3464,3423,707.5,-7.7,278,7918,0.00,0.00,0.00,0.000,38,0.000,0.000,2632,2757,3445,3469,3422,0,0,0,0,0,0,14.65,14.65,14.65
$GC,8253,-0.80,-107.1,2632,2761,3465,3420,733.2,-7.7,284,8259,0.00,2.58,0.00,0.000,548,0.000,0.042,2631,1360,3442,3464,3420,0,0,0,0,0,0,14.64,13.87,14.64
$GC,8287,-0.80,-107.1,2632,1360,3464,3420,736.0,-7.9,289,8292,0.00,2.80,0.00,0.000,1030,0.000,0.100,2621,2769,3442,3464,3420,0,0,0,0,0,0,14.12,13.85,14.17
$GC,8645,-0.80,-107.1,2624,2769,3462,3421,764.9,-8.2,298,8650,0.00,2.17,0.00,0.000,260,0.000,0.164,2615,3828,3439,3461,3418,0,0,0,0,0,0,14.64,13.83,14.64
$GC,8686,-0.80,-107.1,2615,3824,3462,3421,768.6,-8.8,304,8692,0.00,1.95,0.00,0.000,1030,0.000,0.063,2614,2747,3440,3461,3419,0,0,0,0,0,0,14.16,14.09,14.19
$GC,9037,-0.80,-107.1,2614,2748,3462,3418,797.3,-8.2,312,9043,0.08,2.53,0.00,0.000,2564,0.259,0.040,2641,1356,3438,3461,3416,0,0,0,0,0,0,13.81,13.88,13.85
$STATE,9067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9067,begin apogee
$GC,9078,-0.23,0.0,2635,2254,3460,3417,800.1,-7.5,317,9191,0.65,0.00,110.55,1.834,10244,0.164,0.000,2820,2253,3049,3089,3009,0,0,0,0,0,0,13.72,13.96,13.14
$STATE,9192,end apogee,CONTROL_FINISHED_OK
$STATE,9193,begin climb
$GC,9197,0.93,107.1,2821,2254,3084,2999,803.7,0.0,319,9326,1.12,2.60,116.43,1.766,10756,0.083,0.050,3186,834,2619,2680,2559,0,0,0,0,0,0,13.83,13.90,13.11
$GC,9431,0.83,134.2,3187,834,2678,2541,799.3,6.4,354,9466,0.00,2.62,29.40,1.816,9382,0.000,0.071,3186,2258,2512,2585,2440,0,0,0,0,0,0,14.19,14.00,13.19
$GC,9803,0.70,134.2,3187,2258,2579,2420,770.6,7.9,365,9808,0.17,2.80,0.00,0.000,4484,0.222,0.142,3131,3667,2498,2578,2418,0,0,0,0,0,0,13.89,13.97,14.06
$GC,9865,0.61,135.7,3131,3668,2579,2418,765.8,7.7,374,9870,0.15,2.50,0.00,0.000,5286,0.221,0.052,3102,2230,2498,2578,2418,0,0,0,0,0,0,13.95,14.32,14.24
$GC,10195,0.65,174.9,3101,2227,2580,2414,746.9,5.8,386,10249,0.00,2.92,45.28,1.774,8484,0.000,0.145,3100,3657,2342,2425,2260,0,0,0,0,0,0,14.67,14.02,13.32
$GC,10292,0.65,174.9,3101,3661,2424,2256,740.3,8.0,400,10298,0.00,2.47,0.00,0.000,1030,0.000,0.052,3111,2247,2338,2423,2253,0,0,0,0,0,0,14.31,14.23,14.32
$GC,10643,0.65,174.9,3111,2244,2424,2247,712.7,8.0,408,10644,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2243,2334,2423,2245,0,0,0,0,0,0,14.64,14.64,14.64
$GC,10979,0.65,174.9,3111,2244,2424,2244,685.2,8.2,414,10983,0.00,2.90,0.00,0.000,260,0.000,0.144,3110,3659,2333,2423,2243,0,0,0,0,0,0,14.71,13.87,14.71
$GC,11041,0.65,174.9,3108,3660,2425,2243,679.7,8.9,423,11046,0.00,2.47,0.00,0.000,1030,0.000,0.051,3121,2251,2333,2423,2243,0,0,0,0,0,0,14.37,14.29,14.39
$GC,11371,0.66,175.8,3120,2248,2425,2242,653.8,7.7,435,11376,0.00,2.90,0.00,0.000,292,0.000,0.144,3122,3659,2332,2423,2242,0,0,0,0,0,0,14.66,13.83,14.66
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$STATE,19775,end climb,SURFACE_DEPTH_REACHED
$STATE,19776,begin surface coast
$FINISH,-0.4,1.022202
$STATE,19804,end surface coast,CONTROL_FINISHED_OK
$STATE,19804,begin surface
$SM_CCo,19830,35.62,0.151,0,0,1057,500.14
$SM_GC,-2.33,9.40,1.00,35.62,0.073,0.123,0.151,167,2766,1057,-8.40,-0.54,500.14,0,0,0,0,0,0,14.31,13.81,14.04
$IRIDIUM_FIX,945.12,-12507.59,250217,164217
$TT8_MAMPS,0.038199,0.283122
$HUMID,58.19
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,21.40
$XPDR_PINGS,1
$SC_FREEKB,3628640
$PM_FREEKB,51455808
$24V_AH,12.84,249.191
$10V_AH,12.24,0.000
$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,26.800,167.425,479.425,35.625,0.000,0.000,0.000,659.550,0.250,0.000,5.427,0.000,17087.945,723.067,2507.706,715.633,0.000,2066.422,0.000,1377.466,0.000,1.136,0.000
$DEVICE_MAMPS,377.145,165.240,1834.470,151.470,0.000,0.000,0.000,169.065,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.636,2.446,0.000,0.000
$MEM,334728
$DATA_FILE_SIZE,26761,747
$CAP_FILE_SIZE,146480,0
$CFSIZE,1024409600,898334720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,331.43,1
$GPS,250217,222800,950.943,-12507.729,34,1.1,34,9.0,0.6,346.2,9,9.8