version: 66.13
glider: 220
mission: 6
dive: 741
start: 2 27 117 20 21 44
data:
$ID,220
$MISSION,6
$DIVE,741
$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,64
$R_STBD_OVSHOOT,12
$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
$GPS1,270217,200809,942.6062,-12500.8887,26,1.1,27,9.0,0.5,40.8,8,7.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.82
$_SM_ANGLEo,-69.6
$GPS2,270217,202122,942.6379,-12500.9258,3,1.1,5,9.0,0.4,274.7,8,10.0
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,140.9,3619,-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,-107.1,125,2787,1105,1019,0.0,0.0,0,103,0.00,0.00,-81.60,0.000,16390,0.000,0.000,122,2787,3479,3470,3488,0,0,0,0,0,0,14.52,12.64,14.45
$GC,107,-0.93,-107.1,124,2787,3471,3490,3.4,-9.0,3,124,11.95,2.47,0.00,0.000,2564,0.378,0.034,2590,1371,3479,3470,3488,0,0,0,0,0,0,13.83,14.26,14.22
$GC,201,-0.70,-107.1,2590,1370,3473,3489,33.6,-21.5,17,208,0.32,2.78,0.00,0.000,3206,0.241,0.115,2666,2772,3480,3473,3488,0,0,0,0,0,0,13.80,13.90,14.09
$GC,524,-0.70,-107.1,2666,2772,3475,3486,78.1,-7.3,30,529,0.00,2.20,0.00,0.000,292,0.000,0.174,2658,3827,3481,3474,3488,0,0,0,0,0,0,14.69,13.85,14.69
$GC,586,-0.70,-107.1,2659,3828,3475,3488,82.0,-6.6,39,591,0.00,1.83,0.00,0.000,1062,0.000,0.060,2658,2771,3481,3475,3487,0,0,0,0,0,0,14.26,14.21,14.28
$GC,944,-0.70,-107.1,2658,2771,3478,3489,105.2,-6.6,53,950,0.00,2.50,0.00,0.000,548,0.000,0.040,2658,1364,3482,3477,3488,0,0,0,0,0,0,14.68,14.00,14.66
$GC,993,-0.70,-107.1,2658,1364,3478,3489,108.6,-7.0,60,999,0.00,2.78,0.00,0.000,1062,0.000,0.102,2648,2771,3482,3477,3488,0,0,0,0,0,0,14.10,13.83,14.14
$GC,1337,-0.70,-107.1,2650,2771,3478,3487,130.1,-6.1,67,1342,0.00,2.17,0.00,0.000,292,0.000,0.171,2640,3824,3481,3477,3486,0,0,0,0,0,0,14.65,13.86,14.67
$GC,1406,-0.70,-107.1,2641,3824,3478,3487,134.8,-6.8,77,1412,0.10,1.83,0.00,0.000,3110,0.213,0.060,2670,2775,3481,3477,3486,0,0,0,0,0,0,13.78,14.16,14.03
$GC,1729,-0.79,-107.1,2666,2776,3478,3482,156.3,-6.9,88,1734,0.00,2.53,0.00,0.000,676,0.000,0.042,2668,1359,3479,3476,3482,0,0,0,0,0,0,14.73,13.90,14.73
$GC,1812,-0.90,-107.1,2670,1359,3477,3482,162.3,-6.9,100,1817,0.10,2.80,0.00,0.000,5286,0.109,0.103,2575,2779,3483,3477,3489,0,0,0,0,0,0,14.08,13.89,14.18
$GC,2177,-0.90,-107.1,2576,2778,3477,3477,196.1,-9.4,110,2181,0.08,2.15,0.00,0.000,2308,0.255,0.164,2593,3824,3476,3477,3476,0,0,0,0,0,0,13.83,13.85,13.91
$GC,2253,-0.81,-107.1,2594,3824,3477,3476,203.6,-9.7,121,2259,0.15,1.85,0.00,0.000,3206,0.220,0.061,2633,2773,3475,3476,3474,0,0,0,0,0,0,13.68,14.14,13.97
$GC,2569,-0.81,-107.1,2634,2773,3478,3470,228.1,-7.7,131,2573,0.00,2.53,0.00,0.000,548,0.000,0.041,2634,1361,3473,3477,3470,0,0,0,0,0,0,14.69,13.90,14.69
$GC,2603,-0.81,-107.1,2634,1362,3478,3469,230.9,-8.0,136,2608,0.00,2.78,0.00,0.000,1030,0.000,0.097,2624,2770,3473,3477,3469,0,0,0,0,0,0,14.12,13.86,14.16
$GC,2961,-0.81,-107.1,2625,2769,3477,3466,259.4,-8.0,145,2966,0.00,2.58,0.00,0.000,516,0.000,0.042,2624,1361,3471,3477,3465,0,0,0,0,0,0,14.68,13.88,14.67
$GC,3044,-0.81,-107.1,2623,1362,3478,3463,266.2,-8.3,157,3050,0.00,2.75,0.00,0.000,1030,0.000,0.098,2614,2765,3469,3476,3463,0,0,0,0,0,0,14.18,13.93,14.23
$GC,3409,-0.81,-107.1,2615,2765,3477,3460,296.1,-8.4,167,3414,0.00,2.58,0.00,0.000,516,0.000,0.044,2614,1362,3468,3477,3459,0,0,0,0,0,0,14.73,13.86,14.73
$GC,3457,-0.81,-107.1,2614,1364,3478,3458,300.1,-7.8,174,3463,0.10,2.80,0.00,0.000,3078,0.239,0.099,2632,2770,3467,3476,3458,0,0,0,0,0,0,13.86,13.90,14.11
$GC,3801,-0.81,-107.1,2633,2771,3477,3456,325.5,-7.4,181,3807,0.00,2.60,0.00,0.000,548,0.000,0.044,2633,1358,3465,3477,3454,0,0,0,0,0,0,14.72,13.87,14.76
$GC,3919,-0.81,-107.1,2640,1357,3477,3452,334.3,-7.3,198,3924,0.00,2.78,0.00,0.000,1062,0.000,0.098,2623,2770,3464,3476,3452,0,0,0,0,0,0,14.16,13.89,14.20
$GC,4249,-0.81,-107.1,2623,2770,3477,3451,358.1,-7.2,210,4254,0.00,2.58,0.00,0.000,548,0.000,0.044,2622,1366,3463,3476,3450,0,0,0,0,0,0,14.66,13.89,14.66
$GC,4361,-0.81,-107.1,2623,1367,3477,3449,366.6,-7.4,226,4366,0.00,2.75,0.00,0.000,1062,0.000,0.096,2620,2756,3462,3476,3448,0,0,0,0,0,0,14.15,13.89,14.20
$GC,4697,-0.81,-107.1,2618,2756,3477,3446,392.8,-7.8,239,4702,0.00,2.55,0.00,0.000,516,0.000,0.043,2611,1366,3464,3484,3445,0,0,0,0,0,0,14.66,13.87,14.65
$GC,4787,-0.81,-107.1,2613,1366,3477,3446,400.2,-8.0,252,4792,0.10,2.72,0.00,0.000,3078,0.234,0.096,2632,2750,3460,3476,3444,0,0,0,0,0,0,13.85,13.89,14.10
$GC,5145,-0.81,-107.1,2632,2751,3478,3441,427.1,-7.6,261,5151,0.00,2.55,0.00,0.000,548,0.000,0.043,2632,1368,3458,3476,3440,0,0,0,0,0,0,14.71,13.89,14.71
$GC,5249,-0.81,-107.1,2632,1368,3477,3439,435.9,-8.2,276,5255,0.00,2.75,0.00,0.000,1030,0.000,0.098,2623,2748,3456,3474,3439,0,0,0,0,0,0,14.16,13.90,14.21
$GC,5593,-0.81,-107.1,2624,2748,3477,3438,464.4,-8.3,283,5598,0.00,2.55,0.00,0.000,516,0.000,0.043,2622,1366,3456,3476,3437,0,0,0,0,0,0,14.65,13.89,14.66
$GC,5649,-0.81,-107.1,2623,1366,3477,3438,469.1,-8.3,291,5654,0.00,2.72,0.00,0.000,1030,0.000,0.097,2613,2736,3456,3476,3437,0,0,0,0,0,0,14.14,13.87,14.19
$GC,5985,-0.81,-107.1,2613,2737,3482,3434,496.0,-7.9,304,5986,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2736,3455,3476,3434,0,0,0,0,0,0,14.64,14.64,14.64
$GC,6321,-0.81,-107.1,2614,2736,3477,3433,522.2,-7.8,310,6326,0.00,2.55,0.00,0.000,516,0.000,0.044,2612,1366,3453,3475,3432,0,0,0,0,0,0,14.64,13.87,14.64
$GC,6383,-0.81,-107.1,2612,1366,3477,3430,527.4,-8.0,319,6388,0.10,2.72,0.00,0.000,3078,0.230,0.098,2632,2737,3454,3476,3432,0,0,0,0,0,0,13.89,13.91,14.13
$GC,6713,-0.81,-107.1,2632,2738,3475,3431,551.2,-7.3,331,6714,0.00,0.00,0.00,0.000,38,0.000,0.000,2632,2737,3452,3473,3431,0,0,0,0,0,0,14.64,14.64,14.64
$GC,7049,-0.81,-107.1,2632,2738,3472,3431,577.2,-7.9,337,7050,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2737,3451,3471,3431,0,0,0,0,0,0,14.62,14.62,14.64
$GC,7385,-0.89,-107.1,2632,2737,3469,3433,602.7,-7.5,343,7386,0.00,0.00,0.00,0.000,166,0.000,0.000,2632,2737,3450,3470,3431,0,0,0,0,0,0,14.66,14.62,14.62
$GC,7721,-0.97,-107.1,2632,2737,3470,3427,627.2,-7.3,349,7727,0.08,2.28,0.00,0.000,4516,0.132,0.163,2545,3824,3449,3470,3429,0,0,0,0,0,0,14.24,13.83,14.23
$GC,7778,-0.86,-107.1,2545,3824,3470,3430,632.8,-10.6,357,7784,0.28,1.95,0.00,0.000,3206,0.207,0.056,2618,2722,3449,3469,3429,0,0,0,0,0,0,13.63,14.12,13.95
$GC,8114,-0.86,-107.1,2618,2723,3470,3428,659.5,-8.0,370,8119,0.00,2.30,0.00,0.000,260,0.000,0.156,2611,3827,3448,3469,3427,0,0,0,0,0,0,14.62,13.85,14.62
$GC,8176,-0.86,-107.1,2611,3828,3469,3424,665.0,-8.9,379,8181,0.00,1.92,0.00,0.000,1030,0.000,0.060,2609,2745,3447,3468,3427,0,0,0,0,0,0,14.18,14.11,14.19
$GC,8506,-0.86,-107.1,2610,2745,3468,3427,692.4,-8.3,391,8511,0.00,2.25,0.00,0.000,260,0.000,0.156,2603,3825,3446,3467,3425,0,0,0,0,0,0,14.67,13.83,14.66
$GC,8603,-0.86,-107.1,2603,3826,3467,3427,701.2,-8.9,405,8608,0.00,1.92,0.00,0.000,1030,0.000,0.059,2601,2738,3446,3466,3426,0,0,0,0,0,0,14.18,14.12,14.20
$GC,8954,-0.86,-107.1,2602,2738,3465,3426,730.8,-8.4,413,8960,0.00,2.28,0.00,0.000,260,0.000,0.156,2594,3831,3444,3464,3425,0,0,0,0,0,0,14.61,13.84,14.60
$GC,9122,-0.86,-107.1,2594,3832,3462,3425,745.8,-8.7,437,9127,0.00,1.95,0.00,0.000,1030,0.000,0.060,2593,2737,3446,3468,3425,0,0,0,0,0,0,14.19,14.13,14.21
$GC,9458,-0.86,-107.1,2592,2738,3465,3422,772.2,-7.7,450,9463,0.08,2.25,0.00,0.000,2340,0.246,0.147,2614,3828,3443,3464,3422,0,0,0,0,0,0,13.80,13.81,13.83
$GC,9583,-0.86,-107.1,2613,3829,3464,3422,781.9,-7.9,468,9588,0.00,1.92,0.00,0.000,1030,0.000,0.060,2612,2757,3442,3463,3422,0,0,0,0,0,0,14.10,14.05,14.12
$STATE,9845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9845,begin apogee
$GC,9856,-0.23,0.0,2613,2215,3463,3422,800.6,-7.0,478,9975,0.75,0.10,115.62,1.791,10244,0.167,0.203,2828,2266,3049,3089,3010,0,0,0,0,0,0,13.76,13.84,13.09
$STATE,9976,end apogee,CONTROL_FINISHED_OK
$STATE,9976,begin climb
$GC,9981,0.93,107.1,2826,2266,3083,3000,804.6,0.0,480,10110,1.10,2.58,118.22,1.727,10756,0.079,0.050,3179,870,2620,2681,2560,0,0,0,0,0,0,13.79,13.83,13.08
$GC,10189,0.82,129.2,3186,869,2673,2538,800.9,6.6,512,10220,0.00,2.55,23.77,1.818,9382,0.000,0.070,3185,2245,2527,2599,2456,0,0,0,0,0,0,14.10,13.92,13.17
$GC,10581,0.69,129.2,3184,2247,2595,2438,767.3,8.8,526,10586,0.20,2.83,0.00,0.000,4484,0.219,0.143,3125,3661,2516,2595,2438,0,0,0,0,0,0,13.85,13.96,14.04
$GC,10622,0.62,133.1,3124,3662,2598,2438,763.8,7.5,532,10627,0.12,2.45,0.00,0.000,5286,0.230,0.052,3102,2252,2516,2595,2437,0,0,0,0,0,0,13.98,14.28,14.20
$GC,10973,0.65,163.3,3101,2248,2596,2434,741.8,6.2,540,11013,0.00,0.00,37.08,1.766,8742,0.000,0.000,3102,2248,2397,2477,2317,0,0,0,0,0,0,14.69,14.18,13.39
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$STATE,20439,end climb,SURFACE_DEPTH_REACHED
$STATE,20439,begin surface coast
$FINISH,-2.8,1.022213
$STATE,20468,end surface coast,CONTROL_FINISHED_OK
$STATE,20468,begin surface
$SM_CCo,20494,57.38,0.149,0,0,1057,500.14
$SM_GC,-1.91,9.15,1.00,57.38,0.049,0.123,0.149,170,2771,1057,-8.44,-0.45,500.14,0,0,0,0,0,0,14.20,13.79,14.07
$IRIDIUM_FIX,938.56,-12459.70,270217,144357
$TT8_MAMPS,0.038948,0.453145
$HUMID,56.81
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.50
$XPDR_PINGS,1
$SC_FREEKB,3625184
$PM_FREEKB,51352512
$24V_AH,12.64,252.006
$10V_AH,12.14,0.000
$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,25.275,199.200,457.075,57.375,0.000,0.000,0.000,379.600,0.250,0.000,6.492,0.000,17248.414,760.909,2591.341,723.122,0.000,1961.451,0.000,1653.354,0.000,0.840,0.000
$DEVICE_MAMPS,377.910,203.490,1880.370,149.175,0.000,0.000,0.000,178.245,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20535.000,20481.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.615,2.416,0.000,0.000
$MEM,334756
$DATA_FILE_SIZE,33413,940
$CAP_FILE_SIZE,158791,0
$CFSIZE,1024409600,896974848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030,290.13,1
$GPS,280217,020525,941.363,-12500.279,14,0.8,31,9.0,0.5,242.8,12,3.0