version: 66.13
glider: 220
mission: 6
dive: 751
start: 3 2 117 5 47 18
data:
$ID,220
$MISSION,6
$DIVE,751
$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,51
$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
$GPS1,020317,053300,953.4919,-12449.1660,33,1.1,33,9.0,0.4,288.9,8,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.29
$_SM_ANGLEo,-67.2
$GPS2,020317,054652,953.5852,-12449.2852,2,0.8,3,9.0,0.6,27.2,12,4.9
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,57.8,19785,-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,-107.1,105,2794,1102,1015,0.0,0.0,0,102,0.00,0.00,-80.70,0.000,16390,0.000,0.000,104,2793,3479,3470,3488,0,0,0,0,0,0,14.48,12.66,14.41
$GC,107,-0.93,-107.1,106,2793,3470,3490,3.8,-10.3,3,124,11.90,2.50,0.00,0.000,2564,0.370,0.033,2593,1355,3479,3471,3488,0,0,0,0,0,0,13.86,14.26,14.23
$GC,160,-0.63,-107.1,2594,1355,3474,3489,25.2,-25.3,11,165,0.40,2.83,0.00,0.000,3206,0.215,0.120,2693,2769,3480,3472,3488,0,0,0,0,0,0,13.85,13.92,14.12
$GC,496,-0.63,-107.1,2694,2768,3474,3489,70.5,-10.5,26,501,0.00,2.20,0.00,0.000,260,0.000,0.178,2686,3824,3480,3474,3487,0,0,0,0,0,0,14.67,13.85,14.67
$GC,674,-0.63,-107.1,2686,3825,3473,3488,85.1,-7.3,51,679,0.00,1.85,0.00,0.000,1062,0.000,0.061,2685,2752,3477,3468,3487,0,0,0,0,0,0,14.21,14.13,14.23
$GC,1030,-0.63,-107.1,2686,2757,3479,3486,108.0,-6.4,64,1035,0.00,2.45,0.00,0.000,548,0.000,0.041,2686,1374,3482,3477,3487,0,0,0,0,0,0,14.66,13.94,14.66
$GC,1100,-0.71,-107.1,2686,1375,3478,3488,113.5,-7.7,74,1105,0.00,2.75,0.00,0.000,1158,0.000,0.108,2677,2767,3482,3478,3487,0,0,0,0,0,0,14.17,13.90,14.22
$GC,1422,-0.71,-107.1,2685,2766,3477,3487,136.7,-7.0,85,1428,0.00,2.20,0.00,0.000,292,0.000,0.174,2669,3822,3481,3477,3485,0,0,0,0,0,0,14.73,13.87,14.72
$GC,1463,-0.71,-107.1,2669,3823,3477,3486,140.0,-7.9,91,1468,0.00,1.85,0.00,0.000,1030,0.000,0.062,2669,2770,3481,3477,3486,0,0,0,0,0,0,14.12,14.02,14.12
$GC,1814,-0.71,-107.1,2669,2770,3478,3483,164.0,-6.6,99,1819,0.00,2.53,0.00,0.000,548,0.000,0.041,2668,1356,3476,3477,3476,0,0,0,0,0,0,14.66,13.90,14.66
$GC,1863,-0.79,-107.1,2669,1358,3478,3481,167.7,-7.2,106,1869,0.00,2.80,0.00,0.000,1190,0.000,0.109,2660,2765,3479,3477,3481,0,0,0,0,0,0,14.17,13.88,14.22
$GC,2207,-0.79,-107.1,2661,2764,3477,3477,194.5,-7.9,113,2212,0.00,2.55,0.00,0.000,516,0.000,0.042,2660,1356,3476,3477,3476,0,0,0,0,0,0,14.65,13.91,14.66
$GC,2254,-0.79,-107.1,2660,1356,3477,3477,198.4,-7.6,120,2261,0.00,2.83,0.00,0.000,1062,0.000,0.109,2652,2761,3475,3476,3475,0,0,0,0,0,0,14.20,13.93,14.25
$GC,2598,-0.79,-107.1,2652,2762,3478,3470,225.6,-8.0,127,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2758,3473,3477,3470,0,0,0,0,0,0,14.66,14.66,14.66
$GC,2935,-0.79,-107.1,2652,2760,3479,3465,250.5,-7.4,133,2940,0.00,2.55,0.00,0.000,548,0.000,0.043,2652,1364,3471,3477,3465,0,0,0,0,0,0,14.65,13.91,14.65
$GC,2976,-0.79,-107.1,2651,1364,3476,3466,253.8,-7.6,139,2981,0.00,2.78,0.00,0.000,1062,0.000,0.113,2643,2760,3471,3477,3465,0,0,0,0,0,0,14.21,13.93,14.26
$GC,3326,-0.79,-107.1,2644,2761,3478,3461,281.0,-7.7,147,3331,0.00,2.25,0.00,0.000,292,0.000,0.177,2636,3830,3469,3477,3461,0,0,0,0,0,0,14.65,13.84,14.65
$GC,3374,-0.79,-107.1,2636,3831,3478,3459,285.2,-8.7,154,3380,0.00,1.92,0.00,0.000,1030,0.000,0.063,2635,2754,3468,3477,3460,0,0,0,0,0,0,14.23,14.17,14.25
$GC,3719,-0.79,-107.1,2635,2756,3478,3455,314.5,-8.7,161,3724,0.00,2.50,0.00,0.000,516,0.000,0.041,2635,1364,3465,3476,3455,0,0,0,0,0,0,14.71,13.85,14.71
$GC,3774,-0.79,-107.1,2636,1366,3477,3455,319.7,-9.3,169,3780,0.00,2.78,0.00,0.000,1030,0.000,0.106,2626,2755,3465,3476,3454,0,0,0,0,0,0,14.18,13.91,14.23
$GC,4111,-0.79,-107.1,2625,2756,3478,3452,350.9,-9.3,182,4115,0.00,2.25,0.00,0.000,260,0.000,0.173,2618,3831,3464,3477,3451,0,0,0,0,0,0,14.71,13.81,14.71
$GC,4144,-0.79,-107.1,2618,3832,3478,3451,354.2,-9.3,187,4149,0.00,1.92,0.00,0.000,1030,0.000,0.063,2615,2736,3463,3476,3450,0,0,0,0,0,0,14.22,14.16,14.24
$GC,4503,-0.79,-107.1,2617,2738,3477,3447,388.9,-9.7,196,4507,0.00,2.45,0.00,0.000,516,0.000,0.041,2617,1370,3461,3476,3446,0,0,0,0,0,0,14.64,13.81,14.65
$GC,4564,-0.79,-107.1,2617,1371,3477,3447,395.2,-9.7,205,4570,0.12,2.78,0.00,0.000,3078,0.230,0.103,2642,2756,3463,3481,3445,0,0,0,0,0,0,13.86,13.90,14.12
$GC,4894,-0.79,-107.1,2644,2756,3477,3444,423.8,-8.7,217,4900,0.00,2.53,0.00,0.000,516,0.000,0.042,2642,1368,3459,3475,3443,0,0,0,0,0,0,14.65,13.97,14.64
$GC,4921,-0.79,-107.1,2642,1369,3477,3443,426.7,-10.4,221,4927,0.00,2.78,0.00,0.000,1030,0.000,0.104,2632,2751,3459,3476,3442,0,0,0,0,0,0,14.20,13.93,14.24
$GC,5286,-0.79,-107.1,2626,2752,3477,3439,461.0,-9.3,231,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2751,3457,3476,3439,0,0,0,0,0,0,14.64,14.64,14.63
$GC,5623,-0.79,-107.1,2632,2752,3478,3436,490.6,-8.7,237,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2751,3456,3476,3436,0,0,0,0,0,0,14.71,14.71,14.70
$GC,5959,-0.79,-107.1,2633,2751,3477,3434,516.1,-7.5,243,5963,0.00,2.55,0.00,0.000,548,0.000,0.041,2632,1366,3454,3476,3433,0,0,0,0,0,0,14.63,13.86,14.63
$GC,6028,-0.79,-107.1,2632,1367,3477,3432,521.3,-7.1,253,6033,0.00,2.75,0.00,0.000,1062,0.000,0.106,2623,2748,3454,3476,3432,0,0,0,0,0,0,14.14,13.86,14.19
$GC,6351,-0.79,-107.1,2623,2749,3477,3431,546.7,-8.0,264,6355,0.00,2.25,0.00,0.000,260,0.000,0.173,2614,3823,3453,3476,3431,0,0,0,0,0,0,14.63,13.85,14.62
$GC,6377,-0.79,-107.1,2614,3825,3477,3431,549.2,-9.2,268,6382,0.10,1.92,0.00,0.000,3078,0.226,0.066,2642,2757,3453,3476,3431,0,0,0,0,0,0,13.77,14.14,14.00
$GC,6743,-0.79,-107.1,2642,2758,3473,3431,579.0,-8.2,278,6747,0.00,2.55,0.00,0.000,516,0.000,0.042,2643,1354,3451,3472,3431,0,0,0,0,0,0,14.62,13.87,14.62
$GC,6799,-0.79,-107.1,2643,1356,3472,3431,583.9,-9.1,286,6803,0.00,2.80,0.00,0.000,1030,0.000,0.103,2633,2751,3451,3471,3431,0,0,0,0,0,0,14.16,13.88,14.21
$GC,7135,-0.79,-107.1,2634,2751,3471,3432,612.7,-8.6,299,7135,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2751,3450,3470,3430,0,0,0,0,0,0,14.62,14.62,14.62
$GC,7470,-0.79,-107.1,2633,2753,3472,3428,639.6,-7.9,305,7476,0.00,2.58,0.00,0.000,516,0.000,0.042,2632,1355,3448,3470,3427,0,0,0,0,0,0,14.69,13.83,14.69
$GC,7540,-0.79,-107.1,2633,1355,3471,3429,645.4,-7.7,315,7544,0.00,2.78,0.00,0.000,1062,0.000,0.109,2623,2748,3448,3470,3427,0,0,0,0,0,0,14.17,13.89,14.22
$GC,7862,-0.79,-107.1,2624,2748,3470,3428,670.3,-7.7,326,7867,0.00,2.25,0.00,0.000,260,0.000,0.171,2614,3828,3448,3470,3427,0,0,0,0,0,0,14.62,13.81,14.62
$GC,7890,-0.79,-107.1,2613,3828,3469,3428,672.9,-9.1,330,7895,0.10,1.98,0.00,0.000,3078,0.223,0.067,2643,2726,3448,3469,3427,0,0,0,0,0,0,13.78,14.14,14.00
$GC,8255,-0.79,-107.1,2644,2725,3469,3425,698.9,-7.2,340,8259,0.00,2.47,0.00,0.000,548,0.000,0.041,2643,1358,3447,3469,3425,0,0,0,0,0,0,14.67,13.94,14.67
$GC,8331,-0.88,-107.1,2643,1358,3469,3424,704.7,-7.3,351,8335,0.00,2.75,0.00,0.000,1190,0.000,0.101,2634,2739,3444,3468,3420,0,0,0,0,0,0,14.14,13.86,14.19
$GC,8647,-0.88,-107.1,2634,2737,3468,3423,729.5,-8.0,361,8647,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2736,3445,3467,3423,0,0,0,0,0,0,14.67,14.67,14.67
$GC,8982,-0.88,-107.1,2634,2737,3466,3420,755.4,-7.8,367,8987,0.00,2.55,0.00,0.000,516,0.000,0.043,2633,1361,3443,3465,3422,0,0,0,0,0,0,14.59,13.92,14.59
$GC,9030,-0.88,-107.1,2634,1361,3465,3423,759.4,-7.8,374,9037,0.00,2.78,0.00,0.000,1030,0.000,0.103,2621,2734,3443,3464,3422,0,0,0,0,0,0,14.14,13.86,14.19
$GC,9375,-0.88,-107.1,2623,2734,3466,3422,786.4,-8.0,381,9376,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2734,3442,3464,3420,0,0,0,0,0,0,14.64,14.65,14.65
$STATE,9594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9594,begin apogee
$GC,9605,-0.23,0.0,2624,2228,3464,3421,803.6,-7.6,385,9718,0.70,0.08,105.30,2.368,10244,0.165,0.232,2821,2250,3049,3089,3010,0,0,0,0,1,0,13.80,13.64,12.64
$STATE,9719,end apogee,CONTROL_FINISHED_OK
$STATE,9719,begin climb
$GC,9724,0.93,107.1,2822,2250,3090,3025,806.8,0.0,387,9861,1.15,2.58,125.90,1.792,10756,0.086,0.052,3182,868,2623,2685,2562,0,0,0,0,0,0,13.55,13.64,12.97
$GC,9938,0.82,124.6,3183,868,2677,2540,803.1,6.9,419,9964,0.00,2.60,17.92,1.894,9382,0.000,0.073,3182,2251,2548,2619,2478,0,0,0,0,0,0,14.04,13.83,13.19
$GC,10324,0.69,124.6,3183,2251,2617,2462,770.9,8.6,432,10329,0.17,2.85,0.00,0.000,4484,0.224,0.150,3128,3667,2538,2616,2461,0,0,0,0,0,0,13.85,13.93,14.03
$GC,10380,0.59,124.6,3128,3667,2616,2462,766.1,8.4,440,10385,0.15,2.45,0.00,0.000,5254,0.225,0.054,3097,2255,2538,2616,2461,0,0,0,0,0,0,13.93,14.27,14.21
$GC,10716,0.63,149.8,3098,2249,2617,2459,744.0,6.5,453,10745,0.00,0.00,27.95,1.827,8230,0.000,0.000,3097,2250,2453,2531,2375,0,0,0,0,0,0,14.67,14.23,13.44
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$STATE,20164,end climb,SURFACE_DEPTH_REACHED
$STATE,20164,begin surface coast
$FINISH,-1.9,1.022191
$STATE,20192,end surface coast,CONTROL_FINISHED_OK
$STATE,20192,begin surface
$SM_CCo,20218,52.72,0.148,0,0,1058,500.14
$SM_GC,-2.13,8.82,1.10,52.72,0.028,0.140,0.148,155,2774,1058,-8.39,-0.31,500.14,0,0,0,0,0,0,14.30,13.81,14.08
$IRIDIUM_FIX,949.50,-12445.17,010317,234809
$TT8_MAMPS,0.035203,0.435918
$HUMID,55.86
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,22.30
$XPDR_PINGS,3
$SC_FREEKB,3621344
$PM_FREEKB,51238592
$24V_AH,12.64,255.193
$10V_AH,11.86,0.000
$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,24.475,202.200,490.475,52.725,0.000,0.000,0.000,413.575,0.750,0.000,5.112,0.000,17085.543,794.395,2463.881,740.274,0.000,1965.701,0.000,1514.750,0.000,0.842,0.000
$DEVICE_MAMPS,370.260,231.795,2367.675,147.645,0.000,0.000,0.000,175.185,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20261.000,20205.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.592,2.442,0.000,0.000
$MEM,334756
$DATA_FILE_SIZE,30075,843
$CAP_FILE_SIZE,155836,0
$CFSIZE,1024409600,895516672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.066,324.58,1
$GPS,020317,112608,955.040,-12448.150,21,1.2,21,9.0,0.6,290.7,6,9.2