version: 66.13
glider: 220
mission: 6
dive: 753
start: 3 2 117 17 29 2
data:
$ID,220
$MISSION,6
$DIVE,753
$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,53
$R_STBD_OVSHOOT,14
$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
$GPS1,020317,170908,956.1646,-12446.8291,15,1.4,15,9.0,0.7,289.9,5,8.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.18
$_SM_ANGLEo,-67.6
$GPS2,020317,172840,956.4496,-12446.9453,3,1.6,6,9.0,0.5,294.1,5,8.5
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,71.0,13294,-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,-107.1,106,2780,1109,1018,0.0,0.0,0,103,0.00,0.00,-80.62,0.000,16390,0.000,0.000,105,2780,3478,3468,3488,0,0,0,0,0,0,14.49,12.64,14.42
$GC,107,-0.93,-107.1,105,2781,3469,3488,3.6,-10.1,3,124,11.98,2.47,0.00,0.000,2564,0.376,0.034,2590,1359,3479,3471,3488,0,0,0,0,0,0,13.88,14.26,14.24
$GC,152,-0.45,-107.1,2590,1358,3472,3489,23.5,-32.4,10,159,0.62,2.83,0.00,0.000,3206,0.217,0.122,2749,2767,3479,3471,3487,0,0,0,0,0,0,13.84,13.85,14.12
$GC,468,-0.45,-107.1,2749,2765,3482,3487,60.1,-10.1,22,473,0.00,2.22,0.00,0.000,260,0.000,0.185,2741,3821,3482,3477,3487,0,0,0,0,0,0,14.62,13.88,14.62
$GC,706,-0.59,-107.1,2741,3822,3474,3487,77.5,-5.3,56,710,0.00,1.83,0.00,0.000,1190,0.000,0.063,2742,2775,3480,3474,3487,0,0,0,0,0,0,14.23,14.16,14.24
$GC,1029,-0.74,-107.1,2742,2776,3476,3487,91.3,-5.6,69,1035,0.15,2.50,0.00,0.000,4772,0.082,0.038,2628,1356,3480,3474,3487,0,0,0,0,0,0,14.21,13.97,14.23
$GC,1085,-0.74,-107.1,2629,1357,3475,3487,96.2,-8.8,77,1092,0.12,2.80,0.00,0.000,3078,0.225,0.108,2655,2775,3481,3475,3487,0,0,0,0,0,0,13.90,13.91,14.14
$GC,1422,-0.74,-107.1,2652,2775,3475,3487,120.9,-7.2,87,1427,0.00,2.20,0.00,0.000,292,0.000,0.181,2647,3831,3480,3475,3486,0,0,0,0,0,0,14.67,13.83,14.66
$GC,1498,-0.74,-107.1,2647,3831,3476,3485,128.4,-9.7,98,1502,0.00,1.85,0.00,0.000,1030,0.000,0.057,2647,2757,3480,3475,3485,0,0,0,0,0,0,14.23,14.18,14.25
$GC,1814,-0.74,-107.1,2647,2758,3475,3482,155.0,-8.1,108,1818,0.00,2.25,0.00,0.000,260,0.000,0.173,2639,3823,3477,3474,3480,0,0,0,0,0,0,14.68,13.85,14.66
$GC,1848,-0.74,-107.1,2639,3824,3476,3480,157.9,-8.5,113,1853,0.00,1.80,0.00,0.000,1030,0.000,0.057,2638,2778,3478,3475,3481,0,0,0,0,0,0,14.22,14.16,14.23
$GC,2206,-0.74,-107.1,2639,2778,3475,3477,187.2,-8.2,122,2211,0.00,2.53,0.00,0.000,516,0.000,0.041,2638,1359,3475,3475,3475,0,0,0,0,0,0,14.71,13.86,14.71
$GC,2282,-0.74,-107.1,2639,1359,3475,3475,193.8,-8.5,133,2288,0.10,2.83,0.00,0.000,3078,0.230,0.109,2658,2778,3474,3474,3474,0,0,0,0,0,0,13.89,13.91,14.14
$GC,2598,-0.74,-107.1,2658,2777,3475,3469,219.1,-8.1,143,2602,0.00,2.20,0.00,0.000,260,0.000,0.177,2650,3828,3472,3475,3469,0,0,0,0,0,0,14.71,13.78,14.71
$GC,2632,-0.74,-107.1,2651,3828,3475,3470,222.2,-8.6,148,2636,0.00,1.85,0.00,0.000,1030,0.000,0.057,2650,2757,3471,3474,3468,0,0,0,0,0,0,14.21,14.14,14.22
$GC,2990,-0.74,-107.1,2649,2757,3475,3462,250.3,-7.7,157,2995,0.00,2.47,0.00,0.000,516,0.000,0.040,2650,1374,3468,3474,3462,0,0,0,0,0,0,14.65,13.89,14.65
$GC,3073,-0.74,-107.1,2650,1373,3475,3463,256.9,-8.0,169,3079,0.00,2.75,0.00,0.000,1030,0.000,0.106,2642,2769,3468,3475,3462,0,0,0,0,0,0,14.16,13.88,14.21
$GC,3438,-0.74,-107.1,2642,2770,3476,3456,287.2,-8.4,179,3443,0.00,2.53,0.00,0.000,516,0.000,0.041,2641,1376,3465,3474,3457,0,0,0,0,0,0,14.66,13.88,14.66
$GC,3465,-0.74,-107.1,2647,1376,3475,3458,289.7,-8.9,183,3469,0.00,2.78,0.00,0.000,1030,0.000,0.108,2633,2764,3465,3474,3456,0,0,0,0,0,0,14.18,13.90,14.22
$GC,3830,-0.74,-107.1,2633,2764,3475,3453,322.5,-9.1,193,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2764,3463,3474,3452,0,0,0,0,0,0,14.66,14.66,14.66
$GC,4166,-0.74,-107.1,2634,2764,3475,3450,353.2,-9.1,199,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2764,3461,3474,3448,0,0,0,0,0,0,14.65,14.66,14.66
$GC,4502,-0.74,-107.1,2634,2764,3475,3445,384.0,-9.3,205,4507,0.00,2.55,0.00,0.000,516,0.000,0.043,2633,1375,3459,3474,3444,0,0,0,0,0,0,14.64,13.83,14.64
$GC,4578,-0.74,-107.1,2633,1375,3475,3443,391.0,-8.8,216,4583,0.12,2.80,0.00,0.000,3078,0.220,0.109,2659,2766,3458,3474,3443,0,0,0,0,0,0,13.88,13.87,14.12
$GC,4894,-0.74,-107.1,2659,2768,3475,3440,414.9,-7.6,226,4899,0.00,2.55,0.00,0.000,548,0.000,0.043,2659,1373,3457,3474,3440,0,0,0,0,0,0,14.66,13.93,14.64
$GC,4935,-0.83,-107.1,2659,1372,3475,3441,418.0,-7.0,232,4940,0.00,2.78,0.00,0.000,1190,0.000,0.110,2651,2765,3457,3474,3440,0,0,0,0,0,0,14.18,13.90,14.23
$GC,5286,-0.83,-107.1,2650,2766,3474,3444,441.6,-6.7,240,5291,0.00,2.55,0.00,0.000,548,0.000,0.043,2657,1374,3455,3474,3436,0,0,0,0,0,0,14.64,13.92,14.64
$GC,5348,-0.91,-107.1,2650,1374,3474,3441,446.0,-6.3,249,5354,0.05,2.78,0.00,0.000,5286,0.196,0.112,2580,2762,3457,3474,3440,0,0,0,0,0,0,14.11,13.95,14.24
$GC,5678,-0.91,-107.1,2580,2762,3474,3434,479.4,-10.5,261,5683,0.00,2.22,0.00,0.000,260,0.000,0.174,2572,3824,3453,3473,3433,0,0,0,0,0,0,14.71,13.83,14.71
$GC,5712,-0.83,-107.1,2572,3825,3475,3437,483.7,-12.3,266,5717,0.20,1.88,0.00,0.000,3206,0.213,0.060,2626,2765,3452,3473,3432,0,0,0,0,0,0,13.66,14.12,13.95
$GC,6070,-0.83,-107.1,2627,2765,3474,3432,518.8,-9.9,275,6074,0.00,2.55,0.00,0.000,516,0.000,0.043,2629,1363,3451,3473,3430,0,0,0,0,0,0,14.62,13.84,14.62
$GC,6132,-0.83,-107.1,2626,1363,3474,3430,525.3,-10.5,284,6137,0.00,2.80,0.00,0.000,1030,0.000,0.103,2617,2764,3451,3473,3430,0,0,0,0,0,0,14.16,13.89,14.21
$GC,6462,-0.83,-107.1,2617,2765,3472,3429,559.4,-10.4,296,6466,0.00,2.20,0.00,0.000,260,0.000,0.170,2609,3822,3450,3471,3429,0,0,0,0,0,0,14.62,13.85,14.62
$GC,6503,-0.83,-107.1,2610,3822,3471,3431,563.9,-10.9,302,6507,0.00,1.90,0.00,0.000,1030,0.000,0.062,2608,2759,3449,3470,3429,0,0,0,0,0,0,14.20,14.13,14.21
$GC,6854,-0.83,-107.1,2609,2759,3463,3430,599.4,-10.1,310,6859,0.00,2.55,0.00,0.000,516,0.000,0.042,2608,1358,3449,3470,3428,0,0,0,0,0,0,14.68,13.84,14.68
$GC,6923,-0.83,-107.1,2608,1359,3471,3429,606.5,-10.1,320,6928,0.10,2.80,0.00,0.000,3078,0.237,0.103,2626,2760,3449,3470,3429,0,0,0,0,0,0,13.87,13.88,14.12
$GC,7246,-0.83,-107.1,2627,2761,3472,3426,635.5,-8.9,331,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2760,3447,3469,3426,0,0,0,0,0,0,14.61,14.61,14.61
$GC,7582,-0.83,-107.1,2627,2761,3468,3425,665.9,-9.1,337,7587,0.00,2.60,0.00,0.000,516,0.000,0.044,2626,1358,3446,3467,3425,0,0,0,0,0,0,14.67,13.83,14.69
$GC,7630,-0.83,-107.1,2627,1359,3467,3426,670.5,-9.2,344,7636,0.00,2.83,0.00,0.000,1030,0.000,0.105,2617,2753,3445,3466,3425,0,0,0,0,0,0,14.16,13.88,14.21
$GC,7974,-0.83,-107.1,2618,2754,3465,3424,703.2,-9.6,351,7975,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2755,3444,3465,3424,0,0,0,0,0,0,14.68,14.68,14.68
$GC,8310,-0.83,-107.1,2617,2755,3466,3429,734.2,-9.1,357,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2754,3442,3464,3421,0,0,0,0,0,0,14.59,14.61,14.60
$GC,8646,-0.83,-107.1,2617,2756,3464,3421,764.2,-8.8,363,8646,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2753,3440,3463,3417,0,0,0,0,0,0,14.67,14.67,14.67
$GC,8982,-0.83,-107.1,2618,2754,3462,3421,793.6,-8.7,369,8988,0.00,2.60,0.00,0.000,516,0.000,0.044,2617,1355,3440,3462,3419,0,0,0,0,0,0,14.65,13.85,14.65
$GC,9016,-0.83,-107.1,2617,1355,3462,3421,796.7,-9.1,374,9021,0.00,2.85,0.00,0.000,1030,0.000,0.106,2608,2766,3441,3462,3420,0,0,0,0,0,0,14.17,13.90,14.21
$STATE,9089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9089,begin apogee
$GC,9100,-0.23,0.0,2608,2215,3463,3417,803.2,-8.4,378,9208,0.77,0.10,100.18,2.515,10244,0.169,0.212,2826,2265,3053,3091,3016,0,0,0,0,1,0,13.79,13.67,12.64
$STATE,9209,end apogee,CONTROL_FINISHED_OK
$STATE,9210,begin climb
$GC,9214,0.93,107.1,2827,2263,3091,3025,807.3,0.0,380,9354,1.12,2.60,125.57,1.790,10756,0.085,0.053,3183,876,2616,2679,2553,0,0,0,0,0,0,13.56,13.63,12.97
$GC,9466,0.85,147.6,3183,879,2677,2539,802.6,5.7,417,9515,0.00,2.55,44.25,1.777,9382,0.000,0.076,3182,2236,2461,2535,2388,0,0,0,0,0,0,14.10,13.90,13.21
$GC,9877,0.74,147.6,3183,2236,2533,2363,765.7,9.6,433,9883,0.12,2.88,0.00,0.000,4484,0.236,0.152,3143,3658,2444,2526,2362,0,0,0,0,0,0,13.88,13.95,14.06
$GC,9933,0.63,147.6,3142,3659,2527,2366,760.0,9.4,441,9939,0.12,2.40,0.00,0.000,5254,0.196,0.052,3106,2261,2444,2526,2362,0,0,0,0,0,0,13.92,14.20,14.21
$GC,10270,0.65,165.9,3106,2259,2527,2358,736.5,6.8,454,10295,0.00,2.83,19.15,1.851,8484,0.000,0.151,3106,3660,2380,2463,2297,0,0,0,0,0,0,14.68,14.09,13.49
$GC,10325,0.67,176.9,3106,3660,2461,2293,732.6,7.2,462,10336,0.00,2.47,4.45,1.544,9254,0.000,0.051,3116,2245,2348,2428,2268,0,0,0,0,0,0,14.32,14.25,13.03
$GC,10661,0.70,202.0,3116,2246,2429,2285,710.0,6.5,475,10699,0.00,0.00,36.70,1.763,8230,0.000,0.000,3116,2252,2242,2331,2154,0,0,0,0,0,0,14.62,14.18,13.40
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$STATE,19330,end climb,SURFACE_DEPTH_REACHED
$STATE,19330,begin surface coast
$FINISH,-0.8,1.022022
$STATE,19359,end surface coast,CONTROL_FINISHED_OK
$STATE,19359,begin surface
$SM_CCo,19385,35.65,0.150,0,0,1057,500.14
$SM_GC,-2.34,9.45,1.08,35.65,0.076,0.125,0.150,191,2767,1057,-8.39,-0.48,500.14,0,0,0,0,0,0,14.16,13.76,14.07
$IRIDIUM_FIX,953.88,-12448.22,020317,172253
$TT8_MAMPS,0.039697,0.381241
$HUMID,58.74
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,21.30
$XPDR_PINGS,2
$SC_FREEKB,3620576
$PM_FREEKB,51216832
$24V_AH,12.64,255.822
$10V_AH,11.91,0.000
$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
$DEVICE_SECS,25.750,207.150,474.050,35.650,0.000,0.000,0.000,631.625,0.500,0.000,7.642,0.000,16399.164,772.982,2640.700,758.465,0.000,2161.010,0.000,1502.942,0.000,1.133,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.638,2.447,0.000,0.000
$MEM,334744
$DATA_FILE_SIZE,30072,842
$CAP_FILE_SIZE,154436,0
$CFSIZE,1024409600,895221760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.062,349.16,1
$GPS,020317,225355,957.570,-12445.409,34,0.8,34,9.0,0.6,340.4,10,8.4