version: 66.13
glider: 220
mission: 6
dive: 756
start: 3 3 117 10 42 14
data:
$ID,220
$MISSION,6
$DIVE,756
$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,36
$R_STBD_OVSHOOT,13
$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
$GPS1,030317,102800,959.4191,-12443.1113,19,1.4,19,9.0,0.2,0.0,5,5.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.38
$_SM_ANGLEo,-71.7
$GPS2,030317,104148,959.4615,-12443.1895,3,1.1,5,9.0,0.3,39.3,6,3.6
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,79.4,4808,-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,-107.1,109,2768,1102,1018,0.0,0.0,0,104,0.00,0.00,-79.85,0.000,16390,0.000,0.000,108,2771,3477,3468,3486,0,0,0,0,0,0,14.47,12.78,14.39
$GC,108,-0.93,-107.1,108,2768,3469,3486,4.1,-11.4,3,131,12.35,2.50,0.00,0.000,2564,0.389,0.034,2591,1322,3478,3470,3486,0,0,0,0,0,0,13.85,14.28,14.22
$GC,139,0.06,-107.1,2593,1324,3473,3486,21.3,-47.4,8,144,1.17,2.90,0.00,0.000,3206,0.216,0.127,2895,2766,3479,3472,3486,0,0,0,0,0,0,13.87,13.93,14.16
$GC,469,-0.43,-107.1,2895,2767,3473,3485,44.5,-7.1,22,474,0.38,2.53,0.00,0.000,4772,0.107,0.041,2765,1356,3478,3472,3485,0,0,0,0,0,0,13.86,14.02,13.98
$GC,496,-0.82,-107.1,2766,1354,3473,3486,46.7,-8.1,26,502,0.30,2.80,0.00,0.000,5254,0.053,0.113,2612,2767,3478,3472,3485,0,0,0,0,0,0,14.18,13.85,14.28
$GC,832,-0.71,-107.1,2612,2773,3476,3486,84.4,-9.0,41,837,0.17,2.20,0.00,0.000,2436,0.217,0.177,2657,3824,3479,3475,3484,0,0,0,0,0,0,13.59,13.83,13.76
$GC,860,-0.71,-107.1,2656,3824,3476,3486,86.9,-8.9,45,865,0.00,1.88,0.00,0.000,1030,0.000,0.061,2657,2744,3480,3476,3484,0,0,0,0,0,0,14.26,14.20,14.28
$GC,1196,-0.71,-107.1,2657,2745,3478,3485,115.2,-8.3,57,1201,0.00,2.42,0.00,0.000,516,0.000,0.041,2657,1376,3481,3476,3487,0,0,0,0,0,0,14.71,13.93,14.73
$GC,1230,-0.71,-107.1,2657,1376,3475,3484,117.9,-7.8,62,1236,0.00,2.75,0.00,0.000,1030,0.000,0.112,2648,2766,3481,3477,3485,0,0,0,0,0,0,14.18,13.90,14.23
$GC,1588,-0.71,-107.1,2648,2767,3478,3482,148.4,-8.7,71,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2766,3479,3476,3482,0,0,0,0,0,0,14.71,14.71,14.71
$GC,1924,-0.71,-107.1,2648,2767,3478,3478,177.0,-8.2,77,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2766,3477,3477,3478,0,0,0,0,0,0,14.65,14.65,14.65
$GC,2260,-0.71,-107.1,2648,2767,3478,3473,203.6,-8.0,83,2265,0.00,2.50,0.00,0.000,516,0.000,0.041,2646,1373,3474,3476,3473,0,0,0,0,0,0,14.66,13.83,14.66
$GC,2294,-0.71,-107.1,2649,1372,3477,3482,206.5,-7.9,88,2299,0.10,2.80,0.00,0.000,3078,0.230,0.115,2670,2762,3474,3476,3473,0,0,0,0,0,0,13.94,13.93,14.16
$GC,2653,-0.79,-107.1,2671,2762,3477,3469,230.9,-7.0,97,2657,0.00,2.53,0.00,0.000,676,0.000,0.042,2670,1375,3471,3477,3465,0,0,0,0,0,0,14.65,13.83,14.65
$GC,2709,-0.89,-107.1,2671,1374,3477,3468,234.9,-6.9,105,2714,0.10,2.78,0.00,0.000,5286,0.112,0.113,2581,2760,3471,3476,3467,0,0,0,0,0,0,14.19,13.92,14.28
$GC,3044,-0.81,-107.1,2581,2760,3477,3462,270.8,-10.8,118,3050,0.17,2.22,0.00,0.000,2436,0.223,0.177,2624,3825,3469,3476,3462,0,0,0,0,0,0,13.45,13.71,13.61
$GC,3120,-0.81,-107.1,2625,3825,3477,3462,277.8,-8.7,129,3125,0.00,1.90,0.00,0.000,1030,0.000,0.062,2632,2759,3468,3476,3461,0,0,0,0,0,0,14.20,14.14,14.22
$GC,3436,-0.81,-107.1,2625,2760,3477,3458,303.6,-8.2,139,3441,0.00,2.53,0.00,0.000,516,0.000,0.042,2625,1362,3466,3476,3456,0,0,0,0,0,0,14.70,13.84,14.70
$GC,3492,-0.81,-107.1,2625,1361,3477,3457,308.5,-9.0,147,3497,0.00,2.80,0.00,0.000,1030,0.000,0.107,2615,2750,3466,3476,3456,0,0,0,0,0,0,14.13,13.86,14.18
$GC,3828,-0.81,-107.1,2616,2755,3477,3453,342.5,-10.3,160,3833,0.00,2.25,0.00,0.000,260,0.000,0.177,2607,3828,3463,3476,3451,0,0,0,0,0,0,14.64,13.83,14.64
$GC,3911,-0.81,-107.1,2607,3829,3478,3451,352.0,-11.1,172,3916,0.10,1.92,0.00,0.000,3078,0.224,0.063,2635,2749,3463,3476,3451,0,0,0,0,0,0,13.82,14.15,14.02
$GC,4276,-0.81,-107.1,2636,2750,3478,3447,387.2,-9.6,182,4282,0.00,2.53,0.00,0.000,516,0.000,0.042,2635,1358,3461,3477,3446,0,0,0,0,0,0,14.64,13.86,14.64
$GC,4380,-0.81,-107.1,2636,1357,3477,3446,396.5,-8.2,197,4387,0.00,2.83,0.00,0.000,1030,0.000,0.106,2625,2767,3459,3473,3445,0,0,0,0,0,0,14.16,13.89,14.22
$GC,4724,-0.81,-107.1,2625,2772,3477,3443,425.1,-8.3,204,4725,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2766,3459,3476,3442,0,0,0,0,0,0,14.62,14.62,14.63
$GC,5060,-0.81,-107.1,2625,2768,3475,3439,451.9,-8.1,210,5066,0.00,2.60,0.00,0.000,516,0.000,0.042,2625,1358,3457,3476,3439,0,0,0,0,0,0,14.63,13.86,14.63
$GC,5101,-0.81,-107.1,2624,1359,3477,3438,455.6,-8.2,216,5106,0.00,2.80,0.00,0.000,1030,0.000,0.107,2616,2750,3457,3476,3438,0,0,0,0,0,0,14.16,13.88,14.21
$GC,5452,-0.81,-107.1,2615,2751,3477,3436,483.0,-7.8,224,5457,0.00,2.28,0.00,0.000,260,0.000,0.180,2608,3825,3456,3476,3436,0,0,0,0,0,0,14.70,13.81,14.69
$GC,5508,-0.81,-107.1,2608,3825,3477,3437,487.7,-8.0,232,5513,0.10,1.95,0.00,0.000,3078,0.222,0.067,2636,2743,3456,3476,3436,0,0,0,0,0,0,13.79,14.14,14.02
$GC,5844,-0.81,-107.1,2637,2743,3476,3433,510.4,-6.6,245,5849,0.00,2.53,0.00,0.000,548,0.000,0.041,2636,1355,3454,3476,3432,0,0,0,0,0,0,14.62,13.88,14.62
$GC,5920,-0.81,-107.1,2637,1356,3477,3432,516.1,-7.2,256,5925,0.00,2.80,0.00,0.000,1062,0.000,0.106,2626,2759,3458,3485,3432,0,0,0,0,0,0,14.16,13.88,14.21
$GC,6236,-0.81,-107.1,2627,2753,3476,3430,541.6,-8.1,266,6242,0.00,2.25,0.00,0.000,260,0.000,0.176,2618,3824,3452,3475,3429,0,0,0,0,0,0,14.62,13.83,14.62
$GC,6263,-0.81,-107.1,2618,3825,3477,3429,544.1,-9.0,270,6269,0.00,1.95,0.00,0.000,1030,0.000,0.065,2617,2744,3451,3475,3428,0,0,0,0,0,0,14.21,14.14,14.22
$GC,6629,-0.81,-107.1,2618,2745,3473,3429,576.8,-9.0,280,6633,0.00,2.53,0.00,0.000,516,0.000,0.041,2618,1358,3450,3471,3429,0,0,0,0,0,0,14.61,13.88,14.61
$GC,6704,-0.81,-107.1,2618,1358,3472,3430,584.1,-8.7,291,6709,0.00,2.78,0.00,0.000,1030,0.000,0.104,2609,2738,3452,3471,3433,0,0,0,0,0,0,14.15,13.86,14.20
$GC,7021,-0.81,-107.1,2609,2738,3470,3430,615.3,-10.1,301,7025,0.00,2.28,0.00,0.000,260,0.000,0.172,2601,3824,3449,3470,3428,0,0,0,0,0,0,14.61,13.81,14.61
$GC,7055,-0.81,-107.1,2601,3825,3471,3428,619.0,-10.4,306,7061,0.12,1.95,0.00,0.000,3078,0.217,0.063,2635,2732,3449,3470,3428,0,0,0,0,0,0,13.78,14.16,14.02
$GC,7412,-0.81,-107.1,2636,2733,3472,3426,650.3,-8.7,315,7417,0.00,2.50,0.00,0.000,516,0.000,0.041,2635,1360,3447,3470,3425,0,0,0,0,0,0,14.68,13.81,14.68
$GC,7482,-0.89,-107.1,2636,1360,3471,3426,656.6,-8.6,325,7487,0.00,2.78,0.00,0.000,1158,0.000,0.103,2626,2745,3452,3479,3425,0,0,0,0,0,0,14.16,13.88,14.21
$GC,7804,-0.89,-107.1,2626,2746,3469,3424,683.2,-8.3,336,7809,0.00,2.28,0.00,0.000,260,0.000,0.176,2617,3828,3446,3468,3425,0,0,0,0,0,0,14.61,13.83,14.63
$GC,7838,-0.89,-107.1,2618,3829,3466,3425,686.4,-9.2,341,7843,0.00,1.98,0.00,0.000,1030,0.000,0.064,2616,2735,3446,3467,3425,0,0,0,0,0,0,14.19,14.12,14.21
$GC,8197,-0.89,-107.1,2617,2735,3468,3423,713.9,-7.5,350,8198,0.00,0.00,0.00,0.000,38,0.000,0.000,2616,2734,3444,3467,3422,0,0,0,0,0,0,14.66,14.66,14.66
$GC,8532,-0.89,-107.1,2617,2737,3466,3422,738.7,-7.4,356,8537,0.00,2.33,0.00,0.000,292,0.000,0.171,2609,3822,3443,3464,3422,0,0,0,0,0,0,14.66,13.77,14.66
$GC,8615,-0.89,-107.1,2610,3822,3465,3426,745.8,-8.2,368,8620,0.00,1.95,0.00,0.000,1030,0.000,0.065,2608,2747,3442,3463,3421,0,0,0,0,0,0,14.20,14.12,14.21
$GC,8981,-0.89,-107.1,2609,2747,3464,3421,777.2,-8.8,378,8986,0.00,2.55,0.00,0.000,516,0.000,0.041,2608,1348,3442,3464,3420,0,0,0,0,0,0,14.58,13.91,14.59
$GC,9042,-0.89,-107.1,2609,1349,3465,3420,783.0,-8.7,387,9047,0.00,2.83,0.00,0.000,1030,0.000,0.104,2600,2753,3441,3464,3419,0,0,0,0,0,0,14.14,13.85,14.19
$STATE,9256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9256,begin apogee
$GC,9267,-0.23,0.0,2599,2214,3465,3419,804.6,-10.1,397,9385,0.80,0.10,115.00,1.794,10244,0.179,0.221,2820,2263,3050,3090,3011,0,0,0,0,0,0,13.78,13.83,13.12
$STATE,9386,end apogee,CONTROL_FINISHED_OK
$STATE,9386,begin climb
$GC,9391,0.93,107.1,2821,2262,3084,3000,809.8,0.0,399,9521,1.15,2.58,117.85,1.746,10756,0.094,0.050,3176,870,2622,2683,2561,0,0,0,0,0,0,13.69,13.80,13.02
$GC,9620,0.87,159.4,3182,870,2679,2540,808.2,5.1,434,9682,0.00,2.58,58.15,1.746,9382,0.000,0.075,3182,2241,2416,2493,2339,0,0,0,0,0,0,14.07,13.87,13.20
$GC,10045,0.76,159.4,3182,2241,2484,2310,774.0,8.7,452,10050,0.10,2.88,0.00,0.000,4484,0.252,0.154,3149,3657,2396,2484,2308,0,0,0,0,0,0,13.87,13.93,14.04
$GC,10064,0.65,159.4,3150,3658,2485,2310,772.0,9.0,455,10069,0.17,2.45,0.00,0.000,5254,0.230,0.054,3112,2256,2395,2483,2308,0,0,0,0,0,0,13.90,14.26,14.19
$GC,10380,0.67,176.4,3114,2250,2484,2307,750.2,6.9,465,10398,0.00,0.00,16.83,1.838,8230,0.000,0.000,3113,2251,2347,2436,2259,0,0,0,0,0,0,14.66,14.29,13.45
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$STATE,19883,end climb,SURFACE_DEPTH_REACHED
$STATE,19883,begin surface coast
$FINISH,-1.2,1.022028
$STATE,19911,end surface coast,CONTROL_FINISHED_OK
$STATE,19911,begin surface
$SM_CCo,19938,51.22,0.148,0,0,1056,500.39
$SM_GC,-2.26,9.55,1.08,51.22,0.088,0.132,0.148,152,2767,1056,-8.38,-0.48,500.39,0,0,0,0,0,0,14.25,13.79,14.07
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$TT8_MAMPS,0.03745,0.286118
$HUMID,57.48
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,21.50
$XPDR_PINGS,0
$SC_FREEKB,3619424
$PM_FREEKB,51182912
$24V_AH,12.78,256.755
$10V_AH,12.04,0.000
$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
$DEVICE_SECS,27.800,211.075,465.400,51.225,0.000,0.000,0.000,406.375,0.000,0.000,6.495,0.000,16752.020,780.337,2515.156,749.781,0.000,1971.788,0.000,1564.167,0.000,0.839,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19980.000,19925.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.638,2.449,0.000,0.000
$MEM,334776
$DATA_FILE_SIZE,33303,880
$CAP_FILE_SIZE,156075,0
$CFSIZE,1024409600,894763008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,272.63,1
$GPS,030317,161630,959.679,-12441.772,28,0.9,28,9.0,0.8,148.7,9,3.8