version: 66.13
glider: 220
mission: 6
dive: 758
start: 3 3 117 22 1 48
data:
$ID,220
$MISSION,6
$DIVE,758
$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,48
$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
$GPS1,030317,214725,959.9879,-12440.6924,46,1.3,59,9.0,0.4,156.0,7,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.15
$_SM_ANGLEo,-68.3
$GPS2,030317,220122,959.9304,-12440.8320,1,0.9,3,9.0,0.3,229.1,9,10.0
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,313.1,49788,-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,-107.1,108,2786,1102,1016,0.0,0.0,0,102,0.00,0.00,-79.85,0.000,16390,0.000,0.000,107,2785,3479,3469,3489,0,0,0,0,0,0,14.47,12.62,14.39
$GC,107,-0.93,-107.1,108,2787,3471,3488,4.2,-10.9,3,124,12.10,2.12,0.00,0.000,2308,0.382,0.159,2584,3829,3479,3471,3488,0,0,0,0,0,0,13.88,14.00,14.24
$GC,313,-0.63,-107.1,2585,3830,3473,3488,63.8,-23.2,33,319,0.40,1.83,0.00,0.000,3206,0.233,0.057,2689,2727,3480,3472,3488,0,0,0,0,0,0,13.69,14.19,14.02
$GC,636,-0.63,-107.1,2690,2727,3476,3489,88.7,-5.7,46,637,0.00,0.00,0.00,0.000,38,0.000,0.000,2689,2727,3481,3475,3487,0,0,0,0,0,0,14.68,14.68,14.68
$GC,972,-0.63,-107.1,2689,2728,3477,3489,112.9,-7.0,55,977,0.00,2.35,0.00,0.000,292,0.000,0.180,2680,3829,3481,3476,3487,0,0,0,0,0,0,14.66,13.88,14.66
$GC,1020,-0.63,-107.1,2681,3830,3477,3487,116.5,-7.8,62,1027,0.00,1.85,0.00,0.000,1030,0.000,0.063,2680,2799,3482,3476,3488,0,0,0,0,0,0,14.12,14.09,14.14
$GC,1365,-0.63,-107.1,2681,2800,3477,3487,139.6,-6.6,69,1371,0.00,2.58,0.00,0.000,548,0.000,0.044,2680,1360,3485,3476,3494,0,0,0,0,0,0,14.64,13.91,14.66
$GC,1478,-0.72,-107.1,2681,1360,3476,3486,148.6,-7.3,85,1484,0.00,2.80,0.00,0.000,1190,0.000,0.115,2671,2760,3480,3476,3485,0,0,0,0,0,0,14.16,13.90,14.21
$GC,1814,-0.72,-107.1,2671,2761,3477,3480,172.9,-7.1,98,1815,0.00,0.00,0.00,0.000,38,0.000,0.000,2671,2761,3478,3476,3480,0,0,0,0,0,0,14.71,14.71,14.71
$GC,2150,-0.79,-107.1,2672,2760,3477,3477,197.1,-7.4,104,2155,0.00,2.58,0.00,0.000,676,0.000,0.046,2667,1359,3475,3476,3475,0,0,0,0,0,0,14.70,13.86,14.70
$GC,2198,-0.89,-107.1,2672,1359,3477,3476,201.3,-8.6,111,2205,0.10,2.83,0.00,0.000,5254,0.111,0.118,2580,2750,3475,3476,3474,0,0,0,0,0,0,14.21,13.93,14.28
$GC,2542,-0.80,-107.1,2581,2750,3476,3470,239.2,-11.0,118,2547,0.17,2.25,0.00,0.000,2436,0.226,0.177,2625,3825,3472,3476,3469,0,0,0,0,0,0,13.47,13.74,13.62
$GC,2576,-0.80,-107.1,2625,3824,3476,3471,242.7,-9.7,123,2581,0.00,1.90,0.00,0.000,1030,0.000,0.060,2625,2702,3472,3476,3469,0,0,0,0,0,0,14.23,14.19,14.25
$GC,2934,-0.80,-107.1,2622,2703,3478,3463,269.2,-7.1,132,2935,0.00,0.00,0.00,0.000,38,0.000,0.000,2624,2702,3469,3476,3463,0,0,0,0,0,0,14.71,14.71,14.71
$GC,3270,-0.80,-107.1,2624,2702,3477,3460,296.1,-8.2,138,3275,0.00,2.40,0.00,0.000,260,0.000,0.170,2616,3826,3465,3475,3455,0,0,0,0,0,0,14.71,13.76,14.71
$GC,3311,-0.80,-107.1,2617,3826,3476,3460,300.0,-9.1,144,3316,0.00,1.90,0.00,0.000,1030,0.000,0.061,2615,2747,3467,3476,3459,0,0,0,0,0,0,14.23,14.17,14.24
$GC,3662,-0.80,-107.1,2614,2748,3476,3454,334.0,-10.1,152,3667,0.00,2.50,0.00,0.000,516,0.000,0.041,2616,1365,3465,3476,3454,0,0,0,0,0,0,14.70,13.85,14.69
$GC,3696,-0.80,-107.1,2616,1366,3476,3453,337.9,-11.3,157,3702,0.12,2.80,0.00,0.000,3078,0.223,0.111,2641,2755,3464,3476,3452,0,0,0,0,0,0,13.89,13.90,14.13
$GC,4054,-0.80,-107.1,2641,2756,3476,3449,370.0,-8.7,166,4059,0.00,2.25,0.00,0.000,260,0.000,0.177,2633,3826,3462,3475,3450,0,0,0,0,0,0,14.71,13.81,14.71
$GC,4137,-0.80,-107.1,2634,3825,3477,3449,377.4,-8.5,178,4142,0.00,1.88,0.00,0.000,1030,0.000,0.060,2632,2744,3462,3475,3449,0,0,0,0,0,0,14.22,14.17,14.23
$GC,4502,-0.80,-107.1,2635,2744,3476,3445,407.9,-8.4,188,4507,0.00,2.47,0.00,0.000,516,0.000,0.041,2633,1375,3459,3475,3444,0,0,0,0,0,0,14.63,13.85,14.63
$GC,4585,-0.80,-107.1,2632,1375,3476,3445,414.9,-8.5,200,4590,0.00,2.78,0.00,0.000,1030,0.000,0.111,2622,2757,3458,3473,3443,0,0,0,0,0,0,14.17,13.88,14.19
$GC,4950,-0.80,-107.1,2624,2754,3476,3441,447.3,-9.0,210,4955,0.00,2.53,0.00,0.000,516,0.000,0.041,2622,1379,3457,3475,3440,0,0,0,0,0,0,14.69,13.89,14.69
$GC,5006,-0.80,-107.1,2623,1378,3476,3441,452.6,-9.2,218,5011,0.00,2.78,0.00,0.000,1030,0.000,0.113,2613,2748,3457,3475,3439,0,0,0,0,0,0,14.18,13.90,14.23
$GC,5342,-0.80,-107.1,2613,2751,3476,3438,484.8,-9.7,231,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2751,3455,3474,3437,0,0,0,0,0,0,14.61,14.61,14.62
$GC,5678,-0.80,-107.1,2613,2752,3476,3433,516.3,-9.3,237,5684,0.00,2.55,0.00,0.000,516,0.000,0.042,2612,1373,3453,3475,3432,0,0,0,0,0,0,14.63,13.83,14.63
$GC,5719,-0.80,-107.1,2616,1374,3476,3432,520.3,-8.9,243,5724,0.12,2.80,0.00,0.000,3078,0.224,0.111,2638,2760,3455,3479,3432,0,0,0,0,0,0,13.90,13.92,14.14
$GC,6070,-0.80,-107.1,2638,2761,3476,3431,547.4,-7.6,251,6071,0.00,0.00,0.00,0.000,38,0.000,0.000,2638,2760,3453,3475,3431,0,0,0,0,0,0,14.62,14.62,14.62
$GC,6406,-0.80,-107.1,2638,2761,3476,3428,567.8,-5.8,257,6412,0.00,2.25,0.00,0.000,292,0.000,0.175,2630,3829,3451,3475,3428,0,0,0,0,0,0,14.69,13.76,14.69
$GC,6643,-0.80,-107.1,2631,3829,3472,3429,582.8,-6.7,291,6648,0.00,1.90,0.00,0.000,1062,0.000,0.067,2629,2769,3449,3472,3427,0,0,0,0,0,0,14.21,14.14,14.23
$GC,6966,-0.80,-107.1,2630,2769,3471,3429,604.4,-6.8,302,6971,0.00,2.22,0.00,0.000,292,0.000,0.168,2622,3823,3448,3470,3427,0,0,0,0,0,0,14.67,13.80,14.67
$GC,7158,-0.80,-107.1,2622,3824,3471,3427,619.5,-8.2,329,7164,0.00,1.92,0.00,0.000,1030,0.000,0.063,2620,2743,3448,3470,3427,0,0,0,0,0,0,14.14,14.08,14.16
$GC,7473,-0.80,-107.1,2620,2742,3468,3427,644.2,-7.7,339,7478,0.00,2.28,0.00,0.000,292,0.000,0.165,2612,3823,3447,3468,3426,0,0,0,0,0,0,14.59,13.84,14.59
$GC,7626,-0.80,-107.1,2615,3824,3468,3426,657.0,-8.5,361,7632,0.00,1.88,0.00,0.000,1030,0.000,0.064,2614,2769,3446,3463,3430,0,0,0,0,0,0,14.19,14.12,14.21
$GC,7977,-0.80,-107.1,2621,2773,3467,3423,684.9,-8.0,369,7983,0.00,2.22,0.00,0.000,260,0.000,0.166,2607,3823,3445,3466,3424,0,0,0,0,0,0,14.68,13.80,14.66
$GC,8155,-0.80,-107.1,2608,3822,3465,3425,699.9,-8.7,394,8160,0.10,1.90,0.00,0.000,3078,0.224,0.065,2635,2767,3443,3464,3423,0,0,0,0,0,0,13.78,14.13,14.01
$GC,8484,-0.80,-107.1,2635,2769,3466,3422,725.0,-7.5,406,8488,0.00,2.25,0.00,0.000,292,0.000,0.171,2627,3828,3442,3464,3421,0,0,0,0,0,0,14.65,13.80,14.66
$GC,8573,-0.80,-107.1,2627,3829,3465,3421,732.4,-8.0,419,8578,0.00,1.92,0.00,0.000,1030,0.000,0.064,2626,2769,3440,3464,3416,0,0,0,0,0,0,14.17,14.07,14.20
$GC,8931,-0.80,-107.1,2627,2769,3464,3418,759.8,-7.6,428,8936,0.00,2.22,0.00,0.000,292,0.000,0.168,2619,3822,3441,3463,3420,0,0,0,0,0,0,14.58,13.81,14.58
$GC,9049,-0.80,-107.1,2618,3824,3463,3420,769.3,-7.8,445,9055,0.00,1.88,0.00,0.000,1030,0.000,0.065,2618,2783,3441,3462,3420,0,0,0,0,0,0,14.21,14.14,14.21
$GC,9380,-0.80,-107.1,2619,2784,3462,3419,793.0,-7.1,457,9385,0.00,2.20,0.00,0.000,292,0.000,0.168,2612,3827,3440,3462,3419,0,0,0,0,0,0,14.64,13.82,14.64
$STATE,9472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9472,begin apogee
$GC,9484,-0.23,0.0,2616,2221,3462,3419,800.4,-7.5,471,9603,0.77,0.10,115.55,1.772,10244,0.184,0.231,2824,2265,3049,3089,3009,0,0,0,0,0,0,13.73,13.81,13.16
$STATE,9604,end apogee,CONTROL_FINISHED_OK
$STATE,9604,begin climb
$GC,9609,0.93,107.1,2825,2267,3083,2998,803.8,0.0,473,9739,1.12,2.62,119.00,1.717,10756,0.092,0.051,3180,845,2623,2684,2563,0,0,0,0,0,0,13.73,13.80,13.05
$GC,9886,0.83,116.8,3180,848,2676,2535,794.4,7.2,515,9897,0.00,2.60,3.17,1.056,9382,0.000,0.076,3180,2240,2582,2648,2517,0,0,0,0,0,0,14.14,13.94,12.97
$GC,10258,0.70,125.1,3180,2241,2654,2535,767.1,7.3,526,10282,0.15,2.88,15.77,1.860,12708,0.246,0.152,3134,3657,2540,2608,2473,0,0,0,0,0,0,13.70,14.07,13.46
$GC,10387,0.60,125.8,3134,3657,2609,2468,757.7,7.7,544,10392,0.17,2.47,0.00,0.000,5286,0.230,0.052,3099,2237,2536,2608,2465,0,0,0,0,0,0,13.84,14.23,14.14
$GC,10709,0.66,174.0,3099,2234,2609,2462,739.8,5.3,555,10770,0.00,2.97,56.42,1.711,8484,0.000,0.153,3098,3664,2350,2429,2271,0,0,0,0,0,0,14.60,14.04,13.37
$GC,10806,0.67,178.0,3098,3663,2423,2259,733.9,7.5,569,10812,0.00,2.50,0.00,0.000,1062,0.000,0.052,3107,2260,2340,2422,2258,0,0,0,0,0,0,14.14,14.07,14.16
$GC,11150,0.69,193.2,3107,2253,2423,2249,710.0,7.0,576,11174,0.00,2.50,19.42,1.808,8740,0.000,0.059,3117,860,2274,2362,2186,0,0,0,0,0,0,14.62,14.19,13.50
$GC,11206,0.71,209.9,3118,861,2358,2172,706.0,6.9,584,11231,0.00,2.62,18.25,1.768,9254,0.000,0.078,3117,2255,2207,2296,2119,0,0,0,0,0,0,14.19,13.96,13.34
$GC,11541,0.71,209.9,3118,2255,2291,2100,678.8,8.2,597,11546,0.00,2.88,0.00,0.000,260,0.000,0.160,3117,3659,2195,2292,2098,0,0,0,0,0,0,14.59,13.90,14.59
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$STATE,20100,end climb,SURFACE_DEPTH_REACHED
$STATE,20100,begin surface coast
$FINISH,-1.2,1.021976
$STATE,20128,end surface coast,CONTROL_FINISHED_OK
$STATE,20128,begin surface
$SM_CCo,20155,47.03,0.149,0,0,1057,500.39
$SM_GC,-2.01,9.52,1.05,47.03,0.086,0.119,0.149,186,2780,1057,-8.40,-0.11,500.39,0,0,0,0,0,0,14.16,13.81,14.09
$IRIDIUM_FIX,953.88,-12440.32,030317,162332
$TT8_MAMPS,0.03745,0.442659
$HUMID,57.56
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,21.40
$XPDR_PINGS,0
$SC_FREEKB,3618656
$PM_FREEKB,51158592
$24V_AH,12.62,257.343
$10V_AH,12.06,0.000
$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
$DEVICE_SECS,25.375,190.525,481.975,47.025,0.000,0.000,0.000,417.100,0.000,0.000,5.366,0.000,16878.357,766.239,2633.482,743.727,0.000,2008.418,0.000,1663.721,0.000,0.841,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.569,2.447,0.000,0.000
$MEM,334724
$DATA_FILE_SIZE,33416,950
$CAP_FILE_SIZE,155169,0
$CFSIZE,1024409600,894468096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111,284.26,1
$GPS,040317,033930,1001.506,-12442.871,22,0.8,22,9.0,0.8,192.3,10,4.6