version: 66.13
glider: 220
mission: 6
dive: 774
start: 3 7 117 15 44 17
data:
$ID,220
$MISSION,6
$DIVE,774
$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,62
$R_STBD_OVSHOOT,15
$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
$GPS1,070317,152924,1009.1921,-12509.8203,33,1.1,33,9.0,0.6,17.5,7,4.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.24
$_SM_ANGLEo,-70.4
$GPS2,070317,154350,1009.3499,-12509.8994,3,0.9,3,9.0,1.0,326.4,8,8.0
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,199.9,24483,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-0.93,-107.1,106,2789,1112,1018,0.0,0.0,0,101,0.00,0.00,-78.32,0.000,16390,0.000,0.000,105,2790,3476,3465,3487,0,0,0,0,0,0,14.50,12.76,14.41
$GC,106,-0.93,-107.1,106,2790,3465,3489,5.0,-12.8,3,123,12.00,2.50,0.00,0.000,2564,0.378,0.035,2590,1371,3477,3468,3487,0,0,0,0,0,0,13.89,14.22,14.24
$GC,236,-0.71,-107.1,2591,1372,3472,3486,42.4,-18.1,22,242,0.32,2.80,0.00,0.000,3206,0.241,0.117,2666,2763,3478,3470,3486,0,0,0,0,0,0,13.74,13.84,14.05
$GC,552,-0.71,-107.1,2666,2765,3473,3486,76.3,-7.2,34,556,0.00,2.22,0.00,0.000,292,0.000,0.182,2658,3823,3478,3471,3486,0,0,0,0,0,0,14.62,13.85,14.62
$GC,585,-0.71,-107.1,2658,3824,3472,3486,78.8,-7.1,39,590,0.00,1.80,0.00,0.000,1062,0.000,0.057,2658,2775,3478,3471,3486,0,0,0,0,0,0,14.25,14.18,14.26
$GC,943,-0.71,-107.1,2658,2774,3473,3487,104.8,-7.6,53,949,0.00,2.50,0.00,0.000,548,0.000,0.041,2658,1366,3479,3472,3487,0,0,0,0,0,0,14.69,13.97,14.69
$GC,1136,-0.71,-107.1,2658,1367,3473,3486,118.1,-6.5,80,1141,0.00,2.78,0.00,0.000,1062,0.000,0.109,2648,2762,3478,3472,3485,0,0,0,0,0,0,14.13,13.84,14.18
$GC,1450,-0.71,-107.1,2648,2763,3473,3485,144.0,-8.5,90,1454,0.00,2.53,0.00,0.000,516,0.000,0.041,2648,1365,3479,3472,3487,0,0,0,0,0,0,14.65,13.94,14.65
$GC,1484,-0.71,-107.1,2648,1364,3473,3483,147.0,-8.4,95,1489,0.10,2.78,0.00,0.000,3078,0.233,0.110,2668,2759,3477,3472,3482,0,0,0,0,0,0,13.90,13.88,14.14
$GC,1842,-0.71,-107.1,2668,2760,3474,3478,174.1,-7.7,104,1847,0.00,2.53,0.00,0.000,548,0.000,0.043,2668,1373,3475,3472,3478,0,0,0,0,0,0,14.65,13.85,14.65
$GC,1876,-0.78,-107.1,2668,1371,3473,3477,176.9,-8.2,109,1882,0.00,2.78,0.00,0.000,1158,0.000,0.113,2659,2750,3474,3472,3476,0,0,0,0,0,0,14.16,13.87,14.21
$GC,2234,-0.78,-107.1,2657,2750,3478,3472,204.7,-7.6,118,2239,0.00,2.55,0.00,0.000,548,0.000,0.043,2659,1363,3471,3472,3471,0,0,0,0,0,0,14.64,13.92,14.64
$GC,2317,-0.78,-107.1,2659,1362,3473,3471,211.0,-7.1,130,2322,0.00,2.80,0.00,0.000,1062,0.000,0.113,2651,2752,3471,3472,3470,0,0,0,0,0,0,14.14,13.85,14.19
$GC,2682,-0.78,-107.1,2651,2752,3473,3467,238.9,-7.7,140,2683,0.00,0.00,0.00,0.000,38,0.000,0.000,2651,2756,3468,3472,3465,0,0,0,0,0,0,14.69,14.69,14.69
$GC,3018,-0.78,-107.1,2651,2752,3473,3462,265.4,-8.0,146,3022,0.00,2.55,0.00,0.000,516,0.000,0.044,2650,1364,3466,3472,3461,0,0,0,0,0,0,14.64,13.90,14.64
$GC,3059,-0.78,-107.1,2651,1364,3473,3460,268.8,-7.9,152,3064,0.00,2.80,0.00,0.000,1030,0.000,0.112,2642,2748,3465,3471,3459,0,0,0,0,0,0,14.12,13.82,14.18
$GC,3410,-0.78,-107.1,2643,2748,3472,3457,297.5,-8.1,160,3415,0.00,2.53,0.00,0.000,516,0.000,0.043,2642,1372,3464,3472,3456,0,0,0,0,0,0,14.70,13.88,14.69
$GC,3466,-0.78,-107.1,2649,1372,3473,3455,302.2,-8.4,168,3471,0.00,2.80,0.00,0.000,1030,0.000,0.112,2633,2752,3463,3472,3455,0,0,0,0,0,0,14.14,13.84,14.19
$GC,3802,-0.78,-107.1,2634,2752,3473,3453,330.5,-8.4,181,3807,0.00,2.53,0.00,0.000,516,0.000,0.043,2633,1372,3461,3472,3451,0,0,0,0,0,0,14.64,13.80,14.64
$GC,3836,-0.78,-107.1,2633,1372,3472,3451,333.5,-8.8,186,3841,0.00,2.78,0.00,0.000,1030,0.000,0.111,2623,2746,3461,3472,3451,0,0,0,0,0,0,14.15,13.85,14.21
$GC,4194,-0.78,-107.1,2624,2746,3471,3448,363.7,-8.5,195,4198,0.00,2.28,0.00,0.000,260,0.000,0.179,2614,3823,3459,3472,3446,0,0,0,0,0,0,14.64,13.79,14.63
$GC,4235,-0.78,-107.1,2615,3823,3472,3447,367.8,-9.2,201,4241,0.10,1.92,0.00,0.000,3078,0.230,0.058,2642,2736,3459,3472,3446,0,0,0,0,0,0,13.72,14.13,13.95
$GC,4586,-0.78,-107.1,2643,2738,3473,3443,394.9,-7.7,209,4592,0.00,2.50,0.00,0.000,548,0.000,0.043,2643,1364,3456,3470,3442,0,0,0,0,0,0,14.69,13.83,14.69
$GC,4648,-0.78,-107.1,2643,1364,3472,3444,401.1,-8.7,218,4653,0.00,2.75,0.00,0.000,1030,0.000,0.102,2633,2741,3457,3472,3442,0,0,0,0,0,0,14.10,13.81,14.15
$GC,4978,-0.78,-107.1,2632,2743,3473,3440,429.2,-8.4,230,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2743,3457,3472,3443,0,0,0,0,0,0,14.66,14.62,14.63
$GC,5314,-0.78,-107.1,2634,2743,3472,3438,456.6,-8.0,236,5319,0.00,2.55,0.00,0.000,516,0.000,0.043,2632,1363,3454,3472,3436,0,0,0,0,0,0,14.68,13.82,14.68
$GC,5348,-0.78,-107.1,2633,1364,3473,3436,459.6,-8.5,241,5354,0.00,2.75,0.00,0.000,1030,0.000,0.103,2623,2742,3454,3472,3437,0,0,0,0,0,0,14.11,13.81,14.16
$GC,5706,-0.78,-107.1,2624,2742,3472,3434,490.4,-8.8,250,5711,0.00,2.28,0.00,0.000,260,0.000,0.170,2614,3826,3451,3471,3431,0,0,0,0,0,0,14.63,13.77,14.63
$GC,5762,-0.78,-107.1,2615,3826,3469,3434,496.0,-10.2,258,5767,0.10,1.95,0.00,0.000,3078,0.225,0.059,2643,2732,3451,3471,3432,0,0,0,0,0,0,13.66,14.13,13.90
$GC,6098,-0.78,-107.1,2644,2735,3472,3432,524.3,-8.3,271,6103,0.00,2.50,0.00,0.000,516,0.000,0.042,2643,1361,3451,3472,3430,0,0,0,0,0,0,14.62,13.85,14.63
$GC,6174,-0.78,-107.1,2651,1362,3472,3430,530.9,-8.1,282,6179,0.00,2.75,0.00,0.000,1030,0.000,0.097,2633,2743,3450,3471,3429,0,0,0,0,0,0,14.09,13.79,14.14
$GC,6490,-0.78,-107.1,2634,2742,3471,3430,556.1,-7.9,292,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2742,3451,3474,3429,0,0,0,0,0,0,14.62,14.63,14.62
$GC,6826,-0.78,-107.1,2634,2743,3469,3430,583.5,-8.3,298,6831,0.00,2.58,0.00,0.000,516,0.000,0.044,2633,1356,3448,3468,3428,0,0,0,0,0,0,14.62,13.81,14.62
$GC,6867,-0.78,-107.1,2634,1355,3469,3430,587.1,-8.3,304,6872,0.00,2.75,0.00,0.000,1030,0.000,0.099,2624,2731,3445,3462,3429,0,0,0,0,0,0,14.09,13.79,14.14
$GC,7218,-0.78,-107.1,2624,2731,3466,3430,617.6,-8.8,312,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2731,3446,3464,3428,0,0,0,0,0,0,14.62,14.59,14.62
$GC,7554,-0.78,-107.1,2624,2731,3465,3428,645.6,-8.2,318,7559,0.00,2.30,0.00,0.000,260,0.000,0.167,2615,3831,3449,3464,3434,0,0,0,0,0,0,14.62,13.69,14.62
$GC,7581,-0.78,-107.1,2616,3831,3465,3427,647.9,-8.3,322,7586,0.10,1.98,0.00,0.000,3078,0.222,0.061,2643,2726,3445,3464,3426,0,0,0,0,0,0,13.73,14.10,13.95
$GC,7947,-0.78,-107.1,2644,2726,3465,3423,672.7,-6.7,332,7951,0.00,2.50,0.00,0.000,548,0.000,0.042,2643,1361,3444,3465,3423,0,0,0,0,0,0,14.61,13.85,14.61
$GC,8029,-0.86,-107.1,2644,1361,3465,3424,678.0,-6.1,344,8034,0.00,2.75,0.00,0.000,1190,0.000,0.094,2634,2744,3443,3464,3423,0,0,0,0,0,0,14.09,13.78,14.13
$GC,8394,-0.86,-107.1,2635,2745,3463,3422,702.0,-6.7,354,8399,0.00,2.58,0.00,0.000,548,0.000,0.043,2633,1359,3442,3462,3422,0,0,0,0,0,0,14.66,13.83,14.66
$GC,8421,-0.86,-107.1,2634,1360,3464,3422,704.0,-7.0,358,8427,0.00,2.72,0.00,0.000,1062,0.000,0.092,2625,2733,3442,3462,3422,0,0,0,0,0,0,14.09,13.81,14.14
$GC,8786,-0.86,-107.1,2626,2735,3461,3422,730.8,-7.6,368,8791,0.00,2.58,0.00,0.000,548,0.000,0.044,2624,1353,3441,3461,3421,0,0,0,0,0,0,14.60,13.85,14.60
$GC,8827,-0.86,-107.1,2624,1353,3461,3422,734.3,-8.2,374,8832,0.00,2.75,0.00,0.000,1030,0.000,0.096,2616,2738,3440,3460,3421,0,0,0,0,0,0,14.09,13.81,14.15
$GC,9178,-0.86,-107.1,2617,2739,3462,3420,761.7,-7.7,382,9179,0.00,0.00,0.00,0.000,38,0.000,0.000,2616,2738,3439,3460,3418,0,0,0,0,0,0,14.60,14.60,14.60
$GC,9514,-0.86,-107.1,2617,2739,3461,3420,788.3,-7.9,388,9519,0.00,2.58,0.00,0.000,516,0.000,0.044,2616,1361,3439,3460,3418,0,0,0,0,0,0,14.66,13.82,14.66
$GC,9555,-0.86,-107.1,2615,1361,3458,3420,791.6,-8.8,394,9560,0.00,2.75,0.00,0.000,1030,0.000,0.096,2607,2736,3439,3460,3418,0,0,0,0,0,0,14.07,13.78,14.13
$STATE,9677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9677,begin apogee
$GC,9688,-0.23,0.0,2607,2216,3461,3420,802.0,-8.3,398,9793,0.80,0.10,95.90,2.687,10244,0.193,0.215,2825,2264,3053,3087,3019,0,0,0,0,1,0,13.78,13.56,12.53
$STATE,9795,end apogee,CONTROL_FINISHED_OK
$STATE,9795,begin climb
$GC,9800,0.93,107.1,2826,2264,3089,3027,805.6,0.0,400,9924,1.15,2.65,108.55,2.733,10756,0.087,0.051,3184,864,2623,2682,2564,0,0,0,0,1,0,13.47,13.54,11.95
$GC,10024,0.85,149.3,3184,871,2683,2579,802.5,5.6,432,10084,0.00,2.70,55.70,1.822,9382,0.000,0.067,3184,2239,2454,2526,2383,0,0,0,0,0,0,13.48,13.30,12.70
$GC,10412,0.73,149.3,3184,2239,2520,2360,770.2,8.8,452,10417,0.12,2.88,0.00,0.000,4484,0.228,0.143,3143,3669,2439,2519,2359,0,0,0,0,0,0,13.83,13.87,13.99
$GC,10453,0.63,149.3,3144,3668,2519,2361,766.2,8.5,458,10458,0.17,2.47,0.00,0.000,5254,0.223,0.050,3107,2250,2439,2519,2359,0,0,0,0,0,0,13.84,14.22,14.14
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$STATE,20080,end climb,SURFACE_DEPTH_REACHED
$STATE,20080,begin surface coast
$FINISH,0.8,1.021956
$STATE,20089,end surface coast,CONTROL_FINISHED_OK
$STATE,20089,begin surface
$SM_CCo,20115,31.25,0.152,0,0,1056,500.14
$SM_GC,-1.94,9.32,1.02,31.25,0.073,0.127,0.152,189,2767,1056,-8.40,-0.48,500.14,0,0,0,0,0,0,14.16,13.83,14.09
$IRIDIUM_FIX,1004.83,-12506.52,070317,094501
$TT8_MAMPS,0.038199,0.187999
$HUMID,58.46
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,21.10
$XPDR_PINGS,2
$SC_FREEKB,3612480
$PM_FREEKB,50976320
$24V_AH,11.95,262.412
$10V_AH,11.58,0.000
$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
$DEVICE_SECS,25.075,219.825,476.175,31.250,0.000,0.000,0.000,439.650,0.500,0.000,4.954,0.000,16916.074,779.521,2529.561,769.302,0.000,1998.038,0.000,1545.728,0.000,0.840,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20159.000,20103.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.590,2.456,0.000,0.000
$MEM,334740
$DATA_FILE_SIZE,30046,866
$CAP_FILE_SIZE,156795,0
$CFSIZE,1024409600,892125184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.063,267.78,1
$GPS,070317,212108,1007.784,-12511.334,25,1.1,25,9.0,1.5,246.1,7,10.0