version: 66.13
glider: 220
mission: 6
dive: 821
start: 3 17 117 23 29 42
data:
$ID,220
$MISSION,6
$DIVE,821
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$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,180
$T_MISSION,300
$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,100
$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,30
$PITCH_AD_RATE,100
$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,29
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,100
$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,1
$VBD_PUMP_AD_RATE_APOGEE,1
$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,9.6999998
$MINV_10V,9.6999998
$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,1
$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
$GPS1,170317,232001,958.2418,-12445.5625,6,0.9,19,9.0,0.2,0.0,8,5.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.75
$_SM_ANGLEo,-68.2
$GPS2,170317,232915,958.2708,-12445.7139,3,0.9,5,9.0,0.7,284.9,8,7.1
$SPEED_LIMITS,0.144,0.169
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,73.4,9843,-20.3,-8.333,-26.24,1745
$D_GRID,450
$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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,14,-1.04,-97.3,138,2785,1103,1016,0.0,0.0,0,97,0.00,0.00,-79.35,0.000,16390,0.000,0.000,131,2786,3438,3423,3454,0,0,0,0,0,0,11.21,10.49,11.21
$GC,102,-1.04,-97.3,132,2787,3425,3455,0.5,-10.8,3,127,19.27,3.35,0.00,0.000,2564,0.386,0.031,2555,1351,3440,3425,3456,0,0,0,0,0,0,10.86,11.02,11.05
$GC,142,-0.17,-97.3,2556,1351,3428,3456,20.9,-46.6,9,149,1.62,3.70,0.00,0.000,3206,0.246,0.098,2839,2774,3441,3427,3455,0,0,0,0,0,0,10.92,10.97,11.07
$GC,457,-0.52,-97.3,2840,2774,3431,3456,46.4,-6.6,21,462,0.30,3.33,0.00,0.000,4772,0.054,0.036,2739,1354,3442,3430,3455,0,0,0,0,0,0,11.07,11.05,11.10
$GC,527,-0.73,-97.3,2739,1355,3431,3455,50.7,-5.4,31,532,0.17,3.60,0.00,0.000,5286,0.060,0.092,2659,2761,3442,3430,3455,0,0,0,0,0,0,11.09,10.99,11.12
$GC,849,-0.73,-97.3,2659,2762,3435,3454,78.8,-7.6,44,854,0.00,3.30,0.00,0.000,548,0.000,0.036,2658,1350,3443,3433,3454,0,0,0,0,0,0,11.23,11.05,11.23
$GC,891,-0.80,-97.3,2659,1350,3434,3455,83.0,-5.1,50,897,0.00,3.60,0.00,0.000,1190,0.000,0.090,2648,2760,3444,3434,3454,0,0,0,0,0,0,11.10,10.98,11.11
$GC,1241,-0.80,-97.3,2649,2760,3435,3456,109.0,-9.3,62,1247,0.00,2.83,0.00,0.000,260,0.000,0.148,2641,3828,3444,3434,3454,0,0,0,0,0,0,11.24,10.97,11.25
$GC,1332,-0.80,-97.3,2641,3828,3435,3456,116.1,-8.1,75,1337,0.00,2.42,0.00,0.000,1062,0.000,0.044,2641,2730,3441,3434,3449,0,0,0,0,0,0,11.14,11.10,11.14
$GC,1689,-0.80,-97.3,2641,2731,3435,3452,147.2,-8.9,84,1694,0.00,3.17,0.00,0.000,516,0.000,0.036,2641,1363,3443,3434,3452,0,0,0,0,0,0,11.24,11.06,11.24
$GC,1731,-0.89,-97.3,2642,1363,3435,3452,151.1,-9.3,90,1737,0.00,3.53,0.00,0.000,1158,0.000,0.086,2631,2751,3443,3434,3452,0,0,0,0,0,0,11.11,10.99,11.12
$GC,2081,-0.89,-97.3,2631,2751,3434,3450,184.6,-9.6,98,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2751,3441,3434,3448,0,0,0,0,0,0,11.24,11.24,11.24
$GC,2417,-0.89,-97.3,2632,2751,3435,3445,214.7,-9.0,104,2422,0.00,3.28,0.00,0.000,516,0.000,0.037,2631,1367,3439,3434,3444,0,0,0,0,0,0,11.26,11.06,11.24
$GC,2473,-0.98,-97.3,2632,1371,3435,3444,219.8,-9.2,112,2478,0.08,3.55,0.00,0.000,5254,0.110,0.088,2571,2744,3438,3434,3443,0,0,0,0,0,0,11.08,10.98,11.12
$GC,2809,-0.98,-97.3,2570,2745,3435,3438,259.6,-12.0,125,2814,0.00,2.85,0.00,0.000,260,0.000,0.139,2563,3833,3436,3434,3438,0,0,0,0,0,0,11.24,10.98,11.24
$GC,2844,-0.98,-97.3,2563,3833,3434,3440,263.9,-12.5,130,2849,0.00,2.42,0.00,0.000,1030,0.000,0.043,2562,2741,3436,3434,3438,0,0,0,0,0,0,11.14,11.11,11.14
$GC,3201,-0.98,-97.3,2562,2743,3435,3434,307.9,-12.5,139,3206,0.00,3.22,0.00,0.000,516,0.000,0.037,2562,1371,3433,3434,3433,0,0,0,0,0,0,11.24,11.06,11.24
$GC,3222,-0.98,-97.3,2562,1372,3435,3433,310.6,-12.6,142,3228,0.12,3.53,0.00,0.000,3078,0.223,0.086,2575,2748,3433,3434,3433,0,0,0,0,0,0,10.97,11.00,11.11
$GC,3537,-0.98,-97.3,2575,2749,3435,3430,349.5,-12.3,152,3542,0.00,2.83,0.00,0.000,260,0.000,0.135,2568,3833,3432,3434,3430,0,0,0,0,0,0,11.25,10.98,11.25
$GC,3572,-0.98,-97.3,2568,3834,3435,3430,353.9,-12.9,157,3577,0.00,2.42,0.00,0.000,1030,0.000,0.044,2568,2744,3431,3434,3429,0,0,0,0,0,0,11.12,11.10,11.14
$GC,3929,-0.98,-97.3,2568,2745,3434,3427,394.8,-11.2,166,3934,0.00,3.25,0.00,0.000,516,0.000,0.037,2568,1361,3429,3434,3425,0,0,0,0,0,0,11.24,11.06,11.24
$GC,4013,-0.98,-97.3,2568,1361,3433,3426,403.6,-10.2,178,4019,0.00,3.55,0.00,0.000,1030,0.000,0.082,2557,2751,3429,3434,3424,0,0,0,0,0,0,11.12,11.00,11.11
$GC,4377,-0.98,-97.3,2558,2751,3433,3422,442.6,-10.8,188,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2751,3427,3433,3421,0,0,0,0,0,0,11.24,11.24,11.24
$STATE,4484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4484,begin apogee
$GC,4495,-0.23,0.0,2557,2244,3435,3419,455.1,-11.0,190,4607,1.33,0.00,109.07,1.460,10244,0.203,0.000,2819,2242,3050,3089,3012,0,0,0,0,0,0,10.98,11.00,10.47
$STATE,4608,end apogee,CONTROL_FINISHED_OK
$STATE,4609,begin climb
$GC,4613,1.04,97.3,2820,2242,3084,3005,459.4,0.0,192,4733,1.65,3.28,108.90,1.421,10756,0.096,0.046,3215,860,2657,2718,2596,0,0,0,0,0,0,10.97,10.99,10.49
$GC,4836,1.01,151.9,3215,861,2719,2585,455.3,5.1,225,4905,0.00,3.35,62.38,1.405,9382,0.000,0.056,3216,2254,2444,2519,2369,0,0,0,0,0,0,11.07,10.98,10.49
$GC,5225,0.94,151.9,3216,2255,2515,2348,422.8,9.1,245,5230,0.00,3.70,0.00,0.000,388,0.000,0.127,3215,3665,2431,2514,2349,0,0,0,0,0,0,11.19,10.95,11.19
$GC,5294,0.80,151.9,3216,3665,2515,2350,415.2,10.7,255,5299,0.32,3.20,0.00,0.000,5254,0.235,0.037,3167,2254,2431,2514,2348,0,0,0,0,0,0,10.90,11.05,11.07
$GC,5616,0.80,153.3,3168,2252,2515,2345,388.4,8.3,266,5622,0.00,3.33,0.00,0.000,548,0.000,0.051,3178,855,2429,2514,2344,0,0,0,0,0,0,11.21,11.01,11.21
$GC,5658,0.80,153.3,3179,856,2515,2344,384.8,8.6,272,5663,0.00,3.35,0.00,0.000,1030,0.000,0.055,3178,2249,2429,2514,2344,0,0,0,0,0,0,11.10,10.99,11.10
$GC,6008,0.80,153.3,3179,2249,2514,2342,354.8,8.7,280,6013,0.00,3.38,0.00,0.000,516,0.000,0.052,3189,846,2427,2514,2340,0,0,0,0,0,0,11.22,11.02,11.22
$GC,6036,0.80,153.3,3189,846,2515,2341,352.4,8.4,284,6041,0.12,3.40,0.00,0.000,5126,0.198,0.060,3163,2252,2427,2514,2340,0,0,0,0,0,0,10.95,10.98,11.09
$GC,6400,0.82,168.3,3163,2252,2515,2340,324.6,7.4,294,6425,0.00,3.72,17.98,1.278,8484,0.000,0.125,3163,3666,2372,2456,2288,0,0,0,0,0,0,11.21,10.93,10.55
$GC,6456,0.82,168.3,3163,3667,2455,2285,320.1,8.4,302,6462,0.00,3.25,0.00,0.000,1030,0.000,0.040,3174,2246,2368,2453,2284,0,0,0,0,0,0,11.10,11.05,11.11
$GC,6792,0.83,173.9,3174,2244,2455,2279,293.2,8.0,315,6795,0.00,0.00,1.45,0.181,8230,0.000,0.000,3174,2243,2358,2453,2264,0,0,0,0,0,0,11.21,11.09,10.98
$GC,7128,0.84,181.0,3174,2244,2454,2272,266.6,7.9,321,7144,0.00,0.00,14.73,1.213,8230,0.000,0.000,3174,2243,2329,2416,2242,0,0,0,0,0,0,11.23,11.02,10.55
$GC,7464,0.84,181.0,3174,2244,2409,2226,237.0,8.9,327,7469,0.00,3.78,0.00,0.000,260,0.000,0.127,3174,3666,2317,2408,2226,0,0,0,0,0,0,11.22,10.97,11.22
$GC,7541,0.84,181.0,3174,3666,2409,2228,229.4,9.7,338,7546,0.00,3.25,0.00,0.000,1030,0.000,0.038,3185,2238,2316,2407,2226,0,0,0,0,0,0,11.12,11.05,11.13
$GC,7857,0.84,184.6,3186,2234,2409,2226,203.3,8.1,348,7862,0.00,3.28,0.00,0.000,548,0.000,0.052,3195,852,2316,2408,2225,0,0,0,0,0,0,11.21,11.02,11.21
$GC,7919,0.85,192.3,3195,853,2410,2224,198.4,7.9,357,7932,0.00,3.38,7.95,1.101,9254,0.000,0.059,3194,2248,2288,2377,2199,0,0,0,0,0,0,11.10,11.00,10.56
$GC,8248,0.86,197.3,3195,2248,2378,2204,172.2,8.0,369,8260,0.00,3.78,4.72,0.962,8484,0.000,0.132,3195,3672,2270,2353,2188,0,0,0,0,0,0,11.22,10.96,10.50
$GC,8297,0.86,197.3,3195,3673,2353,2201,167.6,9.9,376,8307,0.00,3.25,2.35,0.422,9222,0.000,0.038,3206,2245,2269,2357,2181,0,0,0,0,0,0,11.12,11.07,10.50
$GC,8640,0.86,197.3,3206,2244,2353,2200,134.5,9.7,390,8651,0.00,3.40,2.28,0.382,8708,0.000,0.053,3216,851,2268,2352,2184,0,0,0,0,0,0,11.23,11.02,10.52
$GC,8710,0.86,197.3,3217,850,2353,2195,127.5,9.9,400,8721,0.17,3.40,2.15,0.314,13318,0.210,0.062,3182,2255,2266,2353,2179,0,0,0,0,0,0,10.95,10.99,10.50
$GC,9032,0.86,197.3,3183,2255,2354,2194,99.1,8.7,411,9043,0.00,3.75,2.03,0.175,8452,0.000,0.129,3183,3670,2266,2352,2180,0,0,0,0,0,0,11.23,10.97,10.97
$GC,9088,0.86,198.1,3183,3671,2354,2192,94.5,8.3,419,9095,0.00,3.28,1.95,0.179,9254,0.000,0.040,3193,2240,2262,2352,2172,0,0,0,0,0,0,11.12,11.07,10.96
$GC,9418,0.91,236.4,3194,2238,2354,2193,74.2,6.1,433,9458,0.00,3.33,32.72,0.366,8740,0.000,0.054,3203,851,2111,2194,2029,0,0,0,0,0,0,11.23,11.00,10.85
$GC,9590,0.95,274.5,3204,851,2194,2044,62.3,6.1,457,9631,0.00,3.38,32.12,0.331,9254,0.000,0.060,3203,2244,1961,2043,1879,0,0,0,0,0,0,11.10,11.00,10.86
$GC,9954,1.17,358.3,3204,2245,2044,1885,42.5,3.4,476,10032,0.17,3.80,69.00,0.282,11172,0.063,0.134,3272,3669,1623,1710,1537,0,0,0,0,0,0,11.06,10.94,10.88
$GC,10145,1.23,409.8,3273,3669,1709,1542,34.3,5.3,504,10194,0.00,3.33,41.65,0.252,9254,0.000,0.041,3289,2217,1417,1503,1332,0,0,0,0,0,0,11.10,11.05,10.90
$GC,10514,1.34,415.7,3284,2215,1504,1341,7.8,8.0,523,10528,0.08,3.33,5.62,0.161,10916,0.109,0.057,3352,852,1396,1481,1311,0,0,0,0,0,0,11.06,11.00,10.95
$STATE,10567,end climb,SURFACE_DEPTH_REACHED
$STATE,10567,begin surface coast
$FINISH,1.2,1.021766
$STATE,10579,end surface coast,CONTROL_FINISHED_OK
$STATE,10579,begin surface
$SM_CCo,10613,58.62,0.133,0,0,1058,500.14
$SM_GC,-2.40,12.82,4.88,58.62,0.087,0.084,0.133,204,2773,1058,-8.39,-0.14,500.14,0,0,0,0,0,0,11.02,10.98,10.97
$IRIDIUM_FIX,953.88,-12443.37,170317,200808
$TT8_MAMPS,0.04494,0.290612
$HUMID,59.33
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,22.20
$XPDR_PINGS,1
$SC_FREEKB,3594816
$24V_AH,10.47,277.629
$10V_AH,10.42,0.000
$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,38.250,155.375,519.050,58.625,0.000,0.000,0.000,268.550,0.250,0.000,6.510,0.000,8615.223,752.559,1360.812,491.192,0.000,1527.400,0.000,767.635,0.000,0.547,0.000
$DEVICE_MAMPS,385.560,147.645,1459.620,133.110,0.000,0.000,0.000,210.375,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10638.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.317,0.000,0.000,0.000
$MEM,334712
$DATA_FILE_SIZE,20070,533
$CAP_FILE_SIZE,94312,0
$CFSIZE,1024409600,886145024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.146,281.53,1
$GPS,180317,022839,958.587,-12445.653,31,1.0,31,9.0,1.0,291.0,9,8.0