version: 66.13
glider: 220
mission: 6
dive: 760
start: 3 4 117 9 31 22
data:
$ID,220
$MISSION,6
$DIVE,760
$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,42
$R_STBD_OVSHOOT,11
$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
$GPS1,040317,091700,1003.7101,-12445.0439,21,1.0,21,9.0,1.0,286.4,8,3.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.25
$_SM_ANGLEo,-70.1
$GPS2,040317,093100,1003.8073,-12445.2197,2,0.9,3,9.0,0.1,0.0,10,6.0
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,318.7,39068,-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,-107.1,109,2785,1102,1017,0.0,0.0,0,102,0.00,0.00,-79.50,0.000,16390,0.000,0.000,107,2785,3474,3463,3486,0,0,0,0,0,0,14.45,12.76,14.39
$GC,107,-0.93,-107.1,108,2785,3464,3487,4.5,-11.8,3,124,12.25,2.10,0.00,0.000,2308,0.386,0.146,2584,3828,3475,3465,3486,0,0,0,0,0,0,13.85,14.02,14.23
$GC,230,-0.62,-107.1,2579,3829,3468,3486,46.3,-24.9,21,236,0.43,1.83,0.00,0.000,3206,0.251,0.054,2693,2723,3476,3466,3486,0,0,0,0,0,0,13.72,14.26,14.03
$GC,553,-0.62,-107.1,2693,2723,3471,3486,82.1,-7.0,34,557,0.00,2.33,0.00,0.000,292,0.000,0.173,2684,3824,3477,3470,3485,0,0,0,0,0,0,14.62,13.80,14.62
$GC,789,-0.62,-107.1,2684,3824,3468,3487,97.3,-6.6,68,794,0.00,1.77,0.00,0.000,1062,0.000,0.062,2684,2803,3478,3471,3485,0,0,0,0,0,0,14.20,14.15,14.23
$GC,1112,-0.62,-107.1,2681,2802,3471,3486,119.8,-7.0,76,1117,0.00,2.58,0.00,0.000,548,0.000,0.042,2684,1362,3477,3471,3484,0,0,0,0,0,0,14.70,13.87,14.70
$GC,1154,-0.62,-107.1,2684,1362,3472,3484,123.4,-8.2,82,1158,0.00,2.78,0.00,0.000,1030,0.000,0.109,2675,2767,3478,3471,3485,0,0,0,0,0,0,14.18,13.91,14.22
$GC,1505,-0.62,-107.1,2675,2767,3471,3483,147.0,-6.6,90,1505,0.00,0.00,0.00,0.000,38,0.000,0.000,2674,2767,3476,3472,3481,0,0,0,0,0,0,14.65,14.69,14.66
$GC,1841,-0.62,-107.1,2675,2767,3471,3478,170.8,-7.3,96,1845,0.00,2.55,0.00,0.000,548,0.000,0.044,2674,1369,3473,3470,3476,0,0,0,0,0,0,14.70,13.87,14.70
$GC,1897,-0.71,-107.1,2675,1370,3473,3475,175.3,-7.7,104,1902,0.00,2.83,0.00,0.000,1190,0.000,0.113,2665,2767,3473,3470,3476,0,0,0,0,0,0,14.19,13.91,14.23
$GC,2232,-0.71,-107.1,2666,2767,3471,3472,202.4,-7.9,117,2238,0.00,2.58,0.00,0.000,516,0.000,0.043,2665,1359,3470,3471,3470,0,0,0,0,0,0,14.71,13.88,14.70
$GC,2289,-0.80,-107.1,2666,1359,3471,3471,207.1,-7.7,125,2294,0.00,2.85,0.00,0.000,1190,0.000,0.113,2656,2767,3470,3471,3470,0,0,0,0,0,0,14.21,13.94,14.26
$GC,2624,-0.80,-107.1,2657,2768,3472,3465,238.7,-9.9,138,2629,0.00,2.22,0.00,0.000,260,0.000,0.181,2648,3823,3468,3471,3465,0,0,0,0,0,0,14.64,13.87,14.64
$GC,2658,-0.80,-107.1,2648,3823,3470,3465,242.3,-10.3,143,2663,0.00,1.88,0.00,0.000,1030,0.000,0.054,2648,2742,3467,3470,3464,0,0,0,0,0,0,14.12,14.06,14.13
$GC,3017,-0.80,-107.1,2648,2742,3472,3460,275.6,-8.9,152,3021,0.00,2.47,0.00,0.000,516,0.000,0.041,2648,1372,3465,3471,3460,0,0,0,0,0,0,14.64,13.86,14.64
$GC,3065,-0.80,-107.1,2648,1373,3472,3459,279.5,-7.5,159,3071,0.00,2.78,0.00,0.000,1062,0.000,0.103,2642,2770,3464,3470,3459,0,0,0,0,0,0,14.17,13.91,14.22
$GC,3409,-0.80,-107.1,2642,2771,3472,3455,304.4,-7.2,166,3413,0.00,2.58,0.00,0.000,548,0.000,0.043,2641,1369,3462,3470,3454,0,0,0,0,0,0,14.69,13.84,14.70
$GC,3435,-0.80,-107.1,2642,1368,3471,3455,306.7,-8.0,170,3440,0.00,2.80,0.00,0.000,1030,0.000,0.105,2633,2768,3462,3471,3454,0,0,0,0,0,0,14.18,13.91,14.23
$GC,3800,-0.80,-107.1,2633,2770,3472,3449,335.2,-8.0,180,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2769,3460,3471,3450,0,0,0,0,0,0,14.64,14.64,14.64
$GC,4136,-0.80,-107.1,2633,2770,3472,3446,364.5,-8.7,186,4141,0.00,2.58,0.00,0.000,516,0.000,0.043,2630,1376,3458,3471,3446,0,0,0,0,0,0,14.70,13.81,14.70
$GC,4163,-0.80,-107.1,2633,1375,3472,3447,367.3,-10.4,190,4168,0.00,2.78,0.00,0.000,1030,0.000,0.109,2623,2763,3457,3470,3445,0,0,0,0,0,0,14.18,13.91,14.23
$GC,4528,-0.80,-107.1,2624,2764,3472,3442,400.8,-9.0,200,4533,0.00,2.58,0.00,0.000,516,0.000,0.044,2622,1372,3460,3471,3450,0,0,0,0,0,0,14.69,13.85,14.69
$GC,4576,-0.80,-107.1,2622,1373,3480,3442,405.2,-9.2,207,4583,0.00,2.80,0.00,0.000,1030,0.000,0.111,2613,2758,3456,3470,3442,0,0,0,0,0,0,14.19,13.92,14.23
$GC,4920,-0.80,-107.1,2613,2759,3482,3438,438.7,-9.9,214,4925,0.00,2.22,0.00,0.000,260,0.000,0.177,2605,3822,3454,3470,3438,0,0,0,0,0,0,14.64,13.86,14.64
$GC,4961,-0.80,-107.1,2605,3823,3472,3437,443.2,-10.8,220,4967,0.12,1.88,0.00,0.000,3078,0.223,0.057,2639,2755,3453,3468,3438,0,0,0,0,0,0,13.71,14.09,13.97
$GC,5313,-0.80,-107.1,2640,2755,3471,3437,475.2,-9.0,228,5317,0.00,2.55,0.00,0.000,516,0.000,0.045,2639,1366,3453,3470,3436,0,0,0,0,0,0,14.62,13.85,14.62
$GC,5395,-0.80,-107.1,2640,1366,3472,3437,483.2,-9.1,240,5400,0.00,2.78,0.00,0.000,1030,0.000,0.110,2630,2748,3452,3470,3434,0,0,0,0,0,0,14.16,13.89,14.21
$GC,5760,-0.80,-107.1,2628,2747,3471,3433,515.9,-8.9,250,5765,0.00,2.58,0.00,0.000,516,0.000,0.044,2630,1359,3451,3470,3432,0,0,0,0,0,0,14.61,13.85,14.61
$GC,5816,-0.80,-107.1,2630,1359,3471,3433,521.0,-8.5,258,5821,0.00,2.83,0.00,0.000,1030,0.000,0.112,2621,2751,3450,3470,3431,0,0,0,0,0,0,14.19,13.91,14.23
$GC,6152,-0.80,-107.1,2621,2752,3471,3428,547.9,-7.8,271,6157,0.00,2.25,0.00,0.000,260,0.000,0.178,2612,3826,3449,3470,3428,0,0,0,0,0,0,14.60,13.86,14.60
$GC,6200,-0.80,-107.1,2613,3827,3471,3428,552.3,-8.9,278,6207,0.10,1.92,0.00,0.000,3078,0.217,0.056,2641,2734,3449,3470,3428,0,0,0,0,0,0,13.77,14.12,14.00
$GC,6545,-0.80,-107.1,2641,2735,3469,3428,578.2,-7.9,285,6551,0.00,2.50,0.00,0.000,516,0.000,0.044,2641,1377,3447,3466,3428,0,0,0,0,0,0,14.61,13.88,14.61
$GC,6607,-0.80,-107.1,2642,1377,3468,3429,583.3,-8.1,294,6612,0.00,2.78,0.00,0.000,1030,0.000,0.109,2633,2752,3448,3468,3428,0,0,0,0,0,0,14.16,13.89,14.21
$GC,6937,-0.80,-107.1,2633,2750,3465,3428,611.9,-8.7,306,6942,0.00,2.55,0.00,0.000,516,0.000,0.044,2632,1375,3446,3465,3427,0,0,0,0,0,0,14.61,13.91,14.60
$GC,7013,-0.80,-107.1,2633,1375,3466,3428,619.0,-9.7,317,7019,0.00,2.80,0.00,0.000,1030,0.000,0.112,2623,2757,3445,3465,3426,0,0,0,0,0,0,14.17,13.90,14.23
$GC,7329,-0.80,-107.1,2624,2757,3465,3426,647.3,-9.1,327,7329,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2757,3444,3464,3425,0,0,0,0,0,0,14.67,14.67,14.67
$GC,7665,-0.80,-107.1,2624,2758,3463,3424,676.1,-8.5,333,7670,0.00,2.58,0.00,0.000,516,0.000,0.045,2623,1376,3443,3462,3424,0,0,0,0,0,0,14.60,13.85,14.59
$GC,7727,-0.80,-107.1,2623,1377,3463,3423,681.3,-8.0,342,7732,0.00,2.78,0.00,0.000,1030,0.000,0.114,2615,2744,3442,3462,3423,0,0,0,0,0,0,14.16,13.88,14.21
$GC,8057,-0.80,-107.1,2615,2745,3463,3421,709.1,-8.5,354,8062,0.00,2.55,0.00,0.000,516,0.000,0.045,2614,1370,3440,3461,3420,0,0,0,0,0,0,14.59,13.93,14.59
$GC,8091,-0.80,-107.1,2615,1371,3463,3421,712.3,-9.2,359,8096,0.12,2.78,0.00,0.000,3078,0.232,0.114,2640,2741,3441,3462,3421,0,0,0,0,0,0,13.87,13.89,14.12
$GC,8449,-0.80,-107.1,2641,2740,3462,3421,740.6,-8.0,368,8449,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2741,3440,3462,3419,0,0,0,0,0,0,14.59,14.59,14.59
$GC,8785,-0.80,-107.1,2641,2740,3460,3420,767.3,-7.9,374,8790,0.00,2.55,0.00,0.000,516,0.000,0.047,2640,1377,3439,3459,3419,0,0,0,0,0,0,14.59,13.87,14.59
$GC,8833,-0.89,-107.1,2641,1378,3460,3419,771.2,-7.6,381,8840,0.00,2.80,0.00,0.000,1190,0.000,0.117,2632,2741,3439,3459,3419,0,0,0,0,0,0,14.16,13.88,14.21
$GC,9177,-0.89,-107.1,2633,2740,3459,3422,797.4,-7.5,388,9182,0.00,2.55,0.00,0.000,548,0.000,0.046,2632,1371,3438,3458,3418,0,0,0,0,0,0,14.58,13.93,14.58
$STATE,9206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9206,begin apogee
$GC,9218,-0.23,0.0,2628,2251,3460,3417,800.1,-7.8,393,9324,0.70,0.00,99.12,2.498,10244,0.186,0.000,2820,2250,3050,3089,3012,0,0,0,0,1,0,13.74,13.73,12.62
$STATE,9326,end apogee,CONTROL_FINISHED_OK
$STATE,9326,begin climb
$GC,9330,0.93,107.1,2821,2250,3090,3025,803.4,0.0,395,9467,1.17,2.60,126.10,1.763,10756,0.093,0.057,3183,865,2623,2684,2562,0,0,0,0,0,0,13.52,13.59,12.93
$GC,9552,0.82,119.0,3183,864,2677,2537,798.3,7.1,427,9563,0.00,2.70,4.97,1.602,9382,0.000,0.090,3183,2251,2577,2643,2511,0,0,0,0,0,0,14.00,13.71,12.83
$GC,9882,0.68,119.0,3183,2255,2645,2530,771.6,8.2,439,9885,0.22,0.00,1.85,0.201,12422,0.227,0.000,3124,2254,2576,2644,2508,0,0,0,0,0,0,13.76,14.09,13.80
$GC,10218,0.72,148.0,3132,2253,2644,2528,750.0,6.3,445,10263,0.00,2.88,39.95,1.760,8484,0.000,0.166,3123,3670,2453,2525,2382,0,0,0,0,0,0,14.64,14.09,13.40
$GC,10329,0.72,148.0,3123,3671,2524,2374,742.1,7.7,461,10335,0.00,2.50,0.00,0.000,1030,0.000,0.047,3133,2252,2448,2523,2373,0,0,0,0,0,0,14.22,14.14,14.24
$GC,10666,0.73,163.2,3134,2252,2524,2368,718.1,7.0,474,10683,0.00,0.00,15.80,1.884,8230,0.000,0.000,3133,2252,2400,2480,2321,0,0,0,0,0,0,14.58,14.28,13.47
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$STATE,19698,end climb,SURFACE_DEPTH_REACHED
$STATE,19698,begin surface coast
$FINISH,-2.5,1.022008
$STATE,19727,end surface coast,CONTROL_FINISHED_OK
$STATE,19727,begin surface
$SM_CCo,19753,31.30,0.150,0,0,1057,500.14
$SM_GC,-2.01,9.12,1.15,31.30,0.044,0.163,0.150,187,2763,1057,-8.39,-0.45,500.14,0,0,0,0,0,0,14.18,13.78,14.06
$IRIDIUM_FIX,958.26,-12441.57,040317,034631
$TT8_MAMPS,0.039697,0.335552
$HUMID,58.54
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,21.20
$XPDR_PINGS,0
$SC_FREEKB,3617888
$PM_FREEKB,51135296
$24V_AH,12.62,257.972
$10V_AH,11.78,0.000
$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,25.075,213.000,493.225,31.300,0.000,0.000,0.000,418.450,0.000,0.000,4.877,0.000,16611.963,779.271,2463.978,745.203,0.000,1964.675,0.000,1513.497,0.000,0.839,0.000
$DEVICE_MAMPS,386.325,181.305,2497.725,149.940,0.000,0.000,0.000,173.655,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19795.000,19741.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.618,2.443,0.000,0.000
$MEM,334740
$DATA_FILE_SIZE,30038,849
$CAP_FILE_SIZE,153511,0
$CFSIZE,1024409600,894189568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.117,317.25,1
$GPS,040317,150208,1006.088,-12447.147,24,1.5,24,9.0,1.5,288.8,6,9.3