version: 66.13
glider: 220
mission: 6
dive: 728
start: 2 24 117 17 36 6
data:
$ID,220
$MISSION,6
$DIVE,728
$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,53
$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
$GPS1,240217,172139,956.2432,-12512.2246,15,2.0,16,9.0,0.6,357.1,4,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.31
$_SM_ANGLEo,-67.7
$GPS2,240217,173540,956.3257,-12512.2412,4,1.9,7,9.0,0.5,346.7,4,9.5
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,144.9,36256,-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,-107.1,108,2788,1110,1017,0.0,0.0,0,103,0.00,0.00,-81.62,0.000,16390,0.000,0.000,105,2787,3476,3467,3486,0,0,0,0,0,0,14.54,12.65,14.47
$GC,107,-0.93,-107.1,107,2787,3469,3488,2.9,-9.0,3,124,12.07,2.47,0.00,0.000,2564,0.378,0.033,2589,1359,3479,3472,3486,0,0,0,0,0,0,13.82,14.31,14.24
$GC,208,-0.72,-107.1,2590,1363,3473,3486,35.1,-21.2,18,215,0.30,2.78,0.00,0.000,3206,0.239,0.112,2660,2769,3478,3471,3486,0,0,0,0,0,0,13.80,13.91,14.10
$GC,525,-0.72,-107.1,2660,2768,3473,3486,77.0,-7.4,30,529,0.00,2.17,0.00,0.000,292,0.000,0.167,2651,3832,3479,3473,3486,0,0,0,0,0,0,14.71,13.83,14.69
$GC,737,-0.72,-107.1,2652,3832,3475,3487,91.2,-6.4,60,742,0.00,1.83,0.00,0.000,1062,0.000,0.061,2652,2768,3480,3474,3486,0,0,0,0,0,0,14.27,14.21,14.28
$GC,1086,-0.72,-107.1,2652,2770,3476,3486,118.0,-7.9,70,1091,0.00,2.47,0.00,0.000,516,0.000,0.040,2658,1367,3482,3475,3489,0,0,0,0,0,0,14.70,14.03,14.70
$GC,1155,-0.72,-107.1,2652,1367,3476,3487,124.0,-7.8,80,1160,0.00,2.78,0.00,0.000,1030,0.000,0.101,2642,2784,3480,3475,3486,0,0,0,0,0,0,14.12,13.83,14.16
$GC,1478,-0.72,-107.1,2642,2785,3476,3483,152.2,-8.9,91,1483,0.00,2.15,0.00,0.000,260,0.000,0.163,2634,3827,3477,3474,3481,0,0,0,0,0,0,14.76,13.79,14.76
$GC,1554,-0.72,-107.1,2634,3827,3475,3483,159.2,-8.6,102,1559,0.10,1.83,0.00,0.000,3078,0.218,0.061,2663,2780,3478,3475,3482,0,0,0,0,0,0,13.79,14.17,14.02
$GC,1870,-0.72,-107.1,2663,2779,3475,3478,184.3,-7.9,112,1875,0.00,2.53,0.00,0.000,516,0.000,0.042,2663,1371,3476,3476,3477,0,0,0,0,0,0,14.74,13.95,14.75
$GC,1974,-0.72,-107.1,2663,1372,3477,3470,192.5,-7.3,127,1980,0.00,2.80,0.00,0.000,1062,0.000,0.103,2654,2775,3475,3475,3476,0,0,0,0,0,0,14.14,13.86,14.19
$GC,2318,-0.72,-107.1,2652,2774,3475,3471,217.3,-7.2,134,2323,0.00,2.55,0.00,0.000,548,0.000,0.041,2654,1369,3472,3474,3470,0,0,0,0,0,0,14.70,13.93,14.70
$GC,2359,-0.72,-107.1,2654,1370,3475,3471,220.4,-7.5,140,2364,0.00,2.78,0.00,0.000,1062,0.000,0.105,2644,2772,3472,3475,3469,0,0,0,0,0,0,14.15,13.88,14.20
$GC,2710,-0.72,-107.1,2648,2772,3475,3466,247.9,-8.2,148,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2772,3469,3474,3465,0,0,0,0,0,0,14.69,14.69,14.69
$GC,3046,-0.72,-107.1,2644,2771,3476,3462,277.9,-9.0,154,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2772,3468,3475,3461,0,0,0,0,0,0,14.75,14.75,14.74
$GC,3382,-0.72,-107.1,2644,2773,3476,3456,305.6,-8.1,160,3387,0.00,2.58,0.00,0.000,516,0.000,0.043,2644,1371,3465,3474,3456,0,0,0,0,0,0,14.74,13.88,14.74
$GC,3451,-0.72,-107.1,2645,1370,3476,3455,311.4,-8.3,170,3456,0.10,2.80,0.00,0.000,3078,0.230,0.106,2665,2771,3464,3474,3455,0,0,0,0,0,0,13.84,13.85,14.09
$GC,3774,-0.80,-107.1,2665,2772,3475,3453,333.6,-6.8,181,3780,0.00,2.58,0.00,0.000,676,0.000,0.043,2665,1365,3461,3472,3451,0,0,0,0,0,0,14.71,13.90,14.71
$GC,3836,-0.89,-107.1,2665,1365,3475,3451,338.2,-7.2,190,3841,0.08,2.80,0.00,0.000,5286,0.141,0.105,2589,2777,3462,3474,3451,0,0,0,0,0,0,14.07,13.87,14.20
$GC,4166,-0.89,-107.1,2589,2778,3475,3447,373.3,-11.1,202,4171,0.00,2.15,0.00,0.000,260,0.000,0.162,2581,3825,3459,3472,3447,0,0,0,0,0,0,14.74,13.83,14.74
$GC,4222,-0.81,-107.1,2581,3826,3476,3447,380.1,-11.9,210,4227,0.15,1.88,0.00,0.000,3206,0.223,0.063,2626,2766,3460,3474,3447,0,0,0,0,0,0,13.64,14.12,13.92
$GC,4558,-0.81,-107.1,2627,2766,3475,3445,412.5,-9.5,223,4563,0.00,2.55,0.00,0.000,516,0.000,0.041,2626,1359,3458,3474,3443,0,0,0,0,0,0,14.69,13.87,14.69
$GC,4606,-0.81,-107.1,2626,1361,3473,3437,417.3,-9.3,230,4612,0.00,2.83,0.00,0.000,1030,0.000,0.099,2617,2777,3458,3474,3443,0,0,0,0,0,0,14.13,13.87,14.18
$GC,4950,-0.81,-107.1,2616,2776,3474,3440,450.6,-9.7,237,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2777,3457,3474,3440,0,0,0,0,0,0,14.68,14.68,14.68
$GC,5286,-0.81,-107.1,2617,2778,3475,3437,480.9,-8.7,243,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2777,3455,3474,3436,0,0,0,0,0,0,14.68,14.68,14.68
$GC,5622,-0.81,-107.1,2617,2777,3468,3434,508.6,-8.2,249,5628,0.00,2.60,0.00,0.000,516,0.000,0.042,2616,1365,3453,3474,3433,0,0,0,0,0,0,14.68,13.84,14.68
$GC,5663,-0.81,-107.1,2616,1373,3475,3433,512.0,-7.9,255,5668,0.10,2.83,0.00,0.000,3078,0.241,0.102,2634,2777,3453,3474,3433,0,0,0,0,0,0,13.81,13.86,14.07
$GC,6014,-0.81,-107.1,2636,2777,3474,3433,537.4,-7.3,263,6015,0.00,0.00,0.00,0.000,38,0.000,0.000,2634,2775,3452,3474,3430,0,0,0,0,0,0,14.66,14.66,14.66
$GC,6350,-0.81,-107.1,2635,2777,3474,3430,562.6,-7.5,269,6356,0.00,2.60,0.00,0.000,548,0.000,0.042,2635,1368,3450,3473,3428,0,0,0,0,0,0,14.67,13.85,14.66
$GC,6398,-0.81,-107.1,2635,1367,3475,3428,566.6,-7.6,276,6404,0.00,2.83,0.00,0.000,1062,0.000,0.101,2625,2775,3450,3473,3428,0,0,0,0,0,0,14.13,13.86,14.18
$GC,6742,-0.81,-107.1,2626,2773,3472,3428,594.5,-8.1,283,6747,0.00,2.60,0.00,0.000,516,0.000,0.043,2625,1363,3449,3471,3428,0,0,0,0,0,0,14.66,13.87,14.66
$GC,6783,-0.81,-107.1,2625,1364,3472,3428,598.1,-8.5,289,6789,0.00,2.80,0.00,0.000,1030,0.000,0.101,2615,2763,3449,3470,3428,0,0,0,0,0,0,14.14,13.87,14.19
$GC,7134,-0.81,-107.1,2619,2763,3470,3428,631.0,-9.6,297,7135,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2762,3452,3469,3435,0,0,0,0,0,0,14.73,14.71,14.72
$GC,7470,-0.81,-107.1,2616,2763,3467,3427,662.3,-9.3,303,7475,0.00,2.60,0.00,0.000,516,0.000,0.044,2615,1365,3446,3466,3427,0,0,0,0,0,0,14.70,13.83,14.71
$GC,7553,-0.81,-107.1,2617,1364,3467,3427,669.7,-8.9,315,7558,0.10,2.80,0.00,0.000,3078,0.245,0.103,2633,2767,3446,3466,3426,0,0,0,0,0,0,13.82,13.85,14.07
$GC,7918,-0.81,-107.1,2633,2768,3467,3423,699.0,-7.8,325,7923,0.00,2.17,0.00,0.000,260,0.000,0.163,2625,3823,3444,3466,3423,0,0,0,0,0,0,14.65,13.83,14.65
$GC,7945,-0.81,-107.1,2626,3824,3467,3423,701.4,-8.4,329,7951,0.00,1.92,0.00,0.000,1030,0.000,0.064,2625,2759,3445,3466,3424,0,0,0,0,0,0,14.15,14.07,14.16
$GC,8310,-0.81,-107.1,2625,2760,3465,3423,731.0,-8.2,339,8315,0.00,2.58,0.00,0.000,516,0.000,0.042,2625,1352,3447,3472,3422,0,0,0,0,0,0,14.69,13.83,14.69
$GC,8344,-0.81,-107.1,2625,1352,3464,3424,734.0,-8.5,344,8349,0.00,2.80,0.00,0.000,1030,0.000,0.099,2616,2758,3443,3464,3422,0,0,0,0,0,0,14.15,13.88,14.19
$GC,8702,-0.81,-107.1,2616,2759,3465,3421,764.6,-8.5,353,8703,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2758,3442,3464,3421,0,0,0,0,0,0,14.69,14.69,14.69
$GC,9038,-0.81,-107.1,2617,2758,3462,3422,793.3,-8.5,359,9039,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2758,3441,3462,3421,0,0,0,0,0,0,14.62,14.63,14.63
$STATE,9145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9145,begin apogee
$GC,9156,-0.23,0.0,2616,2216,3463,3419,802.9,-8.5,361,9261,0.75,0.12,96.05,2.687,10244,0.174,0.190,2824,2276,3053,3089,3018,0,0,0,0,1,0,13.76,13.73,12.65
$STATE,9263,end apogee,CONTROL_FINISHED_OK
$STATE,9263,begin climb
$GC,9267,0.93,107.1,2825,2277,3091,3027,807.1,0.0,363,9404,1.12,2.62,126.20,1.801,10756,0.083,0.050,3185,876,2622,2683,2562,0,0,0,0,0,0,13.66,13.71,13.05
$GC,9474,0.85,147.4,3185,876,2676,2539,805.3,5.7,393,9523,0.00,2.55,44.55,1.769,9382,0.000,0.070,3185,2237,2462,2536,2389,0,0,0,0,0,0,14.12,13.95,13.12
$GC,9871,0.73,147.4,3186,2238,2527,2364,771.7,8.9,407,9876,0.15,2.83,0.00,0.000,4484,0.226,0.140,3137,3658,2447,2526,2369,0,0,0,0,0,0,13.93,14.00,14.10
$GC,9968,0.63,147.4,3138,3661,2527,2363,763.0,8.1,421,9974,0.15,2.45,0.00,0.000,5254,0.224,0.051,3108,2258,2443,2526,2361,0,0,0,0,0,0,13.98,14.33,14.26
$GC,10319,0.66,168.2,3108,2255,2526,2359,739.3,6.7,429,10341,0.00,0.00,21.62,1.825,8230,0.000,0.000,3108,2254,2379,2465,2293,0,0,0,0,0,0,14.71,14.26,13.43
$GC,10655,0.67,180.8,3108,2254,2454,2277,716.0,7.1,435,10666,0.00,2.80,5.47,1.775,8484,0.000,0.143,3107,3657,2334,2419,2249,0,0,0,0,0,0,14.65,14.06,13.30
$GC,10751,0.67,180.8,3107,3656,2420,2268,708.2,8.0,449,10758,0.00,2.47,2.15,0.419,9222,0.000,0.051,3116,2250,2329,2415,2244,0,0,0,0,0,0,14.42,14.36,12.93
$GC,11103,0.69,194.1,3117,2247,2415,2268,683.3,7.1,457,11130,0.00,2.90,22.85,1.821,8484,0.000,0.145,3117,3662,2274,2359,2189,0,0,0,0,0,0,14.66,14.04,13.42
$GC,11172,0.69,194.1,3116,3662,2354,2179,678.0,8.1,467,11177,0.00,2.45,0.00,0.000,1030,0.000,0.050,3126,2257,2264,2352,2176,0,0,0,0,0,0,14.39,14.31,14.41
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$STATE,19937,end climb,SURFACE_DEPTH_REACHED
$STATE,19937,begin surface coast
$FINISH,0.7,1.022206
$STATE,19941,end surface coast,CONTROL_FINISHED_OK
$STATE,19941,begin surface
$SM_CCo,19970,41.10,0.150,0,0,1056,500.14
$SM_GC,-2.10,9.70,3.67,41.10,0.092,0.091,0.150,168,2772,1056,-8.40,-0.14,500.14,0,0,0,0,0,0,14.39,13.85,14.05
$IRIDIUM_FIX,951.69,-12514.95,240217,113356
$TT8_MAMPS,0.038199,0.264397
$HUMID,56.10
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.90
$XPDR_PINGS,1
$SC_FREEKB,3630176
$PM_FREEKB,51502912
$24V_AH,12.65,247.915
$10V_AH,12.09,0.000
$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
$DEVICE_SECS,25.375,177.575,478.750,41.100,0.000,0.000,0.000,426.475,0.250,0.000,8.681,0.000,16954.252,750.294,2421.181,708.574,0.000,1899.610,0.000,1473.830,0.000,0.841,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.594,2.444,0.000,0.000
$MEM,334776
$DATA_FILE_SIZE,30035,817
$CAP_FILE_SIZE,146949,0
$CFSIZE,1024409600,898924544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.019,301.47,1
$GPS,240217,231039,955.002,-12511.513,15,0.8,24,9.0,0.7,284.1,9,5.4