version: 66.13
glider: 220
mission: 6
dive: 746
start: 3 1 117 1 22 58
data:
$ID,220
$MISSION,6
$DIVE,746
$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,47
$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
$GPS1,010317,010900,947.0195,-12455.3643,25,0.8,25,9.0,0.8,263.4,10,6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.89
$_SM_ANGLEo,-70.2
$GPS2,010317,012232,946.9819,-12455.5439,2,0.8,3,9.0,0.7,195.4,10,9.5
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,57.8,36375,-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,-107.1,142,2775,1108,1018,0.0,0.0,0,103,0.00,0.00,-82.57,0.000,16390,0.000,0.000,138,2776,3478,3469,3488,0,0,0,0,0,0,14.49,12.64,14.41
$GC,108,-0.93,-107.1,138,2777,3471,3488,3.0,-8.7,3,124,11.80,2.47,0.00,0.000,2564,0.375,0.034,2590,1337,3479,3471,3488,0,0,0,0,0,0,13.83,14.26,14.22
$GC,145,-0.23,-107.1,2590,1339,3474,3488,20.8,-38.8,9,152,0.90,2.83,0.00,0.000,3206,0.229,0.116,2818,2768,3480,3473,3488,0,0,0,0,0,0,13.82,13.89,14.10
$GC,469,-0.40,-107.1,2818,2768,3475,3489,49.1,-7.8,22,473,0.08,2.53,0.00,0.000,4740,0.138,0.041,2740,1356,3481,3474,3489,0,0,0,0,0,0,14.22,14.02,14.24
$GC,502,-0.40,-107.1,2740,1357,3477,3487,52.6,-10.6,27,507,0.12,2.80,0.00,0.000,3078,0.218,0.112,2766,2761,3481,3474,3488,0,0,0,0,0,0,13.79,13.79,14.02
$GC,833,-0.59,-107.1,2766,2761,3471,3489,72.5,-5.5,41,838,0.10,2.50,0.00,0.000,4772,0.117,0.039,2677,1365,3485,3477,3493,0,0,0,0,0,0,14.26,13.90,14.27
$GC,901,-0.59,-107.1,2678,1366,3480,3487,77.8,-7.5,51,906,0.12,2.75,0.00,0.000,3110,0.214,0.110,2703,2762,3482,3478,3487,0,0,0,0,0,0,13.89,13.88,14.11
$GC,1225,-0.68,-107.1,2704,2762,3479,3488,98.3,-6.7,64,1229,0.00,2.20,0.00,0.000,420,0.000,0.179,2695,3822,3483,3479,3487,0,0,0,0,0,0,14.65,13.90,14.65
$GC,1389,-0.79,-107.1,2696,3823,3473,3486,110.8,-7.3,87,1395,0.08,1.90,0.00,0.000,5286,0.079,0.063,2625,2760,3482,3478,3487,0,0,0,0,0,0,13.95,14.07,13.99
$GC,1728,-0.79,-107.1,2629,2760,3478,3487,139.4,-8.3,94,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2760,3482,3478,3486,0,0,0,0,0,0,14.67,14.67,14.67
$GC,2064,-0.79,-107.1,2626,2760,3479,3483,170.6,-9.4,100,2069,0.00,2.50,0.00,0.000,516,0.000,0.042,2625,1366,3479,3478,3481,0,0,0,0,0,0,14.73,13.86,14.73
$GC,2112,-0.79,-107.1,2626,1366,3479,3479,175.3,-9.6,107,2119,0.10,2.80,0.00,0.000,3078,0.224,0.107,2644,2771,3479,3478,3481,0,0,0,0,0,0,13.91,13.90,14.14
$GC,2456,-0.79,-107.1,2644,2771,3479,3477,205.7,-8.9,114,2461,0.00,2.20,0.00,0.000,260,0.000,0.175,2636,3830,3477,3478,3476,0,0,0,0,0,0,14.68,13.85,14.67
$GC,2504,-0.79,-107.1,2637,3829,3479,3477,210.4,-9.5,121,2511,0.00,1.90,0.00,0.000,1030,0.000,0.058,2635,2746,3477,3478,3476,0,0,0,0,0,0,14.21,14.13,14.21
$GC,2848,-0.79,-107.1,2636,2745,3479,3471,241.9,-9.1,128,2853,0.00,2.47,0.00,0.000,516,0.000,0.040,2635,1370,3472,3474,3470,0,0,0,0,0,0,14.67,13.90,14.67
$GC,2917,-0.79,-107.1,2636,1370,3479,3465,248.4,-8.9,138,2922,0.00,2.78,0.00,0.000,1030,0.000,0.105,2626,2761,3474,3479,3469,0,0,0,0,0,0,14.13,13.85,14.17
$GC,3240,-0.79,-107.1,2627,2762,3479,3463,277.3,-8.9,149,3246,0.00,2.20,0.00,0.000,260,0.000,0.171,2618,3820,3471,3478,3465,0,0,0,0,0,0,14.73,13.86,14.73
$GC,3302,-0.79,-107.1,2618,3825,3479,3464,283.3,-9.4,158,3307,0.00,1.85,0.00,0.000,1030,0.000,0.060,2622,2771,3471,3478,3464,0,0,0,0,0,0,14.19,14.14,14.22
$GC,3632,-0.79,-107.1,2618,2772,3479,3462,311.6,-8.4,170,3637,0.00,2.55,0.00,0.000,516,0.000,0.041,2617,1360,3468,3478,3458,0,0,0,0,0,0,14.66,13.83,14.66
$GC,3680,-0.79,-107.1,2619,1360,3479,3460,316.0,-8.6,177,3688,0.12,2.80,0.00,0.000,3078,0.220,0.105,2644,2762,3469,3478,3460,0,0,0,0,0,0,13.89,13.90,14.12
$GC,4025,-0.79,-107.1,2644,2761,3479,3457,342.5,-7.7,184,4029,0.00,2.55,0.00,0.000,548,0.000,0.043,2644,1367,3466,3478,3455,0,0,0,0,0,0,14.66,13.91,14.66
$GC,4051,-0.79,-107.1,2645,1366,3478,3456,344.8,-8.2,188,4056,0.00,2.78,0.00,0.000,1030,0.000,0.109,2636,2755,3466,3477,3455,0,0,0,0,0,0,14.21,13.94,14.26
$GC,4416,-0.79,-107.1,2636,2755,3478,3452,375.3,-8.4,198,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2755,3464,3478,3451,0,0,0,0,0,0,14.72,14.72,14.72
$GC,4752,-0.79,-107.1,2636,2756,3479,3447,402.6,-8.1,204,4753,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2754,3463,3478,3448,0,0,0,0,0,0,14.71,14.71,14.71
$GC,5088,-0.79,-107.1,2636,2756,3479,3444,431.0,-8.4,210,5089,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2754,3461,3478,3444,0,0,0,0,0,0,14.71,14.71,14.71
$GC,5424,-0.79,-107.1,2635,2756,3479,3441,459.0,-8.3,216,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2755,3458,3477,3440,0,0,0,0,0,0,14.71,14.71,14.71
$GC,5761,-0.79,-107.1,2636,2756,3479,3439,483.9,-7.2,222,5761,0.00,0.00,0.00,0.000,38,0.000,0.000,2635,2755,3457,3477,3438,0,0,0,0,0,0,14.64,14.64,14.64
$GC,6097,-0.79,-107.1,2636,2756,3479,3444,508.0,-7.1,228,6101,0.00,2.58,0.00,0.000,548,0.000,0.044,2635,1366,3458,3480,3437,0,0,0,0,0,0,14.71,13.83,14.71
$GC,6152,-0.79,-107.1,2635,1367,3479,3436,512.2,-7.0,236,6157,0.00,2.80,0.00,0.000,1062,0.000,0.106,2626,2758,3456,3477,3436,0,0,0,0,0,0,14.14,13.88,14.19
$GC,6488,-0.79,-107.1,2626,2759,3478,3431,538.2,-7.8,249,6489,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2758,3454,3477,3432,0,0,0,0,0,0,14.64,14.64,14.65
$GC,6824,-0.79,-107.1,2626,2758,3477,3433,566.0,-8.4,255,6829,0.00,2.60,0.00,0.000,516,0.000,0.044,2625,1361,3450,3476,3424,0,0,0,0,0,0,14.69,13.85,14.70
$GC,6880,-0.79,-107.1,2626,1360,3477,3433,571.0,-9.0,263,6885,0.10,2.75,0.00,0.000,3078,0.227,0.106,2645,2758,3452,3476,3428,0,0,0,0,0,0,13.89,13.90,14.12
$GC,7216,-0.79,-107.1,2645,2758,3473,3431,598.3,-8.3,276,7217,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2758,3451,3471,3432,0,0,0,0,0,0,14.70,14.70,14.70
$GC,7552,-0.79,-107.1,2645,2760,3472,3439,626.7,-8.4,282,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2758,3451,3471,3431,0,0,0,0,0,0,14.69,14.69,14.69
$GC,7889,-0.79,-107.1,2645,2760,3471,3430,652.3,-7.5,288,7893,0.00,2.60,0.00,0.000,548,0.000,0.044,2645,1360,3449,3470,3429,0,0,0,0,0,0,14.69,13.85,14.69
$GC,7945,-0.87,-107.1,2645,1361,3471,3430,656.3,-6.9,296,7949,0.00,2.83,0.00,0.000,1190,0.000,0.108,2635,2760,3449,3470,3429,0,0,0,0,0,0,14.15,13.88,14.21
$GC,8280,-0.87,-107.1,2635,2759,3471,3426,679.5,-6.9,309,8286,0.00,2.22,0.00,0.000,292,0.000,0.174,2628,3826,3450,3474,3427,0,0,0,0,0,0,14.69,13.84,14.69
$GC,8321,-0.87,-107.1,2628,3825,3470,3428,682.5,-7.2,315,8326,0.00,1.92,0.00,0.000,1062,0.000,0.067,2627,2758,3448,3470,3427,0,0,0,0,0,0,14.19,14.12,14.19
$GC,8673,-0.87,-107.1,2628,2759,3468,3426,707.7,-7.3,323,8677,0.00,2.58,0.00,0.000,548,0.000,0.044,2627,1356,3447,3467,3427,0,0,0,0,0,0,14.61,13.90,14.61
$GC,8755,-0.87,-107.1,2627,1357,3469,3427,714.2,-7.9,335,8760,0.00,2.80,0.00,0.000,1030,0.000,0.104,2618,2750,3446,3467,3426,0,0,0,0,0,0,14.17,13.90,14.21
$GC,9120,-0.87,-107.1,2619,2751,3468,3425,745.0,-8.6,345,9126,0.00,2.22,0.00,0.000,260,0.000,0.169,2611,3827,3445,3467,3424,0,0,0,0,0,0,14.61,13.84,14.60
$GC,9176,-0.87,-107.1,2611,3827,3466,3425,750.2,-9.8,353,9182,0.00,1.95,0.00,0.000,1030,0.000,0.066,2609,2747,3446,3467,3425,0,0,0,0,0,0,14.19,14.12,14.20
$GC,9512,-0.87,-107.1,2610,2746,3466,3424,779.6,-8.8,366,9513,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2747,3444,3465,3423,0,0,0,0,0,0,14.60,14.60,14.60
$STATE,9788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9788,begin apogee
$GC,9798,-0.23,0.0,2609,2215,3463,3421,803.8,-8.6,371,9917,0.75,0.12,116.25,1.788,10244,0.171,0.187,2821,2274,3050,3089,3011,0,0,0,0,0,0,13.77,13.87,13.13
$STATE,9919,end apogee,CONTROL_FINISHED_OK
$STATE,9919,begin climb
$GC,9924,0.93,107.1,2822,2275,3083,2999,807.2,0.0,373,10054,1.12,2.60,119.50,1.746,10756,0.089,0.051,3182,875,2622,2683,2562,0,0,0,0,0,0,13.74,13.81,13.05
$GC,10117,0.83,137.3,3183,876,2674,2536,804.0,6.2,403,10157,0.00,2.58,32.47,1.790,9382,0.000,0.072,3182,2241,2497,2570,2424,0,0,0,0,0,0,14.03,13.84,13.14
$GC,10521,0.71,137.3,3183,2240,2566,2405,770.1,8.8,418,10527,0.15,2.83,0.00,0.000,4484,0.228,0.144,3134,3657,2484,2566,2403,0,0,0,0,0,0,13.89,13.95,14.06
$GC,10555,0.61,137.3,3134,3658,2567,2403,766.9,7.8,423,10560,0.17,2.45,0.00,0.000,5254,0.219,0.053,3097,2245,2486,2566,2406,0,0,0,0,0,0,13.93,14.28,14.22
$GC,10913,0.66,180.5,3098,2240,2566,2402,746.3,5.6,432,10968,0.00,2.85,48.35,1.742,8484,0.000,0.147,3096,3657,2323,2405,2241,0,0,0,0,0,0,14.68,14.02,13.33
$GC,11010,0.69,198.8,3097,3657,2401,2231,740.5,6.8,446,11036,0.00,2.47,19.80,1.790,9254,0.000,0.052,3106,2252,2252,2339,2166,0,0,0,0,0,0,14.23,14.16,13.24
$GC,11361,0.71,218.2,3107,2252,2333,2143,717.1,6.8,461,11382,0.00,0.00,20.17,1.808,8230,0.000,0.000,3106,2252,2182,2275,2089,0,0,0,0,0,0,14.61,14.22,13.41
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$STATE,20089,end climb,SURFACE_DEPTH_REACHED
$STATE,20089,begin surface coast
$FINISH,-1.4,1.022239
$STATE,20117,end surface coast,CONTROL_FINISHED_OK
$STATE,20117,begin surface
$SM_CCo,20144,51.30,0.149,0,0,1057,500.14
$SM_GC,-1.78,9.12,1.10,51.30,0.047,0.138,0.149,188,2774,1057,-8.40,-0.28,500.14,0,0,0,0,0,0,14.14,13.78,14.07
$IRIDIUM_FIX,940.75,-12457.91,280217,192423
$TT8_MAMPS,0.038199,0.289114
$HUMID,57.83
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,21.50
$XPDR_PINGS,2
$SC_FREEKB,3623264
$PM_FREEKB,51295808
$24V_AH,12.64,253.574
$10V_AH,12.14,0.000
$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,25.525,192.250,479.050,51.300,0.000,0.000,0.000,393.175,0.500,0.000,4.823,0.000,17070.684,768.713,2411.229,736.554,0.000,1907.029,0.000,1494.726,0.000,0.840,0.000
$DEVICE_MAMPS,374.850,187.425,1807.695,149.175,0.000,0.000,0.000,176.715,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20187.000,20131.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.612,2.448,0.000,0.000
$MEM,334768
$DATA_FILE_SIZE,30080,829
$CAP_FILE_SIZE,150063,0
$CFSIZE,1024409600,896253952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,346.90,1
$GPS,010317,070030,948.632,-12454.109,18,1.3,18,9.0,0.7,31.8,6,5.1