version: 66.13
glider: 220
mission: 6
dive: 777
start: 3 8 117 8 56 15
data:
$ID,220
$MISSION,6
$DIVE,777
$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,41
$R_STBD_OVSHOOT,9
$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
$GPS1,080317,084200,1004.3382,-12514.4482,39,0.7,39,9.0,1.1,200.1,11,3.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.23
$_SM_ANGLEo,-66.3
$GPS2,080317,085553,1004.3666,-12514.5498,2,0.7,3,9.0,0.7,250.3,12,5.9
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,212.8,11971,-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,19,-0.93,-107.1,107,2777,1112,1019,0.0,0.0,0,102,0.00,0.00,-79.80,0.000,16390,0.000,0.000,105,2778,3478,3468,3488,0,0,0,0,0,0,14.47,12.50,14.45
$GC,107,-0.93,-107.1,107,2779,3470,3488,4.1,-10.7,3,124,12.00,2.53,0.00,0.000,2564,0.379,0.034,2592,1346,3478,3470,3487,0,0,0,0,0,0,13.90,14.23,14.26
$GC,255,-0.71,-107.1,2592,1350,3472,3487,44.6,-17.6,24,260,0.30,2.88,0.00,0.000,3206,0.239,0.116,2661,2775,3479,3471,3487,0,0,0,0,0,0,13.78,13.86,14.06
$GC,583,-0.71,-107.1,2661,2776,3476,3487,85.4,-9.1,38,588,0.00,2.20,0.00,0.000,260,0.000,0.186,2654,3823,3480,3473,3488,0,0,0,0,0,0,14.63,13.83,14.63
$GC,729,-0.71,-107.1,2654,3825,3475,3487,96.2,-6.6,59,734,0.00,1.83,0.00,0.000,1062,0.000,0.059,2653,2759,3480,3475,3486,0,0,0,0,0,0,14.25,14.19,14.26
$GC,1087,-0.71,-107.1,2653,2758,3476,3487,125.4,-8.7,69,1093,0.00,2.50,0.00,0.000,516,0.000,0.042,2652,1364,3480,3474,3487,0,0,0,0,0,0,14.66,13.98,14.65
$GC,1170,-0.71,-107.1,2654,1364,3476,3488,132.8,-7.9,81,1176,0.00,2.80,0.00,0.000,1030,0.000,0.109,2644,2766,3481,3476,3487,0,0,0,0,0,0,14.10,13.80,14.15
$GC,1535,-0.71,-107.1,2645,2766,3475,3486,161.8,-8.2,91,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2766,3479,3475,3484,0,0,0,0,0,0,14.70,14.70,14.70
$GC,1871,-0.71,-107.1,2644,2767,3476,3480,187.4,-7.2,97,1877,0.00,2.55,0.00,0.000,548,0.000,0.042,2644,1374,3477,3475,3479,0,0,0,0,0,0,14.71,13.94,14.71
$GC,1927,-0.71,-107.1,2645,1375,3476,3480,191.4,-7.0,105,1934,0.10,2.83,0.00,0.000,3110,0.239,0.111,2663,2774,3477,3475,3479,0,0,0,0,0,0,13.83,13.82,14.08
$GC,2264,-0.71,-107.1,2663,2773,3476,3474,218.0,-8.3,118,2269,0.00,2.58,0.00,0.000,516,0.000,0.044,2663,1374,3474,3474,3474,0,0,0,0,0,0,14.66,13.95,14.66
$GC,2312,-0.79,-107.1,2663,1373,3475,3474,222.8,-9.6,125,2319,0.00,2.83,0.00,0.000,1158,0.000,0.112,2654,2759,3474,3475,3473,0,0,0,0,0,0,14.14,13.85,14.19
$GC,2656,-0.79,-107.1,2653,2764,3477,3468,254.5,-9.0,132,2661,0.00,2.55,0.00,0.000,516,0.000,0.043,2653,1374,3471,3474,3468,0,0,0,0,0,0,14.65,13.93,14.65
$GC,2725,-0.79,-107.1,2654,1373,3475,3469,260.0,-7.5,142,2730,0.00,2.80,0.00,0.000,1062,0.000,0.111,2644,2760,3471,3475,3468,0,0,0,0,0,0,14.12,13.82,14.17
$GC,3048,-0.79,-107.1,2645,2760,3475,3464,284.5,-7.6,153,3049,0.00,0.00,0.00,0.000,38,0.000,0.000,2644,2760,3468,3475,3462,0,0,0,0,0,0,14.65,14.65,14.65
$GC,3384,-0.79,-107.1,2645,2760,3475,3463,309.9,-7.5,159,3389,0.00,2.58,0.00,0.000,548,0.000,0.043,2644,1367,3463,3474,3453,0,0,0,0,0,0,14.65,13.93,14.66
$GC,3460,-0.79,-107.1,2644,1368,3474,3457,316.2,-7.4,170,3465,0.00,2.83,0.00,0.000,1062,0.000,0.110,2636,2755,3465,3474,3457,0,0,0,0,0,0,14.14,13.84,14.19
$GC,3776,-0.79,-107.1,2636,2755,3475,3455,341.1,-8.0,180,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2754,3464,3474,3454,0,0,0,0,0,0,14.66,14.66,14.66
$GC,4112,-0.79,-107.1,2634,2756,3475,3450,370.4,-8.9,186,4116,0.00,2.58,0.00,0.000,516,0.000,0.044,2634,1368,3462,3474,3450,0,0,0,0,0,0,14.66,13.89,14.64
$GC,4181,-0.79,-107.1,2636,1368,3475,3450,376.5,-8.9,196,4186,0.00,2.85,0.00,0.000,1030,0.000,0.112,2625,2762,3462,3475,3449,0,0,0,0,0,0,14.11,13.80,14.16
$GC,4504,-0.79,-107.1,2626,2762,3475,3447,404.6,-8.7,207,4508,0.00,2.58,0.00,0.000,516,0.000,0.043,2625,1372,3460,3474,3446,0,0,0,0,0,0,14.65,13.93,14.66
$GC,4531,-0.79,-107.1,2626,1371,3475,3447,407.1,-8.8,211,4536,0.00,2.83,0.00,0.000,1030,0.000,0.111,2615,2757,3459,3473,3445,0,0,0,0,0,0,14.17,13.88,14.23
$GC,4896,-0.79,-107.1,2617,2756,3475,3443,435.1,-7.4,221,4902,0.00,2.58,0.00,0.000,548,0.000,0.043,2614,1368,3458,3474,3443,0,0,0,0,0,0,14.65,13.93,14.65
$GC,4952,-0.79,-107.1,2614,1368,3475,3443,439.8,-7.7,229,4958,0.12,2.83,0.00,0.000,3110,0.232,0.112,2640,2751,3458,3474,3442,0,0,0,0,0,0,13.76,13.81,14.01
$GC,5289,-0.79,-107.1,2640,2751,3475,3440,463.7,-7.3,242,5293,0.00,2.55,0.00,0.000,548,0.000,0.044,2639,1374,3456,3474,3438,0,0,0,0,0,0,14.69,13.90,14.69
$GC,5330,-0.79,-107.1,2639,1375,3475,3436,467.2,-7.6,248,5334,0.00,2.80,0.00,0.000,1062,0.000,0.111,2629,2752,3456,3474,3438,0,0,0,0,0,0,14.12,13.82,14.18
$GC,5680,-0.79,-107.1,2629,2753,3475,3435,495.0,-7.9,256,5685,0.00,2.55,0.00,0.000,516,0.000,0.044,2628,1373,3455,3474,3436,0,0,0,0,0,0,14.64,13.90,14.64
$GC,5714,-0.79,-107.1,2629,1374,3475,3436,498.0,-8.1,261,5720,0.00,2.80,0.00,0.000,1030,0.000,0.110,2619,2741,3455,3474,3436,0,0,0,0,0,0,14.17,13.85,14.20
$GC,6072,-0.79,-107.1,2619,2742,3475,3432,526.6,-8.2,270,6077,0.00,2.55,0.00,0.000,516,0.000,0.044,2618,1370,3457,3474,3440,0,0,0,0,0,0,14.64,13.90,14.64
$GC,6128,-0.79,-107.1,2617,1372,3474,3433,531.6,-8.9,278,6133,0.12,2.80,0.00,0.000,3078,0.226,0.112,2644,2742,3452,3474,3431,0,0,0,0,0,0,13.71,13.81,14.07
$GC,6464,-0.79,-107.1,2644,2742,3474,3430,559.9,-8.4,291,6469,0.00,2.55,0.00,0.000,516,0.000,0.044,2643,1369,3452,3474,3430,0,0,0,0,0,0,14.63,13.88,14.63
$GC,6498,-0.79,-107.1,2644,1369,3475,3429,563.0,-8.9,296,6503,0.00,2.83,0.00,0.000,1030,0.000,0.111,2634,2751,3452,3474,3430,0,0,0,0,0,0,14.12,13.81,14.17
$GC,6856,-0.79,-107.1,2635,2751,3471,3430,592.7,-8.2,305,6862,0.00,2.58,0.00,0.000,516,0.000,0.044,2634,1366,3450,3471,3429,0,0,0,0,0,0,14.62,13.88,14.62
$GC,6904,-0.79,-107.1,2635,1366,3471,3430,596.8,-8.3,312,6911,0.00,2.83,0.00,0.000,1030,0.000,0.111,2624,2738,3449,3470,3429,0,0,0,0,0,0,14.14,13.84,14.19
$GC,7248,-0.79,-107.1,2625,2739,3471,3429,626.2,-8.6,319,7253,0.00,2.55,0.00,0.000,516,0.000,0.043,2623,1368,3449,3470,3429,0,0,0,0,0,0,14.62,13.87,14.62
$GC,7289,-0.79,-107.1,2623,1367,3471,3429,630.0,-8.5,325,7295,0.00,2.83,0.00,0.000,1030,0.000,0.112,2615,2744,3448,3470,3426,0,0,0,0,0,0,14.12,13.82,14.17
$GC,7640,-0.79,-107.1,2614,2745,3469,3427,659.6,-8.4,333,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2744,3447,3468,3427,0,0,0,0,0,0,14.62,14.62,14.62
$GC,7976,-0.79,-107.1,2615,2745,3467,3426,686.0,-8.0,339,7981,0.00,2.58,0.00,0.000,516,0.000,0.044,2614,1368,3446,3466,3426,0,0,0,0,0,0,14.62,13.83,14.62
$GC,8073,-0.79,-107.1,2615,1367,3466,3427,694.3,-8.1,353,8080,0.12,2.83,0.00,0.000,3078,0.230,0.112,2639,2735,3445,3465,3426,0,0,0,0,0,0,13.82,13.81,14.07
$GC,8424,-0.79,-107.1,2640,2735,3466,3425,721.5,-7.8,361,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2735,3444,3465,3424,0,0,0,0,0,0,14.62,14.62,14.62
$GC,8761,-0.79,-107.1,2640,2735,3465,3424,749.4,-8.3,367,8765,0.00,2.58,0.00,0.000,516,0.000,0.045,2640,1369,3443,3464,3423,0,0,0,0,0,0,14.62,13.84,14.62
$GC,8851,-0.87,-107.1,2641,1368,3463,3424,757.3,-8.5,380,8855,0.00,2.80,0.00,0.000,1158,0.000,0.114,2630,2732,3443,3464,3422,0,0,0,0,0,0,14.12,13.81,14.17
$GC,9208,-0.87,-107.1,2629,2733,3463,3421,787.9,-8.5,389,9214,0.00,2.33,0.00,0.000,260,0.000,0.184,2621,3825,3441,3462,3421,0,0,0,0,0,0,14.60,13.72,14.62
$GC,9249,-0.87,-107.1,2622,3826,3463,3421,791.5,-8.1,395,9254,0.00,1.92,0.00,0.000,1030,0.000,0.059,2620,2738,3441,3461,3422,0,0,0,0,0,0,14.16,14.08,14.18
$STATE,9372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9372,begin apogee
$GC,9383,-0.23,0.0,2621,2221,3462,3431,801.8,-8.2,399,9489,0.73,0.10,98.47,2.508,10244,0.171,0.205,2825,2267,3051,3089,3013,0,0,0,0,1,0,13.67,13.58,12.57
$STATE,9490,end apogee,CONTROL_FINISHED_OK
$STATE,9491,begin climb
$GC,9495,0.93,107.1,2826,2268,3091,3027,805.3,0.0,401,9636,1.12,2.65,126.32,1.810,10756,0.080,0.052,3183,872,2616,2678,2555,0,0,0,0,0,0,13.56,13.61,12.59
$GC,9685,0.83,140.8,3184,872,2677,2543,803.6,6.0,429,9731,0.00,2.67,38.00,1.782,9382,0.000,0.067,3183,2237,2481,2553,2409,0,0,0,0,0,0,13.54,13.35,12.77
$GC,10054,0.72,140.8,3183,2237,2551,2392,772.1,8.9,446,10060,0.15,2.85,0.00,0.000,4484,0.230,0.141,3137,3663,2471,2551,2391,0,0,0,0,0,0,13.81,13.87,13.99
$GC,10152,0.62,140.8,3137,3667,2552,2390,763.5,8.2,460,10157,0.17,2.45,0.00,0.000,5254,0.220,0.048,3101,2249,2470,2551,2390,0,0,0,0,0,0,13.85,14.23,14.16
$GC,10503,0.66,175.6,3101,2246,2552,2387,742.2,6.0,468,10549,0.00,2.55,37.72,1.782,8740,0.000,0.056,3110,864,2338,2421,2256,0,0,0,0,0,0,14.66,14.23,13.50
$GC,10572,0.71,213.1,3110,865,2422,2248,737.7,5.8,478,10619,0.00,2.60,41.97,1.716,9254,0.000,0.069,3111,2250,2200,2288,2112,0,0,0,0,0,0,14.09,13.88,13.29
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$STATE,19795,end climb,SURFACE_DEPTH_REACHED
$STATE,19795,begin surface coast
$FINISH,-1.4,1.022017
$STATE,19823,end surface coast,CONTROL_FINISHED_OK
$STATE,19823,begin surface
$SM_CCo,19850,35.75,0.149,0,0,1058,500.14
$SM_GC,-2.33,9.32,1.00,35.75,0.066,0.118,0.149,183,2768,1058,-8.41,-0.51,500.14,0,0,0,0,0,0,14.15,13.78,14.12
$IRIDIUM_FIX,958.26,-12513.16,080317,031540
$TT8_MAMPS,0.038199,0.403711
$HUMID,57.40
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,22.00
$XPDR_PINGS,3
$SC_FREEKB,3611328
$PM_FREEKB,50943424
$24V_AH,12.50,263.354
$10V_AH,11.63,0.000
$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,25.100,212.850,482.125,35.750,0.000,0.000,0.000,404.650,0.750,0.000,4.849,0.000,16667.896,776.060,2483.208,767.036,0.000,1963.872,0.000,1544.480,0.000,0.840,0.000
$DEVICE_MAMPS,378.675,205.020,2507.670,149.175,0.000,0.000,0.000,174.420,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19892.000,19837.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.592,2.441,0.000,0.000
$MEM,334740
$DATA_FILE_SIZE,30058,870
$CAP_FILE_SIZE,152889,0
$CFSIZE,1024409600,891682816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.097,253.26,1
$GPS,080317,142855,1002.652,-12516.456,35,1.8,36,9.0,0.4,241.9,5,9.2