version: 66.13
glider: 220
mission: 6
dive: 782
start: 3 9 117 13 32 44
data:
$ID,220
$MISSION,6
$DIVE,782
$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,12
$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
$GPS1,090317,131801,958.0955,-12517.2754,31,0.8,44,9.0,0.6,276.2,11,3.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.84
$_SM_ANGLEo,-67.2
$GPS2,090317,133217,958.1137,-12517.4160,2,0.6,3,9.0,0.7,267.3,12,6.6
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,115.1,45012,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,18,-0.93,-107.1,108,2778,1103,1012,0.0,0.0,0,101,0.00,0.00,-77.78,0.000,16390,0.000,0.000,106,2779,3476,3465,3488,0,0,0,0,0,0,14.50,12.76,14.45
$GC,106,-0.93,-107.1,107,2778,3466,3488,4.6,-13.5,3,123,12.05,2.47,0.00,0.000,2564,0.382,0.033,2590,1365,3478,3468,3488,0,0,0,0,0,0,13.92,14.28,14.28
$GC,222,-0.74,-107.1,2590,1366,3475,3487,40.7,-18.5,20,227,0.30,2.78,0.00,0.000,3206,0.243,0.107,2658,2765,3478,3470,3487,0,0,0,0,0,0,13.71,13.81,14.04
$GC,552,-0.74,-107.1,2659,2765,3473,3489,78.1,-8.1,34,556,0.00,2.50,0.00,0.000,516,0.000,0.041,2659,1374,3479,3472,3486,0,0,0,0,0,0,14.65,14.07,14.65
$GC,600,-0.74,-107.1,2659,1374,3472,3487,82.4,-6.2,41,607,0.00,2.75,0.00,0.000,1062,0.000,0.104,2649,2759,3479,3472,3487,0,0,0,0,0,0,14.11,13.83,14.16
$GC,915,-0.74,-107.1,2649,2760,3474,3486,106.1,-8.1,52,920,0.00,2.20,0.00,0.000,260,0.000,0.169,2640,3831,3480,3473,3487,0,0,0,0,0,0,14.66,13.81,14.66
$GC,971,-0.74,-107.1,2641,3831,3474,3488,112.4,-9.4,60,976,0.00,1.85,0.00,0.000,1030,0.000,0.053,2640,2712,3480,3473,3487,0,0,0,0,0,0,14.29,14.24,14.31
$GC,1308,-0.74,-107.1,2641,2712,3474,3485,142.0,-8.9,73,1313,0.00,2.40,0.00,0.000,516,0.000,0.043,2640,1375,3478,3472,3485,0,0,0,0,0,0,14.71,13.97,14.71
$GC,1335,-0.74,-107.1,2641,1375,3474,3486,146.3,-15.2,77,1341,0.10,2.75,0.00,0.000,3078,0.239,0.106,2658,2758,3478,3473,3484,0,0,0,0,0,0,13.79,13.81,14.05
$GC,1700,-0.74,-107.1,2658,2759,3474,3484,177.2,-8.2,87,1704,0.00,2.53,0.00,0.000,516,0.000,0.044,2658,1377,3476,3473,3480,0,0,0,0,0,0,14.67,13.97,14.67
$GC,1748,-0.74,-107.1,2658,1377,3481,3481,181.6,-8.0,94,1754,0.00,2.75,0.00,0.000,1030,0.000,0.105,2649,2751,3476,3473,3479,0,0,0,0,0,0,14.09,13.80,14.14
$GC,2092,-0.74,-107.1,2649,2753,3474,3474,210.1,-8.3,101,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2751,3473,3473,3473,0,0,0,0,0,0,14.67,14.67,14.67
$GC,2428,-0.74,-107.1,2650,2751,3474,3470,236.5,-7.8,107,2432,0.00,2.53,0.00,0.000,516,0.000,0.044,2648,1372,3471,3473,3469,0,0,0,0,0,0,14.66,13.96,14.66
$GC,2518,-0.74,-107.1,2647,1373,3474,3468,244.4,-8.3,120,2522,0.00,2.78,0.00,0.000,1030,0.000,0.106,2641,2751,3470,3473,3467,0,0,0,0,0,0,14.05,13.74,14.11
$GC,2875,-0.74,-107.1,2641,2750,3473,3463,274.7,-8.5,129,2881,0.00,2.22,0.00,0.000,260,0.000,0.161,2632,3829,3467,3473,3462,0,0,0,0,0,0,14.67,13.69,14.67
$GC,2931,-0.74,-107.1,2633,3829,3474,3463,279.5,-8.4,137,2937,0.10,1.88,0.00,0.000,3078,0.218,0.051,2661,2733,3467,3472,3462,0,0,0,0,0,0,13.76,14.18,13.97
$GC,3268,-0.74,-107.1,2662,2734,3473,3458,302.8,-6.8,150,3272,0.00,2.42,0.00,0.000,548,0.000,0.041,2661,1392,3465,3473,3457,0,0,0,0,0,0,14.66,13.95,14.66
$GC,3337,-0.82,-107.1,2662,1392,3474,3456,307.8,-6.7,160,3342,0.00,2.67,0.00,0.000,1190,0.000,0.095,2652,2746,3464,3472,3456,0,0,0,0,0,0,14.02,13.71,14.07
$GC,3660,-0.82,-107.1,2653,2746,3473,3453,330.0,-6.9,171,3664,0.00,2.50,0.00,0.000,548,0.000,0.042,2652,1380,3462,3473,3452,0,0,0,0,0,0,14.66,13.95,14.67
$GC,3716,-0.82,-107.1,2653,1383,3474,3452,334.3,-7.1,179,3720,0.00,2.72,0.00,0.000,1062,0.000,0.097,2644,2751,3462,3473,3452,0,0,0,0,0,0,14.03,13.73,14.09
$GC,4052,-0.82,-107.1,2644,2751,3474,3448,357.4,-6.9,192,4056,0.00,2.50,0.00,0.000,548,0.000,0.043,2644,1389,3460,3473,3448,0,0,0,0,0,0,14.71,13.80,14.71
$GC,4100,-0.82,-107.1,2644,1390,3474,3447,361.3,-7.3,199,4106,0.00,2.72,0.00,0.000,1062,0.000,0.100,2636,2739,3460,3473,3447,0,0,0,0,0,0,14.06,13.76,14.11
$GC,4444,-0.82,-107.1,2635,2737,3473,3445,388.1,-8.0,206,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2739,3458,3473,3443,0,0,0,0,0,0,14.70,14.70,14.70
$GC,4780,-0.82,-107.1,2636,2739,3473,3442,415.4,-8.2,212,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2739,3457,3473,3441,0,0,0,0,0,0,14.71,14.71,14.71
$GC,5116,-0.82,-107.1,2636,2739,3473,3439,443.2,-8.4,218,5120,0.00,2.50,0.00,0.000,516,0.000,0.043,2635,1388,3455,3473,3437,0,0,0,0,0,0,14.71,13.90,14.71
$GC,5150,-0.82,-107.1,2636,1387,3469,3438,446.7,-9.6,223,5154,0.00,2.72,0.00,0.000,1030,0.000,0.100,2625,2744,3455,3473,3437,0,0,0,0,0,0,14.02,13.70,14.08
$GC,5508,-0.82,-107.1,2626,2743,3473,3437,476.8,-8.6,232,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2744,3454,3473,3435,0,0,0,0,0,0,14.65,14.65,14.65
$GC,5844,-0.82,-107.1,2625,2744,3473,3433,506.4,-9.0,238,5848,0.00,2.53,0.00,0.000,516,0.000,0.043,2625,1383,3452,3472,3432,0,0,0,0,0,0,14.66,13.88,14.66
$GC,5885,-0.82,-107.1,2626,1382,3473,3433,510.5,-9.0,244,5889,0.00,2.72,0.00,0.000,1030,0.000,0.100,2616,2736,3452,3472,3432,0,0,0,0,0,0,14.02,13.71,14.08
$GC,6236,-0.82,-107.1,2616,2737,3474,3429,542.5,-9.2,252,6241,0.00,2.50,0.00,0.000,516,0.000,0.043,2615,1387,3450,3472,3429,0,0,0,0,0,0,14.65,13.92,14.65
$GC,6270,-0.82,-107.1,2615,1387,3473,3427,546.0,-9.3,257,6275,0.00,2.70,0.00,0.000,1030,0.000,0.102,2606,2732,3450,3472,3429,0,0,0,0,0,0,14.08,13.76,14.14
$GC,6628,-0.82,-107.1,2606,2732,3471,3430,577.8,-8.8,266,6632,0.00,2.28,0.00,0.000,260,0.000,0.161,2598,3832,3449,3471,3428,0,0,0,0,0,0,14.65,13.66,14.65
$GC,6655,-0.82,-107.1,2599,3830,3471,3429,580.4,-9.6,270,6660,0.12,1.90,0.00,0.000,3078,0.227,0.056,2630,2743,3449,3470,3428,0,0,0,0,0,0,13.62,14.12,13.88
$GC,7020,-0.82,-107.1,2630,2745,3471,3429,605.1,-6.6,280,7025,0.00,2.53,0.00,0.000,548,0.000,0.042,2632,1365,3448,3469,3428,0,0,0,0,0,0,14.71,13.87,14.69
$GC,7110,-0.82,-107.1,2632,1364,3469,3426,610.8,-6.2,293,7115,0.00,2.75,0.00,0.000,1062,0.000,0.094,2622,2737,3447,3468,3427,0,0,0,0,0,0,14.00,13.68,14.05
$GC,7468,-0.82,-107.1,2622,2736,3468,3427,635.1,-7.0,302,7472,0.00,2.25,0.00,0.000,292,0.000,0.155,2613,3832,3446,3467,3425,0,0,0,0,0,0,14.64,13.65,14.64
$GC,7509,-0.82,-107.1,2613,3834,3468,3425,638.6,-7.1,308,7513,0.00,1.92,0.00,0.000,1062,0.000,0.056,2613,2732,3446,3467,3426,0,0,0,0,0,0,14.18,14.11,14.20
$GC,7860,-0.82,-107.1,2612,2732,3465,3425,666.9,-8.3,316,7861,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2731,3445,3465,3425,0,0,0,0,0,0,14.69,14.69,14.69
$GC,8196,-0.82,-107.1,2613,2732,3466,3422,696.5,-8.9,322,8200,0.00,2.50,0.00,0.000,516,0.000,0.042,2612,1367,3442,3464,3421,0,0,0,0,0,0,14.69,13.84,14.69
$GC,8272,-0.82,-107.1,2613,1368,3466,3422,703.6,-9.2,333,8278,0.10,2.75,0.00,0.000,3078,0.248,0.096,2630,2736,3443,3464,3422,0,0,0,0,0,0,13.65,13.66,13.93
$GC,8588,-0.82,-107.1,2630,2734,3464,3423,731.1,-8.8,343,8592,0.00,2.25,0.00,0.000,260,0.000,0.158,2622,3826,3440,3460,3421,0,0,0,0,0,0,14.64,13.65,14.64
$GC,8629,-0.82,-107.1,2621,3827,3469,3421,735.1,-9.7,349,8634,0.00,1.95,0.00,0.000,1030,0.000,0.056,2622,2720,3441,3462,3421,0,0,0,0,0,0,14.16,14.08,14.17
$GC,8980,-0.82,-107.1,2622,2721,3462,3421,764.9,-8.5,357,8985,0.00,2.50,0.00,0.000,516,0.000,0.042,2621,1355,3440,3461,3420,0,0,0,0,0,0,14.63,13.85,14.63
$GC,9042,-0.82,-107.1,2622,1356,3462,3420,770.1,-7.9,366,9046,0.00,2.78,0.00,0.000,1030,0.000,0.096,2613,2738,3440,3461,3420,0,0,0,0,0,0,14.07,13.78,14.14
$GC,9372,-0.82,-107.1,2613,2739,3463,3419,796.4,-7.9,378,9377,0.00,2.55,0.00,0.000,516,0.000,0.043,2611,1364,3440,3461,3419,0,0,0,0,0,0,14.63,13.87,14.63
$GC,9399,-0.82,-107.1,2612,1366,3462,3419,798.6,-7.7,382,9404,0.10,2.72,0.00,0.000,3110,0.245,0.098,2629,2729,3439,3460,3419,0,0,0,0,0,0,13.72,13.72,13.99
$STATE,9415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9415,begin apogee
$GC,9426,-0.23,0.0,2631,2238,3462,3419,800.1,-7.5,385,9540,0.68,0.00,111.90,1.818,10244,0.172,0.000,2820,2236,3051,3090,3012,0,0,0,0,0,0,13.62,13.93,13.13
$STATE,9542,end apogee,CONTROL_FINISHED_OK
$STATE,9542,begin climb
$GC,9547,0.93,107.1,2821,2236,3083,3004,802.4,0.0,387,9681,1.12,2.55,120.68,1.733,10756,0.090,0.052,3184,855,2615,2677,2553,0,0,0,0,0,0,13.78,13.85,12.79
$GC,9779,0.81,107.1,3180,856,2674,2536,794.2,8.2,422,9784,0.00,2.67,0.00,0.000,1158,0.000,0.070,3184,2253,2604,2673,2536,0,0,0,0,0,0,13.88,13.68,13.93
$GC,10095,0.68,109.6,3180,2255,2675,2531,770.2,7.6,432,10101,0.17,2.83,0.00,0.000,4516,0.223,0.143,3125,3664,2602,2673,2531,0,0,0,0,0,0,13.76,13.85,13.94
$GC,10129,0.59,121.7,3125,3665,2674,2531,767.8,7.1,437,10149,0.15,2.47,12.45,1.871,13478,0.229,0.048,3093,2235,2561,2633,2489,0,0,0,0,0,0,13.81,14.20,13.47
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$STATE,19883,end climb,SURFACE_DEPTH_REACHED
$STATE,19883,begin surface coast
$FINISH,0.8,1.021966
$STATE,19890,end surface coast,CONTROL_FINISHED_OK
$STATE,19890,begin surface
$SM_CCo,19920,56.30,0.150,0,0,1056,500.14
$SM_GC,-2.34,9.52,3.80,56.30,0.083,0.106,0.150,186,2769,1056,-8.40,-0.28,500.14,0,0,0,0,0,0,14.26,13.81,14.14
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$TT8_MAMPS,0.03745,0.337799
$HUMID,57.36
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.70
$XPDR_PINGS,2
$SC_FREEKB,3609408
$PM_FREEKB,50887232
$24V_AH,11.55,264.870
$10V_AH,12.05,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.566,2.437,0.000,0.000
$MEM,334724
$DATA_FILE_SIZE,30021,819
$CAP_FILE_SIZE,156333,0
$CFSIZE,1024409600,890945536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043,261.03,1
$GPS,090317,190655,957.138,-12516.438,36,1.1,36,9.0,0.4,276.2,8,7.4