version: 66.13
glider: 220
mission: 6
dive: 785
start: 3 10 117 6 44 41
data:
$ID,220
$MISSION,6
$DIVE,785
$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,14
$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
$GPS1,100317,063025,955.0543,-12514.3564,43,0.8,43,9.0,0.7,191.3,12,3.5
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.60
$_SM_ANGLEo,-67.2
$GPS2,100317,064415,955.0078,-12514.4678,2,0.8,3,9.0,0.5,299.9,12,7.5
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,116.1,37139,-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,-107.1,107,2781,1105,1019,0.0,0.0,0,102,0.00,0.00,-79.57,0.000,16390,0.000,0.000,106,2782,3479,3469,3490,0,0,0,0,0,0,14.52,12.36,14.46
$GC,107,-0.93,-107.1,107,2782,3470,3491,3.6,-11.2,3,121,12.25,0.00,0.00,0.000,2054,0.386,0.000,2590,2781,3478,3471,3486,0,0,0,0,0,0,13.92,14.35,14.28
$GC,413,-0.71,-107.1,2590,2783,3474,3489,74.0,-16.1,14,418,0.25,2.53,0.00,0.000,2692,0.238,0.041,2661,1364,3481,3473,3489,0,0,0,0,0,0,13.58,13.91,13.78
$GC,426,-0.58,-107.1,2662,1364,3474,3489,76.3,-14.1,16,431,0.20,2.80,0.00,0.000,3206,0.213,0.113,2707,2763,3481,3474,3488,0,0,0,0,0,0,13.79,13.82,14.07
$GC,749,-0.66,-107.1,2707,2764,3477,3487,98.4,-8.6,29,754,0.00,2.25,0.00,0.000,388,0.000,0.189,2699,3826,3482,3477,3488,0,0,0,0,0,0,14.70,13.79,14.69
$GC,777,-0.74,-107.1,2699,3826,3478,3489,102.0,-12.1,33,783,0.05,1.90,0.00,0.000,5254,0.110,0.058,2633,2750,3482,3477,3488,0,0,0,0,0,0,14.03,14.15,14.07
$GC,1141,-0.74,-107.1,2633,2749,3477,3489,132.3,-8.1,43,1146,0.08,2.45,0.00,0.000,2564,0.250,0.040,2659,1370,3481,3476,3487,0,0,0,0,0,0,13.94,14.05,14.03
$GC,1182,-0.74,-107.1,2660,1371,3478,3482,137.5,-7.5,49,1189,0.00,2.80,0.00,0.000,1062,0.000,0.109,2649,2766,3482,3477,3487,0,0,0,0,0,0,13.99,13.72,14.05
$GC,1533,-0.74,-107.1,2650,2770,3477,3485,161.6,-7.0,57,1539,0.00,2.55,0.00,0.000,548,0.000,0.043,2649,1363,3480,3477,3484,0,0,0,0,0,0,14.68,13.97,14.68
$GC,1574,-0.74,-107.1,2649,1364,3478,3483,167.0,-7.9,63,1579,0.00,2.83,0.00,0.000,1030,0.000,0.114,2640,2762,3479,3476,3483,0,0,0,0,0,0,14.09,13.77,14.14
$GC,1925,-0.74,-107.1,2641,2760,3478,3480,192.2,-7.5,71,1930,0.00,2.55,0.00,0.000,548,0.000,0.044,2640,1362,3477,3477,3478,0,0,0,0,0,0,14.67,14.03,14.67
$GC,1967,-0.74,-107.1,2640,1362,3478,3477,197.3,-9.3,77,1973,0.10,2.80,0.00,0.000,3078,0.235,0.112,2658,2756,3476,3476,3477,0,0,0,0,0,0,13.77,13.74,14.03
$GC,2318,-0.74,-107.1,2658,2757,3480,3471,225.3,-8.0,85,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2756,3474,3477,3472,0,0,0,0,0,0,14.66,14.67,14.67
$GC,2653,-0.74,-107.1,2659,2757,3476,3469,252.3,-7.8,91,2658,0.00,2.53,0.00,0.000,516,0.000,0.044,2658,1372,3473,3479,3468,0,0,0,0,0,0,14.72,13.95,14.72
$GC,2716,-0.81,-107.1,2658,1373,3477,3467,257.2,-7.1,100,2720,0.00,2.80,0.00,0.000,1190,0.000,0.114,2649,2752,3471,3477,3466,0,0,0,0,0,0,14.02,13.69,14.09
$GC,3045,-0.81,-107.1,2649,2753,3478,3462,282.3,-7.5,112,3050,0.00,2.30,0.00,0.000,292,0.000,0.181,2641,3831,3471,3480,3462,0,0,0,0,0,0,14.71,13.61,14.71
$GC,3072,-0.81,-107.1,2640,3833,3477,3462,284.8,-8.9,116,3077,0.00,1.88,0.00,0.000,1030,0.000,0.057,2641,2754,3469,3477,3462,0,0,0,0,0,0,14.27,14.19,14.28
$GC,3438,-0.81,-107.1,2641,2755,3476,3458,316.0,-8.9,126,3442,0.00,2.50,0.00,0.000,516,0.000,0.042,2641,1366,3467,3477,3457,0,0,0,0,0,0,14.71,14.04,14.71
$GC,3485,-0.81,-107.1,2642,1365,3477,3457,321.3,-10.1,133,3492,0.00,2.78,0.00,0.000,1030,0.000,0.099,2631,2755,3466,3477,3456,0,0,0,0,0,0,14.00,13.68,14.07
$GC,3829,-0.81,-107.1,2632,2756,3478,3452,355.7,-10.1,140,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2755,3464,3476,3452,0,0,0,0,0,0,14.71,14.73,14.71
$GC,4166,-0.81,-107.1,2631,2756,3478,3449,386.9,-9.0,146,4170,0.00,2.55,0.00,0.000,516,0.000,0.043,2631,1360,3462,3476,3449,0,0,0,0,0,0,14.71,14.00,14.71
$GC,4221,-0.81,-107.1,2632,1359,3477,3447,391.8,-8.4,154,4226,0.00,2.80,0.00,0.000,1030,0.000,0.103,2622,2749,3462,3476,3448,0,0,0,0,0,0,14.00,13.66,14.06
$GC,4558,-0.81,-107.1,2622,2749,3477,3446,418.3,-7.7,167,4558,0.00,0.00,0.00,0.000,38,0.000,0.000,2622,2748,3460,3476,3445,0,0,0,0,0,0,14.71,14.71,14.71
$GC,4893,-0.81,-107.1,2622,2750,3477,3442,443.5,-7.5,173,4899,0.00,2.55,0.00,0.000,548,0.000,0.042,2621,1362,3459,3476,3442,0,0,0,0,0,0,14.67,13.99,14.67
$GC,4997,-0.81,-107.1,2621,1362,3477,3442,452.1,-7.3,188,5004,0.00,2.80,0.00,0.000,1062,0.000,0.101,2612,2749,3458,3476,3441,0,0,0,0,0,0,14.00,13.67,14.05
$GC,5341,-0.81,-107.1,2612,2749,3477,3438,479.3,-8.3,195,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2748,3457,3476,3438,0,0,0,0,0,0,14.66,14.67,14.67
$GC,5678,-0.81,-107.1,2613,2749,3477,3438,508.1,-8.6,201,5683,0.00,2.55,0.00,0.000,516,0.000,0.043,2612,1358,3456,3476,3436,0,0,0,0,0,0,14.71,14.00,14.71
$GC,5746,-0.81,-107.1,2612,1357,3477,3436,515.4,-10.3,211,5752,0.10,2.80,0.00,0.000,3078,0.239,0.103,2631,2743,3455,3476,3435,0,0,0,0,0,0,13.66,13.65,13.93
$GC,6069,-0.81,-107.1,2632,2743,3476,3432,542.2,-8.5,222,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2743,3454,3476,3432,0,0,0,0,0,0,14.71,14.71,14.71
$GC,6405,-0.81,-107.1,2631,2742,3477,3429,570.5,-8.3,228,6410,0.00,2.55,0.00,0.000,516,0.000,0.042,2631,1358,3453,3476,3430,0,0,0,0,0,0,14.70,13.97,14.70
$GC,6488,-0.81,-107.1,2631,1358,3477,3429,578.1,-8.4,240,6493,0.00,2.83,0.00,0.000,1030,0.000,0.105,2618,2745,3452,3476,3429,0,0,0,0,0,0,13.99,13.65,14.05
$GC,6853,-0.81,-107.1,2625,2746,3473,3430,609.0,-8.5,250,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2745,3450,3472,3429,0,0,0,0,0,0,14.66,14.66,14.66
$GC,7190,-0.81,-107.1,2622,2743,3470,3430,637.1,-8.1,256,7194,0.00,2.55,0.00,0.000,516,0.000,0.042,2621,1362,3449,3471,3428,0,0,0,0,0,0,14.66,13.99,14.66
$GC,7230,-0.81,-107.1,2621,1361,3471,3428,640.8,-7.9,262,7235,0.00,2.80,0.00,0.000,1030,0.000,0.105,2612,2746,3449,3471,3428,0,0,0,0,0,0,13.96,13.64,14.05
$GC,7581,-0.81,-107.1,2613,2747,3470,3428,671.1,-8.7,270,7586,0.00,2.55,0.00,0.000,516,0.000,0.043,2611,1359,3449,3470,3428,0,0,0,0,0,0,14.70,13.99,14.70
$GC,7650,-0.81,-107.1,2612,1358,3470,3429,677.3,-8.7,280,7655,0.10,2.80,0.00,0.000,3078,0.240,0.105,2631,2736,3448,3470,3427,0,0,0,0,0,0,13.66,13.64,13.93
$GC,7973,-0.81,-107.1,2634,2736,3470,3428,702.5,-7.8,291,7974,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2736,3447,3470,3425,0,0,0,0,0,0,14.70,14.70,14.69
$GC,8309,-0.81,-107.1,2632,2736,3468,3426,727.3,-7.3,297,8315,0.00,2.53,0.00,0.000,548,0.000,0.044,2632,1366,3446,3467,3425,0,0,0,0,0,0,14.70,13.97,14.70
$GC,8379,-0.81,-107.1,2632,1367,3468,3424,732.5,-7.4,307,8383,0.00,2.78,0.00,0.000,1062,0.000,0.106,2622,2732,3445,3467,3424,0,0,0,0,0,0,14.01,13.62,14.04
$GC,8702,-0.81,-107.1,2622,2732,3467,3423,755.3,-7.1,318,8702,0.00,0.00,0.00,0.000,38,0.000,0.000,2622,2732,3444,3466,3423,0,0,0,0,0,0,14.69,14.70,14.69
$GC,9037,-0.81,-107.1,2622,2733,3465,3422,780.9,-7.6,324,9042,0.00,2.55,0.00,0.000,548,0.000,0.044,2621,1362,3443,3464,3422,0,0,0,0,0,0,14.69,13.93,14.69
$GC,9071,-0.81,-107.1,2621,1363,3466,3422,784.1,-8.8,329,9077,0.00,2.80,0.00,0.000,1030,0.000,0.107,2612,2735,3441,3464,3418,0,0,0,0,0,0,13.97,13.63,14.04
$STATE,9313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9313,begin apogee
$GC,9324,-0.23,0.0,2612,2252,3465,3421,804.4,-8.3,336,9443,0.75,0.00,116.62,1.775,10244,0.181,0.000,2821,2250,3055,3091,3020,0,0,0,0,0,0,13.61,13.88,13.12
$STATE,9444,end apogee,CONTROL_FINISHED_OK
$STATE,9444,begin climb
$GC,9449,0.93,107.1,2822,2250,3084,3002,808.7,0.0,338,9580,1.12,2.60,119.82,1.730,10756,0.090,0.051,3183,840,2621,2681,2562,0,0,0,0,0,0,13.81,13.87,12.73
$GC,9643,0.85,152.9,3184,840,2675,2541,807.4,5.4,368,9699,0.00,2.78,50.70,1.738,9382,0.000,0.073,3183,2252,2443,2518,2369,0,0,0,0,0,0,13.67,13.45,12.84
$GC,10041,0.74,152.9,3182,2253,2508,2333,774.9,8.7,382,10046,0.12,2.90,0.00,0.000,4484,0.233,0.155,3144,3663,2423,2507,2339,0,0,0,0,0,0,13.81,13.82,13.98
$GC,10081,0.64,152.9,3144,3663,2508,2340,770.9,8.6,388,10086,0.17,2.50,0.00,0.000,5254,0.223,0.050,3107,2235,2422,2507,2337,0,0,0,0,0,0,13.82,14.22,14.12
$GC,10432,0.66,171.5,3107,2230,2508,2336,747.0,6.8,396,10453,0.00,0.00,19.12,1.817,8230,0.000,0.000,3107,2229,2367,2452,2282,0,0,0,0,0,0,14.62,14.34,13.61
$GC,10768,0.67,175.8,3107,2229,2442,2258,722.3,7.5,402,10773,0.00,2.97,0.00,0.000,292,0.000,0.151,3106,3664,2349,2441,2257,0,0,0,0,0,0,14.62,13.78,14.62
$GC,10816,0.67,175.8,3107,3664,2442,2258,717.9,8.8,409,10823,0.00,2.50,0.00,0.000,1030,0.000,0.048,3117,2239,2349,2441,2257,0,0,0,0,0,0,14.30,14.22,14.33
$GC,11160,0.67,175.8,3117,2239,2442,2255,691.2,7.8,416,11165,0.00,2.53,0.00,0.000,516,0.000,0.056,3127,859,2348,2441,2255,0,0,0,0,0,0,14.66,13.95,14.66
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$STATE,19990,end climb,SURFACE_DEPTH_REACHED
$STATE,19990,begin surface coast
$FINISH,-1.6,1.021937
$STATE,20018,end surface coast,CONTROL_FINISHED_OK
$STATE,20018,begin surface
$SM_CCo,20046,41.67,0.151,0,0,1057,500.14
$SM_GC,-2.06,9.23,1.08,41.67,0.064,0.119,0.151,189,2773,1057,-8.38,-0.20,500.14,0,0,0,0,0,0,14.26,13.75,14.14
$IRIDIUM_FIX,953.88,-12514.95,100317,005442
$TT8_MAMPS,0.038199,0.304094
$HUMID,57.99
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,21.70
$XPDR_PINGS,1
$SC_FREEKB,3608256
$PM_FREEKB,50851776
$24V_AH,12.36,265.812
$10V_AH,12.01,0.000
$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,25.250,202.250,476.725,41.675,0.000,0.000,0.000,403.050,0.250,0.000,4.867,0.000,16949.906,758.045,2434.442,758.814,0.000,1911.607,0.000,1496.867,0.000,0.840,0.000
$DEVICE_MAMPS,385.560,188.955,1816.875,151.470,0.000,0.000,0.000,177.480,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20088.000,20033.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.593,2.440,0.000,0.000
$MEM,334748
$DATA_FILE_SIZE,30035,833
$CAP_FILE_SIZE,152452,0
$CFSIZE,1024409600,890503168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.029,207.07,1
$GPS,100317,122030,953.969,-12513.016,23,0.9,23,9.0,0.3,337.1,11,3.6