version: 66.13
glider: 220
mission: 6
dive: 800
start: 3 13 117 17 32 9
data:
$ID,220
$MISSION,6
$DIVE,800
$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,350
$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,100
$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,55
$R_STBD_OVSHOOT,16
$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,1
$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
$GPS1,130317,172000,945.2000,-12456.9912,21,1.0,21,9.0,0.0,0.0,9,4.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.91
$_SM_ANGLEo,-69.0
$GPS2,130317,173143,945.1359,-12456.9795,3,0.9,4,9.0,0.2,223.8,10,6.2
$SPEED_LIMITS,0.132,0.164
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,33.2,40610,-18.3,-7.619,-24.90,1901
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,15,-0.95,-97.3,127,2783,1103,1015,0.0,0.0,0,98,0.00,0.00,-78.85,0.000,16390,0.000,0.000,122,2782,3438,3423,3453,0,0,0,0,0,0,14.45,12.77,14.42
$GC,103,-0.95,-97.3,123,2783,3424,3452,1.5,-11.2,3,120,11.93,2.05,0.00,0.000,2308,0.378,0.135,2576,3823,3439,3425,3453,0,0,0,0,0,0,13.79,14.02,14.15
$GC,149,-0.38,-97.3,2577,3823,3428,3454,22.6,-34.2,10,155,0.77,1.80,0.00,0.000,3206,0.250,0.050,2772,2699,3439,3426,3453,0,0,0,0,0,0,13.69,14.19,14.02
$GC,464,-0.54,-97.3,2778,2700,3430,3452,55.0,-7.3,22,469,0.08,2.35,0.00,0.000,4772,0.138,0.040,2693,1371,3440,3429,3452,0,0,0,0,0,0,14.26,14.09,14.27
$GC,622,-0.54,-97.3,2693,1371,3432,3452,66.2,-6.4,44,627,0.12,2.72,0.00,0.000,3110,0.222,0.106,2718,2755,3441,3430,3452,0,0,0,0,0,0,13.79,13.81,14.04
$GC,943,-0.67,-97.3,2718,2756,3433,3451,81.8,-5.3,57,948,0.00,2.22,0.00,0.000,420,0.000,0.175,2710,3829,3442,3432,3452,0,0,0,0,0,0,14.62,13.69,14.63
$GC,971,-0.79,-97.3,2710,3829,3433,3453,83.8,-6.3,61,976,0.12,1.85,0.00,0.000,5286,0.090,0.060,2617,2752,3441,3432,3451,0,0,0,0,0,0,14.19,14.23,14.25
$GC,1307,-0.79,-97.3,2617,2753,3432,3453,112.5,-9.0,74,1311,0.00,2.45,0.00,0.000,516,0.000,0.042,2616,1370,3441,3432,3451,0,0,0,0,0,0,14.69,14.09,14.68
$GC,1439,-0.79,-97.3,2617,1372,3432,3452,125.0,-8.5,93,1445,0.12,2.75,0.00,0.000,3078,0.225,0.103,2641,2757,3441,3432,3450,0,0,0,0,0,0,13.76,13.79,14.02
$GC,1755,-0.79,-97.3,2642,2757,3432,3449,147.6,-7.3,103,1759,0.00,2.20,0.00,0.000,292,0.000,0.164,2633,3834,3439,3432,3447,0,0,0,0,0,0,14.64,13.69,14.64
$GC,1782,-0.79,-97.3,2634,3834,3433,3449,150.5,-10.4,107,1787,0.00,1.85,0.00,0.000,1030,0.000,0.054,2633,2720,3439,3432,3447,0,0,0,0,0,0,14.30,14.25,14.31
$GC,2146,-0.79,-97.3,2633,2721,3433,3443,182.5,-8.8,117,2152,0.00,2.35,0.00,0.000,516,0.000,0.041,2633,1399,3437,3431,3443,0,0,0,0,0,0,14.65,14.09,14.65
$GC,2188,-0.79,-97.3,2634,1398,3432,3443,185.7,-8.2,123,2193,0.00,2.67,0.00,0.000,1030,0.000,0.097,2623,2759,3437,3432,3442,0,0,0,0,0,0,14.07,13.79,14.12
$GC,2539,-0.79,-97.3,2623,2760,3433,3436,217.4,-9.2,131,2543,0.00,2.47,0.00,0.000,516,0.000,0.043,2622,1398,3434,3432,3437,0,0,0,0,0,0,14.69,14.07,14.69
$GC,2566,-0.79,-97.3,2623,1397,3432,3437,220.1,-10.1,135,2571,0.10,2.65,0.00,0.000,3078,0.233,0.096,2641,2749,3434,3432,3437,0,0,0,0,0,0,13.76,13.78,14.01
$GC,2931,-0.79,-97.3,2642,2749,3433,3433,248.2,-7.3,145,2931,0.00,0.00,0.00,0.000,38,0.000,0.000,2640,2749,3431,3431,3432,0,0,0,0,0,0,14.64,14.65,14.65
$GC,3266,-0.79,-97.3,2642,2748,3432,3429,273.0,-7.7,151,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2749,3429,3431,3428,0,0,0,0,0,0,14.71,14.71,14.71
$GC,3602,-0.79,-97.3,2641,2748,3432,3425,299.0,-7.7,157,3608,0.00,2.45,0.00,0.000,516,0.000,0.042,2641,1401,3427,3432,3423,0,0,0,0,0,0,14.66,14.07,14.66
$GC,3686,-0.79,-97.3,2641,1401,3433,3422,306.4,-6.5,169,3692,0.00,2.67,0.00,0.000,1062,0.000,0.097,2631,2753,3426,3432,3421,0,0,0,0,0,0,14.04,13.74,14.10
$GC,4050,-0.79,-97.3,2632,2753,3432,3420,333.4,-7.8,179,4055,0.00,2.47,0.00,0.000,516,0.000,0.042,2631,1392,3425,3432,3419,0,0,0,0,0,0,14.70,14.09,14.71
$GC,4093,-0.79,-97.3,2632,1391,3432,3419,337.2,-7.2,185,4098,0.00,2.70,0.00,0.000,1062,0.000,0.099,2622,2752,3425,3432,3418,0,0,0,0,0,0,14.05,13.76,14.12
$GC,4442,-0.79,-97.3,2622,2753,3433,3413,365.8,-8.1,193,4448,0.00,2.22,0.00,0.000,260,0.000,0.165,2614,3827,3422,3431,3414,0,0,0,0,0,0,14.70,13.65,14.70
$GC,4498,-0.79,-97.3,2614,3828,3432,3416,371.9,-11.1,201,4504,0.10,1.83,0.00,0.000,3078,0.228,0.057,2641,2780,3422,3431,3414,0,0,0,0,0,0,13.82,14.21,14.05
$GC,4835,-0.79,-97.3,2642,2780,3432,3412,396.5,-7.5,214,4839,0.00,2.55,0.00,0.000,548,0.000,0.041,2641,1366,3421,3431,3411,0,0,0,0,0,0,14.71,14.07,14.70
$GC,4897,-0.79,-97.3,2642,1364,3432,3411,403.1,-7.6,223,4902,0.00,2.72,0.00,0.000,1062,0.000,0.096,2631,2745,3420,3431,3410,0,0,0,0,0,0,14.04,13.75,14.09
$GC,5227,-0.79,-97.3,2632,2746,3433,3406,426.9,-6.9,235,5231,0.00,2.53,0.00,0.000,548,0.000,0.041,2631,1363,3418,3431,3406,0,0,0,0,0,0,14.66,14.06,14.65
$GC,5275,-0.79,-97.3,2633,1363,3432,3407,431.6,-6.0,242,5281,0.00,2.75,0.00,0.000,1062,0.000,0.098,2622,2744,3417,3431,3404,0,0,0,0,0,0,14.03,13.74,14.09
$GC,5619,-0.79,-97.3,2623,2743,3432,3404,457.7,-7.5,249,5624,0.00,2.53,0.00,0.000,548,0.000,0.041,2622,1364,3417,3431,3403,0,0,0,0,0,0,14.65,14.08,14.65
$GC,5646,-0.79,-97.3,2622,1363,3432,3404,460.9,-11.9,253,5652,0.10,2.72,0.00,0.000,3078,0.240,0.097,2639,2742,3416,3431,3401,0,0,0,0,0,0,13.72,13.78,13.98
$GC,6011,-0.79,-97.3,2640,2741,3431,3401,484.1,-6.6,263,6012,0.00,0.00,0.00,0.000,38,0.000,0.000,2639,2741,3415,3431,3400,0,0,0,0,0,0,14.70,14.70,14.71
$GC,6347,-0.79,-97.3,2640,2743,3432,3397,506.1,-7.0,269,6352,0.00,2.53,0.00,0.000,548,0.000,0.042,2639,1361,3414,3431,3398,0,0,0,0,0,0,14.71,14.07,14.71
$GC,6416,-0.87,-97.3,2640,1362,3432,3398,511.7,-8.8,279,6421,0.00,2.75,0.00,0.000,1158,0.000,0.097,2629,2741,3413,3431,3396,0,0,0,0,0,0,14.02,13.72,14.09
$GC,6739,-0.87,-97.3,2630,2741,3432,3394,535.2,-7.2,290,6744,0.00,2.53,0.00,0.000,548,0.000,0.042,2629,1367,3414,3435,3394,0,0,0,0,0,0,14.69,14.06,14.70
$GC,6766,-0.87,-97.3,2629,1368,3432,3394,538.1,-10.6,294,6771,0.00,2.75,0.00,0.000,1030,0.000,0.100,2619,2739,3415,3429,3402,0,0,0,0,0,0,14.02,13.72,14.08
$GC,7130,-0.87,-97.3,2620,2739,3431,3397,567.5,-8.2,304,7135,0.00,2.28,0.00,0.000,260,0.000,0.170,2611,3829,3411,3430,3392,0,0,0,0,0,0,14.71,13.54,14.70
$GC,7179,-0.87,-97.3,2612,3830,3430,3393,571.6,-6.6,311,7185,0.00,1.90,0.00,0.000,1062,0.000,0.055,2611,2744,3410,3429,3392,0,0,0,0,0,0,14.23,14.16,14.25
$GC,7523,-0.87,-97.3,2610,2746,3428,3392,600.0,-7.7,318,7527,0.00,2.50,0.00,0.000,516,0.000,0.041,2610,1363,3409,3426,3392,0,0,0,0,0,0,14.70,14.06,14.70
$GC,7613,-0.87,-97.3,2611,1364,3427,3392,607.0,-5.3,331,7618,0.00,2.78,0.00,0.000,1062,0.000,0.100,2602,2742,3409,3426,3392,0,0,0,0,0,0,13.98,13.67,14.04
$GC,7971,-0.87,-97.3,2603,2742,3427,3391,637.5,-8.6,340,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2742,3408,3425,3391,0,0,0,0,0,0,14.70,14.70,14.70
$GC,8306,-0.87,-97.3,2603,2742,3424,3392,663.7,-7.9,346,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2742,3407,3424,3390,0,0,0,0,0,0,14.65,14.65,14.65
$GC,8643,-0.87,-97.3,2603,2742,3423,3389,693.5,-9.1,352,8648,0.00,2.55,0.00,0.000,516,0.000,0.041,2601,1364,3405,3423,3388,0,0,0,0,0,0,14.69,13.99,14.69
$GC,8726,-0.87,-97.3,2602,1365,3424,3389,702.7,-8.8,364,8731,0.00,2.78,0.00,0.000,1030,0.000,0.101,2593,2740,3405,3423,3388,0,0,0,0,0,0,13.97,13.65,14.02
$GC,9091,-0.87,-97.3,2593,2740,3424,3387,733.2,-8.4,374,9091,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2739,3405,3423,3387,0,0,0,0,0,0,14.64,14.64,14.64
$GC,9426,-0.87,-97.3,2593,2739,3421,3388,764.7,-9.4,380,9431,0.00,2.55,0.00,0.000,516,0.000,0.043,2591,1362,3403,3421,3386,0,0,0,0,0,0,14.64,14.01,14.64
$GC,9461,-0.87,-97.3,2591,1362,3421,3388,768.5,-11.5,385,9467,0.12,2.78,0.00,0.000,3078,0.223,0.103,2619,2739,3403,3419,3387,0,0,0,0,0,0,13.64,13.65,13.90
$GC,9819,-0.87,-97.3,2617,2739,3421,3386,798.4,-8.3,394,9819,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2739,3402,3420,3385,0,0,0,0,0,0,14.64,14.64,14.64
$STATE,9870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9870,begin apogee
$GC,9881,-0.23,0.0,2617,2237,3422,3385,802.7,-8.7,395,9990,0.73,0.00,106.55,1.826,10244,0.179,0.000,2818,2237,3047,3080,3015,0,0,0,0,0,0,13.67,13.62,12.78
$STATE,9991,end apogee,CONTROL_FINISHED_OK
$STATE,9991,begin climb
$GC,9995,0.95,97.3,2820,2238,3079,3004,808.8,0.0,397,10121,1.17,2.60,111.70,1.769,10756,0.088,0.051,3189,856,2654,2711,2598,0,0,0,0,0,0,13.59,13.62,12.17
$GC,10185,0.86,126.3,3189,858,2710,2583,805.7,6.1,425,10226,0.00,2.83,33.42,1.824,9382,0.000,0.067,3189,2252,2541,2608,2474,0,0,0,0,0,0,13.15,12.97,12.12
$GC,10553,0.74,126.3,3189,2253,2604,2454,777.0,8.6,442,10555,0.17,0.00,0.00,0.000,4230,0.215,0.000,3143,2252,2529,2604,2454,0,0,0,0,0,0,13.25,13.58,13.52
$GC,10885,0.75,136.4,3144,2252,2605,2452,752.7,7.1,448,10896,0.00,2.92,3.22,1.116,8484,0.000,0.153,3143,3670,2509,2580,2439,0,0,0,0,0,0,14.45,13.85,12.80
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$STATE,19952,end climb,SURFACE_DEPTH_REACHED
$STATE,19952,begin surface coast
$FINISH,-1.0,1.021822
$STATE,19980,end surface coast,CONTROL_FINISHED_OK
$STATE,19980,begin surface
$SM_CCo,20008,49.22,0.155,0,0,1057,500.14
$SM_GC,-5.44,9.48,1.12,49.22,0.078,0.125,0.155,191,2762,1057,-8.40,-0.57,500.14,0,0,0,0,0,0,14.11,13.71,14.05
$IRIDIUM_FIX,938.56,-12456.65,130317,113857
$TT8_MAMPS,0.03745,0.286118
$HUMID,59.37
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,22.30
$XPDR_PINGS,0
$SC_FREEKB,3602496
$24V_AH,12.12,271.024
$10V_AH,11.89,0.000
$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
$DEVICE_SECS,25.650,197.000,497.850,49.225,0.000,0.000,0.000,382.700,0.000,0.000,5.440,0.000,17163.451,793.204,2100.627,686.664,0.000,1936.072,0.000,1214.003,0.000,0.546,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20053.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.636,0.000,0.000,0.000
$MEM,334740
$DATA_FILE_SIZE,30019,848
$CAP_FILE_SIZE,149227,0
$CFSIZE,1024409600,888356864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,293.18,1
$GPS,130317,230730,946.664,-12456.418,29,0.8,29,9.0,1.0,202.3,10,7.4