version: 66.13
glider: 220
mission: 6
dive: 803
start: 3 14 117 10 44 58
data:
$ID,220
$MISSION,6
$DIVE,803
$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,47
$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,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
$GPS1,140317,103300,948.4110,-12455.2090,35,0.8,35,9.0,0.8,293.2,12,3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.89
$_SM_ANGLEo,-70.6
$GPS2,140317,104432,948.3271,-12455.3320,2,0.7,3,9.0,0.4,224.6,12,5.7
$SPEED_LIMITS,0.132,0.164
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,59.6,34472,-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,-97.3,142,2786,1103,1018,0.0,0.0,0,98,0.00,0.00,-79.50,0.000,16390,0.000,0.000,141,2786,3438,3424,3452,0,0,0,0,0,0,14.17,12.00,14.16
$GC,103,-0.95,-97.3,142,2787,3426,3453,1.4,-11.1,3,120,12.30,2.10,0.00,0.000,2308,0.381,0.132,2576,3829,3439,3426,3453,0,0,0,0,0,0,13.53,13.75,13.88
$GC,163,-0.63,-97.3,2576,3830,3429,3454,25.7,-26.0,12,168,0.45,1.85,0.00,0.000,3206,0.246,0.049,2689,2722,3440,3428,3452,0,0,0,0,0,0,13.44,14.01,13.71
$GC,492,-0.63,-97.3,2688,2723,3431,3452,62.3,-7.8,26,496,0.00,2.38,0.00,0.000,516,0.000,0.044,2688,1402,3442,3433,3452,0,0,0,0,0,0,14.52,13.88,14.53
$GC,583,-0.63,-97.3,2689,1403,3432,3452,68.7,-5.4,39,587,0.00,2.72,0.00,0.000,1062,0.000,0.107,2674,2764,3441,3431,3452,0,0,0,0,0,0,13.86,13.58,13.91
$GC,912,-0.63,-97.3,2679,2764,3433,3454,87.8,-6.5,53,913,0.00,0.00,0.00,0.000,38,0.000,0.000,2679,2764,3442,3432,3452,0,0,0,0,0,0,14.52,14.52,14.52
$GC,1220,-0.63,-97.3,2679,2765,3433,3452,108.9,-6.7,62,1225,0.00,2.47,0.00,0.000,548,0.000,0.043,2679,1406,3442,3432,3452,0,0,0,0,0,0,14.61,13.91,14.61
$GC,1276,-0.72,-97.3,2678,1406,3434,3452,113.7,-6.9,70,1281,0.00,2.70,0.00,0.000,1190,0.000,0.106,2669,2746,3441,3431,3452,0,0,0,0,0,0,13.93,13.61,13.98
$GC,1612,-0.72,-97.3,2669,2743,3433,3451,135.9,-6.8,83,1617,0.00,2.45,0.00,0.000,548,0.000,0.043,2668,1405,3440,3432,3449,0,0,0,0,0,0,14.56,13.90,14.56
$GC,1647,-0.81,-97.3,2669,1406,3434,3449,138.5,-7.2,88,1652,0.00,2.72,0.00,0.000,1190,0.000,0.109,2660,2753,3440,3432,3449,0,0,0,0,0,0,13.94,13.62,14.00
$GC,2004,-0.81,-97.3,2660,2752,3433,3446,161.3,-6.4,97,2005,0.00,0.00,0.00,0.000,38,0.000,0.000,2660,2752,3438,3432,3445,0,0,0,0,0,0,14.56,14.57,14.56
$GC,2340,-0.81,-97.3,2660,2753,3433,3440,184.0,-6.6,103,2345,0.00,2.50,0.00,0.000,548,0.000,0.044,2660,1404,3436,3431,3441,0,0,0,0,0,0,14.57,13.90,14.57
$GC,2424,-0.90,-97.3,2660,1404,3433,3441,190.4,-5.9,115,2429,0.08,2.72,0.00,0.000,5286,0.137,0.109,2583,2743,3435,3432,3439,0,0,0,0,0,0,13.91,13.62,14.04
$GC,2788,-0.90,-97.3,2584,2743,3431,3437,226.7,-10.5,125,2793,0.00,2.30,0.00,0.000,260,0.000,0.168,2575,3832,3433,3432,3435,0,0,0,0,0,0,14.57,13.55,14.57
$GC,2851,-0.80,-97.3,2575,3833,3433,3434,234.0,-10.3,134,2856,0.22,1.85,0.00,0.000,3206,0.210,0.058,2635,2774,3433,3432,3434,0,0,0,0,0,0,13.54,14.09,13.83
$GC,3180,-0.80,-97.3,2635,2775,3433,3430,261.4,-8.5,146,3185,0.00,2.58,0.00,0.000,516,0.000,0.043,2635,1363,3431,3432,3430,0,0,0,0,0,0,14.58,13.90,14.58
$GC,3264,-0.80,-97.3,2635,1364,3434,3429,269.7,-10.7,158,3269,0.00,2.78,0.00,0.000,1030,0.000,0.100,2625,2739,3430,3431,3429,0,0,0,0,0,0,13.92,13.60,13.97
$GC,3628,-0.80,-97.3,2625,2741,3433,3425,300.5,-8.6,168,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2739,3428,3432,3425,0,0,0,0,0,0,14.64,14.64,14.64
$GC,3964,-0.80,-97.3,2625,2740,3431,3422,325.8,-7.5,174,3969,0.00,2.53,0.00,0.000,548,0.000,0.044,2625,1368,3426,3432,3421,0,0,0,0,0,0,14.64,13.83,14.64
$GC,4006,-0.80,-97.3,2625,1370,3433,3420,329.8,-6.3,180,4010,0.00,2.78,0.00,0.000,1062,0.000,0.103,2616,2741,3426,3432,3421,0,0,0,0,0,0,13.91,13.59,13.97
$GC,4356,-0.80,-97.3,2616,2741,3432,3419,357.7,-7.8,188,4361,0.00,2.55,0.00,0.000,516,0.000,0.043,2615,1365,3424,3431,3418,0,0,0,0,0,0,14.57,13.90,14.57
$GC,4383,-0.80,-97.3,2615,1365,3432,3419,361.0,-11.8,192,4389,0.12,2.78,0.00,0.000,3078,0.229,0.103,2639,2740,3424,3432,3417,0,0,0,0,0,0,13.64,13.62,13.89
$GC,4748,-0.80,-97.3,2640,2740,3432,3415,385.7,-6.6,202,4749,0.00,0.00,0.00,0.000,38,0.000,0.000,2639,2740,3421,3428,3414,0,0,0,0,0,0,14.64,14.64,14.64
$GC,5084,-0.80,-97.3,2639,2740,3433,3412,412.0,-7.8,208,5088,0.00,2.55,0.00,0.000,516,0.000,0.044,2639,1372,3420,3431,3410,0,0,0,0,0,0,14.57,13.89,14.57
$GC,5154,-0.80,-97.3,2639,1374,3433,3410,419.4,-7.8,218,5158,0.00,2.78,0.00,0.000,1030,0.000,0.105,2629,2736,3421,3431,3411,0,0,0,0,0,0,13.88,13.54,13.95
$GC,5476,-0.80,-97.3,2630,2732,3432,3409,447.2,-8.5,229,5481,0.00,2.55,0.00,0.000,516,0.000,0.044,2628,1364,3419,3431,3407,0,0,0,0,0,0,14.64,13.88,14.64
$GC,5511,-0.80,-97.3,2630,1364,3431,3408,451.0,-9.4,234,5516,0.00,2.78,0.00,0.000,1030,0.000,0.106,2619,2725,3418,3431,3406,0,0,0,0,0,0,13.90,13.57,13.97
$GC,5868,-0.80,-97.3,2620,2729,3432,3405,482.8,-8.9,243,5872,0.00,2.35,0.00,0.000,260,0.000,0.174,2611,3831,3417,3431,3403,0,0,0,0,0,0,14.59,13.47,14.59
$GC,5924,-0.80,-97.3,2612,3831,3436,3405,488.2,-7.8,251,5928,0.00,1.98,0.00,0.000,1030,0.000,0.063,2611,2734,3416,3431,3402,0,0,0,0,0,0,14.05,13.96,14.07
$GC,6260,-0.80,-97.3,2617,2734,3432,3402,519.3,-9.5,264,6265,0.00,2.53,0.00,0.000,516,0.000,0.043,2610,1358,3415,3431,3400,0,0,0,0,0,0,14.64,13.88,14.64
$GC,6330,-0.80,-97.3,2611,1359,3431,3400,525.8,-10.1,274,6335,0.12,2.78,0.00,0.000,3078,0.224,0.096,2634,2738,3415,3431,3400,0,0,0,0,0,0,13.54,13.54,13.81
$GC,6652,-0.80,-97.3,2633,2739,3433,3398,548.3,-6.9,285,6653,0.00,0.00,0.00,0.000,38,0.000,0.000,2634,2738,3415,3431,3399,0,0,0,0,0,0,14.64,14.64,14.64
$GC,6988,-0.80,-97.3,2634,2739,3433,3396,574.5,-7.5,291,6993,0.00,2.58,0.00,0.000,548,0.000,0.044,2635,1362,3413,3431,3396,0,0,0,0,0,0,14.57,13.87,14.58
$GC,7058,-0.88,-97.3,2634,1362,3433,3397,580.5,-6.2,301,7064,0.00,2.75,0.00,0.000,1190,0.000,0.099,2625,2724,3413,3431,3395,0,0,0,0,0,0,13.90,13.57,13.96
$GC,7380,-0.88,-97.3,2626,2724,3432,3393,606.2,-7.6,312,7381,0.00,0.00,0.00,0.000,38,0.000,0.000,2625,2724,3412,3431,3393,0,0,0,0,0,0,14.64,14.64,14.64
$GC,7716,-0.88,-97.3,2625,2725,3431,3392,634.1,-7.8,318,7720,0.00,2.55,0.00,0.000,516,0.000,0.044,2625,1361,3410,3429,3392,0,0,0,0,0,0,14.64,13.86,14.64
$GC,7778,-0.88,-97.3,2624,1362,3430,3392,640.5,-8.3,327,7783,0.00,2.78,0.00,0.000,1030,0.000,0.096,2616,2733,3410,3429,3392,0,0,0,0,0,0,13.85,13.52,13.92
$GC,8108,-0.88,-97.3,2616,2734,3428,3392,668.4,-8.1,339,8112,0.00,2.30,0.00,0.000,260,0.000,0.165,2608,3822,3409,3426,3392,0,0,0,0,0,0,14.64,13.47,14.64
$GC,8136,-0.88,-97.3,2609,3822,3427,3393,671.6,-11.3,343,8140,0.00,1.98,0.00,0.000,1030,0.000,0.063,2607,2724,3409,3426,3392,0,0,0,0,0,0,14.09,14.01,14.11
$GC,8500,-0.88,-97.3,2607,2726,3425,3392,701.4,-8.0,353,8505,0.00,2.53,0.00,0.000,516,0.000,0.044,2607,1353,3407,3424,3391,0,0,0,0,0,0,14.64,13.85,14.64
$GC,8548,-0.88,-97.3,2608,1353,3425,3393,706.4,-10.8,360,8554,0.00,2.78,0.00,0.000,1030,0.000,0.098,2599,2721,3407,3424,3391,0,0,0,0,0,0,13.84,13.51,13.91
$GC,8892,-0.88,-97.3,2600,2722,3425,3391,735.1,-8.4,367,8897,0.00,2.35,0.00,0.000,260,0.000,0.167,2590,3828,3406,3424,3389,0,0,0,0,0,0,14.57,13.43,14.58
$GC,8919,-0.88,-97.3,2591,3828,3425,3391,737.1,-7.6,371,8924,0.00,1.98,0.00,0.000,1030,0.000,0.060,2589,2722,3406,3424,3389,0,0,0,0,0,0,14.08,14.01,14.10
$GC,9284,-0.88,-97.3,2589,2726,3424,3388,766.5,-7.4,381,9289,0.00,2.53,0.00,0.000,548,0.000,0.042,2588,1359,3405,3422,3388,0,0,0,0,0,0,14.57,13.82,14.57
$GC,9332,-0.88,-97.3,2590,1358,3423,3389,774.2,-12.2,388,9339,0.12,2.78,0.00,0.000,3078,0.220,0.096,2613,2728,3405,3423,3388,0,0,0,0,0,0,13.52,13.52,13.78
$STATE,9671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9671,begin apogee
$GC,9682,-0.23,0.0,2613,2216,3424,3387,803.8,-9.2,395,9793,0.75,0.12,107.65,1.851,10244,0.180,0.189,2821,2270,3049,3086,3012,0,0,0,0,0,0,13.59,13.19,12.40
$STATE,9794,end apogee,CONTROL_FINISHED_OK
$STATE,9794,begin climb
$GC,9799,0.95,97.3,2822,2270,3079,3002,808.4,0.0,397,9919,1.20,2.72,113.38,1.788,10756,0.087,0.050,3188,881,2662,2718,2606,0,0,0,0,0,0,13.21,13.25,11.89
$GC,10029,0.90,148.4,3189,881,2710,2581,807.8,4.9,431,10096,0.00,2.80,60.00,1.798,9382,0.000,0.067,3188,2242,2454,2527,2381,0,0,0,0,0,0,12.97,12.78,11.84
$GC,10411,0.79,148.4,3187,2244,2524,2360,779.7,8.1,450,10417,0.08,3.15,0.00,0.000,4484,0.246,0.144,3164,3659,2440,2522,2359,0,0,0,0,0,0,12.86,12.81,12.98
$GC,10439,0.68,148.4,3164,3659,2523,2360,776.9,7.7,454,10445,0.20,2.65,0.00,0.000,5254,0.217,0.052,3125,2272,2441,2522,2360,0,0,0,0,0,0,12.82,13.16,13.09
$GC,10803,0.70,167.2,3125,2271,2524,2356,752.5,6.6,464,10828,0.00,2.72,20.58,1.858,8740,0.000,0.053,3134,861,2377,2460,2294,0,0,0,0,0,0,13.88,13.26,12.53
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$STATE,18081,end climb,SURFACE_DEPTH_REACHED
$STATE,18081,begin surface coast
$FINISH,-1.0,1.021859
$STATE,18109,end surface coast,CONTROL_FINISHED_OK
$STATE,18109,begin surface
$SM_CCo,18135,54.70,0.157,0,0,1057,500.14
$SM_GC,-5.94,9.52,1.17,54.70,0.076,0.123,0.157,196,2764,1057,-8.39,-0.51,500.14,0,0,0,0,0,0,13.97,13.45,13.80
$IRIDIUM_FIX,940.75,-12453.61,140317,045327
$TT8_MAMPS,0.038948,0.280875
$HUMID,60.43
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,22.10
$XPDR_PINGS,1
$SC_FREEKB,3601344
$24V_AH,11.84,271.942
$10V_AH,11.61,0.000
$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
$DEVICE_SECS,25.825,195.675,529.900,54.700,0.000,0.000,0.000,371.875,0.250,0.000,9.174,0.000,15451.321,802.387,1963.599,648.499,0.000,1890.574,0.000,1123.782,0.000,0.546,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.584,0.000,0.000,0.000
$MEM,334784
$DATA_FILE_SIZE,30006,784
$CAP_FILE_SIZE,138786,0
$CFSIZE,1024409600,888029184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.014,277.24,1
$GPS,140317,154901,948.996,-12453.887,17,1.6,17,9.0,1.1,245.5,5,5.7