version: 66.13
glider: 220
mission: 6
dive: 809
start: 3 15 117 20 3 2
data:
$ID,220
$MISSION,6
$DIVE,809
$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,51
$R_STBD_OVSHOOT,10
$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
$GPS1,150317,194726,953.3680,-12449.4824,31,1.2,32,9.0,0.2,0.0,8,7.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.27
$_SM_ANGLEo,-71.0
$GPS2,150317,200240,953.3831,-12449.6338,3,1.4,5,9.0,0.0,0.0,8,9.2
$SPEED_LIMITS,0.132,0.164
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,43.3,20519,-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,14,-0.95,-97.3,113,2784,1104,1020,0.0,0.0,0,98,0.00,0.00,-79.10,0.000,16390,0.000,0.000,110,2783,3437,3423,3452,0,0,0,0,0,0,12.97,11.73,12.97
$GC,103,-0.95,-97.3,112,2784,3424,3452,2.2,-11.0,3,126,14.35,2.35,0.00,0.000,2308,0.377,0.136,2575,3832,3439,3426,3452,0,0,0,0,0,0,12.45,12.59,12.75
$GC,156,-0.53,-97.3,2576,3833,3428,3452,24.8,-28.9,11,161,0.65,2.03,0.00,0.000,3206,0.245,0.048,2720,2722,3439,3427,3452,0,0,0,0,0,0,12.46,12.83,12.72
$GC,492,-0.61,-97.3,2720,2724,3431,3452,59.0,-6.2,26,497,0.00,2.58,0.00,0.000,420,0.000,0.169,2711,3825,3441,3430,3452,0,0,0,0,0,0,13.19,12.56,13.19
$GC,527,-0.70,-97.3,2712,3826,3431,3452,61.5,-7.6,31,532,0.08,1.95,0.00,0.000,5254,0.122,0.063,2646,2814,3440,3430,3451,0,0,0,0,0,0,12.84,12.88,12.91
$GC,856,-0.70,-97.3,2647,2814,3432,3453,86.3,-7.6,45,861,0.00,2.85,0.00,0.000,516,0.000,0.040,2646,1359,3441,3431,3451,0,0,0,0,0,0,13.28,12.84,13.28
$GC,960,-0.70,-97.3,2646,1359,3432,3453,94.3,-8.1,60,967,0.12,3.10,0.00,0.000,3078,0.219,0.106,2667,2773,3441,3431,3452,0,0,0,0,0,0,12.64,12.66,12.87
$GC,1276,-0.70,-97.3,2667,2773,3432,3450,115.8,-6.7,68,1281,0.00,2.45,0.00,0.000,292,0.000,0.181,2658,3825,3440,3431,3450,0,0,0,0,0,0,13.37,12.65,13.37
$GC,1388,-0.70,-97.3,2659,3828,3432,3451,123.9,-6.2,84,1393,0.00,2.05,0.00,0.000,1062,0.000,0.062,2658,2761,3440,3431,3450,0,0,0,0,0,0,13.01,12.96,13.02
$GC,1724,-0.70,-97.3,2659,2761,3432,3446,149.7,-8.0,97,1730,0.00,2.75,0.00,0.000,516,0.000,0.041,2658,1357,3438,3431,3446,0,0,0,0,0,0,13.47,12.93,13.47
$GC,1836,-0.70,-97.3,2659,1356,3432,3446,158.1,-6.4,113,1841,0.00,3.10,0.00,0.000,1062,0.000,0.105,2649,2770,3437,3431,3444,0,0,0,0,0,0,12.98,12.72,13.02
$GC,2172,-0.70,-97.3,2649,2768,3432,3441,181.1,-6.6,126,2177,0.00,2.42,0.00,0.000,292,0.000,0.173,2640,3824,3435,3431,3440,0,0,0,0,0,0,13.51,12.71,13.51
$GC,2221,-0.70,-97.3,2640,3826,3432,3435,185.1,-8.9,133,2228,0.10,2.03,0.00,0.000,3078,0.211,0.059,2666,2762,3435,3431,3440,0,0,0,0,0,0,12.78,13.08,12.97
$GC,2564,-0.78,-97.3,2667,2763,3432,3436,207.5,-6.4,140,2569,0.00,2.75,0.00,0.000,676,0.000,0.040,2666,1358,3433,3431,3436,0,0,0,0,0,0,13.48,12.98,13.48
$GC,2669,-0.89,-97.3,2667,1358,3432,3435,215.9,-7.0,155,2675,0.08,3.05,0.00,0.000,5286,0.132,0.097,2600,2765,3432,3431,3433,0,0,0,0,0,0,12.97,12.77,13.07
$GC,3012,-0.89,-97.3,2600,2766,3432,3430,249.3,-9.6,162,3017,0.00,2.80,0.00,0.000,516,0.000,0.041,2599,1355,3430,3431,3430,0,0,0,0,0,0,13.57,12.99,13.57
$GC,3046,-0.89,-97.3,2599,1356,3431,3429,253.3,-11.1,167,3051,0.00,3.05,0.00,0.000,1030,0.000,0.099,2589,2763,3429,3430,3429,0,0,0,0,0,0,13.06,12.81,13.11
$GC,3404,-0.89,-97.3,2590,2763,3432,3426,289.4,-9.9,176,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2763,3427,3430,3425,0,0,0,0,0,0,13.58,13.58,13.58
$GC,3740,-0.89,-97.3,2590,2763,3431,3423,320.2,-8.8,182,3744,0.00,2.78,0.00,0.000,516,0.000,0.041,2588,1363,3426,3431,3421,0,0,0,0,0,0,13.54,13.02,13.54
$GC,3796,-0.89,-97.3,2589,1363,3431,3422,324.8,-8.3,190,3801,0.12,3.05,0.00,0.000,3078,0.223,0.102,2609,2760,3425,3431,3420,0,0,0,0,0,0,12.76,12.81,13.02
$GC,4132,-0.89,-97.3,2609,2760,3431,3419,352.1,-7.8,203,4136,0.00,2.78,0.00,0.000,516,0.000,0.041,2608,1363,3423,3430,3417,0,0,0,0,0,0,13.55,13.03,13.55
$GC,4166,-0.89,-97.3,2610,1363,3431,3419,357.0,-11.4,208,4171,0.00,3.05,0.00,0.000,1030,0.000,0.104,2599,2764,3423,3430,3417,0,0,0,0,0,0,13.09,12.83,13.14
$GC,4524,-0.89,-97.3,2600,2764,3431,3415,388.8,-9.4,217,4530,0.00,2.80,0.00,0.000,516,0.000,0.041,2598,1359,3422,3430,3414,0,0,0,0,0,0,13.55,13.04,13.56
$GC,4566,-0.89,-97.3,2598,1361,3432,3413,393.4,-10.1,223,4570,0.00,3.05,0.00,0.000,1030,0.000,0.106,2589,2762,3422,3431,3413,0,0,0,0,0,0,13.09,12.81,13.14
$GC,4916,-0.89,-97.3,2589,2762,3431,3412,428.5,-9.9,231,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2763,3420,3430,3410,0,0,0,0,0,0,13.56,13.56,13.56
$GC,5252,-0.89,-97.3,2589,2763,3432,3408,463.4,-10.6,237,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2762,3418,3430,3407,0,0,0,0,0,0,13.57,13.57,13.57
$GC,5588,-0.89,-97.3,2589,2763,3429,3403,496.7,-9.7,243,5592,0.00,2.80,0.00,0.000,516,0.000,0.042,2587,1360,3416,3430,3403,0,0,0,0,0,0,13.62,13.00,13.63
$GC,5665,-0.89,-97.3,2588,1360,3431,3404,505.2,-11.8,254,5670,0.12,3.05,0.00,0.000,3078,0.223,0.105,2607,2753,3418,3430,3407,0,0,0,0,0,0,12.78,12.79,13.03
$GC,5980,-0.89,-97.3,2608,2753,3431,3400,532.5,-8.6,264,5985,0.00,2.78,0.00,0.000,516,0.000,0.042,2608,1363,3415,3431,3400,0,0,0,0,0,0,13.61,13.03,13.63
$GC,6043,-0.89,-97.3,2609,1364,3431,3401,538.0,-8.1,273,6048,0.00,3.03,0.00,0.000,1030,0.000,0.106,2598,2750,3415,3430,3400,0,0,0,0,0,0,13.07,12.79,13.13
$GC,6372,-0.89,-97.3,2598,2751,3432,3397,568.6,-9.5,285,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2750,3413,3430,3397,0,0,0,0,0,0,13.57,13.57,13.57
$GC,6708,-0.89,-97.3,2599,2749,3431,3396,599.5,-9.4,291,6708,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2750,3412,3430,3394,0,0,0,0,0,0,13.63,13.63,13.63
$GC,7044,-0.89,-97.3,2599,2749,3431,3393,627.5,-8.1,297,7049,0.00,2.78,0.00,0.000,516,0.000,0.043,2597,1362,3410,3430,3391,0,0,0,0,0,0,13.64,13.03,13.64
$GC,7100,-0.89,-97.3,2597,1363,3431,3391,631.7,-8.2,305,7106,0.00,3.08,0.00,0.000,1030,0.000,0.107,2588,2753,3410,3430,3391,0,0,0,0,0,0,13.09,12.78,13.14
$GC,7436,-0.89,-97.3,2589,2753,3429,3390,656.6,-7.4,318,7441,0.00,2.80,0.00,0.000,548,0.000,0.042,2586,1357,3409,3427,3391,0,0,0,0,0,0,13.58,13.02,13.58
$GC,7471,-0.89,-97.3,2587,1359,3427,3391,659.9,-8.3,323,7476,0.12,3.05,0.00,0.000,3078,0.226,0.107,2608,2746,3409,3427,3391,0,0,0,0,0,0,12.79,12.80,13.05
$GC,7828,-0.89,-97.3,2609,2746,3426,3392,687.3,-7.6,332,7833,0.00,2.80,0.00,0.000,548,0.000,0.044,2608,1361,3407,3425,3390,0,0,0,0,0,0,13.64,13.02,13.64
$GC,7905,-0.89,-97.3,2608,1362,3426,3390,693.7,-8.6,343,7910,0.00,3.05,0.00,0.000,1030,0.000,0.107,2598,2742,3408,3425,3391,0,0,0,0,0,0,13.08,12.78,13.13
$GC,8220,-0.89,-97.3,2599,2743,3424,3389,719.9,-8.2,353,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2741,3406,3424,3389,0,0,0,0,0,0,13.63,13.63,13.63
$GC,8556,-0.89,-97.3,2598,2742,3423,3389,750.3,-9.0,359,8560,0.00,2.78,0.00,0.000,516,0.000,0.042,2597,1363,3405,3423,3388,0,0,0,0,0,0,13.59,13.03,13.59
$GC,8612,-0.89,-97.3,2597,1364,3424,3387,755.5,-9.4,367,8616,0.00,3.05,0.00,0.000,1030,0.000,0.107,2588,2738,3405,3423,3387,0,0,0,0,0,0,13.09,12.78,13.14
$GC,8948,-0.89,-97.3,2587,2740,3423,3388,785.5,-8.7,380,8952,0.00,2.78,0.00,0.000,516,0.000,0.043,2587,1359,3404,3423,3386,0,0,0,0,0,0,13.58,13.02,13.58
$GC,8976,-0.89,-97.3,2587,1360,3424,3386,787.7,-7.9,384,8981,0.12,3.03,0.00,0.000,3078,0.225,0.109,2608,2740,3404,3423,3385,0,0,0,0,0,0,12.81,12.82,13.07
$STATE,9167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9167,begin apogee
$GC,9178,-0.23,0.0,2609,2232,3423,3384,801.9,-7.0,391,9292,0.82,0.08,111.47,1.880,10244,0.177,0.217,2821,2250,3050,3087,3013,0,0,0,0,0,0,12.86,12.26,11.55
$STATE,9293,end apogee,CONTROL_FINISHED_OK
$STATE,9293,begin climb
$GC,9298,0.95,97.3,2822,2250,3081,3003,805.6,0.0,393,9428,1.30,2.92,117.93,1.828,10756,0.086,0.050,3191,863,2661,2718,2605,0,0,0,0,0,0,12.37,12.40,11.31
$GC,9540,0.89,143.2,3191,864,2712,2579,798.6,5.1,429,9602,0.00,3.03,56.38,1.808,9382,0.000,0.070,3190,2253,2479,2551,2408,0,0,0,0,0,0,12.40,12.21,11.31
$GC,9947,0.77,143.2,3191,2255,2543,2380,761.7,9.2,445,9952,0.12,3.38,0.00,0.000,4484,0.210,0.152,3156,3665,2461,2542,2380,0,0,0,0,0,0,12.17,12.17,12.31
$GC,10002,0.66,143.2,3156,3665,2542,2381,757.3,8.5,453,10007,0.20,2.85,0.00,0.000,5254,0.216,0.049,3119,2262,2461,2542,2380,0,0,0,0,0,0,12.16,12.44,12.42
$GC,10338,0.69,171.1,3120,2256,2543,2377,735.8,6.1,466,10373,0.00,2.92,23.90,1.791,8740,0.000,0.053,3129,859,2370,2448,2293,0,0,0,0,1,0,12.89,12.28,11.41
$GC,10401,0.73,202.7,3129,860,2449,2311,732.5,5.9,475,10449,0.00,3.00,37.45,2.191,9254,0.000,0.067,3128,2249,2245,2327,2163,0,0,0,0,1,0,12.44,12.27,11.12
$GC,10786,0.74,206.3,3129,2249,2328,2181,704.7,7.4,488,10798,0.00,3.33,4.80,1.538,8484,0.000,0.151,3128,3664,2233,2309,2157,0,0,0,0,0,0,12.71,12.33,11.36
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$STATE,19295,end climb,SURFACE_DEPTH_REACHED
$STATE,19295,begin surface coast
$FINISH,-0.7,1.021817
$STATE,19323,end surface coast,CONTROL_FINISHED_OK
$STATE,19323,begin surface
$SM_CCo,19355,40.17,0.146,0,0,1057,500.14
$SM_GC,-6.33,10.70,1.17,40.17,0.077,0.132,0.146,197,2770,1057,-8.40,-0.23,500.14,0,0,0,0,0,0,12.65,12.43,12.54
$IRIDIUM_FIX,947.31,-12446.97,150317,195243
$TT8_MAMPS,0.041195,0.420189
$HUMID,60.04
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.00
$XPDR_PINGS,2
$SC_FREEKB,3599040
$24V_AH,10.58,273.958
$10V_AH,11.17,0.000
$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,29.650,233.250,543.475,40.175,0.000,0.000,0.000,529.675,0.500,0.000,6.718,0.000,16551.832,832.882,2214.112,692.229,0.000,2125.277,0.000,1197.079,0.000,0.545,0.000
$DEVICE_MAMPS,377.145,217.260,2190.960,146.115,0.000,0.000,0.000,193.545,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19394.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.640,0.000,0.000,0.000
$MEM,334692
$DATA_FILE_SIZE,29997,836
$CAP_FILE_SIZE,153130,0
$CFSIZE,1024409600,887324672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.054,288.38,1
$GPS,160317,012725,954.718,-12448.997,15,0.7,32,9.0,0.2,293.7,12,4.3