version: 66.13
glider: 220
mission: 6
dive: 819
start: 3 17 117 17 5 44
data:
$ID,220
$MISSION,6
$DIVE,819
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$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,180
$T_MISSION,300
$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,30
$PITCH_AD_RATE,100
$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,36
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,100
$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,1
$VBD_PUMP_AD_RATE_APOGEE,1
$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,9.6999998
$MINV_10V,9.6999998
$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
$GPS1,170317,165605,957.6994,-12446.0439,2,0.8,3,9.0,0.4,261.3,11,7.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.80
$_SM_ANGLEo,-71.4
$GPS2,170317,170522,957.6562,-12446.1641,2,0.8,4,9.0,0.8,247.9,11,4.2
$SPEED_LIMITS,0.144,0.169
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,60.5,11020,-20.3,-8.333,-26.24,1745
$D_GRID,450
$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,-1.04,-97.3,145,2786,1096,1015,0.0,0.0,0,98,0.00,0.00,-79.82,0.000,16390,0.000,0.000,140,2784,3443,3421,3466,0,0,0,0,0,0,11.25,10.55,11.25
$GC,103,-1.04,-97.3,142,2785,3422,3460,4.4,-10.8,3,126,18.92,0.00,0.00,0.000,2054,0.381,0.000,2555,2785,3442,3424,3460,0,0,0,0,0,0,10.90,11.12,11.10
$GC,436,-0.91,-97.3,2555,2785,3428,3460,71.4,-8.1,15,441,0.20,2.72,0.00,0.000,2468,0.234,0.134,2587,3833,3443,3427,3460,0,0,0,0,0,0,10.99,11.00,11.10
$GC,457,-0.80,-97.3,2588,3834,3428,3460,73.0,-7.2,18,463,0.22,2.38,0.00,0.000,3238,0.211,0.044,2633,2754,3443,3427,3459,0,0,0,0,0,0,11.00,11.13,11.13
$GC,772,-0.80,-97.3,2634,2753,3430,3461,97.3,-9.0,30,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2749,3444,3429,3460,0,0,0,0,0,0,11.29,11.29,11.29
$GC,1080,-0.80,-97.3,2634,2754,3429,3462,125.0,-8.8,36,1085,0.00,2.83,0.00,0.000,260,0.000,0.135,2625,3829,3444,3429,3459,0,0,0,0,0,0,11.29,11.01,11.29
$GC,1143,-0.80,-97.3,2625,3830,3430,3459,130.5,-8.9,45,1149,0.00,2.35,0.00,0.000,1030,0.000,0.046,2624,2762,3444,3429,3459,0,0,0,0,0,0,11.17,11.12,11.17
$GC,1472,-0.80,-97.3,2626,2764,3430,3457,160.6,-9.0,57,1478,0.00,3.22,0.00,0.000,516,0.000,0.037,2625,1366,3442,3429,3456,0,0,0,0,0,0,11.29,11.09,11.30
$GC,1528,-0.88,-97.3,2625,1368,3430,3455,167.0,-9.7,65,1534,0.00,3.55,0.00,0.000,1158,0.000,0.086,2615,2773,3442,3429,3455,0,0,0,0,0,0,11.16,11.04,11.17
$GC,1864,-0.88,-97.3,2615,2774,3430,3451,203.4,-11.0,78,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2773,3440,3429,3452,0,0,0,0,0,0,11.29,11.29,11.29
$GC,2200,-0.88,-97.3,2615,2772,3429,3448,238.8,-10.5,84,2205,0.00,3.30,0.00,0.000,516,0.000,0.038,2614,1368,3440,3429,3451,0,0,0,0,0,0,11.29,11.11,11.29
$GC,2298,-0.88,-97.3,2615,1368,3429,3446,248.1,-9.8,98,2303,0.00,3.58,0.00,0.000,1030,0.000,0.090,2604,2770,3437,3429,3445,0,0,0,0,0,0,11.09,11.05,11.14
$GC,2648,-0.88,-97.3,2604,2772,3430,3440,278.8,-8.8,106,2653,0.00,3.30,0.00,0.000,516,0.000,0.037,2603,1369,3434,3429,3440,0,0,0,0,0,0,11.29,11.10,11.29
$GC,2683,-0.88,-97.3,2604,1370,3430,3441,282.4,-8.8,111,2687,0.00,3.58,0.00,0.000,1030,0.000,0.090,2594,2768,3434,3429,3440,0,0,0,0,0,0,11.17,11.05,11.17
$GC,3040,-0.88,-97.3,2594,2769,3429,3438,313.7,-8.7,120,3045,0.00,2.80,0.00,0.000,260,0.000,0.143,2586,3837,3432,3428,3436,0,0,0,0,0,0,11.29,11.02,11.29
$GC,3096,-0.88,-97.3,2587,3836,3429,3437,320.8,-10.4,128,3101,0.12,2.42,0.00,0.000,3078,0.218,0.047,2609,2757,3432,3429,3435,0,0,0,0,0,0,11.02,11.15,11.14
$GC,3432,-0.88,-97.3,2610,2757,3428,3433,351.4,-9.6,141,3438,0.00,3.25,0.00,0.000,516,0.000,0.037,2609,1363,3429,3427,3431,0,0,0,0,0,0,11.29,11.11,11.29
$GC,3495,-0.88,-97.3,2608,1362,3429,3431,357.8,-9.7,150,3499,0.00,3.60,0.00,0.000,1030,0.000,0.093,2600,2763,3429,3429,3429,0,0,0,0,0,0,11.17,11.05,11.18
$GC,3824,-0.88,-97.3,2600,2764,3434,3426,388.9,-9.5,162,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2763,3427,3429,3426,0,0,0,0,0,0,11.29,11.29,11.29
$GC,4160,-0.88,-97.3,2600,2764,3429,3423,421.0,-9.4,168,4165,0.00,3.33,0.00,0.000,516,0.000,0.038,2598,1359,3425,3429,3421,0,0,0,0,0,0,11.30,11.11,11.30
$GC,4216,-0.88,-97.3,2599,1360,3430,3421,427.9,-9.2,176,4221,0.00,3.62,0.00,0.000,1030,0.000,0.092,2589,2766,3424,3428,3421,0,0,0,0,0,0,11.17,11.05,11.18
$STATE,4491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4491,begin apogee
$GC,4502,-0.23,0.0,2589,2241,3429,3420,454.3,-9.4,188,4612,1.12,0.00,107.12,1.499,10244,0.189,0.000,2820,2240,3049,3085,3013,0,0,0,0,0,0,11.03,11.02,10.49
$STATE,4613,end apogee,CONTROL_FINISHED_OK
$STATE,4613,begin climb
$GC,4618,1.04,97.3,2820,2241,3084,3006,462.7,0.0,190,4738,1.65,3.25,108.32,1.454,10756,0.096,0.047,3218,862,2656,2715,2598,0,0,0,0,0,0,11.00,11.01,10.49
$GC,4862,0.98,128.9,3219,863,2716,2589,455.6,6.5,226,4903,0.00,3.35,36.35,1.450,9382,0.000,0.060,3219,2253,2536,2603,2469,0,0,0,0,0,0,11.10,10.99,10.53
$GC,5224,0.88,128.9,3219,2252,2600,2453,426.2,8.5,242,5229,0.12,3.72,0.00,0.000,4484,0.236,0.131,3193,3667,2525,2599,2452,0,0,0,0,0,0,10.94,10.97,11.09
$GC,5299,0.77,128.9,3193,3668,2600,2450,419.5,8.8,253,5305,0.28,3.22,0.00,0.000,5254,0.209,0.043,3150,2248,2525,2599,2451,0,0,0,0,0,0,10.96,11.08,11.10
$GC,5615,0.81,164.1,3151,2247,2599,2449,399.4,6.3,263,5662,0.00,3.33,40.62,1.414,8740,0.000,0.051,3160,855,2390,2467,2313,0,0,0,0,0,0,11.24,10.99,10.52
$GC,5691,0.83,184.4,3161,856,2469,2308,394.4,7.1,274,5725,0.00,3.38,24.33,1.395,9254,0.000,0.063,3160,2252,2310,2391,2229,0,0,0,0,0,0,11.10,10.98,10.52
$GC,6062,0.83,184.4,3159,2253,2391,2216,362.4,8.8,285,6068,0.00,3.78,0.00,0.000,260,0.000,0.135,3160,3669,2303,2390,2217,0,0,0,0,0,0,11.23,10.97,11.24
$GC,6097,0.83,184.4,3161,3669,2391,2218,359.3,8.9,290,6102,0.00,3.25,0.00,0.000,1030,0.000,0.041,3171,2244,2303,2390,2217,0,0,0,0,0,0,11.13,11.09,11.14
$GC,6454,0.83,184.4,3171,2241,2391,2214,327.3,9.0,299,6459,0.00,3.30,0.00,0.000,516,0.000,0.054,3182,850,2301,2389,2213,0,0,0,0,0,0,11.24,11.05,11.24
$GC,6482,0.84,188.6,3182,852,2391,2211,325.0,8.1,303,6487,0.00,3.38,0.00,0.000,1062,0.000,0.063,3182,2247,2300,2389,2211,0,0,0,0,0,0,11.12,11.02,11.17
$GC,6846,0.84,188.6,3183,2246,2390,2211,293.7,8.5,313,6852,0.00,3.80,0.00,0.000,260,0.000,0.138,3181,3667,2300,2390,2210,0,0,0,0,0,0,11.24,10.98,11.24
$GC,6895,0.84,188.6,3182,3668,2391,2212,289.1,9.0,320,6901,0.00,3.25,0.00,0.000,1030,0.000,0.042,3192,2243,2299,2390,2209,0,0,0,0,0,0,11.14,11.10,11.14
$GC,7238,0.84,188.6,3193,2242,2390,2209,260.2,8.4,327,7243,0.00,3.33,0.00,0.000,516,0.000,0.054,3202,845,2298,2389,2208,0,0,0,0,0,0,11.24,11.05,11.25
$GC,7308,0.84,188.6,3203,845,2391,2208,254.0,8.6,337,7314,0.15,3.40,0.00,0.000,5126,0.197,0.066,3173,2248,2296,2386,2207,0,0,0,0,0,0,10.99,11.02,11.11
$GC,7630,0.85,197.8,3173,2247,2390,2208,228.8,7.8,348,7650,0.00,3.30,14.62,1.213,8740,0.000,0.052,3183,851,2255,2345,2166,0,0,0,0,0,0,11.26,10.98,10.58
$GC,7686,0.85,197.8,3183,851,2344,2158,224.2,8.7,356,7691,0.00,3.35,0.00,0.000,1030,0.000,0.063,3181,2239,2251,2342,2160,0,0,0,0,0,0,11.12,11.01,11.13
$GC,8016,0.85,197.8,3183,2240,2343,2159,194.0,9.6,368,8021,0.00,3.83,0.00,0.000,260,0.000,0.138,3181,3670,2250,2343,2158,0,0,0,0,0,0,11.24,10.98,11.24
$GC,8051,0.85,197.8,3183,3671,2344,2158,190.5,10.0,373,8057,0.00,3.28,0.00,0.000,1030,0.000,0.041,3193,2233,2250,2342,2159,0,0,0,0,0,0,11.13,11.08,11.14
$GC,8408,0.85,197.8,3193,2230,2344,2159,156.9,9.2,382,8413,0.00,3.30,0.00,0.000,516,0.000,0.054,3203,846,2250,2343,2158,0,0,0,0,0,0,11.26,11.05,11.26
$GC,8498,0.85,197.8,3204,845,2344,2158,148.9,8.8,395,8503,0.00,3.38,0.00,0.000,1030,0.000,0.065,3203,2242,2249,2342,2157,0,0,0,0,0,0,11.13,11.02,11.14
$GC,8856,0.85,197.8,3203,2242,2344,2158,116.0,9.3,404,8860,0.00,3.83,0.00,0.000,260,0.000,0.141,3202,3667,2249,2343,2156,0,0,0,0,0,0,11.25,10.98,11.25
$GC,8932,0.85,197.8,3204,3666,2343,2158,108.2,10.1,415,8937,0.17,3.28,0.00,0.000,5126,0.211,0.041,3180,2229,2249,2342,2157,0,0,0,0,0,0,10.98,11.10,11.12
$GC,9248,0.88,220.2,3181,2225,2344,2158,84.6,7.0,428,9264,0.00,0.00,15.77,0.381,8230,0.000,0.000,3180,2226,2173,2262,2084,0,0,0,0,0,0,11.25,11.08,10.87
$GC,9556,0.90,242.2,3185,2227,2264,2100,61.9,7.0,439,9582,0.00,3.28,19.25,0.329,8740,0.000,0.052,3190,849,2084,2169,2000,0,0,0,0,0,0,11.25,11.03,10.90
$GC,9612,1.07,309.3,3191,849,2174,2013,59.2,4.4,447,9679,0.12,3.33,57.80,0.330,11430,0.082,0.060,3241,2232,1819,1906,1733,0,0,0,0,0,0,11.10,11.02,10.88
$GC,10004,1.29,408.6,3240,2233,1907,1731,40.7,2.5,470,10092,0.17,3.85,80.28,0.276,10660,0.067,0.138,3310,3666,1424,1507,1342,0,0,0,0,0,0,11.08,10.94,10.91
$GC,10185,1.29,408.6,3311,3668,1508,1344,27.9,9.9,496,10190,0.00,3.33,0.00,0.000,1030,0.000,0.043,3321,2212,1424,1507,1342,0,0,0,0,0,0,11.14,11.07,11.12
$STATE,10475,end climb,SURFACE_DEPTH_REACHED
$STATE,10475,begin surface coast
$FINISH,-2.3,1.021778
$STATE,10503,end surface coast,CONTROL_FINISHED_OK
$STATE,10503,begin surface
$SM_CCo,10533,62.62,0.134,0,0,1057,500.14
$SM_GC,-2.72,11.90,1.50,62.62,0.046,0.101,0.134,197,2767,1057,-8.40,-0.25,500.14,0,0,0,0,0,0,11.07,11.01,11.00
$IRIDIUM_FIX,953.88,-12445.17,170317,150527
$TT8_MAMPS,0.045689,0.286867
$HUMID,62.12
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,21.90
$XPDR_PINGS,1
$SC_FREEKB,3595584
$24V_AH,10.49,277.200
$10V_AH,10.44,0.000
$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,35.175,141.525,504.475,62.625,0.000,0.000,0.000,281.825,0.250,0.000,6.131,0.000,8631.459,727.814,1319.010,465.294,0.000,1488.096,0.000,733.618,0.000,0.545,0.000
$DEVICE_MAMPS,380.970,143.055,1498.635,133.875,0.000,0.000,0.000,199.665,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10555.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.206,0.000,0.000,0.000
$MEM,334708
$DATA_FILE_SIZE,16758,509
$CAP_FILE_SIZE,87074,0
$CFSIZE,1024409600,886341632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,268.30,1
$GPS,170317,200324,957.986,-12445.896,29,1.2,29,9.0,0.4,311.4,8,9.5