version: 66.13
glider: 220
mission: 6
dive: 24
start: 8 27 116 1 6 48
data:
$ID,220
$MISSION,6
$DIVE,24
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,820
$D_NO_BLEED,50
$D_BOOST,100
$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,250
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$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,150
$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,0.003
$HD_B,0.0099999998
$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,609.96155
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,20
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,1
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2910
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2970
$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,1
$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,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$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,500.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,270816,005401,942.1958,-12501.0928,32,0.8,32,9.0,0.9,0.6,9,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.88
$_SM_ANGLEo,-68.6
$GPS2,270816,010628,942.2245,-12501.0352,2,0.7,2,9.0,0.4,80.3,12,7.7
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,103.3,3082,-22.0,-10.000,-25.19,1464
$D_GRID,750
$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,15,-1.22,-96.2,186,2894,594,506,0.0,0.0,0,109,0.00,0.00,-90.90,0.000,16390,0.000,0.000,184,2895,3353,3340,3366,0,0,0,0,0,0,14.70,13.70,14.71
$GC,111,-1.25,-122.0,185,2895,3341,3368,3.7,-8.2,6,133,11.15,1.85,-1.52,0.000,18724,0.404,2.176,2543,3826,3459,3455,3463,0,0,0,0,0,0,14.33,13.71,14.57
$GC,357,-1.25,-122.0,2543,3826,3456,3464,80.3,-15.9,55,364,0.00,1.52,0.00,0.000,1030,0.000,0.042,2542,2890,3459,3455,3463,0,0,0,0,0,0,14.67,14.65,14.69
$GC,683,-1.25,-122.0,2542,2892,3458,3463,119.3,-12.1,73,690,0.00,1.70,0.00,0.000,260,0.000,0.099,2536,3819,3460,3457,3463,0,0,0,0,0,0,14.90,14.66,14.90
$GC,914,-1.25,-122.0,2535,3825,3458,3464,150.6,-14.2,119,921,0.00,1.50,0.00,0.000,1030,0.000,0.044,2535,2898,3460,3457,3463,0,0,0,0,0,0,14.80,14.77,14.79
$GC,1225,-1.25,-122.0,2536,2899,3458,3462,192.9,-13.7,131,1231,0.00,1.65,0.00,0.000,260,0.000,0.102,2528,3823,3459,3457,3462,0,0,0,0,0,0,14.95,14.73,14.95
$GC,1455,-1.25,-122.0,2529,3824,3458,3459,225.8,-14.3,177,1463,0.08,1.48,0.00,0.000,3078,0.267,0.046,2549,2932,3458,3457,3459,0,0,0,0,0,0,14.65,14.81,14.78
$GC,1768,-1.25,-122.0,2549,2931,3458,3454,266.9,-13.3,189,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2930,3455,3457,3454,0,0,0,0,0,0,14.98,14.99,14.99
$GC,2067,-1.25,-122.0,2549,2931,3458,3449,306.5,-13.1,199,2074,0.00,2.33,0.00,0.000,516,0.000,0.049,2549,1504,3452,3457,3447,0,0,0,0,0,0,15.00,14.80,15.00
$GC,2132,-1.25,-122.0,2549,1506,3458,3447,315.3,-13.3,212,2139,0.00,2.40,0.00,0.000,1030,0.000,0.073,2540,2907,3452,3457,3447,0,0,0,0,0,0,14.87,14.77,14.88
$GC,2458,-1.25,-122.0,2540,2908,3458,3442,360.2,-13.9,227,2465,0.00,1.62,0.00,0.000,260,0.000,0.108,2532,3830,3449,3457,3442,0,0,0,0,0,0,15.05,14.76,15.02
$GC,2503,-1.25,-122.0,2533,3830,3458,3442,366.8,-14.4,236,2510,0.00,1.55,0.00,0.000,1030,0.000,0.048,2535,2894,3449,3457,3442,0,0,0,0,0,0,14.86,14.83,14.88
$GC,2820,-1.25,-122.0,2532,2894,3458,3437,410.5,-13.8,249,2826,0.00,2.25,0.00,0.000,516,0.000,0.049,2532,1514,3446,3456,3436,0,0,0,0,0,0,15.01,14.81,15.01
$GC,2851,-1.25,-122.0,2532,1514,3458,3437,414.9,-14.2,255,2857,0.12,2.38,0.00,0.000,3078,0.291,0.075,2553,2897,3446,3457,3436,0,0,0,0,0,0,14.68,14.78,14.85
$GC,3182,-1.25,-122.0,2555,2897,3457,3433,456.9,-12.6,271,3188,0.00,2.30,0.00,0.000,516,0.000,0.050,2555,1504,3443,3457,3430,0,0,0,0,0,0,15.00,14.81,15.00
$GC,3207,-1.25,-122.0,2555,1505,3458,3425,460.3,-12.3,276,3215,0.00,2.42,0.00,0.000,1030,0.000,0.075,2545,2890,3443,3457,3430,0,0,0,0,0,0,14.83,14.76,14.86
$GC,3513,-1.25,-122.0,2546,2890,3458,3427,498.7,-12.6,287,3519,0.00,2.28,0.00,0.000,516,0.000,0.050,2545,1515,3441,3457,3426,0,0,0,0,0,0,15.00,14.81,15.00
$GC,3553,-1.25,-122.0,2546,1515,3458,3426,503.9,-12.5,295,3566,0.00,2.35,0.00,0.000,1030,0.000,0.076,2535,2881,3442,3460,3425,0,0,0,0,0,0,14.88,14.78,14.89
$GC,3881,-1.25,-122.0,2535,2882,3458,3420,546.3,-13.0,309,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2882,3439,3457,3421,0,0,0,0,0,0,15.02,15.02,15.02
$GC,4180,-1.25,-122.0,2535,2883,3456,3418,585.1,-12.9,319,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2882,3437,3457,3418,0,0,0,0,0,0,15.03,15.03,15.03
$GC,4480,-1.25,-122.0,2536,2881,3458,3415,623.9,-12.9,329,4494,0.00,2.28,0.00,0.000,516,0.000,0.052,2535,1512,3435,3457,3413,0,0,0,0,0,0,15.03,14.83,15.07
$GC,4537,-1.25,-122.0,2535,1513,3458,3413,631.3,-12.6,339,4551,0.10,2.38,0.00,0.000,3078,0.295,0.080,2552,2890,3435,3457,3413,0,0,0,0,0,0,14.71,14.80,14.88
$GC,4855,-1.25,-122.0,2552,2889,3455,3411,669.2,-11.8,351,4868,0.00,2.30,0.00,0.000,516,0.000,0.052,2553,1507,3433,3457,3410,0,0,0,0,0,0,15.03,14.83,15.03
$GC,4907,-1.25,-122.0,2553,1506,3457,3411,675.4,-11.7,360,4920,0.00,2.33,0.00,0.000,1030,0.000,0.078,2542,2878,3432,3456,3409,0,0,0,0,0,0,14.91,14.80,14.92
$GC,5230,-1.25,-122.0,2542,2880,3453,3409,714.8,-12.4,373,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2879,3431,3453,3409,0,0,0,0,0,0,15.03,15.03,15.03
$STATE,5529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5529,begin apogee
$GC,5532,-0.25,0.0,2542,2321,3451,3402,752.1,-12.5,383,5661,1.15,0.00,118.57,1.751,10244,0.233,0.000,2872,2318,2969,3012,2927,0,0,0,0,0,0,14.72,14.13,13.52
$STATE,5663,end apogee,CONTROL_FINISHED_OK
$STATE,5663,begin climb
$GC,5664,1.25,122.0,2872,2319,3005,2915,755.1,0.0,387,5797,1.48,0.00,118.78,1.704,11270,0.095,0.000,3362,2318,2485,2543,2428,0,0,0,0,0,0,14.16,14.35,13.40
$GC,6121,1.25,122.0,3362,2319,2532,2399,690.7,17.1,427,6134,0.00,2.35,0.00,0.000,516,0.000,0.066,3372,948,2464,2531,2398,0,0,0,0,0,0,14.74,14.54,14.74
$GC,6228,1.25,122.0,3372,948,2532,2397,672.1,17.1,447,6241,0.00,2.38,0.00,0.000,1030,0.000,0.063,3372,2323,2464,2531,2397,0,0,0,0,0,0,14.67,14.58,14.69
$GC,6556,1.25,122.0,3371,2324,2532,2394,614.2,17.7,461,6569,0.00,2.35,0.00,0.000,516,0.000,0.067,3383,948,2462,2531,2394,0,0,0,0,0,0,14.88,14.67,14.87
$GC,6654,1.25,122.0,3382,946,2532,2394,597.0,17.5,479,6667,0.00,2.33,0.00,0.000,1030,0.000,0.064,3382,2310,2462,2531,2393,0,0,0,0,0,0,14.78,14.69,14.79
$GC,6991,1.25,122.0,3382,2312,2532,2390,537.1,17.6,495,7004,0.00,2.33,0.00,0.000,516,0.000,0.067,3392,937,2464,2539,2390,0,0,0,0,0,0,14.92,14.73,14.93
$GC,7083,1.25,122.0,3392,937,2532,2390,521.6,16.2,512,7097,0.00,2.33,0.00,0.000,1030,0.000,0.064,3392,2303,2460,2531,2389,0,0,0,0,0,0,14.82,14.73,14.83
$GC,7389,1.25,122.0,3392,2303,2531,2389,471.9,16.0,523,7396,0.08,2.30,0.00,0.000,4612,0.337,0.063,3378,947,2459,2531,2388,0,0,0,0,0,0,14.59,14.73,14.76
$GC,7504,1.25,122.0,3377,946,2532,2388,454.0,15.3,546,7512,0.00,2.33,0.00,0.000,1030,0.000,0.066,3377,2298,2459,2531,2387,0,0,0,0,0,0,14.82,14.73,14.83
$GC,7810,1.25,122.0,3378,2299,2532,2386,406.6,15.3,557,7817,0.00,2.30,0.00,0.000,516,0.000,0.067,3388,945,2458,2531,2386,0,0,0,0,0,0,14.94,14.73,14.94
$GC,7936,1.25,122.0,3388,946,2532,2385,387.1,15.4,582,7943,0.10,2.28,0.00,0.000,5126,0.332,0.065,3365,2288,2458,2531,2385,0,0,0,0,0,0,14.59,14.73,14.80
$GC,8263,1.25,122.0,3365,2289,2532,2382,337.8,15.1,597,8270,0.00,2.28,0.00,0.000,516,0.000,0.066,3374,942,2457,2531,2384,0,0,0,0,0,0,14.95,14.73,14.98
$GC,8294,1.25,122.0,3374,942,2532,2383,333.0,14.8,603,8300,0.00,2.28,0.00,0.000,1030,0.000,0.065,3374,2284,2457,2531,2384,0,0,0,0,0,0,14.82,14.72,14.83
$GC,8625,1.25,122.0,3374,2290,2535,2385,282.8,15.1,619,8631,0.00,2.28,0.00,0.000,516,0.000,0.067,3383,939,2457,2530,2384,0,0,0,0,0,0,14.94,14.73,14.95
$GC,8735,1.25,122.0,3383,939,2532,2384,266.2,14.8,641,8742,0.00,2.25,0.00,0.000,1030,0.000,0.064,3383,2272,2457,2531,2383,0,0,0,0,0,0,14.82,14.73,14.85
$GC,9047,1.25,122.0,3383,2273,2533,2383,219.3,15.1,653,9054,0.00,2.25,0.00,0.000,516,0.000,0.067,3392,940,2457,2531,2383,0,0,0,0,0,0,14.95,14.73,14.95
$GC,9127,1.25,122.0,3393,941,2532,2384,207.1,14.8,669,9135,0.10,2.30,0.00,0.000,5126,0.308,0.064,3361,2270,2457,2532,2382,0,0,0,0,0,0,14.58,14.71,14.79
$GC,9440,1.25,122.0,3362,2270,2532,2384,162.5,14.4,681,9447,0.00,2.25,0.00,0.000,516,0.000,0.065,3371,937,2457,2531,2383,0,0,0,0,0,0,14.94,14.73,14.93
$GC,9485,1.25,122.0,3371,938,2533,2384,155.7,14.7,690,9492,0.00,2.28,0.00,0.000,1030,0.000,0.063,3371,2262,2457,2531,2383,0,0,0,0,0,0,14.77,14.71,14.80
$GC,9802,1.25,122.0,3372,2262,2532,2385,110.9,14.4,703,9808,0.00,2.22,0.00,0.000,516,0.000,0.067,3378,942,2457,2531,2383,0,0,0,0,0,0,14.93,14.71,14.94
$GC,9833,1.25,122.0,3380,942,2531,2378,106.8,13.5,709,9840,0.00,2.25,0.00,0.000,1030,0.000,0.063,3379,2267,2457,2531,2383,0,0,0,0,0,0,14.82,14.72,14.83
$GC,10150,1.36,209.8,3380,2268,2532,2385,80.6,3.8,733,10198,0.00,2.28,38.65,0.428,8996,0.000,0.065,3389,940,2135,2203,2067,0,0,0,0,0,0,14.93,14.63,14.42
$GC,10258,1.37,218.2,3389,940,2201,2086,73.2,9.4,754,10270,0.00,2.35,5.50,0.338,9254,0.000,0.062,3389,2318,2099,2166,2033,0,0,0,0,0,0,14.73,14.64,14.43
$GC,10575,1.50,324.3,3393,2318,2174,2054,56.1,2.6,777,10637,0.08,2.58,52.70,0.350,10532,0.161,0.102,3447,3741,1677,1751,1604,0,0,0,0,0,0,14.71,14.54,14.41
$GC,10862,1.50,324.3,3448,3741,1753,1613,30.6,11.0,834,10868,0.00,2.33,0.00,0.000,1030,0.000,0.045,3458,2340,1682,1752,1612,0,0,0,0,0,0,14.71,14.65,14.71
$STATE,11162,end climb,SURFACE_DEPTH_REACHED
$STATE,11162,begin surface coast
$FINISH,-0.8,1.020650
$STATE,11177,end surface coast,CONTROL_FINISHED_OK
$STATE,11177,begin surface
$SM_CCo,11202,130.02,0.158,0,0,540,610.67
$SM_GC,-1.86,9.82,1.02,130.02,0.109,0.083,0.158,188,2914,540,-8.59,-0.74,610.67,0,0,0,0,0,0,14.70,14.67,14.54
$IRIDIUM_FIX,938.56,-12456.65,260816,211742
$TT8_MAMPS,0.03745,0.25466
$HUMID,49.44
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,3901184
$PM_FREEKB,61814016
$TM_FREEKB,7574752
$24V_AH,13.40,12.414
$10V_AH,13.32,0.000
$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,24.250,98.175,334.200,130.025,0.000,0.000,0.000,482.200,0.000,0.000,4.126,0.000,8540.983,627.710,2828.135,78.371,0.000,2001.378,0.000,1550.146,0.000,0.546,0.000
$DEVICE_MAMPS,403.920,2175.660,1751.085,158.355,0.000,0.000,0.000,207.315,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11243.000,11173.000,7673.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.116,3.020,11.472,0.000
$MEM,334704
$DATA_FILE_SIZE,30004,857
$CAP_FILE_SIZE,116109,0
$CFSIZE,1024409600,1015463936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.137,197.78,1
$GPS,270816,041631,940.838,-12500.525,18,0.7,18,9.0,0.5,140.0,12,3.2