version: 66.13
glider: 220
mission: 6
dive: 216
start: 10 18 116 6 22 58
data:
$ID,220
$MISSION,6
$DIVE,216
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,930
$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,400
$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,120
$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,9
$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,62
$R_STBD_OVSHOOT,25
$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,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,250.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,181016,060955,952.0030,-12448.7373,33,0.7,33,9.0,1.0,20.6,11,3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.64
$_SM_ANGLEo,-71.8
$GPS2,181016,062238,952.2664,-12448.6572,3,0.8,3,9.0,0.7,33.8,11,10.0
$SPEED_LIMITS,0.134,0.179
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,24.0,20506,-16.6,-7.750,-23.43,2225
$D_GRID,930
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.90,-116.8,188,2782,1099,1018,0.0,0.0,0,103,0.00,0.00,-77.35,0.000,16390,0.000,0.000,188,2781,3516,3509,3523,0,0,0,0,0,0,14.62,13.03,14.62
$GC,105,-0.90,-116.8,192,2781,3509,3523,6.7,-16.6,3,125,11.48,2.33,0.00,0.000,2564,0.392,0.034,2603,1367,3516,3510,3523,0,0,0,0,0,0,14.16,14.40,14.43
$GC,228,-0.60,-116.8,2603,1367,3514,3523,52.1,-25.2,21,237,0.38,2.55,0.00,0.000,3206,0.247,0.076,2694,2758,3518,3513,3523,0,0,0,0,0,0,14.14,14.32,14.33
$GC,551,-0.60,-116.8,2694,2758,3515,3523,87.7,-7.5,34,557,0.00,1.98,0.00,0.000,292,0.000,0.103,2685,3838,3519,3516,3523,0,0,0,0,0,0,14.76,14.39,14.76
$GC,788,-0.60,-116.8,2686,3839,3518,3523,109.3,-8.8,68,796,0.00,1.80,0.00,0.000,1030,0.000,0.037,2685,2749,3520,3517,3523,0,0,0,0,0,0,14.66,14.61,14.66
$GC,1111,-0.60,-116.8,2685,2750,3515,3523,134.8,-7.8,79,1118,0.00,2.05,0.00,0.000,260,0.000,0.103,2677,3827,3520,3517,3523,0,0,0,0,0,0,14.83,14.42,14.82
$GC,1215,-0.60,-116.8,2678,3827,3519,3523,143.4,-8.3,94,1224,0.00,1.75,0.00,0.000,1030,0.000,0.038,2677,2768,3519,3517,3522,0,0,0,0,0,0,14.69,14.64,14.70
$GC,1559,-0.60,-116.8,2677,2769,3524,3516,172.6,-8.7,101,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2768,3517,3517,3517,0,0,0,0,0,0,14.84,14.85,14.85
$GC,1895,-0.60,-116.8,2678,2768,3518,3513,201.6,-8.6,107,1902,0.00,2.33,0.00,0.000,516,0.000,0.044,2677,1401,3515,3517,3514,0,0,0,0,0,0,14.86,14.54,14.86
$GC,1922,-0.60,-116.8,2678,1400,3518,3512,204.0,-8.8,111,1930,0.10,2.47,0.00,0.000,3078,0.207,0.068,2698,2776,3514,3517,3511,0,0,0,0,0,0,14.33,14.47,14.50
$GC,2287,-0.60,-116.8,2698,2776,3518,3507,232.6,-7.8,121,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2777,3512,3517,3507,0,0,0,0,0,0,14.86,14.86,14.86
$GC,2623,-0.60,-116.8,2698,2778,3518,3500,257.8,-7.4,127,2636,0.00,2.35,0.00,0.000,548,0.000,0.044,2698,1394,3508,3517,3500,0,0,0,0,0,0,14.90,14.56,14.90
$GC,2697,-0.60,-116.8,2698,1394,3518,3499,263.3,-7.2,137,2710,0.00,2.45,0.00,0.000,1062,0.000,0.070,2689,2779,3508,3517,3499,0,0,0,0,0,0,14.68,14.52,14.70
$GC,3024,-0.60,-116.8,2689,2779,3517,3499,288.6,-7.9,148,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2779,3505,3517,3494,0,0,0,0,0,0,14.91,14.92,14.92
$GC,3360,-0.60,-116.8,2690,2779,3515,3491,315.0,-7.7,154,3373,0.00,0.00,0.00,0.000,38,0.000,0.000,2689,2779,3503,3516,3490,0,0,0,0,0,0,14.91,14.91,14.91
$GC,3696,-0.60,-116.8,2689,2780,3518,3486,339.8,-7.3,160,3709,0.00,0.00,0.00,0.000,38,0.000,0.000,2689,2779,3501,3517,3485,0,0,0,0,0,0,14.91,14.95,14.92
$GC,4032,-0.60,-116.8,2689,2779,3517,3483,363.5,-7.1,166,4045,0.00,2.38,0.00,0.000,548,0.000,0.044,2689,1391,3499,3517,3482,0,0,0,0,0,0,14.96,14.60,14.93
$GC,4099,-0.60,-116.8,2690,1391,3516,3482,368.4,-7.3,175,4112,0.00,2.47,0.00,0.000,1062,0.000,0.071,2679,2778,3499,3517,3481,0,0,0,0,0,0,14.69,14.51,14.72
$GC,4433,-0.60,-116.8,2681,2780,3517,3477,394.2,-7.8,187,4446,0.00,1.95,0.00,0.000,260,0.000,0.112,2672,3828,3497,3517,3477,0,0,0,0,0,0,14.92,14.47,14.92
$GC,4471,-0.60,-116.8,2673,3828,3516,3478,397.1,-7.9,192,4485,0.10,1.70,0.00,0.000,3078,0.223,0.043,2702,2790,3496,3516,3477,0,0,0,0,0,0,14.42,14.71,14.64
$GC,4834,-0.68,-116.8,2703,2792,3516,3474,420.3,-6.4,201,4847,0.00,2.38,0.00,0.000,676,0.000,0.044,2703,1378,3494,3515,3473,0,0,0,0,0,0,14.92,14.60,14.92
$GC,4943,-0.77,-116.8,2703,1377,3516,3473,429.2,-6.8,216,4957,0.08,2.47,0.00,0.000,5286,0.145,0.070,2637,2769,3493,3515,3471,0,0,0,0,0,0,14.54,14.46,14.63
$GC,5287,-0.77,-116.8,2641,2769,3516,3470,461.9,-9.8,223,5300,0.00,1.95,0.00,0.000,260,0.000,0.111,2629,3823,3492,3516,3469,0,0,0,0,0,0,14.91,14.44,14.92
$GC,5319,-0.77,-116.8,2629,3824,3517,3469,465.3,-10.5,227,5332,0.00,1.75,0.00,0.000,1030,0.000,0.041,2628,2751,3492,3516,3469,0,0,0,0,0,0,14.76,14.71,14.77
$GC,5687,-0.77,-116.8,2628,2752,3517,3466,502.4,-10.0,237,5701,0.00,2.30,0.00,0.000,516,0.000,0.043,2627,1381,3490,3515,3466,0,0,0,0,0,0,14.93,14.59,14.93
$GC,5733,-0.77,-116.8,2626,1380,3516,3467,507.0,-9.6,243,5747,0.10,2.47,0.00,0.000,3078,0.252,0.070,2647,2775,3490,3516,3465,0,0,0,0,0,0,14.33,14.50,14.58
$GC,6088,-0.77,-116.8,2647,2775,3516,3463,538.0,-8.7,251,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2775,3489,3516,3462,0,0,0,0,0,0,14.91,14.91,14.91
$GC,6424,-0.77,-116.8,2647,2776,3517,3468,565.8,-8.2,257,6438,0.00,2.40,0.00,0.000,516,0.000,0.045,2647,1377,3487,3515,3459,0,0,0,0,0,0,14.90,14.57,14.91
$GC,6456,-0.77,-116.8,2647,1379,3516,3460,568.5,-8.4,261,6470,0.00,2.47,0.00,0.000,1030,0.000,0.072,2638,2772,3487,3515,3459,0,0,0,0,0,0,14.66,14.48,14.69
$GC,6826,-0.77,-116.8,2639,2765,3513,3460,600.3,-8.7,271,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2764,3486,3513,3459,0,0,0,0,0,0,14.90,14.90,14.90
$GC,7162,-0.77,-116.8,2638,2766,3511,3458,630.1,-8.9,277,7175,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2765,3484,3509,3459,0,0,0,0,0,0,14.90,14.90,14.90
$GC,7497,-0.77,-116.8,2638,2765,3510,3457,661.8,-9.6,283,7511,0.00,2.38,0.00,0.000,516,0.000,0.045,2638,1386,3482,3509,3456,0,0,0,0,0,0,14.92,14.55,14.92
$GC,7536,-0.77,-116.8,2638,1387,3510,3457,665.7,-10.2,288,7549,0.00,2.45,0.00,0.000,1030,0.000,0.073,2628,2758,3482,3508,3456,0,0,0,0,0,0,14.64,14.45,14.68
$GC,7898,-0.77,-116.8,2629,2759,3509,3455,701.5,-9.9,297,7911,0.00,2.00,0.00,0.000,260,0.000,0.113,2619,3827,3481,3508,3455,0,0,0,0,0,0,14.92,14.37,14.92
$GC,7959,-0.77,-116.8,2620,3828,3518,3455,707.8,-10.5,305,7972,0.10,1.77,0.00,0.000,3078,0.245,0.044,2648,2770,3481,3508,3455,0,0,0,0,0,0,14.31,14.65,14.54
$GC,8300,-0.77,-116.8,2649,2770,3518,3454,737.4,-8.5,318,8313,0.00,2.40,0.00,0.000,516,0.000,0.047,2649,1362,3480,3508,3452,0,0,0,0,0,0,14.92,14.53,14.92
$GC,8374,-0.77,-116.8,2649,1362,3509,3452,743.7,-8.2,328,8387,0.00,2.50,0.00,0.000,1030,0.000,0.073,2640,2762,3479,3507,3452,0,0,0,0,0,0,14.62,14.43,14.66
$GC,8701,-0.77,-116.8,2640,2762,3508,3453,770.4,-8.1,339,8714,0.00,2.00,0.00,0.000,260,0.000,0.116,2632,3828,3478,3506,3451,0,0,0,0,0,0,14.88,14.36,14.88
$GC,8746,-0.77,-116.8,2631,3829,3507,3451,774.3,-8.6,345,8760,0.00,1.80,0.00,0.000,1030,0.000,0.044,2630,2742,3478,3506,3451,0,0,0,0,0,0,14.71,14.65,14.72
$GC,9101,-0.77,-116.8,2631,2742,3505,3452,801.6,-7.7,353,9114,0.00,0.00,0.00,0.000,38,0.000,0.000,2630,2741,3477,3504,3451,0,0,0,0,0,0,14.90,14.91,14.90
$GC,9437,-0.77,-116.8,2630,2742,3505,3450,827.5,-7.8,359,9450,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2742,3477,3505,3449,0,0,0,0,0,0,14.87,14.86,14.86
$GC,9773,-0.77,-116.8,2630,2743,3505,3447,855.2,-8.2,365,9786,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2743,3475,3504,3447,0,0,0,0,0,0,14.88,14.88,14.88
$GC,10109,-0.77,-116.8,2630,2743,3503,3446,884.2,-8.7,371,10123,0.00,2.33,0.00,0.000,516,0.000,0.046,2634,1382,3474,3502,3446,0,0,0,0,0,0,14.88,14.50,14.87
$GC,10149,-0.77,-116.8,2630,1383,3503,3446,888.0,-10.1,376,10162,0.00,2.50,0.00,0.000,1030,0.000,0.073,2622,2773,3474,3502,3446,0,0,0,0,0,0,14.60,14.43,14.65
$GC,10511,-0.77,-116.8,2622,2774,3502,3445,919.3,-8.7,385,10524,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2773,3473,3501,3445,0,0,0,0,0,0,14.89,14.89,14.91
$STATE,10676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10676,begin apogee
$GC,10682,-0.23,0.0,2622,2228,3501,3444,933.7,-8.6,388,10808,0.70,0.00,116.28,1.940,10244,0.191,0.000,2825,2226,3049,3095,3004,0,0,0,0,0,0,14.26,14.01,13.25
$STATE,10810,end apogee,CONTROL_FINISHED_OK
$STATE,10810,begin climb
$GC,10812,0.90,116.8,2825,2226,3092,2998,937.4,0.0,390,10952,1.08,2.42,123.07,1.970,10756,0.099,0.055,3172,884,2585,2649,2522,0,0,0,0,0,0,14.01,14.04,13.07
$GC,11182,0.75,116.8,3173,884,2645,2500,911.2,9.5,445,11195,0.00,2.45,0.00,0.000,1158,0.000,0.056,3171,2264,2571,2645,2497,0,0,0,0,0,0,14.33,14.21,14.36
$GC,11523,0.59,116.8,3171,2265,2645,2494,876.9,10.1,458,11537,0.25,2.42,0.00,0.000,4740,0.224,0.055,3107,879,2569,2645,2494,0,0,0,0,0,0,14.14,14.36,14.32
$GC,11765,0.59,116.8,3107,880,2646,2493,857.5,7.8,492,11778,0.00,2.40,0.00,0.000,1030,0.000,0.055,3107,2258,2568,2644,2493,0,0,0,0,0,0,14.54,14.40,14.57
$GC,12092,0.59,116.8,3107,2259,2646,2490,832.4,7.8,503,12105,0.00,2.60,0.00,0.000,260,0.000,0.106,3107,3651,2568,2645,2491,0,0,0,0,0,0,14.78,14.33,14.77
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$STATE,22671,end climb,SURFACE_DEPTH_REACHED
$STATE,22671,begin surface coast
$FINISH,-0.7,1.020789
$STATE,22692,end surface coast,CONTROL_FINISHED_OK
$STATE,22692,begin surface
$SM_CCo,22714,19.23,0.156,0,0,1057,500.14
$SM_GC,-2.52,9.40,0.95,19.23,0.090,0.078,0.156,193,2773,1057,-8.39,-0.57,500.14,0,0,0,0,0,0,14.57,14.50,14.40
$IRIDIUM_FIX,942.94,-12439.08,181016,061444
$TT8_MAMPS,0.03745,0.286118
$HUMID,51.10
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.90
$XPDR_PINGS,2
$SC_FREEKB,3826816
$PM_FREEKB,57483648
$TM_FREEKB,5790624
$24V_AH,13.03,84.490
$10V_AH,12.92,0.000
$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,24.550,191.400,522.975,19.225,0.000,0.000,0.000,420.050,0.500,0.000,4.577,0.000,18839.875,774.958,3539.171,326.750,0.000,2823.613,0.000,1703.409,0.000,0.841,0.000
$DEVICE_MAMPS,391.680,115.515,1969.875,156.060,0.000,0.000,0.000,192.780,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22740.000,22692.000,3233.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.422,2.379,14.744,0.000
$MEM,334640
$DATA_FILE_SIZE,33382,957
$CAP_FILE_SIZE,183438,0
$CFSIZE,1024409600,975732736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074,76.41,1
$GPS,181016,124301,954.216,-12446.812,34,0.8,34,9.0,1.0,104.3,10,3.4