version: 66.13
glider: 220
mission: 6
dive: 253
start: 10 28 116 17 29 30
data:
$ID,220
$MISSION,6
$DIVE,253
$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,110
$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,54
$R_STBD_OVSHOOT,23
$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,3
$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
$GPS1,281016,171732,942.4148,-12500.6162,41,0.8,47,9.0,0.7,31.8,12,5.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.61
$_SM_ANGLEo,-73.2
$GPS2,281016,172910,942.4349,-12500.4893,2,0.8,3,9.0,0.5,60.5,12,10.0
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,177.7,2962,-24.5,-7.750,-30.00,1225
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-1.19,-63.1,199,2775,1101,1013,0.0,0.0,0,87,0.00,0.00,-72.05,0.000,16390,0.000,0.000,199,2775,3303,3296,3311,0,0,0,0,0,0,14.66,12.86,14.66
$GC,90,-1.19,-63.1,200,2776,3298,3312,-2.1,-4.4,2,105,11.10,1.92,0.00,0.000,2308,0.389,0.078,2501,3831,3304,3297,3312,0,0,0,0,0,0,14.14,14.40,14.45
$GC,201,-0.80,-63.1,2502,3831,3301,3313,50.9,-35.1,19,208,0.50,1.83,0.00,0.000,3206,0.284,0.037,2628,2739,3305,3299,3312,0,0,0,0,0,0,14.09,14.54,14.31
$GC,531,-0.80,-63.1,2629,2740,3305,3312,91.8,-10.0,33,536,0.00,2.05,0.00,0.000,260,0.000,0.099,2621,3827,3307,3303,3312,0,0,0,0,0,0,14.83,14.38,14.83
$GC,572,-0.72,-73.4,2622,3827,3304,3313,94.7,-6.9,39,579,0.15,1.77,0.00,0.000,3238,0.252,0.040,2662,2769,3307,3303,3312,0,0,0,0,0,0,14.26,14.63,14.53
$GC,923,-0.74,-90.0,2663,2769,3306,3313,118.2,-6.4,48,929,0.00,2.35,0.00,0.000,548,0.000,0.041,2662,1378,3308,3305,3312,0,0,0,0,0,0,14.89,14.54,14.90
$GC,1139,-0.85,-94.8,2662,1378,3305,3313,134.5,-7.3,79,1147,0.00,2.47,0.00,0.000,1190,0.000,0.063,2652,2771,3308,3304,3312,0,0,0,0,0,0,14.57,14.48,14.62
$GC,1483,-0.94,-94.8,2652,2772,3306,3308,161.7,-8.1,86,1484,0.10,0.00,0.00,0.000,4230,0.116,0.000,2579,2772,3306,3304,3309,0,0,0,0,0,0,14.67,14.74,14.73
$GC,1818,-0.94,-94.8,2579,2772,3305,3303,197.9,-11.0,92,1826,0.00,1.95,0.00,0.000,260,0.000,0.099,2571,3821,3303,3304,3303,0,0,0,0,0,0,14.94,14.41,14.94
$GC,2008,-0.94,-94.8,2571,3822,3305,3301,220.5,-12.2,119,2014,0.00,1.75,0.00,0.000,1030,0.000,0.038,2571,2760,3303,3305,3301,0,0,0,0,0,0,14.64,14.62,14.66
$GC,2322,-0.94,-94.8,2571,2760,3309,3297,257.3,-11.6,129,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2760,3300,3304,3296,0,0,0,0,0,0,14.95,14.94,14.95
$GC,2658,-0.94,-94.8,2571,2760,3305,3292,295.6,-11.3,135,2664,0.00,2.00,0.00,0.000,260,0.000,0.102,2563,3817,3297,3304,3291,0,0,0,0,0,0,14.95,14.42,14.95
$GC,2721,-0.94,-94.8,2563,3817,3305,3292,302.8,-11.8,144,2728,0.12,1.75,0.00,0.000,3078,0.259,0.041,2597,2783,3297,3304,3290,0,0,0,0,0,0,14.31,14.71,14.59
$GC,3050,-0.94,-94.8,2596,2783,3305,3287,334.1,-9.3,156,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2783,3295,3304,3286,0,0,0,0,0,0,14.97,14.97,14.97
$GC,3387,-0.94,-94.8,2596,2783,3311,3282,365.8,-9.6,162,3392,0.00,2.40,0.00,0.000,516,0.000,0.044,2595,1383,3292,3304,3281,0,0,0,0,0,0,14.95,14.54,14.95
$GC,3428,-0.94,-94.8,2599,1383,3305,3282,369.7,-9.4,168,3435,0.00,2.50,0.00,0.000,1030,0.000,0.066,2587,2769,3296,3312,3280,0,0,0,0,0,0,14.62,14.49,14.65
$GC,3779,-0.94,-94.8,2586,2770,3313,3276,405.0,-10.2,176,3785,0.00,1.98,0.00,0.000,260,0.000,0.106,2578,3820,3289,3304,3275,0,0,0,0,0,0,14.95,14.39,14.95
$GC,3835,-0.94,-94.8,2579,3820,3305,3277,410.7,-10.5,184,3841,0.00,1.77,0.00,0.000,1030,0.000,0.041,2577,2757,3290,3306,3275,0,0,0,0,0,0,14.68,14.66,14.69
$GC,4171,-0.94,-94.8,2578,2757,3303,3273,444.7,-10.0,197,4177,0.00,2.03,0.00,0.000,260,0.000,0.106,2570,3818,3288,3304,3272,0,0,0,0,0,0,14.97,14.39,14.97
$GC,4211,-0.94,-94.8,2570,3819,3305,3271,451.5,-11.7,203,4218,0.00,1.77,0.00,0.000,1030,0.000,0.041,2570,2771,3288,3304,3272,0,0,0,0,0,0,14.76,14.70,14.77
$GC,4562,-0.94,-94.8,2571,2771,3305,3267,489.1,-10.7,211,4568,0.00,2.40,0.00,0.000,516,0.000,0.044,2569,1378,3285,3304,3267,0,0,0,0,0,0,14.97,14.50,14.97
$GC,4611,-0.94,-94.8,2570,1378,3305,3268,494.4,-10.8,218,4619,0.12,2.50,0.00,0.000,3078,0.257,0.065,2592,2765,3285,3304,3266,0,0,0,0,0,0,14.16,14.45,14.37
$GC,4955,-0.94,-94.8,2592,2769,3305,3262,529.3,-10.2,225,4960,0.00,2.00,0.00,0.000,260,0.000,0.106,2585,3826,3283,3304,3262,0,0,0,0,0,0,14.96,14.35,14.96
$GC,5044,-0.94,-94.8,2585,3827,3305,3261,538.3,-10.0,238,5051,0.00,1.80,0.00,0.000,1030,0.000,0.042,2583,2771,3282,3304,3261,0,0,0,0,0,0,14.73,14.67,14.77
$GC,5403,-0.94,-94.8,2583,2771,3305,3259,571.6,-9.3,247,5408,0.00,2.40,0.00,0.000,516,0.000,0.043,2583,1381,3281,3304,3258,0,0,0,0,0,0,14.94,14.47,14.94
$GC,5458,-0.94,-94.8,2584,1382,3310,3259,576.0,-7.8,255,5464,0.00,2.50,0.00,0.000,1030,0.000,0.065,2574,2769,3280,3304,3257,0,0,0,0,0,0,14.51,14.41,14.56
$GC,5794,-0.94,-94.8,2575,2769,3305,3255,610.4,-9.5,268,5801,0.00,2.00,0.00,0.000,260,0.000,0.106,2566,3825,3278,3303,3253,0,0,0,0,0,0,14.93,14.33,14.94
$GC,5857,-0.94,-94.8,2565,3826,3303,3254,616.6,-9.5,277,5863,0.10,1.80,0.00,0.000,3078,0.270,0.041,2592,2774,3277,3301,3254,0,0,0,0,0,0,14.22,14.66,14.49
$GC,6187,-0.94,-94.8,2592,2774,3306,3255,645.0,-8.5,289,6192,0.00,2.40,0.00,0.000,516,0.000,0.042,2592,1382,3275,3298,3253,0,0,0,0,0,0,14.95,14.47,14.95
$GC,6270,-0.94,-94.8,2592,1381,3298,3254,652.2,-8.6,301,6276,0.00,2.50,0.00,0.000,1030,0.000,0.063,2582,2769,3276,3298,3254,0,0,0,0,0,0,14.51,14.44,14.55
$GC,6634,-0.94,-94.8,2582,2769,3297,3253,684.7,-9.1,311,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2770,3274,3295,3253,0,0,0,0,0,0,14.92,14.92,14.92
$GC,6970,-0.94,-94.8,2583,2770,3297,3252,715.6,-9.2,317,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2769,3272,3296,3248,0,0,0,0,0,0,14.95,14.95,14.95
$GC,7306,-0.94,-94.8,2583,2770,3294,3250,746.8,-9.2,323,7312,0.00,2.42,0.00,0.000,516,0.000,0.044,2581,1381,3271,3293,3249,0,0,0,0,0,0,14.95,14.44,14.95
$GC,7404,-0.94,-94.8,2582,1381,3293,3250,755.8,-9.0,337,7411,0.00,2.53,0.00,0.000,1030,0.000,0.066,2572,2774,3270,3292,3248,0,0,0,0,0,0,14.47,14.38,14.52
$GC,7754,-0.94,-94.8,2573,2775,3292,3247,788.4,-9.4,345,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2774,3269,3291,3247,0,0,0,0,0,0,14.92,14.92,14.92
$GC,8090,-0.94,-94.8,2573,2774,3290,3247,818.2,-8.7,351,8097,0.00,2.45,0.00,0.000,516,0.000,0.044,2571,1383,3267,3290,3245,0,0,0,0,0,0,14.94,14.42,14.95
$GC,8160,-0.94,-94.8,2572,1383,3291,3246,824.5,-9.0,361,8167,0.10,2.50,0.00,0.000,3078,0.256,0.066,2583,2768,3264,3283,3245,0,0,0,0,0,0,14.04,14.35,14.26
$GC,8482,-0.94,-94.8,2588,2768,3291,3245,852.8,-8.8,372,8483,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2768,3266,3290,3243,0,0,0,0,0,0,14.91,14.92,14.91
$GC,8818,-0.94,-94.8,2586,2768,3290,3242,882.2,-8.8,378,8819,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2768,3265,3290,3241,0,0,0,0,0,0,14.94,14.94,14.94
$GC,9155,-0.94,-94.8,2588,2768,3289,3242,911.8,-8.8,384,9155,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2768,3264,3288,3241,0,0,0,0,0,0,14.94,14.93,14.93
$STATE,9376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9376,begin apogee
$GC,9382,-0.23,0.0,2588,2233,3289,3240,931.5,-8.7,388,9446,0.85,0.00,61.08,2.001,10244,0.205,0.000,2823,2231,3051,3090,3012,0,0,0,0,0,0,14.14,14.23,13.39
$STATE,9447,end apogee,CONTROL_FINISHED_OK
$STATE,9447,begin climb
$GC,9450,1.23,94.8,2823,2232,3087,3005,930.9,0.0,389,9554,1.40,0.00,101.15,1.946,11270,0.102,0.000,3275,2231,2674,2728,2620,0,0,0,0,0,0,14.19,14.42,13.14
$GC,9883,1.11,94.8,3276,2232,2724,2599,899.3,10.0,418,9883,0.00,0.00,0.00,0.000,134,0.000,0.000,3276,2230,2661,2723,2599,0,0,0,0,0,0,14.62,14.62,14.62
$GC,10219,0.98,94.8,3276,2232,2725,2596,867.2,9.5,424,10220,0.22,0.00,0.00,0.000,4230,0.264,0.000,3218,2231,2659,2723,2596,0,0,0,0,0,0,14.05,14.47,14.41
$GC,10555,0.98,94.8,3219,2231,2724,2596,840.3,8.0,430,10560,0.00,2.70,0.00,0.000,260,0.000,0.096,3217,3669,2659,2723,2595,0,0,0,0,0,0,14.82,14.32,14.82
$GC,10631,0.88,94.8,3218,3676,2724,2594,832.9,9.4,441,10638,0.17,2.42,0.00,0.000,5254,0.251,0.040,3182,2269,2659,2723,2595,0,0,0,0,0,0,14.07,14.49,14.28
$GC,10947,0.88,95.7,3183,2270,2724,2592,808.7,7.7,451,10948,0.00,0.00,0.00,0.000,38,0.000,0.000,3182,2269,2657,2723,2592,0,0,0,0,0,0,14.83,14.83,14.83
$GC,11283,0.88,95.7,3183,2271,2724,2590,781.4,8.1,457,11288,0.00,2.65,0.00,0.000,260,0.000,0.098,3182,3682,2657,2723,2591,0,0,0,0,0,0,14.85,14.24,14.85
$GC,11323,0.88,95.7,3183,3683,2723,2592,777.8,8.5,463,11331,0.00,2.50,0.00,0.000,1030,0.000,0.039,3193,2250,2656,2723,2590,0,0,0,0,0,0,14.62,14.54,14.63
$GC,11675,0.88,95.7,3194,2250,2723,2591,749.8,7.9,471,11675,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2250,2656,2723,2589,0,0,0,0,0,0,14.86,14.86,14.85
$GC,12011,0.89,102.6,3194,2251,2724,2589,725.2,7.2,477,12017,0.00,2.42,1.70,0.327,8740,0.000,0.058,3204,857,2646,2709,2583,0,0,0,0,0,0,14.86,14.23,13.76
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$STATE,20571,end climb,SURFACE_DEPTH_REACHED
$STATE,20571,begin surface coast
$FINISH,-2.5,1.020466
$STATE,20599,end surface coast,CONTROL_FINISHED_OK
$STATE,20599,begin surface
$SM_CCo,20619,63.25,0.151,0,0,1056,500.14
$SM_GC,-3.92,9.90,0.93,63.25,0.101,0.080,0.151,195,2767,1056,-8.40,-0.74,500.14,0,0,0,0,0,0,14.49,14.42,14.33
$IRIDIUM_FIX,940.75,-12502.75,281016,103528
$TT8_MAMPS,0.038948,0.343042
$HUMID,49.92
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.20
$XPDR_PINGS,1
$SC_FREEKB,3812608
$PM_FREEKB,57023680
$24V_AH,12.86,97.247
$10V_AH,13.00,0.000
$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
$DEVICE_SECS,25.450,157.225,325.625,63.250,0.000,0.000,0.000,395.725,0.250,0.000,5.163,0.000,17865.215,700.914,2489.885,310.669,0.000,1834.176,0.000,1558.588,0.000,0.840,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.501,2.416,0.000,0.000
$MEM,334696
$DATA_FILE_SIZE,30139,869
$CAP_FILE_SIZE,147961,0
$CFSIZE,1024409600,968982528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7409.98,0x213b74,0,24
$CURRENT,0.096,142.62,1
$GPS,281016,231501,940.114,-12459.927,19,0.8,19,9.0,0.4,108.5,9,9.3