version: 66.13
glider: 220
mission: 6
dive: 397
start: 12 7 116 3 39 23
data:
$ID,220
$MISSION,6
$DIVE,397
$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,60
$R_STBD_OVSHOOT,34
$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
$GPS1,071216,032755,952.4727,-12509.4463,35,1.9,35,9.0,1.4,27.9,5,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.90
$_SM_ANGLEo,-69.9
$GPS2,071216,033902,952.6368,-12509.3564,3,0.9,21,9.0,0.9,5.1,8,2.3
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,153.9,27630,-17.6,-7.750,-24.23,2047
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.93,-107.1,108,2793,1099,1013,0.0,0.0,0,93,0.00,0.00,-77.65,0.000,16390,0.000,0.000,107,2794,3478,3470,3486,0,0,0,0,0,0,14.69,12.58,14.67
$GC,96,-0.93,-107.1,108,2794,3471,3487,-0.6,-3.7,2,112,11.90,1.88,0.00,0.000,2308,0.383,0.079,2583,3816,3479,3472,3486,0,0,0,0,0,0,13.97,14.35,14.35
$GC,342,-0.70,-107.1,2583,3817,3477,3492,69.2,-14.1,38,348,0.30,1.75,0.00,0.000,3206,0.213,0.037,2668,2749,3481,3476,3486,0,0,0,0,0,0,14.14,14.53,14.32
$GC,678,-0.70,-107.1,2668,2750,3481,3486,98.3,-9.0,53,683,0.00,2.03,0.00,0.000,260,0.000,0.105,2660,3813,3483,3480,3486,0,0,0,0,0,0,14.85,14.32,14.86
$GC,740,-0.70,-107.1,2660,3814,3481,3486,103.6,-8.2,62,746,0.00,1.73,0.00,0.000,1030,0.000,0.039,2660,2753,3483,3480,3486,0,0,0,0,0,0,14.64,14.62,14.64
$GC,1070,-0.70,-107.1,2660,2752,3481,3486,131.9,-8.6,74,1075,0.00,2.00,0.00,0.000,260,0.000,0.106,2651,3803,3483,3480,3486,0,0,0,0,0,0,14.90,14.35,14.90
$GC,1174,-0.70,-107.1,2652,3803,3480,3487,141.7,-9.5,89,1182,0.00,1.73,0.00,0.000,1030,0.000,0.041,2651,2767,3482,3479,3486,0,0,0,0,0,0,14.71,14.66,14.72
$GC,1518,-0.70,-107.1,2652,2768,3481,3484,172.4,-8.8,96,1524,0.00,2.30,0.00,0.000,516,0.000,0.044,2651,1392,3480,3479,3482,0,0,0,0,0,0,14.94,14.56,14.94
$GC,1574,-0.70,-107.1,2652,1393,3481,3481,177.3,-8.5,104,1581,0.10,2.40,0.00,0.000,3078,0.235,0.067,2672,2763,3480,3480,3481,0,0,0,0,0,0,14.33,14.45,14.55
$GC,1910,-0.70,-107.1,2672,2764,3480,3478,204.0,-8.0,117,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2763,3478,3479,3478,0,0,0,0,0,0,14.95,14.95,14.92
$GC,2246,-0.70,-107.1,2672,2763,3480,3473,230.4,-7.9,123,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2763,3475,3479,3472,0,0,0,0,0,0,14.93,14.93,14.95
$GC,2583,-0.70,-107.1,2672,2760,3480,3469,255.3,-7.4,129,2587,0.00,2.35,0.00,0.000,548,0.000,0.044,2671,1388,3471,3475,3468,0,0,0,0,0,0,14.93,14.52,14.93
$GC,2665,-0.70,-107.1,2671,1388,3480,3468,261.5,-7.4,141,2671,0.00,2.50,0.00,0.000,1062,0.000,0.068,2662,2771,3472,3479,3466,0,0,0,0,0,0,14.53,14.45,14.57
$GC,3030,-0.70,-107.1,2663,2771,3480,3466,290.4,-8.1,151,3035,0.00,2.00,0.00,0.000,260,0.000,0.109,2654,3850,3470,3479,3461,0,0,0,0,0,0,14.95,14.37,14.95
$GC,3050,-0.70,-107.1,2655,3850,3479,3463,292.1,-8.2,154,3056,0.00,1.83,0.00,0.000,1030,0.000,0.043,2654,2765,3470,3479,3461,0,0,0,0,0,0,14.72,14.67,14.73
$GC,3366,-0.70,-107.1,2651,2765,3480,3458,319.5,-8.7,164,3372,0.00,2.33,0.00,0.000,516,0.000,0.044,2654,1386,3468,3479,3457,0,0,0,0,0,0,14.95,14.57,14.95
$GC,3422,-0.70,-107.1,2654,1386,3480,3456,324.4,-8.6,172,3428,0.00,2.47,0.00,0.000,1030,0.000,0.068,2645,2777,3467,3479,3456,0,0,0,0,0,0,14.55,14.38,14.58
$GC,3759,-0.70,-107.1,2646,2778,3481,3452,353.4,-8.6,185,3760,0.10,0.00,0.00,0.000,2054,0.243,0.000,2675,2777,3465,3479,3452,0,0,0,0,0,0,14.38,14.64,14.59
$GC,4094,-0.78,-107.1,2675,2778,3482,3449,378.3,-7.4,191,4099,0.00,2.38,0.00,0.000,676,0.000,0.045,2675,1389,3464,3479,3449,0,0,0,0,0,0,14.93,14.55,14.95
$GC,4170,-0.87,-107.1,2672,1391,3480,3448,384.1,-7.4,202,4177,0.08,2.47,0.00,0.000,5286,0.089,0.069,2603,2762,3463,3479,3448,0,0,0,0,0,0,14.45,14.39,14.52
$GC,4486,-0.87,-107.1,2603,2764,3480,3446,416.2,-10.4,212,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2763,3461,3478,3445,0,0,0,0,0,0,14.95,14.95,14.95
$GC,4822,-0.87,-107.1,2603,2761,3479,3443,450.4,-10.1,218,4823,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2763,3460,3479,3442,0,0,0,0,0,0,14.95,14.95,14.95
$GC,5158,-0.87,-107.1,2603,2762,3479,3438,484.2,-10.1,224,5164,0.00,2.38,0.00,0.000,516,0.000,0.045,2602,1384,3458,3479,3438,0,0,0,0,0,0,14.95,14.52,14.97
$GC,5221,-0.87,-107.1,2602,1384,3479,3437,490.7,-10.2,233,5226,0.00,2.50,0.00,0.000,1030,0.000,0.069,2592,2764,3458,3478,3438,0,0,0,0,0,0,14.47,14.38,14.52
$GC,5550,-0.87,-107.1,2591,2763,3480,3436,525.3,-10.6,245,5556,0.00,2.00,0.00,0.000,260,0.000,0.110,2584,3817,3457,3478,3436,0,0,0,0,0,0,14.92,14.28,14.92
$GC,5591,-0.78,-107.1,2585,3817,3479,3437,529.9,-11.2,251,5598,0.22,1.75,0.00,0.000,3206,0.196,0.041,2650,2772,3457,3479,3436,0,0,0,0,0,0,14.21,14.62,14.40
$GC,5942,-0.78,-107.1,2651,2772,3479,3433,558.1,-7.9,259,5947,0.00,2.38,0.00,0.000,516,0.000,0.045,2650,1380,3455,3478,3432,0,0,0,0,0,0,14.92,14.49,14.92
$GC,6025,-0.78,-107.1,2650,1381,3480,3432,564.8,-8.0,271,6031,0.00,2.53,0.00,0.000,1030,0.000,0.067,2640,2759,3455,3479,3432,0,0,0,0,0,0,14.45,14.35,14.50
$GC,6390,-0.78,-107.1,2640,2760,3478,3429,595.1,-8.4,281,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2760,3453,3477,3429,0,0,0,0,0,0,14.92,14.92,14.92
$GC,6726,-0.78,-107.1,2641,2761,3475,3429,622.1,-7.9,287,6731,0.00,2.40,0.00,0.000,516,0.000,0.045,2637,1377,3451,3473,3429,0,0,0,0,0,0,14.92,14.49,14.92
$GC,6760,-0.78,-107.1,2639,1378,3475,3429,624.8,-7.8,292,6767,0.00,2.50,0.00,0.000,1030,0.000,0.067,2632,2759,3451,3473,3430,0,0,0,0,0,0,14.44,14.34,14.49
$GC,7119,-0.78,-107.1,2631,2759,3472,3431,651.3,-7.4,301,7119,0.00,0.00,0.00,0.000,38,0.000,0.000,2630,2759,3450,3471,3429,0,0,0,0,0,0,14.92,14.91,14.92
$GC,7454,-0.78,-107.1,2631,2759,3471,3427,676.2,-7.4,307,7459,0.00,2.40,0.00,0.000,548,0.000,0.044,2630,1374,3449,3471,3427,0,0,0,0,0,0,14.91,14.47,14.91
$GC,7502,-0.78,-107.1,2630,1374,3472,3428,680.0,-7.7,314,7510,0.00,2.55,0.00,0.000,1062,0.000,0.068,2620,2770,3449,3471,3427,0,0,0,0,0,0,14.42,14.33,14.46
$GC,7846,-0.78,-107.1,2621,2772,3471,3425,708.4,-8.5,321,7852,0.00,2.42,0.00,0.000,516,0.000,0.044,2619,1373,3447,3470,3425,0,0,0,0,0,0,14.94,14.47,14.93
$GC,7873,-0.78,-107.1,2620,1374,3471,3425,710.9,-9.0,325,7880,0.10,2.50,0.00,0.000,3078,0.218,0.067,2640,2753,3447,3470,3425,0,0,0,0,0,0,14.12,14.33,14.28
$GC,8238,-0.78,-107.1,2641,2753,3470,3424,740.3,-8.1,335,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2754,3446,3470,3423,0,0,0,0,0,0,14.93,14.93,14.93
$GC,8574,-0.78,-107.1,2640,2755,3469,3423,766.2,-7.7,341,8579,0.00,2.38,0.00,0.000,548,0.000,0.044,2640,1375,3449,3477,3422,0,0,0,0,0,0,14.92,14.45,14.92
$GC,8608,-0.78,-107.1,2642,1374,3468,3424,768.9,-7.9,346,8614,0.00,2.53,0.00,0.000,1030,0.000,0.067,2631,2760,3444,3467,3422,0,0,0,0,0,0,14.40,14.30,14.44
$GC,8967,-0.78,-107.1,2632,2762,3468,3421,795.3,-7.3,355,8972,0.00,2.38,0.00,0.000,548,0.000,0.044,2630,1381,3443,3467,3420,0,0,0,0,0,0,14.92,14.45,14.93
$GC,8993,-0.78,-107.1,2631,1381,3468,3417,797.4,-7.5,359,8999,0.00,2.53,0.00,0.000,1062,0.000,0.068,2622,2761,3443,3467,3420,0,0,0,0,0,0,14.36,14.29,14.44
$GC,9358,-0.78,-107.1,2620,2761,3467,3419,824.3,-7.2,369,9359,0.00,0.00,0.00,0.000,38,0.000,0.000,2621,2760,3443,3467,3419,0,0,0,0,0,0,14.90,14.92,14.92
$GC,9694,-0.78,-107.1,2622,2760,3465,3420,849.5,-7.6,375,9700,0.00,2.42,0.00,0.000,548,0.000,0.046,2621,1372,3441,3463,3419,0,0,0,0,0,0,14.92,14.39,14.92
$GC,9778,-0.78,-107.1,2621,1371,3465,3420,855.7,-7.7,387,9784,0.10,2.55,0.00,0.000,3110,0.215,0.069,2640,2754,3441,3464,3418,0,0,0,0,0,0,14.04,14.26,14.21
$GC,10142,-0.78,-107.1,2641,2755,3466,3417,882.7,-7.5,397,10148,0.00,2.40,0.00,0.000,548,0.000,0.045,2637,1376,3440,3464,3417,0,0,0,0,0,0,14.89,14.39,14.89
$GC,10176,-0.78,-107.1,2641,1376,3465,3419,885.5,-6.4,402,10182,0.00,2.53,0.00,0.000,1062,0.000,0.070,2631,2756,3440,3464,3417,0,0,0,0,0,0,14.35,14.24,14.39
$GC,10534,-0.78,-107.1,2634,2758,3465,3417,913.9,-7.9,411,10535,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2757,3440,3463,3417,0,0,0,0,0,0,14.89,14.89,14.89
$STATE,10755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10755,begin apogee
$GC,10763,-0.23,0.0,2632,2219,3463,3416,930.3,-7.2,415,10875,0.65,0.08,109.90,1.954,10244,0.168,0.170,2825,2258,3049,3091,3007,0,0,0,0,0,0,14.14,13.93,12.97
$STATE,10877,end apogee,CONTROL_FINISHED_OK
$STATE,10877,begin climb
$GC,10880,0.93,107.1,2825,2258,3089,3005,934.3,0.0,417,11006,1.10,2.50,117.25,1.961,10756,0.089,0.058,3183,883,2624,2686,2563,0,0,0,0,0,0,13.99,14.01,12.83
$GC,11012,0.71,124.5,3184,883,2681,2553,930.7,6.9,437,11041,0.17,2.50,20.45,2.023,13478,0.207,0.050,3131,2247,2553,2627,2479,0,0,0,0,0,0,13.71,13.84,12.83
$GC,11372,0.71,124.5,3137,2246,2619,2463,903.6,8.0,453,11377,0.00,2.62,0.00,0.000,260,0.000,0.099,3136,3658,2540,2617,2464,0,0,0,0,0,0,14.66,14.28,14.66
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$STATE,22980,end climb,SURFACE_DEPTH_REACHED
$STATE,22980,begin surface coast
$FINISH,-1.8,1.021442
$STATE,23008,end surface coast,CONTROL_FINISHED_OK
$STATE,23011,begin surface
$SM_CCo,23032,40.80,0.154,0,0,1058,500.14
$SM_GC,-1.91,8.88,0.90,40.80,0.049,0.093,0.154,183,2766,1058,-8.38,-0.65,500.14,0,0,0,0,0,0,14.51,14.37,14.23
$IRIDIUM_FIX,951.69,-12511.90,061216,205434
$TT8_MAMPS,0.039697,0.216461
$HUMID,54.84
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,21.10
$XPDR_PINGS,0
$SC_FREEKB,3757280
$PM_FREEKB,55253184
$24V_AH,12.58,142.384
$10V_AH,12.59,0.000
$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
$DEVICE_SECS,24.350,189.375,468.650,40.800,0.000,0.000,0.000,357.250,0.000,0.000,22.642,0.000,19809.406,813.349,2640.993,458.788,0.000,1975.728,0.000,1684.042,0.000,0.838,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23070.000,23019.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.473,2.399,0.000,0.000
$MEM,334708
$DATA_FILE_SIZE,33425,936
$CAP_FILE_SIZE,167765,0
$CFSIZE,1024409600,947585024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,94.10,1
$GPS,071216,100501,950.707,-12507.635,34,1.0,34,9.0,0.7,19.6,8,4.7