version: 66.13
glider: 220
mission: 6
dive: 415
start: 12 12 116 1 14 18
data:
$ID,220
$MISSION,6
$DIVE,415
$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,53
$R_STBD_OVSHOOT,27
$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
$GPS1,121216,010156,1005.5328,-12447.5479,30,2.0,30,9.0,0.8,301.2,5,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.87
$_SM_ANGLEo,-70.6
$GPS2,121216,011355,1005.6102,-12447.6660,2,1.7,4,9.0,0.9,321.3,5,10.0
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,308.6,33590,-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,15,-0.93,-107.1,106,2782,1098,1012,0.0,0.0,0,94,0.00,0.00,-77.72,0.000,16390,0.000,0.000,105,2781,3479,3470,3489,0,0,0,0,0,0,14.66,12.56,14.65
$GC,98,-0.93,-107.1,101,2779,3471,3489,0.2,-7.1,2,117,11.82,1.92,0.00,0.000,2308,0.379,0.085,2586,3827,3480,3472,3489,0,0,0,0,0,0,13.97,14.29,14.34
$GC,347,-0.73,-107.1,2587,3827,3476,3490,62.3,-11.1,39,353,0.25,1.80,0.00,0.000,3206,0.214,0.035,2657,2749,3482,3475,3489,0,0,0,0,0,0,14.12,14.51,14.30
$GC,677,-0.73,-107.1,2658,2750,3480,3490,90.3,-8.2,53,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2749,3483,3479,3488,0,0,0,0,0,0,14.84,14.84,14.85
$GC,985,-0.73,-107.1,2657,2750,3480,3489,116.3,-8.5,61,991,0.00,2.05,0.00,0.000,260,0.000,0.106,2650,3815,3484,3479,3489,0,0,0,0,0,0,14.88,14.30,14.88
$GC,1117,-0.73,-107.1,2650,3819,3480,3489,129.7,-10.1,80,1123,0.00,1.75,0.00,0.000,1030,0.000,0.038,2649,2751,3483,3479,3488,0,0,0,0,0,0,14.66,14.65,14.66
$GC,1433,-0.73,-107.1,2650,2751,3479,3487,157.9,-8.8,90,1438,0.00,2.33,0.00,0.000,516,0.000,0.044,2649,1404,3482,3479,3486,0,0,0,0,0,0,14.90,14.40,14.90
$GC,1530,-0.73,-107.1,2649,1405,3477,3485,166.6,-9.0,104,1536,0.00,2.42,0.00,0.000,1030,0.000,0.066,2640,2753,3482,3479,3485,0,0,0,0,0,0,14.49,14.39,14.52
$GC,1881,-0.73,-107.1,2640,2753,3479,3482,200.7,-9.8,112,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2753,3479,3479,3480,0,0,0,0,0,0,14.91,14.92,14.92
$GC,2217,-0.73,-107.1,2640,2752,3480,3477,232.7,-9.3,118,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2752,3477,3479,3476,0,0,0,0,0,0,14.92,14.92,14.92
$GC,2553,-0.73,-107.1,2640,2753,3480,3470,260.5,-8.2,124,2558,0.00,2.33,0.00,0.000,516,0.000,0.043,2637,1399,3474,3479,3470,0,0,0,0,0,0,14.95,14.52,14.92
$GC,2609,-0.73,-107.1,2640,1399,3479,3471,265.3,-8.5,132,2615,0.10,2.42,0.00,0.000,3078,0.243,0.065,2659,2769,3474,3479,3469,0,0,0,0,0,0,14.29,14.42,14.51
$GC,2945,-0.73,-107.1,2659,2771,3480,3466,292.7,-8.3,145,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2768,3473,3479,3467,0,0,0,0,0,0,14.92,14.92,14.92
$GC,3281,-0.73,-107.1,2659,2769,3479,3463,321.1,-8.5,151,3286,0.00,2.38,0.00,0.000,516,0.000,0.042,2659,1397,3470,3479,3461,0,0,0,0,0,0,14.95,14.52,14.95
$GC,3329,-0.73,-107.1,2659,1397,3476,3462,325.3,-8.6,158,3337,0.00,2.50,0.00,0.000,1030,0.000,0.066,2651,2763,3470,3479,3461,0,0,0,0,0,0,14.47,14.38,14.52
$GC,3673,-0.73,-107.1,2651,2764,3484,3459,356.0,-9.0,165,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2763,3468,3479,3458,0,0,0,0,0,0,14.92,14.92,14.92
$GC,4009,-0.73,-107.1,2651,2764,3480,3459,385.4,-8.7,171,4014,0.00,2.38,0.00,0.000,516,0.000,0.044,2651,1394,3466,3479,3454,0,0,0,0,0,0,14.95,14.51,14.95
$GC,4113,-0.73,-107.1,2651,1394,3479,3454,394.9,-9.0,186,4121,0.00,2.50,0.00,0.000,1030,0.000,0.067,2641,2761,3465,3479,3452,0,0,0,0,0,0,14.45,14.35,14.50
$GC,4457,-0.73,-107.1,2642,2762,3480,3450,426.2,-9.0,193,4463,0.00,2.35,0.00,0.000,516,0.000,0.043,2638,1402,3463,3478,3449,0,0,0,0,0,0,14.92,14.50,14.92
$GC,4498,-0.73,-107.1,2642,1403,3479,3446,430.0,-8.9,199,4504,0.10,2.47,0.00,0.000,3078,0.219,0.067,2662,2758,3464,3479,3449,0,0,0,0,0,0,14.19,14.36,14.35
$GC,4849,-0.73,-107.1,2662,2759,3480,3445,456.3,-7.4,207,4854,0.00,2.05,0.00,0.000,292,0.000,0.111,2654,3820,3462,3479,3446,0,0,0,0,0,0,14.94,14.23,14.94
$GC,4905,-0.73,-107.1,2653,3820,3477,3447,460.5,-7.6,215,4910,0.00,1.80,0.00,0.000,1062,0.000,0.043,2654,2768,3461,3478,3445,0,0,0,0,0,0,14.59,14.56,14.61
$GC,5241,-0.73,-107.1,2654,2769,3480,3443,485.7,-7.6,228,5246,0.00,2.38,0.00,0.000,548,0.000,0.042,2654,1378,3460,3478,3443,0,0,0,0,0,0,14.92,14.50,14.92
$GC,5310,-0.73,-107.1,2654,1377,3480,3442,491.3,-8.1,238,5316,0.00,2.50,0.00,0.000,1030,0.000,0.065,2645,2751,3460,3478,3442,0,0,0,0,0,0,14.45,14.35,14.48
$GC,5633,-0.73,-107.1,2645,2751,3479,3440,519.2,-8.7,249,5639,0.00,2.38,0.00,0.000,516,0.000,0.042,2644,1373,3458,3478,3439,0,0,0,0,0,0,14.91,14.49,14.91
$GC,5681,-0.73,-107.1,2645,1372,3479,3440,523.5,-8.8,256,5689,0.00,2.53,0.00,0.000,1030,0.000,0.065,2636,2758,3458,3478,3438,0,0,0,0,0,0,14.42,14.33,14.47
$GC,6025,-0.73,-107.1,2637,2758,3479,3438,553.0,-8.5,263,6030,0.00,2.40,0.00,0.000,516,0.000,0.043,2635,1373,3457,3478,3437,0,0,0,0,0,0,14.95,14.47,14.91
$GC,6059,-0.73,-107.1,2636,1374,3480,3436,556.0,-8.6,268,6065,0.10,2.50,0.00,0.000,3078,0.213,0.065,2657,2742,3457,3478,3436,0,0,0,0,0,0,14.13,14.33,14.30
$GC,6417,-0.73,-107.1,2657,2742,3479,3433,580.8,-6.7,277,6418,0.00,0.00,0.00,0.000,38,0.000,0.000,2656,2742,3455,3478,3433,0,0,0,0,0,0,14.90,14.91,14.90
$GC,6753,-0.73,-107.1,2657,2742,3479,3433,601.8,-6.2,283,6758,0.00,2.38,0.00,0.000,548,0.000,0.044,2656,1379,3455,3478,3432,0,0,0,0,0,0,14.93,14.45,14.94
$GC,6787,-0.80,-107.1,2656,1381,3479,3432,604.1,-6.7,288,6793,0.00,2.50,0.00,0.000,1190,0.000,0.067,2648,2754,3454,3478,3431,0,0,0,0,0,0,14.40,14.31,14.45
$GC,7145,-0.80,-107.1,2648,2755,3478,3430,629.4,-7.2,297,7146,0.00,0.00,0.00,0.000,38,0.000,0.000,2648,2754,3453,3476,3430,0,0,0,0,0,0,14.90,14.95,14.90
$GC,7481,-0.80,-107.1,2648,2755,3475,3430,655.4,-7.8,303,7486,0.00,2.40,0.00,0.000,516,0.000,0.043,2648,1372,3451,3473,3429,0,0,0,0,0,0,14.92,14.45,14.91
$GC,7537,-0.80,-107.1,2647,1372,3475,3430,659.9,-8.1,311,7542,0.00,2.53,0.00,0.000,1030,0.000,0.067,2638,2751,3451,3473,3429,0,0,0,0,0,0,14.37,14.29,14.53
$GC,7873,-0.80,-107.1,2639,2751,3472,3435,688.1,-8.5,324,7874,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2758,3450,3471,3430,0,0,0,0,0,0,14.92,14.92,14.92
$GC,8209,-0.80,-107.1,2641,2752,3476,3429,718.0,-8.9,330,8214,0.00,2.38,0.00,0.000,516,0.000,0.043,2638,1378,3449,3470,3429,0,0,0,0,0,0,14.90,14.44,14.90
$GC,8292,-0.80,-107.1,2638,1378,3471,3429,725.6,-8.9,342,8298,0.00,2.50,0.00,0.000,1030,0.000,0.067,2629,2739,3449,3470,3428,0,0,0,0,0,0,14.38,14.27,14.42
$GC,8657,-0.80,-107.1,2630,2740,3472,3426,757.8,-8.8,352,8662,0.00,2.08,0.00,0.000,260,0.000,0.111,2621,3829,3448,3470,3426,0,0,0,0,0,0,14.92,14.20,14.92
$GC,8698,-0.80,-107.1,2622,3830,3471,3427,761.5,-8.9,358,8704,0.00,1.88,0.00,0.000,1030,0.000,0.043,2620,2742,3448,3470,3426,0,0,0,0,0,0,14.53,14.50,14.55
$GC,9049,-0.80,-107.1,2620,2743,3471,3426,790.3,-8.0,366,9054,0.00,2.38,0.00,0.000,516,0.000,0.044,2620,1372,3446,3469,3423,0,0,0,0,0,0,14.92,14.40,14.92
$GC,9097,-0.80,-107.1,2616,1370,3470,3427,794.2,-7.8,373,9105,0.00,2.53,0.00,0.000,1030,0.000,0.066,2611,2745,3447,3469,3425,0,0,0,0,0,0,14.34,14.24,14.38
$GC,9441,-0.80,-107.1,2611,2746,3470,3423,821.2,-7.9,380,9442,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2745,3446,3469,3424,0,0,0,0,0,0,14.89,14.89,14.89
$GC,9777,-0.80,-107.1,2612,2744,3468,3424,848.7,-8.3,386,9778,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2745,3445,3467,3423,0,0,0,0,0,0,14.88,14.90,14.89
$GC,10113,-0.80,-107.1,2612,2745,3467,3423,877.5,-8.6,392,10118,0.00,2.42,0.00,0.000,516,0.000,0.045,2610,1370,3444,3466,3422,0,0,0,0,0,0,14.88,14.35,14.90
$GC,10161,-0.80,-107.1,2610,1371,3467,3421,881.5,-7.7,399,10169,0.12,2.55,0.00,0.000,3110,0.216,0.067,2636,2746,3443,3466,3421,0,0,0,0,0,0,13.96,14.20,14.13
$GC,10505,-0.80,-107.1,2637,2746,3466,3422,907.7,-7.6,406,10506,0.00,0.00,0.00,0.000,38,0.000,0.000,2636,2746,3443,3466,3421,0,0,0,0,0,0,14.90,14.91,14.91
$STATE,10838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10838,begin apogee
$GC,10846,-0.23,0.0,2637,2215,3467,3418,931.8,-7.1,412,10961,0.62,0.10,112.05,1.970,10244,0.160,0.152,2824,2269,3049,3090,3008,0,0,0,0,0,0,14.12,13.91,12.91
$STATE,10962,end apogee,CONTROL_FINISHED_OK
$STATE,10962,begin climb
$GC,10965,0.93,107.1,2825,2269,3086,3003,935.0,0.0,414,11096,1.10,2.53,117.35,1.942,10756,0.086,0.056,3183,890,2616,2678,2554,0,0,0,0,0,0,13.97,14.00,12.83
$GC,11101,0.72,112.5,3183,891,2678,2553,930.9,7.5,435,11108,0.15,2.50,1.38,0.211,13478,0.205,0.050,3141,2247,2601,2665,2538,0,0,0,0,0,0,13.73,13.85,13.72
$GC,11460,0.74,128.4,3143,2248,2665,2551,906.6,6.9,444,11487,0.00,2.70,23.62,1.989,8484,0.000,0.099,3141,3653,2532,2601,2463,0,0,0,0,0,0,14.69,14.23,13.28
$GC,11594,0.65,128.4,3141,3654,2600,2457,896.3,8.1,463,11599,0.15,2.38,0.00,0.000,5254,0.223,0.040,3109,2269,2527,2598,2456,0,0,0,0,0,0,14.14,14.40,14.38
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$STATE,22729,end climb,SURFACE_DEPTH_REACHED
$STATE,22729,begin surface coast
$FINISH,-1.0,1.021287
$STATE,22769,end surface coast,CONTROL_FINISHED_OK
$STATE,22769,begin surface
$SM_CCo,22791,45.50,0.157,0,0,1057,500.14
$SM_GC,-1.19,9.10,0.85,45.50,0.067,0.080,0.157,182,2759,1057,-8.38,-0.90,500.14,0,0,0,0,0,0,14.52,14.39,14.21
$IRIDIUM_FIX,1000.45,-12443.37,111216,182741
$TT8_MAMPS,0.038199,0.437416
$HUMID,54.33
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.20
$XPDR_PINGS,1
$SC_FREEKB,3750368
$PM_FREEKB,55037376
$24V_AH,11.86,147.992
$10V_AH,12.53,0.000
$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,24.275,191.175,473.550,45.500,0.000,0.000,0.000,418.600,0.250,0.000,5.687,0.000,19587.170,804.685,2664.978,482.250,0.000,2029.121,0.000,1667.464,0.000,0.840,0.000
$DEVICE_MAMPS,379.440,152.235,2067.030,156.825,0.000,0.000,0.000,175.950,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22828.000,22776.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.493,2.404,0.000,0.000
$MEM,334724
$DATA_FILE_SIZE,33432,927
$CAP_FILE_SIZE,167102,0
$CFSIZE,1024409600,944914432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,341.84,1
$GPS,121216,073609,1007.759,-12449.487,37,0.7,43,9.0,1.0,280.8,12,10.0