version: 66.13
glider: 220
mission: 6
dive: 420
start: 12 13 116 10 7 11
data:
$ID,220
$MISSION,6
$DIVE,420
$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,62
$R_STBD_OVSHOOT,22
$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
$GPS1,131216,095501,1016.0469,-12457.7754,33,0.7,33,9.0,0.6,10.6,11,3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-73.4
$GPS2,131216,100648,1016.0862,-12457.6943,2,0.7,4,9.0,0.4,28.5,11,3.4
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,317.6,6971,-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,-107.1,121,2784,1101,1014,0.0,0.0,0,100,0.00,0.00,-78.32,0.000,16390,0.000,0.000,113,2785,3479,3470,3488,0,0,0,0,0,0,14.66,12.55,14.65
$GC,104,-0.93,-107.1,114,2786,3471,3488,10.7,-16.1,3,121,11.90,1.90,0.00,0.000,2308,0.390,0.075,2579,3839,3480,3471,3489,0,0,0,0,0,0,14.00,14.34,14.26
$GC,325,-0.70,-107.1,2580,3839,3475,3489,61.7,-13.0,35,330,0.28,1.80,0.00,0.000,3206,0.220,0.037,2668,2768,3481,3474,3488,0,0,0,0,0,0,14.14,14.50,14.38
$GC,661,-0.70,-107.1,2669,2768,3479,3488,91.9,-9.2,50,666,0.00,2.00,0.00,0.000,260,0.000,0.106,2659,3838,3483,3478,3488,0,0,0,0,0,0,14.84,14.31,14.84
$GC,814,-0.70,-107.1,2660,3839,3481,3488,106.7,-9.3,72,820,0.00,1.80,0.00,0.000,1030,0.000,0.037,2660,2754,3483,3478,3488,0,0,0,0,0,0,14.57,14.54,14.59
$GC,1165,-0.70,-107.1,2660,2754,3478,3488,134.7,-7.8,80,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2754,3482,3478,3487,0,0,0,0,0,0,14.91,14.91,14.91
$GC,1501,-0.70,-107.1,2660,2762,3479,3485,162.6,-8.5,86,1506,0.00,2.33,0.00,0.000,516,0.000,0.043,2660,1388,3484,3484,3485,0,0,0,0,0,0,14.93,14.54,14.92
$GC,1549,-0.70,-107.1,2660,1388,3479,3484,167.1,-9.2,93,1557,0.00,2.47,0.00,0.000,1030,0.000,0.066,2650,2764,3481,3478,3484,0,0,0,0,0,0,14.49,14.40,14.53
$GC,1893,-0.70,-107.1,2651,2764,3478,3481,200.8,-9.9,100,1898,0.00,2.35,0.00,0.000,516,0.000,0.041,2650,1397,3479,3478,3480,0,0,0,0,0,0,14.93,14.47,14.93
$GC,1927,-0.70,-107.1,2651,1396,3478,3481,204.1,-9.6,105,1934,0.10,2.45,0.00,0.000,3078,0.203,0.066,2671,2763,3478,3477,3479,0,0,0,0,0,0,14.25,14.40,14.40
$GC,2285,-0.70,-107.1,2672,2762,3478,3474,231.4,-7.4,114,2290,0.00,2.35,0.00,0.000,548,0.000,0.041,2672,1393,3476,3478,3475,0,0,0,0,0,0,14.92,14.54,14.92
$GC,2333,-0.77,-107.1,2672,1392,3478,3476,235.1,-7.5,121,2341,0.00,2.50,0.00,0.000,1190,0.000,0.066,2662,2763,3476,3479,3474,0,0,0,0,0,0,14.48,14.38,14.52
$GC,2677,-0.77,-107.1,2662,2763,3478,3471,262.4,-8.0,128,2682,0.00,2.35,0.00,0.000,516,0.000,0.041,2662,1393,3473,3478,3469,0,0,0,0,0,0,14.92,14.54,14.92
$GC,2718,-0.77,-107.1,2662,1393,3478,3470,265.9,-8.3,134,2724,0.00,2.47,0.00,0.000,1030,0.000,0.067,2653,2764,3473,3478,3469,0,0,0,0,0,0,14.48,14.38,14.53
$GC,3069,-0.77,-107.1,2653,2765,3479,3466,296.5,-8.9,142,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2764,3471,3478,3465,0,0,0,0,0,0,14.92,14.92,14.90
$GC,3405,-0.77,-107.1,2653,2764,3478,3463,327.2,-9.1,148,3410,0.00,2.35,0.00,0.000,516,0.000,0.041,2653,1397,3470,3478,3462,0,0,0,0,0,0,14.95,14.53,14.95
$GC,3467,-0.77,-107.1,2653,1396,3478,3462,332.9,-9.0,157,3474,0.00,2.47,0.00,0.000,1030,0.000,0.067,2644,2762,3469,3477,3461,0,0,0,0,0,0,14.47,14.37,14.52
$GC,3797,-0.77,-107.1,2644,2761,3478,3458,364.5,-9.7,169,3803,0.00,2.03,0.00,0.000,260,0.000,0.111,2636,3819,3467,3477,3457,0,0,0,0,0,0,14.92,14.28,14.92
$GC,3853,-0.77,-107.1,2635,3820,3479,3457,370.2,-10.2,177,3859,0.00,1.77,0.00,0.000,1030,0.000,0.041,2635,2770,3467,3478,3457,0,0,0,0,0,0,14.60,14.57,14.62
$GC,4189,-0.77,-107.1,2636,2770,3478,3454,403.4,-9.9,190,4194,0.00,2.38,0.00,0.000,516,0.000,0.042,2635,1377,3464,3477,3452,0,0,0,0,0,0,14.92,14.52,14.92
$GC,4245,-0.77,-107.1,2635,1378,3479,3452,408.7,-9.3,198,4250,0.00,2.47,0.00,0.000,1030,0.000,0.066,2625,2770,3464,3477,3452,0,0,0,0,0,0,14.57,14.39,14.60
$GC,4581,-0.77,-107.1,2626,2770,3478,3452,440.0,-9.2,211,4581,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2770,3464,3477,3451,0,0,0,0,0,0,14.92,14.92,14.91
$GC,4917,-0.77,-107.1,2626,2771,3479,3447,468.5,-8.3,217,4923,0.00,2.40,0.00,0.000,516,0.000,0.043,2624,1379,3461,3477,3446,0,0,0,0,0,0,14.94,14.50,14.94
$GC,4986,-0.77,-107.1,2625,1379,3478,3448,474.6,-8.6,227,4992,0.10,2.50,0.00,0.000,3078,0.219,0.067,2645,2757,3461,3477,3446,0,0,0,0,0,0,14.16,14.34,14.33
$GC,5309,-0.77,-107.1,2643,2759,3478,3444,500.0,-8.0,238,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2758,3461,3478,3444,0,0,0,0,0,0,14.92,14.92,14.92
$GC,5645,-0.77,-107.1,2645,2758,3477,3443,528.9,-8.6,244,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2758,3459,3476,3442,0,0,0,0,0,0,14.94,14.94,14.94
$GC,5981,-0.77,-107.1,2645,2758,3478,3439,556.8,-8.1,250,5981,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2757,3457,3477,3438,0,0,0,0,0,0,14.92,14.92,14.91
$GC,6317,-0.77,-107.1,2645,2757,3478,3438,583.0,-7.7,256,6322,0.00,2.38,0.00,0.000,548,0.000,0.044,2645,1385,3455,3477,3434,0,0,0,0,0,0,14.92,14.47,14.92
$GC,6365,-0.77,-107.1,2645,1386,3483,3436,586.7,-7.5,263,6372,0.00,2.53,0.00,0.000,1062,0.000,0.069,2636,2758,3457,3477,3437,0,0,0,0,0,0,14.40,14.31,14.46
$GC,6709,-0.77,-107.1,2637,2757,3477,3434,611.8,-7.2,270,6710,0.00,0.00,0.00,0.000,38,0.000,0.000,2636,2757,3454,3477,3432,0,0,0,0,0,0,14.93,14.93,14.93
$GC,7045,-0.77,-107.1,2637,2757,3478,3433,635.3,-7.0,276,7046,0.00,0.00,0.00,0.000,38,0.000,0.000,2636,2757,3454,3477,3431,0,0,0,0,0,0,14.93,14.93,14.93
$GC,7381,-0.77,-107.1,2637,2757,3477,3431,659.1,-7.1,282,7386,0.00,2.40,0.00,0.000,548,0.000,0.044,2636,1385,3452,3477,3428,0,0,0,0,0,0,14.94,14.45,14.94
$GC,7450,-0.77,-107.1,2636,1386,3478,3428,664.3,-7.4,292,7456,0.00,2.53,0.00,0.000,1062,0.000,0.068,2626,2762,3452,3477,3428,0,0,0,0,0,0,14.38,14.30,14.42
$GC,7773,-0.77,-107.1,2626,2762,3475,3428,690.7,-8.4,303,7778,0.00,2.05,0.00,0.000,260,0.000,0.113,2618,3822,3450,3473,3428,0,0,0,0,0,0,14.90,14.16,14.90
$GC,7807,-0.77,-107.1,2619,3823,3474,3428,693.9,-9.4,308,7813,0.10,1.83,0.00,0.000,3078,0.202,0.044,2648,2769,3450,3473,3428,0,0,0,0,0,0,14.16,14.54,14.31
$GC,8165,-0.77,-107.1,2647,2769,3471,3429,723.2,-8.3,317,8171,0.00,2.42,0.00,0.000,516,0.000,0.044,2648,1367,3449,3471,3427,0,0,0,0,0,0,14.89,14.43,14.90
$GC,8241,-0.85,-107.1,2648,1368,3473,3428,729.9,-8.6,328,8247,0.00,2.55,0.00,0.000,1158,0.000,0.068,2639,2749,3449,3471,3428,0,0,0,0,0,0,14.35,14.25,14.40
$GC,8557,-0.85,-107.1,2640,2750,3469,3427,757.7,-8.9,338,8558,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2749,3448,3470,3427,0,0,0,0,0,0,14.92,14.92,14.92
$GC,8893,-0.85,-107.1,2639,2750,3471,3426,786.6,-8.5,344,8898,0.00,2.42,0.00,0.000,516,0.000,0.045,2638,1369,3447,3470,3425,0,0,0,0,0,0,14.90,14.41,14.90
$GC,8949,-0.85,-107.1,2639,1368,3470,3427,791.2,-8.3,352,8954,0.00,2.55,0.00,0.000,1030,0.000,0.069,2630,2756,3449,3474,3425,0,0,0,0,0,0,14.50,14.22,14.53
$GC,9285,-0.85,-107.1,2630,2756,3470,3425,818.4,-8.0,365,9285,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2755,3447,3470,3424,0,0,0,0,0,0,14.89,14.88,14.90
$GC,9621,-0.85,-107.1,2630,2756,3469,3424,845.6,-7.9,371,9622,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2756,3446,3469,3423,0,0,0,0,0,0,14.90,14.89,14.90
$GC,9957,-0.85,-107.1,2630,2756,3468,3424,872.6,-8.1,377,9963,0.00,2.42,0.00,0.000,516,0.000,0.046,2629,1362,3444,3466,3422,0,0,0,0,0,0,14.89,14.38,14.90
$GC,10013,-0.85,-107.1,2630,1363,3467,3423,877.2,-8.2,385,10019,0.00,2.55,0.00,0.000,1030,0.000,0.070,2620,2761,3443,3465,3422,0,0,0,0,0,0,14.38,14.19,14.41
$GC,10349,-0.85,-107.1,2620,2761,3467,3416,906.5,-8.9,398,10350,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2761,3444,3468,3421,0,0,0,0,0,0,14.91,14.91,14.91
$STATE,10626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10626,begin apogee
$GC,10633,-0.23,0.0,2621,2222,3466,3422,931.2,-8.8,403,10748,0.70,0.08,112.10,1.937,10244,0.171,0.172,2825,2256,3051,3093,3010,0,0,0,0,0,0,14.08,13.91,12.97
$STATE,10750,end apogee,CONTROL_FINISHED_OK
$STATE,10750,begin climb
$GC,10753,0.93,107.1,2826,2257,3090,3003,935.8,0.0,405,10876,1.12,0.00,116.88,1.919,11270,0.085,0.000,3199,2255,2624,2687,2562,0,0,0,0,0,0,14.00,14.23,12.88
$GC,11183,0.79,107.1,3200,2256,2682,2539,910.1,7.9,433,11185,0.15,0.00,0.00,0.000,4230,0.233,0.000,3158,2255,2610,2682,2538,0,0,0,0,0,0,14.14,14.43,14.39
$GC,11520,0.72,118.6,3158,2255,2682,2536,885.1,7.2,439,11532,0.00,2.65,5.12,2.010,8612,0.000,0.103,3157,3650,2586,2651,2521,0,0,0,0,0,0,14.80,14.39,13.12
$GC,11554,0.61,118.6,3158,3650,2652,2529,882.2,11.1,444,11560,0.22,2.42,1.58,0.267,13446,0.210,0.041,3104,2256,2581,2650,2512,0,0,0,0,0,0,14.18,14.47,13.87
$GC,11912,0.64,141.2,3105,2256,2651,2532,859.2,6.6,453,11946,0.00,0.00,33.17,1.917,8230,0.000,0.000,3104,2256,2489,2561,2417,0,0,0,0,0,0,14.80,14.28,13.32
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$STATE,22857,end climb,SURFACE_DEPTH_REACHED
$STATE,22857,begin surface coast
$FINISH,0.5,1.008819
$STATE,22885,end surface coast,CONTROL_FINISHED_OK
$STATE,22885,begin surface
$SM_CCo,22906,25.77,0.155,0,0,1058,500.14
$SM_GC,1.68,8.75,0.93,25.77,0.033,0.112,0.155,184,2755,1058,-8.39,-0.76,500.14,0,0,0,0,0,0,14.52,14.27,14.21
$IRIDIUM_FIX,1007.02,-12603.09,131216,032108
$TT8_MAMPS,0.038199,0.437416
$HUMID,54.72
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.40
$XPDR_PINGS,1
$SC_FREEKB,3748448
$PM_FREEKB,54976064
$24V_AH,12.55,149.579
$10V_AH,12.46,0.000
$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,24.025,186.450,489.225,25.775,0.000,0.000,0.000,403.200,0.250,0.000,6.079,0.000,19719.787,816.205,2610.759,474.550,0.000,2010.497,0.000,1640.379,0.000,0.838,0.000
$DEVICE_MAMPS,390.150,172.125,2009.655,154.530,0.000,0.000,0.000,175.950,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22946.000,22893.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.448,2.399,0.000,0.000
$MEM,334740
$DATA_FILE_SIZE,33363,906
$CAP_FILE_SIZE,161858,0
$CFSIZE,1024409600,944193536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074,326.62,1
$GPS,131216,163031,1018.425,-12459.502,36,0.8,36,9.1,0.5,118.5,10,3.5