version: 66.13
glider: 220
mission: 6
dive: 425
start: 12 14 116 19 3 22
data:
$ID,220
$MISSION,6
$DIVE,425
$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,18
$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
$GPS1,141216,185110,1011.2338,-12506.2900,38,1.0,39,9.0,0.7,18.9,8,6.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.16
$_SM_ANGLEo,-69.4
$GPS2,141216,190259,1011.3026,-12506.4141,2,0.9,4,9.0,0.1,0.0,8,8.6
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,198.7,31594,-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,12,begin dive
$GC,15,-0.93,-107.1,112,2774,1099,1011,0.0,0.0,0,100,0.00,0.00,-78.68,0.000,16390,0.000,0.000,107,2772,3479,3470,3488,0,0,0,0,0,0,14.66,12.55,14.66
$GC,104,-0.93,-107.1,109,2772,3470,3490,6.9,-14.1,3,121,11.70,2.38,0.00,0.000,2564,0.379,0.032,2589,1362,3479,3471,3488,0,0,0,0,0,0,14.00,14.34,14.25
$GC,249,-0.76,-107.1,2593,1361,3474,3489,47.8,-13.7,24,254,0.25,2.53,0.00,0.000,3206,0.235,0.071,2651,2769,3481,3474,3488,0,0,0,0,0,0,14.12,14.33,14.38
$GC,577,-0.76,-107.1,2651,2768,3479,3488,80.1,-8.0,38,582,0.00,1.95,0.00,0.000,260,0.000,0.109,2643,3831,3483,3478,3488,0,0,0,0,0,0,14.83,14.31,14.83
$GC,633,-0.76,-107.1,2644,3833,3479,3489,85.0,-8.4,46,638,0.00,1.80,0.00,0.000,1030,0.000,0.038,2642,2737,3483,3478,3488,0,0,0,0,0,0,14.58,14.56,14.59
$GC,969,-0.76,-107.1,2642,2736,3480,3488,115.7,-9.2,58,974,0.00,2.05,0.00,0.000,260,0.000,0.106,2634,3833,3483,3479,3488,0,0,0,0,0,0,14.90,14.34,14.90
$GC,1073,-0.76,-107.1,2634,3834,3480,3487,126.2,-9.5,73,1081,0.00,1.75,0.00,0.000,1030,0.000,0.039,2633,2770,3483,3479,3487,0,0,0,0,0,0,14.64,14.62,14.66
$GC,1417,-0.76,-107.1,2634,2770,3480,3487,156.8,-8.6,80,1422,0.00,2.33,0.00,0.000,516,0.000,0.041,2634,1396,3482,3479,3486,0,0,0,0,0,0,14.90,14.54,14.90
$GC,1493,-0.76,-107.1,2634,1396,3479,3486,163.2,-8.1,91,1499,0.00,2.45,0.00,0.000,1030,0.000,0.066,2624,2762,3482,3479,3485,0,0,0,0,0,0,14.50,14.41,14.55
$GC,1809,-0.76,-107.1,2624,2763,3481,3481,192.2,-9.5,101,1810,0.10,0.00,0.00,0.000,2054,0.246,0.000,2654,2762,3480,3479,3481,0,0,0,0,0,0,14.37,14.64,14.58
$GC,2145,-0.76,-107.1,2654,2763,3480,3476,223.1,-9.2,107,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2761,3477,3479,3476,0,0,0,0,0,0,14.95,14.95,14.95
$GC,2481,-0.76,-107.1,2654,2763,3480,3471,251.9,-8.4,113,2487,0.00,2.38,0.00,0.000,516,0.000,0.044,2654,1389,3475,3479,3471,0,0,0,0,0,0,14.95,14.55,14.95
$GC,2515,-0.76,-107.1,2654,1390,3479,3470,254.7,-8.0,118,2521,0.00,2.47,0.00,0.000,1030,0.000,0.067,2645,2759,3474,3478,3470,0,0,0,0,0,0,14.50,14.40,14.55
$GC,2873,-0.76,-107.1,2645,2760,3480,3466,284.3,-8.4,127,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2759,3472,3479,3466,0,0,0,0,0,0,14.95,14.95,14.95
$GC,3209,-0.76,-107.1,2645,2759,3479,3463,312.1,-8.2,133,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2759,3470,3479,3462,0,0,0,0,0,0,14.95,14.95,14.95
$GC,3545,-0.76,-107.1,2645,2760,3480,3458,339.0,-8.0,139,3550,0.00,2.38,0.00,0.000,516,0.000,0.044,2644,1397,3468,3478,3458,0,0,0,0,0,0,14.95,14.53,14.95
$GC,3614,-0.76,-107.1,2645,1396,3479,3459,344.6,-7.8,149,3620,0.00,2.50,0.00,0.000,1030,0.000,0.068,2636,2756,3467,3478,3457,0,0,0,0,0,0,14.47,14.37,14.52
$GC,3937,-0.76,-107.1,2636,2757,3481,3455,371.6,-8.5,160,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2758,3465,3478,3453,0,0,0,0,0,0,14.93,14.92,14.93
$GC,4273,-0.76,-107.1,2636,2760,3479,3459,401.7,-9.0,166,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2758,3464,3478,3451,0,0,0,0,0,0,14.92,14.92,14.92
$GC,4609,-0.76,-107.1,2636,2758,3479,3449,432.3,-9.1,172,4614,0.00,2.38,0.00,0.000,516,0.000,0.043,2635,1397,3462,3478,3447,0,0,0,0,0,0,14.92,14.52,14.92
$GC,4671,-0.76,-107.1,2636,1397,3476,3448,438.2,-9.1,181,4677,0.00,2.53,0.00,0.000,1030,0.000,0.068,2630,2771,3462,3478,3446,0,0,0,0,0,0,14.47,14.36,14.52
$GC,5001,-0.76,-107.1,2626,2771,3479,3445,470.1,-9.7,193,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2771,3461,3479,3444,0,0,0,0,0,0,14.92,14.92,14.92
$GC,5337,-0.76,-107.1,2626,2771,3479,3440,501.3,-9.1,199,5342,0.00,2.40,0.00,0.000,516,0.000,0.044,2625,1392,3459,3478,3440,0,0,0,0,0,0,14.92,14.50,14.92
$GC,5371,-0.76,-107.1,2626,1392,3479,3441,504.3,-8.9,204,5377,0.10,2.50,0.00,0.000,3078,0.215,0.068,2646,2760,3459,3478,3440,0,0,0,0,0,0,14.15,14.33,14.31
$GC,5729,-0.76,-107.1,2646,2760,3479,3437,530.2,-7.0,213,5735,0.00,2.38,0.00,0.000,548,0.000,0.044,2646,1397,3459,3482,3437,0,0,0,0,0,0,14.92,14.48,14.92
$GC,5777,-0.76,-107.1,2646,1397,3479,3438,533.5,-6.8,220,5784,0.00,2.50,0.00,0.000,1062,0.000,0.068,2637,2760,3457,3478,3436,0,0,0,0,0,0,14.42,14.33,14.47
$GC,6121,-0.76,-107.1,2637,2761,3479,3434,557.8,-7.1,227,6126,0.00,2.38,0.00,0.000,548,0.000,0.043,2636,1392,3456,3478,3434,0,0,0,0,0,0,14.94,14.48,14.94
$GC,6155,-0.76,-107.1,2637,1390,3479,3435,560.5,-7.9,232,6161,0.00,2.50,0.00,0.000,1030,0.000,0.068,2627,2762,3455,3478,3433,0,0,0,0,0,0,14.42,14.31,14.47
$GC,6513,-0.76,-107.1,2628,2763,3479,3432,590.5,-8.6,241,6519,0.00,2.38,0.00,0.000,516,0.000,0.043,2626,1398,3455,3478,3432,0,0,0,0,0,0,14.94,14.47,14.94
$GC,6554,-0.76,-107.1,2626,1399,3479,3431,594.3,-9.0,247,6560,0.08,2.47,0.00,0.000,3078,0.221,0.067,2640,2753,3454,3478,3431,0,0,0,0,0,0,14.12,14.31,14.29
$GC,6905,-0.76,-107.1,2640,2754,3477,3429,624.1,-8.5,255,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2753,3452,3476,3428,0,0,0,0,0,0,14.91,14.91,14.91
$GC,7241,-0.76,-107.1,2640,2753,3474,3429,651.6,-8.1,261,7246,0.00,2.38,0.00,0.000,516,0.000,0.043,2639,1386,3451,3473,3429,0,0,0,0,0,0,14.93,14.46,14.93
$GC,7275,-0.76,-107.1,2640,1388,3474,3427,654.4,-8.1,266,7281,0.00,2.53,0.00,0.000,1030,0.000,0.068,2632,2761,3451,3473,3429,0,0,0,0,0,0,14.38,14.29,14.42
$GC,7633,-0.76,-107.1,2632,2761,3471,3431,683.2,-8.1,275,7638,0.00,2.00,0.00,0.000,260,0.000,0.115,2623,3818,3450,3471,3429,0,0,0,0,0,0,14.90,14.22,14.90
$GC,7674,-0.76,-107.1,2624,3818,3471,3430,686.9,-8.9,281,7681,0.08,1.80,0.00,0.000,3078,0.206,0.044,2647,2780,3450,3471,3429,0,0,0,0,0,0,14.22,14.54,14.34
$GC,8025,-0.76,-107.1,2648,2786,3471,3429,713.8,-7.7,289,8031,0.00,2.45,0.00,0.000,548,0.000,0.044,2647,1365,3448,3470,3427,0,0,0,0,0,0,14.90,14.42,14.90
$GC,8094,-0.84,-107.1,2648,1366,3472,3426,719.3,-7.7,299,8100,0.00,2.55,0.00,0.000,1190,0.000,0.067,2639,2754,3450,3474,3427,0,0,0,0,0,0,14.35,14.26,14.41
$GC,8417,-0.84,-107.1,2640,2754,3471,3427,744.0,-7.6,310,8418,0.00,0.00,0.00,0.000,38,0.000,0.000,2638,2754,3447,3470,3425,0,0,0,0,0,0,14.92,14.92,14.92
$GC,8753,-0.84,-107.1,2638,2755,3470,3425,768.8,-7.4,316,8758,0.00,2.42,0.00,0.000,548,0.000,0.044,2638,1364,3447,3470,3424,0,0,0,0,0,0,14.92,14.43,14.92
$GC,8801,-0.84,-107.1,2639,1364,3471,3428,772.7,-8.0,323,8808,0.00,2.55,0.00,0.000,1030,0.000,0.068,2630,2751,3447,3470,3424,0,0,0,0,0,0,14.35,14.26,14.40
$GC,9145,-0.84,-107.1,2630,2750,3469,3424,799.5,-7.9,330,9146,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2751,3445,3468,3422,0,0,0,0,0,0,14.90,14.89,14.90
$GC,9481,-0.84,-107.1,2631,2751,3467,3423,825.6,-7.8,336,9486,0.00,2.42,0.00,0.000,516,0.000,0.044,2629,1371,3443,3466,3421,0,0,0,0,0,0,14.90,14.39,14.92
$GC,9543,-0.84,-107.1,2630,1372,3467,3422,830.5,-7.3,345,9550,0.00,2.58,0.00,0.000,1062,0.000,0.067,2620,2757,3447,3466,3428,0,0,0,0,0,0,14.31,14.21,14.37
$GC,9873,-0.84,-107.1,2621,2758,3467,3420,858.1,-8.5,357,9873,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2757,3443,3466,3421,0,0,0,0,0,0,14.89,14.89,14.89
$GC,10209,-0.84,-107.1,2621,2757,3465,3420,887.7,-8.9,363,10214,0.00,2.45,0.00,0.000,516,0.000,0.045,2617,1368,3442,3465,3419,0,0,0,0,0,0,14.88,14.37,14.88
$GC,10243,-0.84,-107.1,2619,1370,3466,3419,890.9,-6.5,368,10249,0.00,2.55,0.00,0.000,1062,0.000,0.067,2611,2745,3446,3465,3428,0,0,0,0,0,0,14.32,14.22,14.38
$GC,10601,-0.84,-107.1,2611,2746,3465,3418,923.5,-9.0,377,10602,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2746,3441,3463,3419,0,0,0,0,0,0,14.88,14.88,14.88
$STATE,10710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10710,begin apogee
$GC,10717,-0.23,0.0,2611,2210,3464,3420,932.3,-8.6,379,10831,0.73,0.10,110.95,1.956,10244,0.171,0.159,2823,2266,3049,3090,3008,0,0,0,0,0,0,14.07,13.92,12.94
$STATE,10833,end apogee,CONTROL_FINISHED_OK
$STATE,10833,begin climb
$GC,10836,0.93,107.1,2818,2266,3087,3003,935.8,0.0,381,10966,1.10,2.50,117.50,1.957,10756,0.086,0.057,3183,892,2616,2678,2555,0,0,0,0,0,0,13.98,14.00,12.83
$GC,10993,0.81,107.1,3183,893,2679,2547,929.8,8.3,405,10999,0.00,2.45,0.00,0.000,1158,0.000,0.051,3182,2253,2611,2677,2546,0,0,0,0,0,0,14.07,13.97,14.09
$GC,11330,0.69,107.1,3183,2254,2679,2540,900.1,9.2,418,11336,0.20,2.62,0.00,0.000,4484,0.221,0.099,3126,3652,2611,2677,2545,0,0,0,0,0,0,14.15,14.26,14.41
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$STATE,22659,end climb,SURFACE_DEPTH_REACHED
$STATE,22659,begin surface coast
$FINISH,-2.0,1.021302
$STATE,22687,end surface coast,CONTROL_FINISHED_OK
$STATE,22688,begin surface
$SM_CCo,22711,18.65,0.161,0,0,1057,500.14
$SM_GC,-1.33,9.10,0.90,18.65,0.045,0.086,0.161,161,2771,1057,-8.42,-0.57,500.14,0,0,0,0,0,0,14.47,14.33,14.16
$IRIDIUM_FIX,1007.02,-12503.47,141216,122114
$TT8_MAMPS,0.038948,0.283871
$HUMID,57.79
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,19.90
$XPDR_PINGS,0
$SC_FREEKB,3746528
$PM_FREEKB,54914240
$24V_AH,12.55,151.141
$10V_AH,12.55,0.000
$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,24.375,202.750,481.125,18.650,0.000,0.000,0.000,406.325,0.000,0.000,6.276,0.000,19542.959,819.364,2570.653,491.379,0.000,2006.633,0.000,1597.017,0.000,0.840,0.000
$DEVICE_MAMPS,378.675,159.120,2062.440,161.415,0.000,0.000,0.000,173.655,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22747.000,22697.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.446,2.412,0.000,0.000
$MEM,334784
$DATA_FILE_SIZE,33334,878
$CAP_FILE_SIZE,165278,0
$CFSIZE,1024409600,943439872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079,240.03,1
$GPS,151216,012301,1008.902,-12508.136,17,0.9,17,9.0,0.4,320.4,8,5.9