version: 66.13
glider: 220
mission: 6
dive: 430
start: 12 16 116 4 15 55
data:
$ID,220
$MISSION,6
$DIVE,430
$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,56
$R_STBD_OVSHOOT,20
$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
$GPS1,161216,040409,1002.4034,-12515.9854,20,1.3,20,9.0,0.5,21.8,6,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.92
$_SM_ANGLEo,-66.9
$GPS2,161216,041532,1002.4593,-12515.9082,3,1.4,5,9.0,0.6,163.1,6,9.9
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,213.0,7814,-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,-107.1,133,2783,569,430,0.0,0.0,0,116,0.00,0.00,-99.60,0.000,16390,0.000,0.000,130,2782,3478,3462,3495,0,0,0,0,0,0,14.66,12.55,14.66
$GC,120,-0.93,-107.1,130,2783,3463,3495,0.1,-2.0,3,140,11.85,2.40,0.00,0.000,2564,0.383,0.034,2591,1364,3480,3466,3495,0,0,0,0,0,0,13.95,14.41,14.34
$GC,181,-0.76,-107.1,2592,1363,3471,3492,26.3,-19.8,13,188,0.22,2.55,0.00,0.000,3206,0.239,0.070,2643,2767,3478,3466,3491,0,0,0,0,0,0,14.05,14.26,14.22
$GC,504,-0.68,-107.1,2643,2766,3472,3491,63.9,-9.2,26,509,0.12,1.92,0.00,0.000,2436,0.232,0.109,2672,3825,3481,3471,3492,0,0,0,0,0,0,14.27,14.29,14.49
$GC,687,-0.68,-107.1,2671,3823,3471,3492,-115.3,822.8,52,692,0.00,1.73,0.00,0.000,1062,0.000,0.040,2672,2744,3481,3471,3492,0,0,0,0,0,0,14.64,14.60,14.65
$GC,1036,-0.68,-107.1,2672,2745,3473,3491,109.7,-8.2,64,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2744,3481,3471,3492,0,0,0,0,0,0,14.90,14.90,14.90
$GC,1372,-0.68,-107.1,2672,2744,3472,3489,140.3,-9.3,70,1377,0.00,2.28,0.00,0.000,516,0.000,0.041,2672,1395,3479,3472,3487,0,0,0,0,0,0,14.90,14.53,14.91
$GC,1405,-0.68,-107.1,2672,1394,3471,3489,143.6,-9.6,75,1412,0.00,2.47,0.00,0.000,1030,0.000,0.067,2662,2778,3479,3472,3487,0,0,0,0,0,0,14.48,14.39,14.52
$GC,1763,-0.68,-107.1,2662,2770,3473,3483,173.5,-7.8,84,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2769,3477,3472,3483,0,0,0,0,0,0,14.93,14.93,14.93
$GC,2100,-0.68,-107.1,2662,2769,3472,3480,201.0,-8.2,90,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2769,3475,3472,3479,0,0,0,0,0,0,14.93,14.93,14.94
$GC,2435,-0.68,-107.1,2663,2774,3472,3475,228.8,-8.4,96,2441,0.00,2.35,0.00,0.000,516,0.000,0.042,2663,1401,3472,3472,3473,0,0,0,0,0,0,14.95,14.57,14.94
$GC,2469,-0.68,-107.1,2662,1402,3473,3472,231.8,-8.5,101,2477,0.00,2.47,0.00,0.000,1030,0.000,0.070,2653,2766,3471,3471,3472,0,0,0,0,0,0,14.48,14.38,14.52
$GC,2828,-0.68,-107.1,2652,2765,3471,3470,261.7,-8.4,110,2828,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2766,3470,3472,3468,0,0,0,0,0,0,14.91,14.92,14.92
$GC,3164,-0.68,-107.1,2653,2766,3472,3464,289.6,-8.4,116,3169,0.00,2.35,0.00,0.000,516,0.000,0.043,2653,1399,3467,3474,3461,0,0,0,0,0,0,14.92,14.53,14.92
$GC,3211,-0.68,-107.1,2653,1400,3473,3462,293.9,-8.6,123,3220,0.10,2.47,0.00,0.000,3078,0.205,0.070,2673,2770,3466,3471,3462,0,0,0,0,0,0,14.20,14.38,14.38
$GC,3556,-0.68,-107.1,2675,2771,3473,3458,321.3,-8.1,130,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2770,3465,3472,3459,0,0,0,0,0,0,14.90,14.92,14.92
$GC,3892,-0.75,-107.1,2674,2771,3472,3455,346.9,-7.4,136,3897,0.00,2.35,0.00,0.000,676,0.000,0.043,2674,1402,3463,3472,3455,0,0,0,0,0,0,14.92,14.52,14.92
$GC,3948,-0.84,-107.1,2675,1401,3472,3456,350.7,-6.8,144,3953,0.05,2.47,0.00,0.000,5286,0.201,0.071,2614,2784,3462,3470,3454,0,0,0,0,0,0,14.46,14.42,14.59
$GC,4283,-0.84,-107.1,2615,2784,3472,3456,379.1,-8.5,157,4289,0.00,2.40,0.00,0.000,516,0.000,0.042,2614,1398,3461,3471,3452,0,0,0,0,0,0,14.92,14.51,14.92
$GC,4324,-0.84,-107.1,2614,1399,3472,3451,382.8,-8.7,163,4331,0.00,2.47,0.00,0.000,1030,0.000,0.069,2605,2763,3461,3471,3451,0,0,0,0,0,0,14.46,14.36,14.51
$GC,4675,-0.84,-107.1,2604,2763,3472,3449,416.9,-10.0,171,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2763,3459,3471,3447,0,0,0,0,0,0,14.94,14.94,14.93
$GC,5012,-0.84,-107.1,2605,2764,3471,3446,451.7,-10.3,177,5017,0.00,2.35,0.00,0.000,516,0.000,0.043,2604,1401,3458,3471,3446,0,0,0,0,0,0,14.93,14.50,14.92
$GC,5046,-0.84,-107.1,2604,1402,3471,3446,455.3,-10.1,182,5052,0.10,2.47,0.00,0.000,3078,0.222,0.070,2623,2762,3458,3470,3446,0,0,0,0,0,0,14.17,14.36,14.31
$GC,5403,-0.84,-107.1,2623,2762,3467,3446,487.9,-9.0,191,5409,0.00,2.03,0.00,0.000,260,0.000,0.116,2615,3820,3455,3465,3445,0,0,0,0,0,0,14.91,14.23,14.91
$GC,5452,-0.84,-107.1,2616,3818,3466,3447,492.4,-9.4,198,5459,0.00,1.75,0.00,0.000,1030,0.000,0.044,2615,2790,3455,3465,3446,0,0,0,0,0,0,14.61,14.59,14.62
$GC,5795,-0.84,-107.1,2615,2790,3462,3445,522.1,-8.4,205,5801,0.00,2.00,0.00,0.000,260,0.000,0.110,2608,3822,3454,3465,3444,0,0,0,0,0,0,14.90,14.23,14.91
$GC,6026,-0.84,-107.1,2607,3821,3465,3444,543.4,-9.5,238,6032,0.00,1.80,0.00,0.000,1030,0.000,0.042,2607,2757,3453,3463,3444,0,0,0,0,0,0,14.60,14.58,14.62
$GC,6356,-0.84,-107.1,2607,2758,3464,3441,574.2,-9.4,250,6361,0.00,2.03,0.00,0.000,260,0.000,0.109,2599,3825,3453,3463,3444,0,0,0,0,0,0,14.90,14.28,14.90
$GC,6592,-0.84,-107.1,2599,3827,3462,3441,598.6,-10.3,284,6599,0.08,1.77,0.00,0.000,3078,0.212,0.043,2621,2791,3451,3461,3441,0,0,0,0,0,0,14.21,14.56,14.35
$GC,6915,-0.84,-107.1,2621,2790,3461,3439,626.6,-8.6,295,6921,0.00,2.00,0.00,0.000,260,0.000,0.110,2614,3821,3449,3461,3438,0,0,0,0,0,0,14.92,14.19,14.92
$GC,7153,-0.84,-107.1,2614,3821,3460,3439,647.1,-8.5,329,7160,0.00,1.77,0.00,0.000,1030,0.000,0.044,2613,2783,3448,3459,3438,0,0,0,0,0,0,14.57,14.55,14.62
$GC,7476,-0.84,-107.1,2614,2783,3459,3438,672.5,-7.8,340,7481,0.00,2.42,0.00,0.000,516,0.000,0.044,2613,1380,3447,3459,3436,0,0,0,0,0,0,14.89,14.43,14.88
$GC,7678,-0.84,-107.1,2613,1380,3459,3436,688.6,-7.9,369,7684,0.00,2.60,0.00,0.000,1030,0.000,0.066,2603,2793,3446,3458,3435,0,0,0,0,0,0,14.31,14.21,14.35
$GC,8036,-0.84,-107.1,2604,2793,3458,3433,719.7,-9.0,378,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2793,3445,3457,3433,0,0,0,0,0,0,14.89,14.89,14.88
$GC,8372,-0.84,-107.1,2603,2794,3456,3432,751.0,-9.3,384,8377,0.00,2.47,0.00,0.000,516,0.000,0.044,2602,1373,3444,3456,3432,0,0,0,0,0,0,14.89,14.42,14.89
$GC,8448,-0.84,-107.1,2603,1374,3456,3432,758.2,-9.2,395,8454,0.10,2.60,0.00,0.000,3078,0.229,0.067,2620,2791,3444,3456,3432,0,0,0,0,0,0,14.02,14.26,14.21
$GC,8764,-0.84,-107.1,2620,2791,3456,3432,784.7,-8.3,405,8765,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2791,3443,3456,3430,0,0,0,0,0,0,14.88,14.88,14.88
$GC,9100,-0.84,-107.1,2620,2795,3455,3429,810.9,-7.7,411,9105,0.00,2.47,0.00,0.000,548,0.000,0.044,2620,1379,3441,3454,3429,0,0,0,0,0,0,14.88,14.41,14.88
$GC,9148,-0.84,-107.1,2620,1379,3455,3429,815.1,-7.7,418,9155,0.00,2.62,0.00,0.000,1062,0.000,0.070,2611,2795,3441,3454,3429,0,0,0,0,0,0,14.28,14.17,14.34
$GC,9491,-0.84,-107.1,2610,2796,3454,3428,843.2,-8.5,425,9492,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2795,3440,3453,3428,0,0,0,0,0,0,14.88,14.88,14.88
$GC,9828,-0.84,-107.1,2611,2795,3453,3429,872.1,-8.5,431,9833,0.00,2.50,0.00,0.000,516,0.000,0.045,2610,1371,3439,3452,3427,0,0,0,0,0,0,14.88,14.38,14.88
$GC,9911,-0.84,-107.1,2611,1371,3453,3428,879.3,-8.5,443,9917,0.00,2.60,0.00,0.000,1030,0.000,0.069,2602,2781,3439,3452,3427,0,0,0,0,0,0,14.32,14.22,14.38
$GC,10276,-0.84,-107.1,2602,2781,3453,3425,912.0,-9.0,453,10277,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2781,3438,3452,3425,0,0,0,0,0,0,14.88,14.88,14.88
$STATE,10497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10497,begin apogee
$GC,10504,-0.23,0.0,2602,2223,3452,3426,932.5,-9.2,457,10617,0.77,0.08,110.25,1.937,10244,0.177,0.174,2826,2256,3048,3080,3017,0,0,0,0,0,0,14.06,13.91,12.95
$STATE,10619,end apogee,CONTROL_FINISHED_OK
$STATE,10619,begin climb
$GC,10622,0.93,107.1,2826,2258,3077,3010,936.4,0.0,459,10748,1.10,2.50,116.88,1.947,10756,0.088,0.056,3186,881,2623,2678,2568,0,0,0,0,0,0,14.00,14.02,12.84
$GC,10754,0.72,128.4,3186,881,2673,2557,933.3,6.7,479,10782,0.17,2.53,23.85,2.013,13478,0.207,0.050,3139,2257,2538,2603,2474,0,0,0,0,0,0,13.73,13.87,12.85
$GC,11107,0.73,135.0,3139,2257,2598,2451,908.2,7.4,494,11112,0.00,2.60,1.10,0.259,8484,0.000,0.098,3138,3655,2513,2588,2438,0,0,0,0,0,0,14.66,14.26,14.11
$GC,11218,0.65,135.0,3139,3655,2589,2454,898.8,8.4,510,11223,0.12,2.38,0.00,0.000,5254,0.236,0.041,3114,2269,2520,2588,2453,0,0,0,0,0,0,14.18,14.47,14.42
$GC,11554,0.68,163.3,3114,2264,2589,2454,877.1,6.3,523,11596,0.00,2.70,37.75,1.934,8484,0.000,0.103,3113,3652,2396,2470,2322,0,0,0,0,0,0,14.79,14.22,13.28
$GC,11622,0.68,163.3,3113,3650,2468,2318,872.0,8.6,533,11630,0.00,2.47,0.00,0.000,1030,0.000,0.040,3123,2249,2391,2467,2316,0,0,0,0,0,0,14.33,14.29,14.35
$GC,11939,0.69,171.0,3124,2248,2468,2311,848.9,7.4,543,11945,0.00,2.72,2.80,1.102,8484,0.000,0.102,3124,3655,2372,2448,2296,0,0,0,0,0,0,14.74,14.33,12.81
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$STATE,22469,end climb,SURFACE_DEPTH_REACHED
$STATE,22470,begin surface coast
$FINISH,1.0,1.021575
$STATE,22477,end surface coast,CONTROL_FINISHED_OK
$STATE,22477,begin surface
$SM_CCo,22501,37.10,0.158,0,0,1059,500.14
$SM_GC,0.22,9.55,3.40,37.10,0.090,0.060,0.158,189,2767,1059,-8.40,-0.51,500.14,0,0,0,0,0,0,14.45,14.28,14.18
$IRIDIUM_FIX,1000.45,-12513.16,151216,213622
$TT8_MAMPS,0.038948,0.2996
$HUMID,56.41
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,21.80
$XPDR_PINGS,0
$SC_FREEKB,3744608
$PM_FREEKB,54849856
$24V_AH,12.55,152.732
$10V_AH,12.56,0.000
$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
$DEVICE_SECS,25.125,200.400,462.200,37.100,0.000,0.000,0.000,378.200,0.000,0.000,6.533,0.000,19149.232,830.498,2731.788,494.124,0.000,2056.555,0.000,1761.044,0.000,0.839,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22537.000,22485.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.493,2.425,0.000,0.000
$MEM,334760
$DATA_FILE_SIZE,36686,995
$CAP_FILE_SIZE,168633,0
$CFSIZE,1024409600,942702592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060,284.54,1
$GPS,161216,103239,1001.252,-12517.738,33,1.1,33,9.0,0.3,24.6,6,9.6