version: 66.13
glider: 220
mission: 6
dive: 514
start: 1 5 117 11 33 14
data:
$ID,220
$MISSION,6
$DIVE,514
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,800
$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,345
$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
$GPS1,050117,112100,1017.0084,-12458.2568,34,1.1,34,9.0,0.1,0.0,9,3.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.24
$_SM_ANGLEo,-70.1
$GPS2,050117,113253,1017.0305,-12458.2588,2,0.9,3,9.0,0.7,114.4,11,4.0
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,311.9,4961,-17.5,-7.729,-24.20,2052
$D_GRID,800
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.93,-107.1,105,2774,1099,1014,0.0,0.0,0,101,0.00,0.00,-80.57,0.000,16390,0.000,0.000,104,2774,3477,3467,3488,0,0,0,0,0,0,14.66,13.08,14.64
$GC,105,-0.93,-107.1,105,2775,3470,3488,3.6,-12.1,3,122,11.90,1.92,0.00,0.000,2308,0.386,0.084,2582,3834,3479,3470,3488,0,0,0,0,0,0,13.97,14.32,14.25
$GC,227,-0.76,-107.1,2584,3833,3481,3489,39.0,-14.2,21,234,0.22,1.83,0.00,0.000,3206,0.229,0.037,2645,2748,3480,3472,3488,0,0,0,0,0,0,14.06,14.46,14.23
$GC,550,-0.76,-107.1,2645,2748,3476,3489,69.1,-8.6,34,555,0.00,2.33,0.00,0.000,516,0.000,0.041,2645,1375,3481,3475,3487,0,0,0,0,0,0,14.83,14.45,14.83
$GC,669,-0.76,-107.1,2646,1374,3471,3488,79.0,-7.6,51,674,0.00,2.47,0.00,0.000,1062,0.000,0.066,2635,2774,3481,3476,3487,0,0,0,0,0,0,14.51,14.35,14.54
$GC,1026,-0.76,-107.1,2635,2775,3477,3487,113.0,-10.2,64,1031,0.00,1.95,0.00,0.000,260,0.000,0.109,2627,3829,3481,3472,3490,0,0,0,0,0,0,14.88,14.27,14.88
$GC,1138,-0.76,-107.1,2626,3829,3476,3488,124.7,-10.1,80,1143,0.10,1.77,0.00,0.000,3078,0.227,0.040,2653,2762,3481,3476,3487,0,0,0,0,0,0,14.21,14.55,14.42
$GC,1474,-0.76,-107.1,2657,2762,3476,3486,152.0,-7.9,93,1480,0.00,2.35,0.00,0.000,516,0.000,0.041,2657,1392,3484,3484,3484,0,0,0,0,0,0,14.90,14.49,14.88
$GC,1502,-0.76,-107.1,2657,1392,3476,3485,154.3,-8.4,97,1508,0.00,2.47,0.00,0.000,1030,0.000,0.067,2647,2771,3480,3476,3484,0,0,0,0,0,0,14.54,14.37,14.57
$GC,1866,-0.76,-107.1,2642,2772,3477,3479,187.4,-9.2,107,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2771,3477,3475,3480,0,0,0,0,0,0,14.90,14.90,14.90
$GC,2202,-0.76,-107.1,2648,2771,3476,3476,215.6,-8.3,113,2208,0.00,2.40,0.00,0.000,516,0.000,0.041,2647,1385,3475,3475,3475,0,0,0,0,0,0,14.90,14.46,14.90
$GC,2229,-0.76,-107.1,2646,1386,3476,3474,218.0,-8.5,117,2236,0.00,2.55,0.00,0.000,1030,0.000,0.070,2638,2771,3474,3475,3474,0,0,0,0,0,0,14.39,14.29,14.45
$GC,2594,-0.76,-107.1,2639,2771,3476,3470,250.0,-8.9,127,2599,0.00,1.98,0.00,0.000,260,0.000,0.111,2630,3828,3475,3481,3469,0,0,0,0,0,0,14.90,14.26,14.90
$GC,2628,-0.76,-107.1,2631,3828,3476,3470,253.2,-9.1,132,2634,0.00,1.77,0.00,0.000,1030,0.000,0.041,2630,2789,3472,3475,3469,0,0,0,0,0,0,14.52,14.50,14.53
$GC,2986,-0.76,-107.1,2630,2789,3476,3464,284.0,-8.6,141,2992,0.00,2.45,0.00,0.000,516,0.000,0.041,2630,1370,3469,3475,3464,0,0,0,0,0,0,14.90,14.46,14.90
$GC,3042,-0.76,-107.1,2630,1370,3475,3464,288.9,-8.6,149,3048,0.10,2.50,0.00,0.000,3078,0.243,0.067,2650,2770,3469,3476,3463,0,0,0,0,0,0,14.17,14.35,14.41
$GC,3378,-0.76,-107.1,2650,2771,3476,3460,315.3,-7.8,162,3383,0.00,1.98,0.00,0.000,260,0.000,0.112,2642,3826,3467,3475,3460,0,0,0,0,0,0,14.92,14.23,14.94
$GC,3398,-0.76,-107.1,2642,3826,3477,3462,317.0,-7.7,165,3404,0.00,1.83,0.00,0.000,1062,0.000,0.043,2642,2765,3467,3475,3460,0,0,0,0,0,0,14.54,14.52,14.56
$GC,3714,-0.76,-107.1,2642,2764,3475,3457,341.6,-7.8,175,3719,0.00,2.38,0.00,0.000,516,0.000,0.041,2642,1379,3465,3475,3455,0,0,0,0,0,0,14.93,14.44,14.93
$GC,3748,-0.76,-107.1,2642,1378,3476,3454,344.5,-8.3,180,3754,0.00,2.53,0.00,0.000,1030,0.000,0.067,2632,2763,3465,3475,3455,0,0,0,0,0,0,14.36,14.26,14.42
$GC,4106,-0.76,-107.1,2632,2764,3476,3451,376.2,-9.0,189,4112,0.00,2.00,0.00,0.000,260,0.000,0.112,2624,3828,3463,3475,3452,0,0,0,0,0,0,14.92,14.23,14.92
$GC,4147,-0.76,-107.1,2624,3828,3477,3452,380.1,-9.6,195,4153,0.08,1.83,0.00,0.000,3078,0.207,0.044,2645,2770,3462,3474,3451,0,0,0,0,0,0,14.18,14.51,14.32
$GC,4498,-0.76,-107.1,2646,2770,3476,3448,409.1,-8.2,203,4503,0.00,2.42,0.00,0.000,516,0.000,0.042,2647,1363,3461,3475,3448,0,0,0,0,0,0,14.89,14.44,14.89
$GC,4554,-0.76,-107.1,2648,1364,3475,3449,413.6,-7.8,211,4559,0.00,2.55,0.00,0.000,1030,0.000,0.067,2637,2772,3461,3475,3447,0,0,0,0,0,0,14.50,14.32,14.52
$GC,4890,-0.76,-107.1,2638,2772,3475,3445,439.2,-7.5,224,4895,0.00,1.98,0.00,0.000,292,0.000,0.112,2623,3824,3459,3475,3444,0,0,0,0,0,0,14.90,14.19,14.89
$GC,4931,-0.76,-107.1,2629,3826,3476,3444,442.4,-7.8,230,4937,0.00,1.83,0.00,0.000,1030,0.000,0.044,2628,2762,3459,3475,3444,0,0,0,0,0,0,14.54,14.51,14.54
$GC,5282,-0.76,-107.1,2629,2763,3476,3441,467.5,-7.1,238,5287,0.00,2.42,0.00,0.000,548,0.000,0.041,2628,1365,3458,3475,3441,0,0,0,0,0,0,14.91,14.41,14.92
$GC,5338,-0.76,-107.1,2628,1365,3476,3440,471.6,-7.3,246,5343,0.12,2.53,0.00,0.000,3110,0.230,0.064,2655,2767,3457,3475,3440,0,0,0,0,0,0,14.10,14.31,14.35
$GC,5675,-0.83,-107.1,2655,2768,3476,3437,494.9,-7.1,259,5679,0.00,2.45,0.00,0.000,676,0.000,0.042,2655,1364,3456,3475,3437,0,0,0,0,0,0,14.91,14.41,14.91
$GC,5722,-0.93,-107.1,2655,1365,3479,3437,498.7,-7.8,266,5730,0.05,2.58,0.00,0.000,5254,0.112,0.067,2569,2768,3455,3475,3436,0,0,0,0,0,0,14.29,14.22,14.46
$GC,6066,-0.85,-107.1,2571,2768,3475,3436,537.1,-11.4,273,6073,0.15,1.98,0.00,0.000,2436,0.226,0.108,2611,3820,3455,3475,3435,0,0,0,0,0,0,14.07,14.17,14.26
$GC,6122,-0.85,-107.1,2612,3820,3475,3436,542.7,-9.8,281,6128,0.00,1.85,0.00,0.000,1030,0.000,0.044,2611,2747,3454,3475,3434,0,0,0,0,0,0,14.47,14.45,14.50
$GC,6458,-0.85,-107.1,2610,2748,3476,3432,573.3,-9.1,294,6463,0.00,2.08,0.00,0.000,260,0.000,0.111,2603,3828,3453,3475,3432,0,0,0,0,0,0,14.88,14.15,14.87
$GC,6514,-0.85,-107.1,2604,3828,3475,3433,578.5,-9.3,302,6519,0.00,1.80,0.00,0.000,1030,0.000,0.045,2602,2767,3453,3474,3432,0,0,0,0,0,0,14.57,14.50,14.55
$GC,6850,-0.85,-107.1,2602,2768,3474,3429,608.6,-8.9,315,6855,0.00,2.42,0.00,0.000,516,0.000,0.042,2600,1374,3456,3482,3430,0,0,0,0,0,0,14.88,14.38,14.88
$GC,6884,-0.85,-107.1,2602,1375,3473,3430,611.7,-9.2,320,6890,0.10,2.55,0.00,0.000,3078,0.230,0.066,2619,2756,3451,3473,3429,0,0,0,0,0,0,13.93,14.19,14.11
$GC,7242,-0.85,-107.1,2620,2757,3471,3431,641.0,-8.2,329,7248,0.00,2.05,0.00,0.000,260,0.000,0.112,2612,3834,3450,3471,3430,0,0,0,0,0,0,14.88,14.12,14.87
$GC,7325,-0.85,-107.1,2615,3834,3471,3431,648.4,-8.7,341,7332,0.00,1.85,0.00,0.000,1030,0.000,0.044,2611,2767,3450,3470,3430,0,0,0,0,0,0,14.48,14.45,14.50
$GC,7690,-0.85,-107.1,2612,2768,3469,3431,678.7,-8.2,351,7695,0.00,2.42,0.00,0.000,516,0.000,0.042,2611,1375,3448,3468,3429,0,0,0,0,0,0,14.87,14.36,14.87
$GC,7718,-0.85,-107.1,2612,1378,3469,3429,681.0,-8.3,355,7723,0.00,2.53,0.00,0.000,1030,0.000,0.067,2603,2765,3448,3468,3429,0,0,0,0,0,0,14.41,14.22,14.45
$GC,8082,-0.85,-107.1,2608,2764,3469,3427,712.7,-8.8,365,8088,0.00,2.03,0.00,0.000,260,0.000,0.115,2595,3828,3447,3468,3427,0,0,0,0,0,0,14.87,14.07,14.87
$GC,8138,-0.85,-107.1,2595,3828,3469,3428,718.1,-9.9,373,8144,0.10,1.85,0.00,0.000,3078,0.206,0.045,2629,2775,3447,3468,3427,0,0,0,0,0,0,14.00,14.38,14.16
$GC,8474,-0.85,-107.1,2622,2775,3468,3426,747.5,-8.8,386,8479,0.00,2.47,0.00,0.000,516,0.000,0.044,2622,1363,3446,3467,3425,0,0,0,0,0,0,14.87,14.33,14.87
$GC,8515,-0.85,-107.1,2623,1362,3468,3426,751.2,-8.9,392,8521,0.00,2.60,0.00,0.000,1030,0.000,0.067,2613,2760,3446,3467,3425,0,0,0,0,0,0,14.23,14.13,14.28
$GC,8866,-0.85,-107.1,2614,2760,3466,3425,783.5,-9.3,400,8871,0.00,2.03,0.00,0.000,260,0.000,0.113,2605,3828,3444,3465,3423,0,0,0,0,0,0,14.86,14.07,14.87
$GC,8935,-0.85,-107.1,2605,3829,3466,3423,790.0,-9.5,410,8941,0.00,1.88,0.00,0.000,1030,0.000,0.047,2604,2759,3444,3465,3424,0,0,0,0,0,0,14.40,14.37,14.42
$STATE,9087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9087,begin apogee
$GC,9095,-0.23,0.0,2605,2209,3465,3423,804.1,-9.1,418,9207,0.75,0.12,108.75,1.878,10244,0.184,0.145,2821,2285,3051,3090,3012,0,0,0,0,0,0,13.95,14.00,12.96
$STATE,9208,end apogee,CONTROL_FINISHED_OK
$STATE,9208,begin climb
$GC,9212,0.93,107.1,2821,2286,3086,3003,807.1,0.0,420,9337,1.10,2.53,115.43,1.819,10756,0.097,0.054,3182,892,2623,2682,2565,0,0,0,0,0,0,14.02,14.07,12.97
$GC,9413,0.85,137.2,3182,893,2677,2543,801.5,6.2,450,9453,0.00,2.42,32.65,1.870,9382,0.000,0.051,3182,2237,2495,2568,2423,0,0,0,0,0,0,14.24,14.17,13.12
$GC,9764,0.73,137.2,3183,2237,2567,2409,772.3,8.6,465,9770,0.15,2.65,0.00,0.000,4484,0.235,0.096,3131,3659,2487,2567,2408,0,0,0,0,0,0,14.14,14.26,14.29
$GC,9854,0.65,137.2,3134,3659,2568,2409,764.8,8.2,478,9860,0.08,2.42,0.00,0.000,5254,0.232,0.041,3115,2273,2487,2567,2408,0,0,0,0,0,0,14.14,14.43,14.42
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$STATE,19588,end climb,SURFACE_DEPTH_REACHED
$STATE,19588,begin surface coast
$FINISH,-1.5,1.021981
$STATE,19616,end surface coast,CONTROL_FINISHED_OK
$STATE,19616,begin surface
$SM_CCo,19639,59.38,0.156,0,0,1056,500.14
$SM_GC,-4.77,9.10,0.98,59.38,0.073,0.088,0.156,191,2765,1056,-8.38,-0.68,500.14,0,0,0,0,0,0,14.45,14.27,14.14
$IRIDIUM_FIX,1009.21,-12455.57,050117,054301
$TT8_MAMPS,0.038948,0.286867
$HUMID,56.26
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,20.50
$XPDR_PINGS,0
$SC_FREEKB,3712352
$PM_FREEKB,53903936
$24V_AH,12.96,180.957
$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,24.425,174.225,429.900,59.375,0.000,0.000,0.000,382.375,0.000,0.000,5.408,0.000,16716.844,765.076,2386.696,525.253,0.000,1875.263,0.000,1486.684,0.000,0.838,0.000
$DEVICE_MAMPS,386.325,145.350,1907.145,156.060,0.000,0.000,0.000,176.715,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.567,2.422,0.000,0.000
$MEM,334744
$DATA_FILE_SIZE,30001,826
$CAP_FILE_SIZE,147590,0
$CFSIZE,1024409600,930414592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035,349.95,1
$GPS,050117,170230,1018.703,-12459.503,23,0.8,23,9.1,1.0,41.0,11,4.0