version: 66.13
glider: 220
mission: 6
dive: 551
start: 1 14 117 1 11 18
data:
$ID,220
$MISSION,6
$DIVE,551
$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,52
$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
$GPS1,140117,005400,1000.0237,-12441.2002,20,1.0,20,9.0,1.1,324.1,10,5.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.12
$_SM_ANGLEo,-65.6
$GPS2,140117,011054,1000.1740,-12441.2588,3,1.0,5,9.0,0.9,80.8,9,4.5
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,290.9,48922,-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,-107.1,106,2779,1104,1017,0.0,0.0,0,101,0.00,0.00,-81.18,0.000,16390,0.000,0.000,105,2776,3479,3470,3488,0,0,0,0,0,0,14.68,12.55,14.66
$GC,105,-0.93,-107.1,106,2776,3470,3489,4.0,-10.8,3,123,12.02,1.92,0.00,0.000,2308,0.388,0.080,2582,3836,3479,3471,3488,0,0,0,0,0,0,13.95,14.33,14.24
$GC,286,-0.71,-107.1,2582,3837,3475,3487,56.8,-17.5,29,293,0.30,1.77,0.00,0.000,3206,0.226,0.036,2665,2724,3481,3474,3488,0,0,0,0,0,0,14.06,14.50,14.34
$GC,608,-0.71,-107.1,2666,2724,3478,3489,83.3,-7.4,42,613,0.00,2.25,0.00,0.000,548,0.000,0.043,2664,1405,3482,3478,3487,0,0,0,0,0,0,14.83,14.38,14.83
$GC,705,-0.71,-107.1,2666,1406,3479,3487,90.4,-6.5,56,710,0.00,2.42,0.00,0.000,1062,0.000,0.066,2657,2769,3483,3477,3489,0,0,0,0,0,0,14.49,14.31,14.52
$GC,1056,-0.71,-107.1,2655,2770,3479,3487,121.2,-9.4,66,1061,0.00,1.95,0.00,0.000,260,0.000,0.107,2648,3821,3482,3477,3487,0,0,0,0,0,0,14.87,14.21,14.87
$GC,1146,-0.71,-107.1,2648,3822,3479,3487,130.3,-9.9,79,1151,0.00,1.73,0.00,0.000,1030,0.000,0.037,2647,2762,3482,3477,3487,0,0,0,0,0,0,14.57,14.55,14.59
$GC,1504,-0.71,-107.1,2648,2761,3478,3484,161.2,-8.6,88,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2764,3476,3470,3483,0,0,0,0,0,0,14.88,14.88,14.88
$GC,1840,-0.71,-107.1,2648,2762,3478,3480,191.3,-8.9,94,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2759,3478,3477,3479,0,0,0,0,0,0,14.88,14.88,14.89
$GC,2176,-0.71,-107.1,2647,2763,3479,3473,219.6,-8.5,100,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2762,3475,3477,3474,0,0,0,0,0,0,14.89,14.89,14.89
$GC,2512,-0.71,-107.1,2647,2763,3478,3469,248.4,-8.6,106,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2761,3473,3477,3469,0,0,0,0,0,0,14.88,14.89,14.89
$GC,2848,-0.71,-107.1,2647,2763,3479,3464,277.9,-8.8,112,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2762,3470,3477,3464,0,0,0,0,0,0,14.89,14.89,14.90
$GC,3184,-0.71,-107.1,2647,2762,3478,3460,308.0,-8.9,118,3189,0.00,2.35,0.00,0.000,516,0.000,0.044,2647,1405,3468,3477,3460,0,0,0,0,0,0,14.89,14.40,14.89
$GC,3211,-0.71,-107.1,2647,1406,3478,3460,310.4,-8.9,122,3217,0.10,2.47,0.00,0.000,3078,0.236,0.068,2667,2767,3468,3477,3459,0,0,0,0,0,0,14.13,14.26,14.37
$GC,3576,-0.79,-107.1,2667,2766,3478,3455,338.0,-7.4,132,3581,0.00,2.38,0.00,0.000,676,0.000,0.044,2667,1405,3466,3477,3455,0,0,0,0,0,0,14.88,14.40,14.88
$GC,3603,-0.88,-107.1,2668,1406,3478,3454,340.0,-7.5,136,3609,0.08,2.47,0.00,0.000,5286,0.142,0.067,2592,2779,3465,3476,3454,0,0,0,0,0,0,14.38,14.27,14.49
$GC,3968,-0.88,-107.1,2593,2784,3478,3452,378.2,-10.7,146,3972,0.00,1.95,0.00,0.000,260,0.000,0.106,2584,3822,3464,3477,3451,0,0,0,0,0,0,14.88,14.18,14.88
$GC,4024,-0.88,-107.1,2585,3822,3478,3451,384.8,-11.8,154,4029,0.10,1.73,0.00,0.000,3078,0.243,0.042,2616,2784,3463,3477,3450,0,0,0,0,0,0,14.12,14.51,14.36
$GC,4360,-0.88,-107.1,2611,2786,3478,3446,418.7,-10.1,167,4365,0.00,2.42,0.00,0.000,516,0.000,0.043,2611,1382,3461,3477,3446,0,0,0,0,0,0,14.90,14.40,14.90
$GC,4387,-0.88,-107.1,2612,1382,3478,3446,421.5,-10.1,171,4392,0.00,2.50,0.00,0.000,1030,0.000,0.066,2602,2768,3465,3485,3446,0,0,0,0,0,0,14.47,14.30,14.50
$GC,4752,-0.88,-107.1,2603,2769,3478,3444,459.4,-10.4,181,4757,0.00,2.00,0.00,0.000,260,0.000,0.106,2594,3832,3460,3477,3443,0,0,0,0,0,0,14.88,14.14,14.88
$GC,4793,-0.88,-107.1,2592,3833,3477,3443,464.0,-11.1,187,4798,0.00,1.83,0.00,0.000,1030,0.000,0.040,2594,2757,3459,3477,3442,0,0,0,0,0,0,14.49,14.46,14.51
$GC,5144,-0.88,-107.1,2593,2759,3478,3439,498.9,-9.8,195,5148,0.00,2.05,0.00,0.000,260,0.000,0.106,2585,3828,3457,3477,3438,0,0,0,0,0,0,14.87,14.15,14.88
$GC,5178,-0.88,-107.1,2586,3827,3477,3439,502.4,-9.9,200,5183,0.00,1.83,0.00,0.000,1030,0.000,0.042,2585,2763,3457,3477,3438,0,0,0,0,0,0,14.50,14.47,14.50
$GC,5536,-0.88,-107.1,2583,2764,3476,3438,535.5,-9.1,209,5542,0.08,2.05,0.00,0.000,2308,0.272,0.103,2603,3831,3456,3477,3436,0,0,0,0,0,0,14.19,14.13,14.31
$GC,5605,-0.88,-107.1,2603,3832,3477,3436,541.7,-8.9,219,5610,0.00,1.83,0.00,0.000,1030,0.000,0.042,2603,2768,3456,3477,3435,0,0,0,0,0,0,14.44,14.41,14.47
$GC,5928,-0.88,-107.1,2603,2767,3477,3433,570.1,-8.9,230,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2769,3453,3477,3430,0,0,0,0,0,0,14.88,14.87,14.87
$GC,6264,-0.88,-107.1,2603,2768,3478,3430,602.4,-9.7,236,6269,0.00,2.42,0.00,0.000,516,0.000,0.044,2600,1377,3453,3477,3429,0,0,0,0,0,0,14.90,14.35,14.90
$GC,6320,-0.88,-107.1,2604,1377,3477,3430,607.9,-9.8,244,6325,0.00,2.55,0.00,0.000,1030,0.000,0.067,2593,2774,3452,3476,3429,0,0,0,0,0,0,14.39,14.21,14.43
$GC,6656,-0.88,-107.1,2594,2774,3473,3428,641.2,-10.0,257,6661,0.00,2.00,0.00,0.000,260,0.000,0.106,2585,3826,3451,3473,3429,0,0,0,0,0,0,14.86,14.08,14.86
$GC,6704,-0.88,-107.1,2582,3827,3473,3429,646.2,-10.5,264,6711,0.10,1.83,0.00,0.000,3078,0.212,0.043,2612,2777,3449,3471,3428,0,0,0,0,0,0,13.97,14.39,14.12
$GC,7048,-0.88,-107.1,2613,2777,3471,3429,676.3,-8.7,271,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2777,3449,3470,3429,0,0,0,0,0,0,14.88,14.89,14.89
$GC,7384,-0.88,-107.1,2613,2777,3471,3428,704.8,-8.4,277,7390,0.00,2.47,0.00,0.000,516,0.000,0.044,2612,1368,3448,3470,3426,0,0,0,0,0,0,14.89,14.30,14.88
$GC,7432,-0.88,-107.1,2612,1369,3471,3426,709.0,-8.4,284,7439,0.00,2.62,0.00,0.000,1030,0.000,0.066,2603,2773,3448,3470,3426,0,0,0,0,0,0,14.19,14.09,14.24
$GC,7776,-0.88,-107.1,2604,2774,3471,3425,739.4,-9.0,291,7781,0.00,2.00,0.00,0.000,260,0.000,0.109,2595,3827,3447,3469,3425,0,0,0,0,0,0,14.85,14.04,14.85
$GC,7824,-0.88,-107.1,2596,3829,3470,3425,744.3,-10.3,298,7831,0.00,1.85,0.00,0.000,1030,0.000,0.043,2594,2762,3445,3468,3422,0,0,0,0,0,0,14.39,14.35,14.40
$GC,8168,-0.88,-107.1,2595,2762,3467,3433,777.6,-9.8,305,8173,0.00,2.05,0.00,0.000,260,0.000,0.107,2587,3823,3444,3466,3423,0,0,0,0,0,0,14.85,14.02,14.85
$GC,8202,-0.88,-107.1,2587,3824,3467,3424,781.2,-10.3,310,8207,0.00,1.83,0.00,0.000,1030,0.000,0.043,2586,2767,3444,3466,3423,0,0,0,0,0,0,14.38,14.34,14.40
$STATE,8388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8388,begin apogee
$GC,8397,-0.23,0.0,2587,2215,3466,3420,800.4,-10.1,316,8512,0.85,0.10,112.22,1.818,10244,0.195,0.161,2824,2283,3049,3091,3008,0,0,0,0,0,0,13.85,13.95,12.97
$STATE,8514,end apogee,CONTROL_FINISHED_OK
$STATE,8514,begin climb
$GC,8517,0.93,107.1,2824,2284,3086,2999,804.0,0.0,318,8636,1.15,0.00,115.07,1.795,11270,0.095,0.000,3200,2283,2622,2685,2560,0,0,0,0,0,0,14.05,14.29,13.01
$GC,8948,0.77,111.7,3200,2283,2678,2533,781.0,7.5,346,8953,0.15,2.47,0.00,0.000,4772,0.235,0.056,3163,887,2604,2677,2531,0,0,0,0,0,0,14.07,14.29,14.23
$GC,9017,0.71,128.8,3163,888,2678,2533,776.0,6.9,356,9044,0.12,2.35,22.17,1.857,13478,0.246,0.050,3129,2236,2535,2608,2462,0,0,0,0,0,0,14.07,14.34,13.27
$GC,9395,0.73,144.9,3130,2236,2606,2442,750.1,6.9,368,9416,0.00,2.67,16.73,1.906,8484,0.000,0.096,3130,3647,2470,2550,2390,0,0,0,0,0,0,14.77,14.35,13.35
$GC,9500,0.73,144.9,3128,3648,2542,2381,741.7,8.2,383,9506,0.00,2.35,0.00,0.000,1030,0.000,0.039,3139,2274,2461,2541,2381,0,0,0,0,0,0,14.51,14.44,14.53
$GC,9837,0.73,144.9,3140,2269,2542,2378,715.3,7.8,396,9841,0.00,2.47,0.00,0.000,516,0.000,0.060,3150,862,2459,2542,2376,0,0,0,0,0,0,14.78,14.32,14.79
$GC,9871,0.73,146.2,3150,861,2543,2377,712.6,7.7,401,9877,0.00,2.42,0.00,0.000,1062,0.000,0.051,3150,2255,2458,2541,2376,0,0,0,0,0,0,14.46,14.29,14.50
$GC,10229,0.73,146.2,3150,2256,2542,2375,684.8,7.8,410,10234,0.00,2.60,0.00,0.000,260,0.000,0.098,3149,3652,2458,2541,2375,0,0,0,0,0,0,14.82,14.22,14.82
$GC,10263,0.63,146.2,3150,3652,2543,2375,681.8,8.5,415,10269,0.17,2.45,0.00,0.000,5254,0.218,0.039,3102,2247,2458,2541,2375,0,0,0,0,0,0,14.03,14.40,14.36
$GC,10621,0.67,179.5,3102,2245,2542,2373,659.8,6.1,424,10667,0.00,2.72,38.42,1.753,8484,0.000,0.097,3101,3653,2326,2409,2244,0,0,0,0,0,0,14.85,14.30,13.36
$GC,10704,0.68,181.1,3102,3654,2407,2238,654.1,7.7,436,10709,0.00,2.42,0.00,0.000,1062,0.000,0.039,3110,2244,2321,2407,2236,0,0,0,0,0,0,14.45,14.36,14.45
$GC,11069,0.69,193.6,3111,2241,2407,2231,628.2,7.1,446,11088,0.00,2.65,13.23,1.851,8484,0.000,0.098,3110,3651,2274,2362,2186,0,0,0,0,0,0,14.76,14.36,13.32
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$STATE,19118,end climb,SURFACE_DEPTH_REACHED
$STATE,19118,begin surface coast
$FINISH,-1.2,1.022067
$STATE,19146,end surface coast,CONTROL_FINISHED_OK
$STATE,19146,begin surface
$SM_CCo,19170,34.58,0.154,0,0,1056,500.14
$SM_GC,-2.62,9.30,0.90,34.58,0.078,0.095,0.154,187,2761,1056,-8.39,-0.74,500.14,0,0,0,0,0,0,14.43,14.23,14.13
$IRIDIUM_FIX,953.88,-12440.32,140117,005943
$TT8_MAMPS,0.039697,0.261401
$HUMID,57.40
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.60
$XPDR_PINGS,0
$SC_FREEKB,3698144
$PM_FREEKB,53493952
$24V_AH,12.55,192.612
$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,25.250,191.350,472.450,34.575,0.000,0.000,0.000,609.325,0.000,0.000,9.699,0.000,16307.236,769.435,2541.947,585.185,0.000,2108.710,0.000,1431.426,0.000,1.132,0.000
$DEVICE_MAMPS,387.855,161.415,1905.615,153.765,0.000,0.000,0.000,169.065,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19207.000,19156.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.619,2.441,0.000,0.000
$MEM,334752
$DATA_FILE_SIZE,30000,795
$CAP_FILE_SIZE,153547,0
$CFSIZE,1024409600,925007872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,330.23,1
$GPS,140117,063230,1001.701,-12443.175,33,0.8,33,9.0,0.3,206.7,11,3.3