version: 66.13
glider: 220
mission: 6
dive: 554
start: 1 14 117 18 15 15
data:
$ID,220
$MISSION,6
$DIVE,554
$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,46
$R_STBD_OVSHOOT,16
$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
$GPS1,140117,180231,1005.3359,-12446.4570,43,0.7,43,9.0,0.4,37.0,12,3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.93
$_SM_ANGLEo,-71.6
$GPS2,140117,181454,1005.4166,-12446.5381,2,0.6,2,9.0,0.6,29.4,12,9.2
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,299.9,35255,-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,-107.1,106,2771,1103,1012,0.0,0.0,0,101,0.00,0.00,-80.68,0.000,16390,0.000,0.000,105,2772,3478,3468,3488,0,0,0,0,0,0,14.66,13.05,14.63
$GC,105,-0.93,-107.1,107,2775,3469,3490,5.7,-11.6,3,122,12.00,1.95,0.00,0.000,2308,0.388,0.082,2581,3838,3479,3470,3488,0,0,0,0,0,0,13.95,14.34,14.23
$GC,207,-0.54,-107.1,2581,3837,3472,3489,42.2,-26.6,18,214,0.52,1.83,0.00,0.000,3206,0.224,0.037,2723,2733,3479,3471,3488,0,0,0,0,0,0,13.99,14.45,14.19
$GC,523,-0.64,-107.1,2724,2733,3478,3487,63.4,-6.0,30,528,0.00,2.10,0.00,0.000,420,0.000,0.108,2715,3835,3481,3476,3487,0,0,0,0,0,0,14.84,14.21,14.83
$GC,686,-0.74,-107.1,2716,3836,3475,3489,73.2,-5.4,53,693,0.10,1.75,0.00,0.000,5286,0.110,0.040,2634,2752,3484,3476,3492,0,0,0,0,0,0,14.47,14.52,14.54
$GC,1026,-0.74,-107.1,2635,2753,3477,3487,105.7,-9.0,65,1032,0.00,2.30,0.00,0.000,516,0.000,0.044,2634,1401,3481,3475,3487,0,0,0,0,0,0,14.87,14.40,14.87
$GC,1088,-0.74,-107.1,2635,1400,3476,3489,111.5,-9.2,74,1094,0.12,2.45,0.00,0.000,3078,0.233,0.067,2660,2771,3481,3475,3487,0,0,0,0,0,0,14.12,14.28,14.37
$GC,1419,-0.74,-107.1,2661,2773,3477,3485,139.8,-8.6,86,1423,0.00,1.98,0.00,0.000,260,0.000,0.109,2652,3829,3481,3476,3486,0,0,0,0,0,0,14.90,14.22,14.90
$GC,1501,-0.74,-107.1,2653,3829,3476,3486,147.1,-8.7,98,1507,0.00,1.75,0.00,0.000,1030,0.000,0.040,2653,2767,3480,3476,3484,0,0,0,0,0,0,14.57,14.53,14.57
$GC,1867,-0.74,-107.1,2653,2767,3476,3481,179.3,-8.9,108,1871,0.00,2.00,0.00,0.000,260,0.000,0.105,2644,3824,3477,3476,3479,0,0,0,0,0,0,14.88,14.22,14.89
$GC,1893,-0.74,-107.1,2644,3825,3476,3478,181.8,-8.8,112,1899,0.00,1.75,0.00,0.000,1030,0.000,0.038,2644,2756,3477,3476,3479,0,0,0,0,0,0,14.52,14.53,14.53
$GC,2258,-0.74,-107.1,2644,2756,3476,3475,210.9,-7.8,122,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2756,3475,3476,3474,0,0,0,0,0,0,14.89,14.89,14.89
$GC,2594,-0.74,-107.1,2645,2756,3472,3470,238.3,-8.3,128,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2756,3472,3475,3469,0,0,0,0,0,0,14.88,14.89,14.89
$GC,2931,-0.74,-107.1,2645,2756,3476,3467,266.4,-8.4,134,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2755,3470,3475,3465,0,0,0,0,0,0,14.89,14.89,14.89
$GC,3266,-0.74,-107.1,2645,2756,3476,3463,296.8,-9.2,140,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2756,3468,3475,3461,0,0,0,0,0,0,14.92,14.92,14.92
$GC,3602,-0.74,-107.1,2644,2757,3476,3458,328.1,-9.2,146,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2756,3466,3475,3458,0,0,0,0,0,0,14.92,14.92,14.92
$GC,3938,-0.74,-107.1,2645,2757,3483,3454,355.6,-8.0,152,3943,0.00,2.08,0.00,0.000,260,0.000,0.106,2636,3831,3464,3475,3454,0,0,0,0,0,0,14.88,14.16,14.89
$GC,4007,-0.74,-107.1,2636,3834,3476,3453,361.2,-7.9,162,4013,0.00,1.77,0.00,0.000,1030,0.000,0.041,2636,2784,3463,3474,3453,0,0,0,0,0,0,14.50,14.47,14.54
$GC,4330,-0.74,-107.1,2636,2784,3476,3452,385.8,-7.7,173,4336,0.00,2.42,0.00,0.000,548,0.000,0.042,2636,1385,3463,3475,3451,0,0,0,0,0,0,14.91,14.38,14.91
$GC,4357,-0.74,-107.1,2636,1384,3476,3452,388.0,-7.8,177,4364,0.10,2.50,0.00,0.000,3078,0.240,0.067,2656,2769,3462,3475,3450,0,0,0,0,0,0,14.07,14.23,14.32
$GC,4722,-0.74,-107.1,2655,2769,3476,3452,414.7,-7.5,187,4723,0.00,0.00,0.00,0.000,38,0.000,0.000,2656,2769,3460,3475,3445,0,0,0,0,0,0,14.88,14.88,14.87
$GC,5058,-0.74,-107.1,2656,2769,3475,3445,439.9,-7.5,193,5064,0.00,2.42,0.00,0.000,548,0.000,0.043,2656,1383,3459,3475,3444,0,0,0,0,0,0,14.88,14.37,14.88
$GC,5115,-0.83,-107.1,2656,1384,3473,3443,444.2,-7.5,201,5120,0.00,2.53,0.00,0.000,1190,0.000,0.067,2646,2772,3459,3475,3443,0,0,0,0,0,0,14.43,14.25,14.47
$GC,5451,-0.83,-107.1,2646,2773,3476,3436,470.3,-7.7,214,5451,0.00,0.00,0.00,0.000,38,0.000,0.000,2646,2772,3458,3475,3441,0,0,0,0,0,0,14.87,14.87,14.88
$GC,5786,-0.83,-107.1,2646,2773,3476,3438,497.4,-8.2,220,5791,0.00,2.42,0.00,0.000,516,0.000,0.043,2646,1388,3456,3475,3438,0,0,0,0,0,0,14.88,14.34,14.88
$GC,5848,-0.83,-107.1,2646,1387,3475,3438,502.8,-8.5,229,5855,0.00,2.55,0.00,0.000,1030,0.000,0.068,2637,2767,3455,3474,3437,0,0,0,0,0,0,14.26,14.16,14.32
$GC,6178,-0.83,-107.1,2638,2767,3477,3437,531.6,-8.7,241,6184,0.00,2.42,0.00,0.000,516,0.000,0.044,2636,1379,3455,3475,3436,0,0,0,0,0,0,14.87,14.34,14.87
$GC,6205,-0.83,-107.1,2638,1379,3476,3437,534.0,-8.7,245,6212,0.00,2.53,0.00,0.000,1030,0.000,0.067,2627,2767,3455,3475,3436,0,0,0,0,0,0,14.38,14.18,14.42
$GC,6570,-0.83,-107.1,2627,2768,3476,3432,566.3,-8.8,255,6575,0.00,2.00,0.00,0.000,260,0.000,0.109,2619,3825,3453,3474,3432,0,0,0,0,0,0,14.87,14.09,14.87
$GC,6611,-0.83,-107.1,2619,3825,3475,3433,570.1,-9.3,261,6618,0.00,1.83,0.00,0.000,1030,0.000,0.043,2618,2765,3453,3475,3432,0,0,0,0,0,0,14.45,14.42,14.47
$GC,6962,-0.83,-107.1,2618,2764,3476,3430,600.5,-8.6,269,6968,0.00,2.42,0.00,0.000,516,0.000,0.044,2618,1377,3448,3467,3429,0,0,0,0,0,0,14.86,14.32,14.86
$GC,7018,-0.83,-107.1,2618,1378,3475,3429,605.4,-8.5,277,7024,0.00,2.53,0.00,0.000,1030,0.000,0.068,2609,2761,3451,3474,3429,0,0,0,0,0,0,14.39,14.21,14.45
$GC,7354,-0.83,-107.1,2610,2761,3473,3429,634.8,-8.8,290,7359,0.00,2.03,0.00,0.000,260,0.000,0.108,2601,3827,3450,3472,3428,0,0,0,0,0,0,14.85,14.06,14.85
$GC,7437,-0.83,-107.1,2602,3829,3472,3430,642.4,-8.9,302,7443,0.10,1.85,0.00,0.000,3078,0.218,0.042,2626,2766,3449,3471,3427,0,0,0,0,0,0,13.93,14.38,14.10
$GC,7803,-0.83,-107.1,2629,2768,3471,3429,669.7,-7.4,312,7807,0.00,2.45,0.00,0.000,548,0.000,0.044,2628,1371,3448,3470,3427,0,0,0,0,0,0,14.88,14.28,14.88
$GC,7844,-0.83,-107.1,2629,1373,3472,3427,672.8,-7.6,318,7849,0.00,2.55,0.00,0.000,1062,0.000,0.067,2619,2765,3449,3470,3428,0,0,0,0,0,0,14.34,14.16,14.38
$GC,8194,-0.83,-107.1,2620,2765,3471,3428,700.9,-8.2,326,8195,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2763,3448,3470,3427,0,0,0,0,0,0,14.88,14.88,14.88
$GC,8530,-0.83,-107.1,2619,2766,3471,3425,730.9,-9.1,332,8531,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2765,3447,3469,3425,0,0,0,0,0,0,14.88,14.88,14.88
$GC,8866,-0.83,-107.1,2620,2765,3467,3426,762.2,-9.3,338,8867,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2765,3445,3466,3425,0,0,0,0,0,0,14.88,14.88,14.85
$GC,9202,-0.83,-107.1,2620,2762,3466,3424,793.0,-9.1,344,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2765,3444,3466,3423,0,0,0,0,0,0,14.88,14.89,14.89
$STATE,9311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9311,begin apogee
$GC,9320,-0.23,0.0,2620,2228,3467,3422,802.8,-9.0,346,9433,0.70,0.00,111.05,1.828,10244,0.177,0.000,2819,2226,3049,3089,3009,0,0,0,0,0,0,13.88,13.99,12.95
$STATE,9434,end apogee,CONTROL_FINISHED_OK
$STATE,9434,begin climb
$GC,9438,0.93,107.1,2821,2225,3084,3001,806.3,0.0,348,9563,1.12,2.45,115.07,1.798,10756,0.089,0.057,3189,882,2626,2686,2566,0,0,0,0,0,0,14.04,14.07,12.97
$GC,9632,0.83,133.2,3189,882,2686,2545,802.2,6.4,377,9667,0.00,2.45,28.08,1.844,9382,0.000,0.051,3188,2263,2514,2586,2442,0,0,0,0,0,0,14.31,14.20,13.12
$GC,9983,0.70,133.2,3189,2263,2580,2427,770.7,9.4,392,9988,0.20,2.60,0.00,0.000,4484,0.233,0.095,3128,3658,2504,2583,2426,0,0,0,0,0,0,13.98,14.22,14.16
$GC,10045,0.62,133.2,3129,3658,2584,2427,765.2,8.5,401,10052,0.12,2.38,0.00,0.000,5254,0.236,0.039,3105,2266,2502,2583,2422,0,0,0,0,0,0,14.12,14.42,14.39
$GC,10375,0.63,143.7,3105,2267,2583,2422,741.5,7.2,413,10380,0.00,0.00,3.33,1.242,8230,0.000,0.000,3105,2267,2478,2556,2401,0,0,0,0,0,0,14.79,14.33,13.04
$GC,10711,0.65,157.9,3105,2267,2557,2425,717.7,7.0,419,10744,0.00,2.65,25.17,1.808,8484,0.000,0.097,3105,3651,2412,2488,2336,0,0,0,0,0,0,14.81,14.31,13.35
$GC,10801,0.65,157.9,3105,3652,2487,2329,710.8,8.0,432,10807,0.00,2.45,0.00,0.000,1030,0.000,0.040,3114,2254,2406,2486,2327,0,0,0,0,0,0,14.50,14.38,14.52
$GC,11159,0.66,169.5,3114,2250,2487,2324,684.8,7.2,441,11165,0.00,0.00,4.72,1.753,8230,0.000,0.000,3114,2250,2376,2458,2294,0,0,0,0,0,0,14.78,14.33,13.04
$GC,11495,0.69,194.8,3115,2250,2458,2321,662.6,6.5,447,11537,0.00,2.75,37.03,1.754,8484,0.000,0.101,3114,3656,2267,2349,2186,0,0,0,0,0,0,14.79,14.26,13.31
$GC,11592,0.69,194.8,3114,3657,2346,2179,655.3,8.3,461,11600,0.00,2.47,0.00,0.000,1030,0.000,0.041,3124,2263,2260,2346,2175,0,0,0,0,0,0,14.36,14.31,14.39
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$STATE,19737,end climb,SURFACE_DEPTH_REACHED
$STATE,19737,begin surface coast
$FINISH,-1.6,1.022091
$STATE,19769,end surface coast,CONTROL_FINISHED_OK
$STATE,19769,begin surface
$SM_CCo,19792,42.72,0.153,0,0,1056,500.14
$SM_GC,-0.67,9.07,0.93,42.72,0.040,0.096,0.153,181,2770,1056,-8.42,-0.65,500.14,0,0,0,0,0,0,14.41,14.26,14.14
$IRIDIUM_FIX,958.26,-12443.37,140117,122849
$TT8_MAMPS,0.038948,0.34454
$HUMID,57.28
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,20.50
$XPDR_PINGS,0
$SC_FREEKB,3696992
$PM_FREEKB,53461056
$24V_AH,12.95,193.505
$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
$DEVICE_SECS,24.725,174.400,465.425,42.725,0.000,0.000,0.000,401.025,0.000,0.000,4.034,0.000,16847.430,769.878,2379.908,563.473,0.000,1901.049,0.000,1466.202,0.000,0.838,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.566,2.429,0.000,0.000
$MEM,334728
$DATA_FILE_SIZE,30055,814
$CAP_FILE_SIZE,147431,0
$CFSIZE,1024409600,924581888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14025.54,0x213b74,1,24
$CURRENT,0.046,304.76,1
$GPS,140117,234700,1006.733,-12448.350,35,0.7,35,9.0,0.9,53.5,11,5.5