version: 66.13
glider: 220
mission: 6
dive: 617
start: 1 29 117 10 18 7
data:
$ID,220
$MISSION,6
$DIVE,617
$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,640.56
$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,40
$R_STBD_OVSHOOT,13
$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
$GPS1,290117,095200,1008.9091,-12508.0234,22,0.9,22,9.0,1.2,317.5,9,3.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.79
$_SM_ANGLEo,-69.5
$GPS2,290117,101742,1009.1461,-12508.3799,2,0.9,3,9.0,1.3,309.6,10,9.4
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,197.1,26270,-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,17,-0.93,-107.1,105,2777,1108,1019,0.0,0.0,0,102,0.00,0.00,-81.57,0.000,16390,0.000,0.000,105,2777,3478,3468,3489,0,0,0,0,0,0,14.71,12.54,14.66
$GC,106,-0.93,-107.1,106,2777,3469,3490,4.6,-9.5,3,122,11.88,1.98,0.00,0.000,2308,0.379,0.110,2580,3833,3478,3470,3487,0,0,0,0,0,0,13.93,14.29,14.21
$GC,340,-0.74,-107.1,2581,3833,3472,3490,62.0,-11.2,37,346,0.22,1.85,0.00,0.000,3206,0.221,0.044,2654,2743,3480,3472,3488,0,0,0,0,0,0,13.99,14.43,14.28
$GC,663,-0.74,-107.1,2656,2743,3475,3489,88.4,-8.4,50,667,0.00,2.35,0.00,0.000,516,0.000,0.044,2655,1378,3481,3474,3488,0,0,0,0,0,0,14.85,14.31,14.85
$GC,732,-0.74,-107.1,2655,1379,3474,3488,94.1,-7.9,60,737,0.00,2.60,0.00,0.000,1030,0.000,0.091,2645,2770,3481,3474,3488,0,0,0,0,0,0,14.38,14.12,14.42
$GC,1055,-0.74,-107.1,2646,2769,3475,3488,120.7,-8.3,69,1060,0.00,2.42,0.00,0.000,516,0.000,0.043,2644,1370,3480,3474,3486,0,0,0,0,0,0,14.85,14.36,14.89
$GC,1089,-0.74,-107.1,2645,1373,3475,3486,123.7,-8.5,74,1094,0.00,2.62,0.00,0.000,1030,0.000,0.090,2636,2769,3479,3474,3485,0,0,0,0,0,0,14.39,14.14,14.44
$GC,1447,-0.74,-107.1,2637,2769,3476,3483,158.1,-9.8,83,1451,0.00,2.08,0.00,0.000,260,0.000,0.144,2628,3831,3477,3473,3482,0,0,0,0,0,0,14.89,14.03,14.91
$GC,1488,-0.74,-107.1,2626,3831,3475,3481,162.4,-10.6,89,1494,0.08,1.83,0.00,0.000,3078,0.202,0.047,2651,2766,3477,3474,3481,0,0,0,0,0,0,14.11,14.45,14.25
$GC,1839,-0.74,-107.1,2651,2767,3475,3474,194.3,-8.9,97,1845,0.00,2.42,0.00,0.000,516,0.000,0.044,2651,1365,3475,3474,3476,0,0,0,0,0,0,14.85,14.36,14.86
$GC,1929,-0.74,-107.1,2652,1366,3475,3474,201.9,-8.0,110,1934,0.00,2.62,0.00,0.000,1030,0.000,0.090,2642,2769,3474,3474,3474,0,0,0,0,0,0,14.37,14.12,14.41
$GC,2287,-0.74,-107.1,2642,2770,3475,3468,230.3,-7.9,119,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2768,3471,3474,3469,0,0,0,0,0,0,14.89,14.89,14.90
$GC,2623,-0.74,-107.1,2643,2769,3475,3463,257.2,-8.1,125,2628,0.00,2.45,0.00,0.000,516,0.000,0.044,2643,1367,3468,3474,3462,0,0,0,0,0,0,14.89,14.38,14.89
$GC,2678,-0.74,-107.1,2643,1368,3474,3463,261.9,-8.2,133,2684,0.00,2.65,0.00,0.000,1030,0.000,0.091,2633,2763,3464,3468,3460,0,0,0,0,0,0,14.33,14.08,14.38
$GC,3015,-0.74,-107.1,2634,2764,3479,3458,292.3,-9.2,146,3019,0.00,2.45,0.00,0.000,516,0.000,0.044,2632,1368,3466,3474,3458,0,0,0,0,0,0,14.89,14.33,14.89
$GC,3042,-0.74,-107.1,2632,1369,3474,3458,295.0,-9.5,150,3047,0.12,2.62,0.00,0.000,3078,0.230,0.092,2658,2761,3465,3473,3458,0,0,0,0,0,0,13.97,14.07,14.23
$GC,3407,-0.74,-107.1,2658,2760,3474,3454,324.6,-8.0,160,3412,0.00,2.45,0.00,0.000,516,0.000,0.044,2658,1365,3463,3474,3452,0,0,0,0,0,0,14.86,14.32,14.86
$GC,3469,-0.82,-107.1,2659,1364,3474,3453,329.5,-7.8,169,3475,0.00,2.62,0.00,0.000,1158,0.000,0.091,2648,2755,3462,3474,3451,0,0,0,0,0,0,14.32,14.07,14.37
$GC,3799,-0.82,-107.1,2649,2757,3480,3448,354.4,-7.5,181,3805,0.00,2.42,0.00,0.000,548,0.000,0.044,2648,1372,3460,3473,3448,0,0,0,0,0,0,14.85,14.32,14.85
$GC,3861,-0.82,-107.1,2649,1373,3475,3447,358.9,-7.1,190,3866,0.00,2.62,0.00,0.000,1062,0.000,0.092,2640,2757,3460,3473,3447,0,0,0,0,0,0,14.31,14.04,14.35
$GC,4191,-0.82,-107.1,2640,2757,3474,3443,384.3,-7.8,202,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2757,3458,3473,3443,0,0,0,0,0,0,14.85,14.85,14.85
$GC,4527,-0.82,-107.1,2640,2757,3474,3441,412.8,-8.6,208,4527,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2757,3456,3473,3440,0,0,0,0,0,0,14.85,14.85,14.85
$GC,4863,-0.82,-107.1,2641,2757,3474,3438,443.2,-9.0,214,4868,0.00,2.50,0.00,0.000,516,0.000,0.044,2639,1366,3455,3474,3437,0,0,0,0,0,0,14.88,14.28,14.88
$GC,4919,-0.82,-107.1,2640,1366,3474,3441,448.3,-9.1,222,4923,0.00,2.62,0.00,0.000,1030,0.000,0.092,2630,2751,3455,3473,3437,0,0,0,0,0,0,14.26,13.99,14.31
$GC,5255,-0.82,-107.1,2630,2751,3474,3432,478.7,-9.0,235,5255,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2751,3453,3473,3433,0,0,0,0,0,0,14.88,14.88,14.88
$GC,5591,-0.82,-107.1,2630,2750,3473,3432,506.8,-8.2,241,5596,0.00,2.45,0.00,0.000,516,0.000,0.045,2629,1372,3451,3473,3430,0,0,0,0,0,0,14.85,14.26,14.85
$GC,5695,-0.82,-107.1,2630,1372,3474,3431,515.8,-8.5,256,5701,0.00,2.65,0.00,0.000,1030,0.000,0.092,2620,2749,3451,3473,3429,0,0,0,0,0,0,14.21,13.93,14.26
$GC,6039,-0.82,-107.1,2621,2748,3477,3424,546.4,-9.0,263,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2748,3450,3471,3429,0,0,0,0,0,0,14.84,14.84,14.84
$GC,6375,-0.82,-107.1,2621,2749,3471,3429,577.0,-9.1,269,6380,0.00,2.40,0.00,0.000,516,0.000,0.044,2620,1371,3449,3470,3429,0,0,0,0,0,0,14.84,14.19,14.84
$GC,6423,-0.82,-107.1,2620,1372,3471,3428,581.3,-8.8,276,6429,0.00,2.65,0.00,0.000,1030,0.000,0.092,2611,2754,3449,3470,3428,0,0,0,0,0,0,14.19,13.90,14.23
$GC,6767,-0.82,-107.1,2611,2747,3467,3428,612.2,-9.0,283,6772,0.00,2.45,0.00,0.000,516,0.000,0.044,2610,1369,3446,3466,3427,0,0,0,0,0,0,14.87,14.23,14.87
$GC,6801,-0.82,-107.1,2610,1372,3468,3427,615.4,-9.3,288,6806,0.10,2.62,0.00,0.000,3078,0.253,0.093,2628,2742,3450,3466,3435,0,0,0,0,0,0,13.81,13.90,14.09
$GC,7159,-0.82,-107.1,2628,2743,3467,3425,644.9,-8.2,297,7159,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2742,3445,3466,3425,0,0,0,0,0,0,14.83,14.83,14.83
$GC,7495,-0.82,-107.1,2628,2742,3463,3426,672.9,-8.4,303,7499,0.00,2.45,0.00,0.000,516,0.000,0.044,2628,1365,3444,3464,3424,0,0,0,0,0,0,14.83,14.21,14.83
$GC,7522,-0.82,-107.1,2628,1364,3465,3424,675.3,-8.6,307,7527,0.00,2.62,0.00,0.000,1030,0.000,0.092,2618,2741,3443,3464,3423,0,0,0,0,0,0,14.15,13.87,14.21
$GC,7887,-0.82,-107.1,2619,2741,3464,3422,707.3,-8.8,317,7892,0.00,2.45,0.00,0.000,516,0.000,0.044,2617,1377,3441,3464,3418,0,0,0,0,0,0,14.83,14.18,14.82
$GC,7949,-0.82,-107.1,2617,1374,3464,3422,713.2,-9.4,326,7954,0.00,2.62,0.00,0.000,1030,0.000,0.093,2609,2746,3442,3464,3421,0,0,0,0,0,0,14.13,13.84,14.18
$GC,8279,-0.82,-107.1,2609,2744,3464,3420,742.8,-9.0,338,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2743,3441,3462,3420,0,0,0,0,0,0,14.89,14.85,14.85
$GC,8615,-0.82,-107.1,2609,2744,3462,3419,771.9,-8.6,344,8619,0.00,2.45,0.00,0.000,516,0.000,0.044,2608,1372,3440,3461,3419,0,0,0,0,0,0,14.82,14.16,14.82
$GC,8642,-0.82,-107.1,2608,1373,3461,3419,774.3,-8.5,348,8647,0.12,2.62,0.00,0.000,3078,0.241,0.092,2632,2742,3439,3460,3419,0,0,0,0,0,0,13.72,13.84,14.01
$STATE,9003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9003,begin apogee
$GC,9013,-0.23,0.0,2630,2222,3462,3417,801.4,-7.4,358,9127,0.68,0.10,111.90,1.807,10244,0.179,0.190,2824,2275,3049,3089,3010,0,0,0,0,0,0,13.76,13.88,12.96
$STATE,9129,end apogee,CONTROL_FINISHED_OK
$STATE,9129,begin climb
$GC,9133,0.93,107.1,2825,2275,3083,3002,804.0,0.0,360,9260,1.12,2.55,117.38,1.746,10756,0.095,0.056,3186,878,2622,2682,2562,0,0,0,0,0,0,14.02,14.06,12.96
$GC,9309,0.83,136.1,3186,879,2676,2541,800.4,6.3,387,9344,0.00,2.47,30.33,1.806,9382,0.000,0.067,3186,2239,2509,2580,2439,0,0,0,0,0,0,14.26,14.12,13.09
$GC,9681,0.70,136.1,3187,2240,2574,2414,767.4,9.2,398,9686,0.17,2.80,0.00,0.000,4484,0.230,0.136,3132,3657,2493,2573,2413,0,0,0,0,0,0,13.98,14.01,14.17
$GC,9757,0.61,136.1,3132,3659,2574,2416,760.8,8.6,409,9763,0.15,2.40,0.00,0.000,5254,0.235,0.048,3102,2266,2493,2573,2414,0,0,0,0,0,0,14.02,14.40,14.32
$GC,10073,0.64,163.3,3103,2267,2575,2411,740.3,6.4,419,10111,0.00,2.83,30.48,1.816,8484,0.000,0.141,3102,3657,2390,2470,2311,0,0,0,0,0,0,14.78,14.21,13.29
$GC,10149,0.64,163.3,3102,3658,2469,2306,734.9,7.9,430,10154,0.00,2.42,0.00,0.000,1030,0.000,0.047,3112,2255,2386,2468,2305,0,0,0,0,0,0,14.46,14.40,14.48
$GC,10465,0.66,173.8,3112,2251,2473,2300,711.9,7.2,440,10470,0.00,0.00,3.53,1.274,8230,0.000,0.000,3112,2251,2357,2441,2274,0,0,0,0,0,0,14.74,14.31,13.09
$GC,10801,0.66,174.2,3112,2251,2446,2301,686.4,7.7,446,10808,0.00,2.80,2.28,0.542,8484,0.000,0.141,3112,3658,2356,2435,2278,0,0,0,0,0,0,14.78,14.12,13.05
$GC,10870,0.66,174.2,3112,3659,2437,2296,680.3,9.0,456,10876,0.00,2.42,1.73,0.242,9222,0.000,0.047,3121,2252,2355,2435,2275,0,0,0,0,0,0,14.50,14.41,13.94
$GC,11186,0.66,174.2,3121,2252,2436,2301,654.5,8.1,466,11192,0.00,2.90,1.58,0.230,8452,0.000,0.146,3121,3650,2358,2435,2281,0,0,0,0,0,0,14.82,13.88,13.89
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$STATE,19485,end climb,SURFACE_DEPTH_REACHED
$STATE,19485,begin surface coast
$FINISH,1.1,1.022150
$STATE,19492,end surface coast,CONTROL_FINISHED_OK
$STATE,19492,begin surface
$SM_CCo,19519,116.80,0.152,0,0,498,640.56
$SM_GC,-1.17,9.32,3.58,116.80,0.081,0.082,0.152,185,2760,498,-8.41,-0.57,640.56,0,0,0,0,0,0,14.40,13.96,14.14
$IRIDIUM_FIX,1004.83,-12508.32,290117,100729
$TT8_MAMPS,0.036701,0.360269
$HUMID,54.88
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,21.80
$XPDR_PINGS,2
$SC_FREEKB,3672800
$PM_FREEKB,52760512
$24V_AH,12.54,213.392
$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,24.725,195.125,473.075,116.800,0.000,0.000,0.000,923.825,0.500,0.000,4.861,0.000,16744.176,835.530,2929.469,652.203,0.000,2512.040,0.000,1505.665,0.000,1.425,0.000
$DEVICE_MAMPS,378.675,190.485,1816.110,152.235,0.000,0.000,0.000,162.945,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19554.000,19503.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.545,2.437,0.000,0.000
$MEM,334664
$DATA_FILE_SIZE,30050,844
$CAP_FILE_SIZE,157076,0
$CFSIZE,1024409600,915210240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073,288.81,1
$GPS,290117,154648,1007.751,-12509.693,48,1.6,48,9.0,0.7,332.4,5,9.9