version: 66.13
glider: 220
mission: 6
dive: 659
start: 2 8 117 6 27 0
data:
$ID,220
$MISSION,6
$DIVE,659
$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,84
$R_STBD_OVSHOOT,8
$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
$GPS1,080217,061330,1012.7491,-12454.9697,24,0.8,24,9.0,0.5,219.2,10,3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.60
$_SM_ANGLEo,-70.5
$GPS2,080217,062634,1012.7803,-12454.9492,2,0.9,3,9.0,0.7,150.3,9,7.5
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,314.8,14875,-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,-107.1,107,2755,1106,1017,0.0,0.0,0,102,0.00,0.00,-81.32,0.000,16390,0.000,0.000,105,2757,3478,3467,3490,0,0,0,0,0,0,14.62,12.65,14.57
$GC,106,-0.93,-107.1,107,2757,3471,3492,3.2,-10.1,3,123,11.90,2.00,0.00,0.000,2308,0.379,0.097,2584,3842,3480,3470,3490,0,0,0,0,0,0,13.93,14.22,14.31
$GC,246,-0.65,-107.1,2584,3843,3472,3490,46.3,-24.1,23,251,0.35,1.75,0.00,0.000,3206,0.224,0.047,2684,2782,3480,3471,3490,0,0,0,0,0,0,13.95,14.42,14.21
$GC,581,-0.65,-107.1,2680,2782,3472,3490,76.3,-8.6,38,586,0.00,2.08,0.00,0.000,260,0.000,0.130,2672,3837,3481,3474,3488,0,0,0,0,0,0,14.77,13.94,14.77
$GC,727,-0.65,-107.1,2673,3837,3475,3490,88.7,-8.1,59,732,0.00,1.85,0.00,0.000,1030,0.000,0.047,2671,2752,3482,3475,3489,0,0,0,0,0,0,14.35,14.32,14.37
$GC,1057,-0.65,-107.1,2673,2750,3476,3489,114.0,-8.0,70,1062,0.00,2.38,0.00,0.000,516,0.000,0.041,2672,1385,3482,3475,3489,0,0,0,0,0,0,14.81,14.14,14.81
$GC,1249,-0.65,-107.1,2673,1386,3477,3487,127.8,-6.8,97,1255,0.00,2.58,0.00,0.000,1062,0.000,0.083,2663,2770,3481,3476,3487,0,0,0,0,0,0,14.23,13.99,14.29
$GC,1563,-0.65,-107.1,2664,2770,3476,3487,152.0,-8.0,107,1568,0.00,2.42,0.00,0.000,516,0.000,0.042,2662,1389,3480,3475,3486,0,0,0,0,0,0,14.84,14.22,14.85
$GC,1604,-0.65,-107.1,2662,1390,3476,3483,155.6,-8.6,113,1611,0.10,2.55,0.00,0.000,3078,0.228,0.082,2683,2754,3480,3475,3485,0,0,0,0,0,0,13.92,13.99,14.16
$GC,1956,-0.75,-107.1,2684,2754,3476,3482,179.5,-6.5,121,1956,0.00,0.00,0.00,0.000,166,0.000,0.000,2684,2754,3478,3475,3481,0,0,0,0,0,0,14.84,14.85,14.85
$GC,2292,-0.85,-107.1,2683,2755,3477,3476,201.3,-6.3,127,2297,0.10,2.40,0.00,0.000,4772,0.112,0.041,2593,1388,3475,3475,3476,0,0,0,0,0,0,14.48,14.23,14.49
$GC,2347,-0.85,-107.1,2593,1389,3477,3475,206.4,-9.9,135,2352,0.10,2.58,0.00,0.000,3078,0.239,0.081,2616,2753,3475,3475,3475,0,0,0,0,0,0,13.82,13.95,14.09
$GC,2684,-0.85,-107.1,2617,2753,3476,3471,241.1,-10.5,148,2688,0.00,2.42,0.00,0.000,516,0.000,0.043,2617,1389,3472,3475,3470,0,0,0,0,0,0,14.81,14.19,14.81
$GC,2717,-0.85,-107.1,2617,1390,3477,3469,244.8,-10.8,153,2723,0.00,2.58,0.00,0.000,1030,0.000,0.081,2607,2760,3472,3475,3469,0,0,0,0,0,0,14.19,13.93,14.24
$GC,3075,-0.85,-107.1,2608,2760,3476,3467,282.3,-10.3,162,3080,0.00,2.10,0.00,0.000,260,0.000,0.129,2600,3835,3468,3471,3465,0,0,0,0,0,0,14.81,13.79,14.81
$GC,3123,-0.85,-107.1,2600,3836,3476,3465,287.4,-10.5,169,3130,0.00,1.88,0.00,0.000,1030,0.000,0.049,2599,2756,3470,3476,3465,0,0,0,0,0,0,14.27,14.23,14.28
$GC,3467,-0.85,-107.1,2600,2756,3476,3463,322.4,-10.2,176,3472,0.00,2.12,0.00,0.000,260,0.000,0.125,2591,3826,3468,3475,3461,0,0,0,0,0,0,14.85,13.90,14.85
$GC,3501,-0.85,-107.1,2592,3826,3476,3463,326.2,-10.7,181,3508,0.10,1.88,0.00,0.000,3078,0.210,0.050,2619,2763,3468,3475,3461,0,0,0,0,0,0,13.82,14.28,13.97
$GC,3859,-0.85,-107.1,2619,2764,3476,3457,357.8,-8.7,190,3864,0.00,2.47,0.00,0.000,516,0.000,0.044,2618,1363,3466,3475,3458,0,0,0,0,0,0,14.81,14.15,14.81
$GC,3907,-0.85,-107.1,2619,1364,3476,3456,362.0,-8.5,197,3915,0.00,2.62,0.00,0.000,1030,0.000,0.080,2606,2755,3465,3475,3456,0,0,0,0,0,0,14.14,13.89,14.19
$GC,4251,-0.85,-107.1,2610,2754,3476,3453,392.0,-8.8,204,4256,0.00,2.10,0.00,0.000,260,0.000,0.127,2600,3826,3463,3475,3452,0,0,0,0,0,0,14.84,13.77,14.84
$GC,4285,-0.85,-107.1,2602,3826,3476,3453,395.3,-9.4,209,4291,0.00,1.88,0.00,0.000,1030,0.000,0.050,2600,2750,3463,3474,3452,0,0,0,0,0,0,14.26,14.23,14.28
$GC,4643,-0.85,-107.1,2600,2750,3475,3451,429.1,-9.6,218,4648,0.00,2.42,0.00,0.000,516,0.000,0.042,2599,1375,3462,3475,3449,0,0,0,0,0,0,14.80,14.14,14.80
$GC,4733,-0.85,-107.1,2599,1375,3474,3448,437.7,-9.1,231,4739,0.10,2.60,0.00,0.000,3078,0.239,0.079,2624,2751,3461,3475,3448,0,0,0,0,0,0,13.80,13.88,14.06
$GC,5091,-0.85,-107.1,2618,2754,3480,3444,469.9,-9.2,240,5092,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2752,3460,3475,3446,0,0,0,0,0,0,14.80,14.81,14.80
$GC,5427,-0.85,-107.1,2618,2752,3476,3442,504.0,-10.3,246,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2752,3458,3475,3441,0,0,0,0,0,0,14.79,14.80,14.79
$GC,5763,-0.85,-107.1,2618,2753,3476,3439,536.5,-9.6,252,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2752,3457,3475,3439,0,0,0,0,0,0,14.80,14.80,14.80
$GC,6099,-0.85,-107.1,2618,2752,3484,3438,565.8,-8.4,258,6104,0.00,2.47,0.00,0.000,516,0.000,0.043,2617,1376,3455,3474,3437,0,0,0,0,0,0,14.83,14.12,14.83
$GC,6161,-0.85,-107.1,2618,1375,3474,3438,570.8,-7.8,267,6166,0.00,2.60,0.00,0.000,1030,0.000,0.078,2608,2749,3453,3471,3436,0,0,0,0,0,0,14.05,13.79,14.11
$GC,6491,-0.85,-107.1,2608,2749,3475,3434,597.2,-8.0,279,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2749,3453,3474,3432,0,0,0,0,0,0,14.83,14.83,14.83
$GC,6827,-0.85,-107.1,2609,2749,3475,3432,626.1,-8.7,285,6833,0.00,2.50,0.00,0.000,516,0.000,0.044,2607,1366,3452,3474,3430,0,0,0,0,0,0,14.79,14.04,14.78
$GC,6861,-0.85,-107.1,2608,1367,3476,3430,629.3,-9.0,290,6866,0.00,2.62,0.00,0.000,1030,0.000,0.080,2599,2747,3452,3474,3430,0,0,0,0,0,0,14.04,13.78,14.09
$GC,7219,-0.85,-107.1,2599,2747,3472,3430,663.0,-9.5,299,7224,0.00,2.15,0.00,0.000,260,0.000,0.129,2588,3829,3450,3471,3430,0,0,0,0,0,0,14.82,13.64,14.83
$GC,7253,-0.85,-107.1,2591,3829,3471,3431,666.6,-10.1,304,7259,0.10,1.90,0.00,0.000,3078,0.233,0.052,2618,2739,3450,3471,3430,0,0,0,0,0,0,13.77,14.14,14.00
$GC,7611,-0.85,-107.1,2618,2740,3471,3430,697.2,-8.4,313,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2739,3449,3470,3429,0,0,0,0,0,0,14.82,14.82,14.82
$GC,7947,-0.85,-107.1,2614,2739,3469,3429,724.5,-8.1,319,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2740,3448,3468,3429,0,0,0,0,0,0,14.82,14.82,14.82
$GC,8283,-0.85,-107.1,2618,2739,3468,3428,751.5,-8.1,325,8284,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2739,3446,3466,3427,0,0,0,0,0,0,14.82,14.82,14.82
$GC,8619,-0.85,-107.1,2618,2740,3467,3426,780.0,-8.6,331,8624,0.00,2.20,0.00,0.000,260,0.000,0.126,2611,3826,3445,3466,3425,0,0,0,0,0,0,14.82,13.63,14.81
$GC,8667,-0.85,-107.1,2611,3826,3466,3426,784.4,-9.0,338,8674,0.00,1.95,0.00,0.000,1030,0.000,0.053,2609,2746,3445,3464,3426,0,0,0,0,0,0,14.08,14.04,14.10
$STATE,8895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8895,begin apogee
$GC,8905,-0.23,0.0,2610,2213,3465,3426,804.2,-8.6,343,9024,0.75,0.10,115.65,1.794,10244,0.174,0.177,2820,2272,3050,3088,3012,0,0,0,0,0,0,13.62,13.88,13.03
$STATE,9025,end apogee,CONTROL_FINISHED_OK
$STATE,9025,begin climb
$GC,9029,0.93,107.1,2822,2272,3082,3003,807.3,0.0,345,9150,1.15,0.00,116.50,1.766,11270,0.088,0.000,3198,2272,2623,2682,2565,0,0,0,0,0,0,13.95,14.26,12.98
$GC,9511,0.77,107.1,3198,2273,2672,2535,777.2,8.5,374,9517,0.15,2.50,0.00,0.000,4740,0.236,0.054,3162,881,2604,2672,2536,0,0,0,0,0,0,13.91,14.19,14.09
$GC,9545,0.67,108.7,3163,883,2673,2536,774.5,7.6,379,9551,0.15,2.42,0.00,0.000,5286,0.221,0.058,3121,2251,2603,2672,2535,0,0,0,0,0,0,13.96,14.22,14.25
$GC,9903,0.70,130.0,3122,2250,2673,2534,750.6,6.7,388,9935,0.00,2.72,23.90,1.812,8484,0.000,0.116,3121,3647,2525,2598,2453,0,0,0,0,0,0,14.78,14.20,13.25
$GC,10021,0.70,130.0,3122,3647,2584,2447,741.5,8.3,405,10026,0.00,2.38,0.00,0.000,1030,0.000,0.045,3130,2274,2517,2590,2445,0,0,0,0,0,0,14.44,14.36,14.47
$GC,10351,0.71,135.8,3130,2274,2591,2440,716.7,7.4,417,10352,0.00,0.00,0.00,0.000,38,0.000,0.000,3130,2272,2515,2590,2440,0,0,0,0,0,0,14.73,14.73,14.73
$GC,10687,0.73,153.2,3131,2273,2592,2439,693.2,6.9,423,10719,0.00,2.70,25.30,1.795,8484,0.000,0.119,3130,3642,2432,2507,2357,0,0,0,0,0,0,14.76,14.19,13.31
$GC,10799,0.73,153.2,3130,3642,2506,2349,684.4,8.3,439,10805,0.00,2.40,0.00,0.000,1030,0.000,0.046,3141,2254,2426,2505,2348,0,0,0,0,0,0,14.46,14.39,14.47
$GC,11135,0.75,169.9,3141,2252,2506,2344,660.7,6.9,452,11160,0.00,2.75,17.52,1.829,8484,0.000,0.119,3141,3647,2365,2445,2286,0,0,0,0,0,0,14.76,14.21,13.31
$GC,11183,0.77,190.7,3142,3647,2443,2282,657.3,6.7,459,11211,0.00,2.42,23.38,1.766,9254,0.000,0.046,3154,2251,2290,2373,2207,0,0,0,0,0,0,14.46,14.42,13.26
$GC,11527,0.77,190.7,3158,2252,2363,2182,630.5,7.9,473,11532,0.00,2.72,0.00,0.000,260,0.000,0.119,3151,3648,2272,2362,2182,0,0,0,0,0,0,14.69,14.05,14.70
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$STATE,19300,end climb,SURFACE_DEPTH_REACHED
$STATE,19304,begin surface coast
$FINISH,-1.2,1.022226
$STATE,19329,end surface coast,CONTROL_FINISHED_OK
$STATE,19329,begin surface
$SM_CCo,19354,30.12,0.154,0,0,1057,500.14
$SM_GC,-2.79,9.25,0.98,30.12,0.057,0.103,0.154,191,2759,1057,-8.39,-0.85,500.14,0,0,0,0,0,0,14.27,14.02,14.07
$IRIDIUM_FIX,1007.02,-12452.52,080217,003701
$TT8_MAMPS,0.038948,0.260652
$HUMID,59.64
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,20.00
$XPDR_PINGS,2
$SC_FREEKB,3656672
$PM_FREEKB,52287680
$24V_AH,12.65,225.943
$10V_AH,12.40,0.000
$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,25.150,177.450,489.625,30.125,0.000,0.000,0.000,399.350,0.500,0.000,4.683,0.000,16386.490,758.114,2355.439,650.494,0.000,1892.889,0.000,1447.660,0.000,0.839,0.000
$DEVICE_MAMPS,378.675,188.190,1855.890,153.765,0.000,0.000,0.000,175.185,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19394.000,19342.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.591,2.436,0.000,0.000
$MEM,334716
$DATA_FILE_SIZE,30100,807
$CAP_FILE_SIZE,146441,0
$CFSIZE,1024409600,909099008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.064,277.50,1
$GPS,080217,115100,1014.087,-12456.686,19,1.0,19,9.0,1.2,251.7,8,3.7