version: 66.13
glider: 220
mission: 6
dive: 685
start: 2 14 117 9 14 45
data:
$ID,220
$MISSION,6
$DIVE,685
$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,60
$R_STBD_OVSHOOT,12
$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
$GPS1,140217,085530,943.4020,-12501.7002,21,0.8,21,9.0,0.7,240.3,11,3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.23
$_SM_ANGLEo,-65.1
$GPS2,140217,091423,943.4283,-12501.7402,2,0.7,2,9.0,0.6,124.7,12,7.8
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,133.6,5643,-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,-107.1,106,2775,1106,1019,0.0,0.0,0,102,0.00,0.00,-80.90,0.000,16390,0.000,0.000,105,2774,3478,3470,3487,0,0,0,0,0,0,14.63,12.69,14.57
$GC,106,-0.93,-107.1,106,2775,3471,3488,3.3,-9.6,3,123,11.98,2.42,0.00,0.000,2564,0.380,0.034,2591,1377,3479,3470,3488,0,0,0,0,0,0,13.92,14.40,14.31
$GC,159,-0.63,-107.1,2592,1378,3473,3486,25.3,-26.7,11,164,0.40,2.65,0.00,0.000,3206,0.231,0.103,2690,2766,3483,3472,3494,0,0,0,0,0,0,13.99,14.09,14.28
$GC,495,-0.63,-107.1,2690,2766,3474,3488,67.6,-8.9,26,500,0.00,2.45,0.00,0.000,516,0.000,0.043,2690,1381,3479,3472,3487,0,0,0,0,0,0,14.78,14.23,14.79
$GC,607,-0.63,-107.1,2690,1381,3474,3488,75.9,-6.8,42,612,0.00,2.70,0.00,0.000,1062,0.000,0.099,2679,2785,3480,3474,3487,0,0,0,0,0,0,14.15,13.86,14.20
$GC,943,-0.63,-107.1,2680,2788,3475,3489,99.7,-6.5,57,949,0.00,2.10,0.00,0.000,292,0.000,0.153,2671,3829,3481,3475,3487,0,0,0,0,0,0,14.78,13.76,14.78
$GC,1012,-0.63,-107.1,2672,3830,3476,3487,104.5,-7.0,67,1017,0.00,1.77,0.00,0.000,1062,0.000,0.054,2672,2781,3481,3475,3487,0,0,0,0,0,0,14.38,14.31,14.39
$GC,1335,-0.63,-107.1,2672,2781,3475,3487,126.5,-6.8,78,1340,0.00,2.45,0.00,0.000,548,0.000,0.042,2672,1380,3480,3475,3485,0,0,0,0,0,0,14.80,14.21,14.80
$GC,1499,-0.70,-107.1,2671,1381,3476,3483,138.6,-7.8,101,1506,0.00,2.75,0.00,0.000,1158,0.000,0.098,2662,2789,3478,3474,3483,0,0,0,0,0,0,14.10,13.79,14.16
$GC,1839,-0.70,-107.1,2662,2791,3476,3479,167.4,-8.5,108,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2789,3476,3474,3479,0,0,0,0,0,0,14.79,14.79,14.80
$GC,2175,-0.70,-107.1,2662,2790,3472,3473,195.4,-8.4,114,2180,0.00,2.53,0.00,0.000,516,0.000,0.044,2662,1371,3473,3474,3473,0,0,0,0,0,0,14.83,14.17,14.83
$GC,2223,-0.70,-107.1,2662,1371,3475,3473,199.6,-8.5,121,2230,0.00,2.75,0.00,0.000,1030,0.000,0.096,2654,2777,3473,3474,3472,0,0,0,0,0,0,14.08,13.77,14.14
$GC,2567,-0.70,-107.1,2654,2778,3475,3469,228.4,-8.3,128,2572,0.00,2.50,0.00,0.000,516,0.000,0.043,2653,1377,3471,3474,3468,0,0,0,0,0,0,14.78,14.04,14.78
$GC,2623,-0.70,-107.1,2654,1377,3475,3468,233.1,-8.3,136,2628,0.00,2.72,0.00,0.000,1030,0.000,0.096,2644,2773,3470,3474,3467,0,0,0,0,0,0,14.07,13.76,14.13
$GC,2959,-0.70,-107.1,2644,2775,3475,3461,262.2,-8.8,149,2965,0.00,2.50,0.00,0.000,516,0.000,0.044,2644,1374,3467,3473,3461,0,0,0,0,0,0,14.78,14.12,14.78
$GC,3000,-0.70,-107.1,2644,1375,3475,3461,266.1,-9.0,155,3006,0.12,2.72,0.00,0.000,3078,0.218,0.096,2671,2778,3467,3474,3461,0,0,0,0,0,0,13.76,13.76,14.01
$GC,3351,-0.79,-107.1,2670,2779,3473,3456,292.5,-7.3,163,3356,0.00,2.50,0.00,0.000,676,0.000,0.044,2671,1373,3465,3474,3456,0,0,0,0,0,0,14.83,14.13,14.83
$GC,3399,-0.89,-107.1,2677,1374,3475,3455,295.9,-6.8,170,3406,0.10,2.72,0.00,0.000,5286,0.112,0.098,2581,2772,3464,3474,3455,0,0,0,0,0,0,14.14,13.85,14.24
$GC,3743,-0.82,-107.1,2582,2775,3475,3451,329.9,-10.0,177,3749,0.15,2.50,0.00,0.000,2692,0.226,0.041,2627,1375,3462,3474,3451,0,0,0,0,0,0,13.77,14.02,13.93
$GC,3805,-0.82,-107.1,2627,1375,3475,3451,335.2,-7.9,186,3810,0.00,2.72,0.00,0.000,1030,0.000,0.095,2617,2770,3462,3474,3450,0,0,0,0,0,0,14.04,13.74,14.11
$GC,4136,-0.82,-107.1,2617,2771,3475,3446,362.8,-8.5,198,4140,0.00,2.17,0.00,0.000,260,0.000,0.151,2610,3839,3460,3474,3446,0,0,0,0,0,0,14.78,13.66,14.78
$GC,4177,-0.82,-107.1,2610,3836,3475,3446,366.7,-9.5,204,4181,0.00,1.85,0.00,0.000,1030,0.000,0.057,2608,2777,3459,3474,3445,0,0,0,0,0,0,14.32,14.24,14.33
$GC,4527,-0.82,-107.1,2608,2778,3474,3443,399.5,-9.5,212,4532,0.00,2.53,0.00,0.000,516,0.000,0.043,2608,1363,3458,3474,3442,0,0,0,0,0,0,14.81,13.96,14.82
$GC,4583,-0.82,-107.1,2609,1362,3474,3443,404.8,-9.3,220,4588,0.12,2.75,0.00,0.000,3078,0.232,0.093,2632,2769,3457,3474,3441,0,0,0,0,0,0,13.66,13.70,13.94
$GC,4919,-0.82,-107.1,2633,2769,3475,3439,434.1,-8.7,233,4920,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2769,3456,3474,3438,0,0,0,0,0,0,14.76,14.77,14.77
$GC,5255,-0.82,-107.1,2633,2769,3474,3437,464.6,-9.0,239,5260,0.00,2.55,0.00,0.000,516,0.000,0.044,2632,1364,3455,3474,3436,0,0,0,0,0,0,14.78,14.02,14.78
$GC,5289,-0.82,-107.1,2633,1363,3474,3437,467.8,-9.5,244,5294,0.00,2.72,0.00,0.000,1030,0.000,0.093,2622,2758,3454,3473,3435,0,0,0,0,0,0,14.02,13.68,14.07
$GC,5647,-0.82,-107.1,2623,2759,3476,3432,500.5,-9.1,253,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2758,3453,3474,3432,0,0,0,0,0,0,14.77,14.77,14.77
$GC,5983,-0.82,-107.1,2624,2758,3475,3430,530.3,-8.8,259,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2758,3451,3473,3429,0,0,0,0,0,0,14.76,14.77,14.77
$GC,6319,-0.82,-107.1,2623,2758,3473,3428,560.7,-9.1,265,6325,0.00,2.20,0.00,0.000,260,0.000,0.146,2614,3834,3446,3467,3426,0,0,0,0,0,0,14.75,13.61,14.76
$GC,6346,-0.82,-107.1,2615,3835,3473,3426,563.4,-9.7,269,6352,0.00,1.95,0.00,0.000,1030,0.000,0.057,2614,2765,3449,3472,3426,0,0,0,0,0,0,14.07,14.07,14.11
$GC,6711,-0.82,-107.1,2615,2766,3472,3427,596.9,-9.1,279,6716,0.00,2.53,0.00,0.000,516,0.000,0.044,2613,1358,3448,3471,3426,0,0,0,0,0,0,14.81,13.98,14.80
$GC,6780,-0.82,-107.1,2614,1358,3471,3427,603.1,-8.6,289,6787,0.10,2.78,0.00,0.000,3078,0.246,0.092,2631,2766,3448,3470,3426,0,0,0,0,0,0,13.65,13.68,13.92
$GC,7103,-0.82,-107.1,2631,2766,3469,3426,627.8,-7.6,300,7104,0.00,0.00,0.00,0.000,38,0.000,0.000,2631,2766,3447,3468,3426,0,0,0,0,0,0,14.75,14.75,14.75
$GC,7439,-0.82,-107.1,2632,2765,3467,3426,652.7,-7.4,306,7440,0.00,0.00,0.00,0.000,38,0.000,0.000,2631,2765,3445,3466,3425,0,0,0,0,0,0,14.75,14.75,14.75
$GC,7776,-0.82,-107.1,2631,2767,3467,3422,677.0,-7.2,312,7780,0.00,2.58,0.00,0.000,548,0.000,0.045,2631,1361,3444,3466,3422,0,0,0,0,0,0,14.75,13.92,14.75
$GC,7858,-0.82,-107.1,2632,1361,3467,3420,683.1,-7.2,324,7863,0.00,2.75,0.00,0.000,1062,0.000,0.092,2622,2761,3443,3465,3421,0,0,0,0,0,0,14.09,13.80,14.15
$GC,8223,-0.82,-107.1,2622,2763,3465,3421,710.1,-7.4,334,8228,0.00,2.58,0.00,0.000,548,0.000,0.044,2620,1353,3442,3464,3421,0,0,0,0,0,0,14.77,13.93,14.74
$GC,8257,-0.82,-107.1,2621,1351,3464,3422,712.7,-7.6,339,8263,0.00,2.80,0.00,0.000,1062,0.000,0.093,2612,2765,3442,3463,3421,0,0,0,0,0,0,14.06,13.75,14.12
$GC,8615,-0.82,-107.1,2613,2769,3464,3420,740.2,-7.7,348,8616,0.00,0.00,0.00,0.000,38,0.000,0.000,2612,2766,3441,3464,3419,0,0,0,0,0,0,14.78,14.78,14.78
$GC,8952,-0.82,-107.1,2612,2766,3463,3418,767.2,-8.1,354,8956,0.00,2.55,0.00,0.000,516,0.000,0.045,2611,1355,3440,3461,3419,0,0,0,0,0,0,14.78,13.85,14.78
$GC,8992,-0.82,-107.1,2615,1355,3462,3420,770.8,-8.5,360,8998,0.12,2.78,0.00,0.000,3078,0.226,0.093,2636,2754,3440,3461,3419,0,0,0,0,0,0,13.69,13.71,13.96
$GC,9343,-0.82,-107.1,2636,2754,3461,3417,797.6,-7.8,368,9344,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2753,3438,3461,3416,0,0,0,0,0,0,14.73,14.73,14.73
$STATE,9395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9395,begin apogee
$GC,9405,-0.23,0.0,2637,2221,3462,3416,802.1,-7.9,369,9511,0.65,0.10,94.60,2.664,10244,0.172,0.198,2819,2272,3054,3091,3017,0,0,0,0,1,0,13.63,13.74,12.66
$STATE,9512,end apogee,CONTROL_FINISHED_OK
$STATE,9512,begin climb
$GC,9516,0.93,107.1,2820,2273,3092,3024,805.9,0.0,371,9653,1.15,2.58,126.20,1.796,10756,0.090,0.053,3185,879,2625,2686,2565,0,0,0,0,0,0,13.80,13.87,13.01
$GC,9709,0.85,154.6,3186,879,2678,2544,804.9,5.3,399,9770,0.00,2.50,53.05,1.779,9382,0.000,0.067,3185,2246,2427,2503,2351,0,0,0,0,0,0,14.17,14.06,13.05
$GC,10133,0.73,154.6,3185,2247,2500,2330,769.9,8.7,417,10139,0.15,2.78,0.00,0.000,4484,0.243,0.135,3139,3653,2415,2500,2331,0,0,0,0,0,0,13.93,14.01,14.10
$GC,10223,0.64,154.6,3140,3654,2501,2330,762.1,8.5,430,10229,0.15,2.42,0.00,0.000,5254,0.236,0.049,3110,2260,2414,2500,2329,0,0,0,0,0,0,13.96,14.35,14.26
$GC,10581,0.67,174.1,3112,2255,2500,2327,738.1,6.8,439,10602,0.00,0.00,19.52,1.828,8230,0.000,0.000,3110,2256,2356,2442,2271,0,0,0,0,0,0,14.72,14.27,13.36
$GC,10917,0.67,176.9,3110,2256,2433,2250,712.9,7.6,445,10923,0.00,2.83,0.00,0.000,292,0.000,0.135,3108,3658,2340,2432,2249,0,0,0,0,0,0,14.70,14.00,14.69
$GC,10965,0.67,176.9,3109,3660,2429,2249,708.7,8.8,452,10971,0.00,2.47,0.00,0.000,1030,0.000,0.049,3120,2248,2340,2432,2249,0,0,0,0,0,0,14.40,14.35,14.45
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$GC,18141,0.74,236.4,3148,2259,2191,1997,128.2,8.0,707,18146,0.00,2.85,0.00,0.000,260,0.000,0.139,3148,3660,2091,2190,1992,0,0,0,0,0,0,14.70,13.90,14.71
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$STATE,19957,end climb,SURFACE_DEPTH_REACHED
$STATE,19957,begin surface coast
$FINISH,-0.6,1.022217
$STATE,19989,end surface coast,CONTROL_FINISHED_OK
$STATE,19989,begin surface
$SM_CCo,20015,57.47,0.149,0,0,1057,500.64
$SM_GC,-2.32,9.10,1.05,57.47,0.065,0.119,0.149,169,2769,1057,-8.39,-0.37,500.64,0,0,0,0,0,0,14.42,13.83,14.13
$IRIDIUM_FIX,938.56,-12504.54,140217,090202
$TT8_MAMPS,0.038948,0.343791
$HUMID,57.91
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,21.10
$XPDR_PINGS,3
$SC_FREEKB,3646688
$PM_FREEKB,51994560
$24V_AH,12.66,234.263
$10V_AH,12.23,0.000
$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
$DEVICE_SECS,24.875,181.725,444.425,57.475,0.000,0.000,0.000,679.850,0.750,0.000,4.092,0.000,17112.453,749.992,2628.492,693.007,0.000,2149.677,0.000,1458.876,0.000,1.133,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.615,2.441,0.000,0.000
$MEM,334748
$DATA_FILE_SIZE,30030,804
$CAP_FILE_SIZE,149443,0
$CFSIZE,1024409600,905248768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.031,164.57,1
$GPS,140217,145030,941.933,-12500.334,35,0.8,35,9.0,0.8,24.3,11,3.5