version: 66.13
glider: 220
mission: 6
dive: 718
start: 2 22 117 7 41 3
data:
$ID,220
$MISSION,6
$DIVE,718
$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,58
$R_STBD_OVSHOOT,15
$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
$GPS1,220217,072655,1005.4469,-12513.5059,17,0.7,34,9.0,0.7,33.0,11,2.2
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.61
$_SM_ANGLEo,-66.7
$GPS2,220217,074037,1005.4662,-12513.5625,2,0.7,3,9.0,0.9,264.7,12,8.7
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,197.3,14677,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.93,-107.1,108,2782,1109,1022,0.0,0.0,0,102,0.00,0.00,-81.38,0.000,16390,0.000,0.000,106,2783,3478,3470,3486,0,0,0,0,0,0,14.55,12.65,14.48
$GC,107,-0.93,-107.1,107,2784,3471,3486,3.5,-8.8,3,123,12.02,2.47,0.00,0.000,2564,0.376,0.034,2589,1362,3479,3473,3486,0,0,0,0,0,0,13.78,14.31,14.20
$GC,235,-0.72,-107.1,2590,1362,3474,3486,39.8,-22.0,22,242,0.32,2.80,0.00,0.000,3206,0.251,0.118,2664,2770,3479,3473,3486,0,0,0,0,0,0,13.76,13.89,14.08
$GC,551,-0.72,-107.1,2664,2771,3477,3486,74.6,-6.9,34,556,0.00,2.47,0.00,0.000,548,0.000,0.043,2664,1380,3480,3474,3486,0,0,0,0,0,0,14.69,14.08,14.69
$GC,691,-0.72,-107.1,2663,1380,3478,3487,85.2,-7.0,54,696,0.00,2.80,0.00,0.000,1062,0.000,0.114,2654,2790,3481,3477,3486,0,0,0,0,0,0,14.11,13.81,14.16
$GC,1055,-0.72,-107.1,2654,2791,3479,3486,114.0,-7.7,67,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2790,3482,3478,3487,0,0,0,0,0,0,14.76,14.77,14.77
$GC,1391,-0.72,-107.1,2653,2791,3478,3484,142.9,-8.9,73,1397,0.00,2.55,0.00,0.000,516,0.000,0.044,2654,1368,3481,3478,3484,0,0,0,0,0,0,14.78,14.00,14.78
$GC,1474,-0.72,-107.1,2654,1368,3478,3484,150.3,-8.4,85,1480,0.00,2.83,0.00,0.000,1030,0.000,0.114,2644,2785,3480,3478,3482,0,0,0,0,0,0,14.14,13.85,14.19
$GC,1839,-0.72,-107.1,2644,2785,3486,3479,182.3,-9.0,95,1844,0.00,2.55,0.00,0.000,516,0.000,0.045,2644,1383,3477,3477,3477,0,0,0,0,0,0,14.73,13.98,14.73
$GC,1887,-0.72,-107.1,2644,1379,3479,3477,186.7,-8.7,102,1894,0.10,2.83,0.00,0.000,3078,0.231,0.112,2663,2780,3477,3477,3477,0,0,0,0,0,0,13.85,13.85,14.09
$GC,2231,-0.72,-107.1,2664,2780,3478,3473,212.3,-7.1,109,2237,0.00,2.20,0.00,0.000,292,0.000,0.174,2655,3830,3474,3477,3471,0,0,0,0,0,0,14.78,13.80,14.78
$GC,2287,-0.72,-107.1,2656,3831,3478,3470,216.3,-7.2,117,2293,0.00,1.85,0.00,0.000,1062,0.000,0.064,2655,2790,3473,3477,3470,0,0,0,0,0,0,14.21,14.14,14.23
$GC,2623,-0.72,-107.1,2655,2791,3478,3466,239.2,-6.9,130,2628,0.00,2.58,0.00,0.000,548,0.000,0.044,2655,1355,3472,3477,3467,0,0,0,0,0,0,14.76,13.93,14.77
$GC,2692,-0.72,-107.1,2655,1356,3479,3466,244.5,-7.1,140,2697,0.00,2.83,0.00,0.000,1062,0.000,0.105,2645,2780,3471,3477,3466,0,0,0,0,0,0,14.07,13.79,14.12
$GC,3015,-0.72,-107.1,2646,2780,3478,3463,273.2,-9.2,151,3020,0.00,2.20,0.00,0.000,260,0.000,0.173,2637,3834,3469,3477,3461,0,0,0,0,0,0,14.78,13.84,14.78
$GC,3077,-0.72,-107.1,2637,3834,3478,3462,279.7,-10.2,160,3082,0.10,1.90,0.00,0.000,3078,0.214,0.064,2666,2764,3469,3477,3461,0,0,0,0,0,0,13.76,14.11,13.97
$GC,3407,-0.80,-107.1,2665,2768,3477,3457,306.8,-8.0,172,3412,0.00,2.50,0.00,0.000,644,0.000,0.042,2666,1371,3466,3477,3456,0,0,0,0,0,0,14.76,13.92,14.76
$GC,3505,-0.89,-107.1,2665,1372,3477,3457,314.1,-7.1,186,3510,0.08,2.80,0.00,0.000,5286,0.140,0.103,2588,2789,3466,3477,3455,0,0,0,0,0,0,14.06,13.81,14.17
$GC,3855,-0.89,-107.1,2588,2784,3478,3450,349.7,-10.4,194,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2783,3464,3477,3451,0,0,0,0,0,0,14.71,14.72,14.71
$GC,4191,-0.89,-107.1,2588,2783,3478,3448,386.1,-10.9,200,4196,0.00,2.17,0.00,0.000,260,0.000,0.164,2581,3824,3462,3476,3448,0,0,0,0,0,0,14.71,13.74,14.71
$GC,4239,-0.81,-107.1,2581,3824,3477,3449,391.8,-11.4,207,4246,0.20,1.90,0.00,0.000,3206,0.212,0.063,2632,2776,3462,3477,3448,0,0,0,0,0,0,13.60,14.07,13.89
$GC,4583,-0.81,-107.1,2634,2774,3477,3452,421.8,-8.6,214,4588,0.00,2.55,0.00,0.000,516,0.000,0.043,2634,1360,3460,3477,3444,0,0,0,0,0,0,14.71,13.88,14.71
$GC,4610,-0.81,-107.1,2635,1360,3477,3445,424.3,-8.9,218,4615,0.00,2.80,0.00,0.000,1030,0.000,0.101,2625,2774,3460,3477,3444,0,0,0,0,0,0,14.10,13.81,14.15
$GC,4975,-0.81,-107.1,2625,2776,3478,3440,456.3,-8.8,228,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2776,3458,3477,3440,0,0,0,0,0,0,14.69,14.70,14.70
$GC,5311,-0.81,-107.1,2625,2776,3478,3437,483.3,-7.9,234,5316,0.00,2.60,0.00,0.000,516,0.000,0.044,2624,1357,3457,3477,3437,0,0,0,0,0,0,14.70,13.85,14.71
$GC,5352,-0.81,-107.1,2624,1358,3477,3437,486.6,-7.4,240,5357,0.00,2.85,0.00,0.000,1062,0.000,0.104,2614,2789,3457,3477,3437,0,0,0,0,0,0,14.07,13.80,14.12
$GC,5703,-0.81,-107.1,2613,2790,3478,3435,516.8,-8.8,248,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2788,3455,3477,3434,0,0,0,0,0,0,14.76,14.76,14.76
$GC,6039,-0.81,-107.1,2614,2788,3477,3433,548.0,-9.4,254,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2788,3454,3477,3432,0,0,0,0,0,0,14.70,14.69,14.70
$GC,6375,-0.81,-107.1,2615,2789,3478,3429,579.0,-9.2,260,6380,0.00,2.62,0.00,0.000,516,0.000,0.044,2614,1362,3453,3477,3429,0,0,0,0,0,0,14.76,13.83,14.74
$GC,6437,-0.81,-107.1,2614,1363,3478,3423,584.9,-8.5,269,6443,0.10,2.83,0.00,0.000,3078,0.239,0.105,2630,2778,3452,3476,3428,0,0,0,0,0,0,13.80,13.83,14.05
$GC,6767,-0.81,-107.1,2632,2777,3474,3429,610.6,-7.7,281,6773,0.00,2.60,0.00,0.000,548,0.000,0.044,2632,1361,3450,3473,3428,0,0,0,0,0,0,14.67,13.86,14.72
$GC,6808,-0.81,-107.1,2631,1362,3469,3429,614.0,-7.7,287,6813,0.00,2.83,0.00,0.000,1062,0.000,0.104,2623,2777,3449,3470,3428,0,0,0,0,0,0,14.11,13.83,14.16
$GC,7159,-0.81,-107.1,2624,2776,3471,3429,643.1,-8.4,295,7164,0.00,2.20,0.00,0.000,260,0.000,0.171,2614,3828,3449,3470,3428,0,0,0,0,0,0,14.69,13.81,14.69
$GC,7200,-0.81,-107.1,2614,3830,3472,3428,647.2,-9.8,301,7206,0.00,1.92,0.00,0.000,1030,0.000,0.066,2613,2790,3448,3470,3427,0,0,0,0,0,0,14.01,13.97,14.04
$GC,7551,-0.81,-107.1,2614,2790,3475,3428,679.7,-9.3,309,7557,0.00,2.62,0.00,0.000,516,0.000,0.044,2613,1352,3448,3470,3427,0,0,0,0,0,0,14.68,13.85,14.68
$GC,7592,-0.81,-107.1,2613,1352,3470,3428,683.9,-9.7,315,7597,0.12,2.83,0.00,0.000,3078,0.230,0.105,2637,2775,3448,3470,3426,0,0,0,0,0,0,13.82,13.85,14.07
$GC,7943,-0.81,-107.1,2638,2775,3470,3426,712.2,-8.0,323,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2775,3447,3470,3424,0,0,0,0,0,0,14.73,14.73,14.73
$GC,8279,-0.81,-107.1,2638,2777,3468,3423,736.5,-7.0,329,8280,0.00,0.00,0.00,0.000,38,0.000,0.000,2637,2775,3446,3468,3424,0,0,0,0,0,0,14.73,14.73,14.73
$GC,8615,-0.81,-107.1,2637,2776,3467,3421,758.9,-6.6,335,8620,0.00,2.65,0.00,0.000,548,0.000,0.044,2638,1347,3444,3467,3421,0,0,0,0,0,0,14.66,13.83,14.66
$GC,8649,-0.81,-107.1,2636,1348,3467,3422,761.2,-7.0,340,8654,0.00,2.85,0.00,0.000,1062,0.000,0.103,2628,2771,3444,3467,3421,0,0,0,0,0,0,14.14,13.85,14.20
$GC,9007,-0.81,-107.1,2629,2772,3466,3421,784.1,-6.4,349,9008,0.00,0.00,0.00,0.000,38,0.000,0.000,2629,2771,3442,3464,3421,0,0,0,0,0,0,14.72,14.72,14.72
$STATE,9283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9283,begin apogee
$GC,9293,-0.23,0.0,2629,2218,3465,3420,803.4,-7.0,354,9398,0.70,0.10,95.32,2.668,10244,0.167,0.213,2825,2270,3055,3089,3021,0,0,0,0,1,0,13.71,13.70,12.64
$STATE,9400,end apogee,CONTROL_FINISHED_OK
$STATE,9400,begin climb
$GC,9404,0.93,107.1,2826,2270,3093,3028,805.8,0.0,356,9547,1.12,2.60,128.35,1.773,10756,0.089,0.052,3183,873,2614,2677,2552,0,0,0,0,0,0,13.71,13.75,13.07
$GC,9603,0.84,143.2,3183,873,2674,2537,802.2,5.9,385,9650,0.00,2.55,39.58,1.746,9382,0.000,0.073,3183,2245,2473,2546,2400,0,0,0,0,0,0,14.12,13.95,13.10
$GC,9961,0.72,143.2,3183,2246,2543,2378,771.3,8.9,401,9967,0.15,2.83,0.00,0.000,4484,0.230,0.146,3135,3658,2460,2542,2379,0,0,0,0,0,0,13.93,14.00,14.10
$GC,10009,0.63,143.2,3136,3659,2543,2380,767.1,8.6,408,10015,0.15,2.45,0.00,0.000,5254,0.230,0.054,3106,2259,2460,2542,2379,0,0,0,0,0,0,13.97,14.31,14.25
$GC,10353,0.67,172.4,3107,2258,2540,2376,745.2,6.3,415,10386,0.00,0.00,31.92,1.769,8230,0.000,0.000,3106,2259,2362,2445,2280,0,0,0,0,0,0,14.68,14.20,13.35
$GC,10689,0.68,178.0,3107,2258,2436,2257,721.0,7.4,421,10695,0.00,2.85,0.00,0.000,292,0.000,0.146,3105,3657,2345,2435,2255,0,0,0,0,0,0,14.64,13.93,14.64
$GC,10716,0.68,178.0,3105,3658,2437,2255,718.7,8.2,425,10722,0.00,2.45,0.00,0.000,1030,0.000,0.054,3115,2251,2345,2435,2255,0,0,0,0,0,0,14.39,14.32,14.41
$GC,11081,0.68,178.1,3115,2249,2436,2252,690.5,7.7,435,11086,0.00,2.88,0.00,0.000,292,0.000,0.147,3115,3656,2344,2435,2253,0,0,0,0,0,0,14.68,13.88,14.67
$GC,11108,0.68,178.1,3115,3658,2436,2252,688.2,8.1,439,11113,0.00,2.45,0.00,0.000,1030,0.000,0.053,3122,2256,2344,2436,2253,0,0,0,0,0,0,14.39,14.31,14.42
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$STATE,19919,end climb,SURFACE_DEPTH_REACHED
$STATE,19919,begin surface coast
$FINISH,-0.6,1.022281
$STATE,19947,end surface coast,CONTROL_FINISHED_OK
$STATE,19947,begin surface
$SM_CCo,19973,67.47,0.149,0,0,1057,500.14
$SM_GC,-1.57,9.30,1.08,67.47,0.070,0.119,0.149,160,2770,1057,-8.38,-0.37,500.14,0,0,0,0,0,0,14.38,13.79,14.09
$IRIDIUM_FIX,1002.64,-12510.11,220217,013543
$TT8_MAMPS,0.036701,0.25466
$HUMID,56.57
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.50
$XPDR_PINGS,3
$SC_FREEKB,3634016
$PM_FREEKB,51618880
$24V_AH,12.64,244.808
$10V_AH,12.11,0.000
$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,24.900,167.600,455.800,67.475,0.000,0.000,0.000,418.850,0.750,0.000,4.604,0.000,17116.793,747.985,2301.157,680.505,0.000,1845.062,0.000,1385.728,0.000,0.839,0.000
$DEVICE_MAMPS,375.615,212.670,2667.555,149.175,0.000,0.000,0.000,172.890,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20014.000,19960.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.567,2.443,0.000,0.000
$MEM,334744
$DATA_FILE_SIZE,26754,754
$CAP_FILE_SIZE,143022,0
$CFSIZE,1024409600,900399104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.102,262.69,1
$GPS,220217,131600,1003.641,-12515.324,19,0.9,19,9.0,0.4,31.1,10,3.3