version: 66.13
glider: 220
mission: 6
dive: 726
start: 2 24 117 5 57 35
data:
$ID,220
$MISSION,6
$DIVE,726
$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,44
$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
$GPS1,240217,054400,957.5411,-12514.1719,34,0.9,34,9.0,0.7,321.2,9,3.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.36
$_SM_ANGLEo,-70.7
$GPS2,240217,055713,957.5560,-12514.2559,2,0.9,4,9.0,0.6,250.5,9,3.5
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,137.7,40345,-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,-107.1,118,2785,1110,1016,0.0,0.0,0,103,0.00,0.00,-82.10,0.000,16390,0.000,0.000,116,2785,3477,3466,3488,0,0,0,0,0,0,14.54,12.66,14.47
$GC,107,-0.93,-107.1,116,2786,3468,3487,2.8,-9.0,3,124,11.93,2.50,0.00,0.000,2564,0.373,0.034,2590,1352,3479,3470,3488,0,0,0,0,0,0,13.81,14.31,14.21
$GC,188,-0.71,-107.1,2590,1352,3472,3488,30.1,-20.0,15,193,0.32,2.80,0.00,0.000,3206,0.236,0.114,2666,2772,3477,3471,3484,0,0,0,0,0,0,13.81,13.91,14.10
$GC,524,-0.71,-107.1,2667,2773,3474,3487,72.4,-8.2,30,529,0.00,2.17,0.00,0.000,260,0.000,0.168,2659,3827,3480,3474,3486,0,0,0,0,0,0,14.66,13.83,14.66
$GC,724,-0.71,-107.1,2657,3826,3476,3488,91.1,-8.5,58,729,0.00,1.85,0.00,0.000,1030,0.000,0.060,2658,2757,3482,3479,3486,0,0,0,0,0,0,14.28,14.21,14.29
$GC,1059,-0.71,-107.1,2658,2758,3477,3486,116.5,-7.1,69,1065,0.00,2.47,0.00,0.000,548,0.000,0.040,2658,1366,3481,3476,3487,0,0,0,0,0,0,14.75,13.92,14.75
$GC,1171,-0.71,-107.1,2659,1366,3477,3488,125.8,-8.1,85,1176,0.00,2.75,0.00,0.000,1030,0.000,0.102,2649,2776,3481,3476,3486,0,0,0,0,0,0,14.11,13.83,14.16
$GC,1507,-0.71,-107.1,2650,2775,3476,3485,154.3,-8.3,98,1511,0.00,2.17,0.00,0.000,260,0.000,0.164,2641,3828,3479,3476,3483,0,0,0,0,0,0,14.76,13.81,14.76
$GC,1583,-0.71,-107.1,2641,3829,3477,3483,160.6,-8.1,109,1589,0.10,1.85,0.00,0.000,3078,0.213,0.060,2670,2773,3479,3476,3482,0,0,0,0,0,0,13.81,14.16,14.01
$GC,1899,-0.71,-107.1,2670,2771,3477,3479,182.2,-6.9,119,1904,0.00,2.53,0.00,0.000,548,0.000,0.042,2670,1362,3477,3476,3478,0,0,0,0,0,0,14.75,13.94,14.76
$GC,2003,-0.80,-107.1,2671,1363,3477,3477,189.6,-7.1,134,2009,0.00,2.80,0.00,0.000,1190,0.000,0.106,2661,2775,3476,3476,3477,0,0,0,0,0,0,14.14,13.85,14.19
$GC,2347,-0.80,-107.1,2660,2773,3477,3473,214.9,-7.5,141,2348,0.00,0.00,0.00,0.000,38,0.000,0.000,2660,2775,3473,3476,3471,0,0,0,0,0,0,14.70,14.71,14.70
$GC,2683,-0.80,-107.1,2656,2776,3477,3468,241.4,-8.0,147,2688,0.00,2.55,0.00,0.000,516,0.000,0.044,2660,1369,3472,3476,3468,0,0,0,0,0,0,14.69,13.90,14.69
$GC,2717,-0.80,-107.1,2660,1370,3477,3468,244.4,-8.8,152,2722,0.00,2.78,0.00,0.000,1030,0.000,0.106,2651,2766,3471,3475,3467,0,0,0,0,0,0,14.13,13.85,14.18
$GC,3075,-0.80,-107.1,2652,2766,3476,3463,274.7,-8.4,161,3080,0.00,2.55,0.00,0.000,516,0.000,0.043,2652,1363,3469,3476,3462,0,0,0,0,0,0,14.70,13.90,14.70
$GC,3102,-0.80,-107.1,2652,1366,3476,3463,277.1,-8.6,165,3108,0.00,2.78,0.00,0.000,1030,0.000,0.107,2644,2765,3468,3475,3462,0,0,0,0,0,0,14.14,13.85,14.19
$GC,3467,-0.80,-107.1,2644,2765,3476,3460,307.6,-8.3,175,3471,0.00,2.20,0.00,0.000,260,0.000,0.166,2636,3825,3466,3475,3458,0,0,0,0,0,0,14.69,13.83,14.69
$GC,3508,-0.80,-107.1,2636,3826,3477,3457,311.5,-8.9,181,3513,0.00,1.92,0.00,0.000,1030,0.000,0.060,2635,2764,3471,3476,3466,0,0,0,0,0,0,14.07,14.04,14.15
$GC,3859,-0.80,-107.1,2636,2764,3476,3455,341.7,-8.5,189,3864,0.00,2.53,0.00,0.000,516,0.000,0.042,2635,1360,3464,3476,3453,0,0,0,0,0,0,14.69,13.89,14.69
$GC,3907,-0.80,-107.1,2636,1355,3476,3454,345.8,-8.3,196,3913,0.00,2.80,0.00,0.000,1030,0.000,0.103,2626,2762,3463,3475,3452,0,0,0,0,0,0,14.12,13.86,14.17
$GC,4251,-0.80,-107.1,2626,2763,3477,3449,376.9,-9.2,203,4256,0.00,2.17,0.00,0.000,260,0.000,0.169,2618,3825,3463,3476,3450,0,0,0,0,0,0,14.75,13.90,14.74
$GC,4285,-0.80,-107.1,2618,3824,3476,3451,380.2,-9.8,208,4290,0.00,1.88,0.00,0.000,1030,0.000,0.061,2617,2761,3465,3482,3449,0,0,0,0,0,0,14.22,14.16,14.24
$GC,4643,-0.80,-107.1,2616,2762,3474,3447,412.5,-8.9,217,4648,0.00,2.53,0.00,0.000,516,0.000,0.043,2617,1363,3460,3475,3445,0,0,0,0,0,0,14.73,13.86,14.73
$GC,4691,-0.80,-107.1,2617,1365,3476,3445,416.1,-7.5,224,4697,0.10,2.80,0.00,0.000,3110,0.242,0.104,2636,2766,3460,3476,3445,0,0,0,0,0,0,13.82,13.84,14.11
$GC,5035,-0.80,-107.1,2636,2766,3476,3444,445.6,-8.0,231,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2766,3458,3475,3442,0,0,0,0,0,0,14.72,14.74,14.73
$GC,5371,-0.80,-107.1,2637,2765,3476,3440,474.2,-8.6,237,5376,0.00,2.20,0.00,0.000,260,0.000,0.168,2628,3824,3457,3475,3439,0,0,0,0,0,0,14.74,13.82,14.74
$GC,5427,-0.80,-107.1,2628,3824,3476,3440,479.5,-9.5,245,5432,0.00,1.90,0.00,0.000,1030,0.000,0.061,2627,2757,3457,3475,3439,0,0,0,0,0,0,14.19,14.13,14.20
$GC,5763,-0.80,-107.1,2627,2758,3476,3436,511.0,-9.5,258,5767,0.00,2.53,0.00,0.000,516,0.000,0.044,2627,1369,3456,3475,3437,0,0,0,0,0,0,14.67,13.81,14.67
$GC,5797,-0.80,-107.1,2628,1370,3476,3438,514.3,-9.1,263,5802,0.00,2.78,0.00,0.000,1030,0.000,0.105,2619,2759,3455,3475,3436,0,0,0,0,0,0,14.12,13.83,14.19
$GC,6155,-0.80,-107.1,2619,2759,3476,3434,547.0,-9.0,272,6160,0.00,2.22,0.00,0.000,260,0.000,0.163,2611,3834,3454,3475,3433,0,0,0,0,0,0,14.67,13.83,14.67
$GC,6217,-0.80,-107.1,2611,3834,3474,3434,552.8,-9.2,281,6223,0.10,1.90,0.00,0.000,3078,0.229,0.060,2638,2763,3454,3475,3433,0,0,0,0,0,0,13.69,14.08,13.93
$GC,6547,-0.80,-107.1,2639,2761,3475,3433,577.8,-7.5,293,6552,0.00,2.55,0.00,0.000,548,0.000,0.045,2638,1369,3453,3475,3431,0,0,0,0,0,0,14.73,13.81,14.73
$GC,6603,-0.80,-107.1,2638,1371,3475,3431,582.2,-7.9,301,6609,0.00,2.83,0.00,0.000,1030,0.000,0.109,2629,2775,3452,3474,3430,0,0,0,0,0,0,14.13,13.85,14.18
$GC,6939,-0.80,-107.1,2629,2776,3472,3431,607.9,-7.6,314,6944,0.00,2.60,0.00,0.000,548,0.000,0.044,2629,1365,3450,3471,3430,0,0,0,0,0,0,14.72,13.90,14.72
$GC,6980,-0.80,-107.1,2629,1365,3472,3431,611.2,-7.9,320,6985,0.00,2.78,0.00,0.000,1030,0.000,0.108,2620,2757,3450,3471,3430,0,0,0,0,0,0,14.13,13.85,14.18
$GC,7331,-0.80,-107.1,2620,2757,3471,3430,638.3,-7.8,328,7331,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2757,3448,3468,3429,0,0,0,0,0,0,14.66,14.66,14.66
$GC,7667,-0.80,-107.1,2620,2757,3471,3428,664.0,-7.7,334,7672,0.00,2.22,0.00,0.000,292,0.000,0.168,2611,3828,3448,3470,3427,0,0,0,0,0,0,14.65,13.81,14.65
$GC,7701,-0.80,-107.1,2612,3829,3471,3427,666.9,-8.8,339,7706,0.10,1.90,0.00,0.000,3078,0.227,0.060,2639,2752,3448,3470,3426,0,0,0,0,0,0,13.69,14.10,13.93
$GC,8059,-0.80,-107.1,2639,2753,3469,3427,692.4,-7.1,348,8064,0.00,2.55,0.00,0.000,548,0.000,0.045,2637,1365,3448,3468,3428,0,0,0,0,0,0,14.64,13.85,14.64
$GC,8100,-0.88,-107.1,2640,1365,3469,3427,695.6,-7.9,354,8105,0.00,2.80,0.00,0.000,1158,0.000,0.108,2630,2765,3447,3468,3426,0,0,0,0,0,0,14.09,13.83,14.16
$GC,8451,-0.88,-107.1,2630,2766,3469,3424,723.6,-8.1,362,8451,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2765,3446,3468,3424,0,0,0,0,0,0,14.63,14.63,14.63
$GC,8787,-0.88,-107.1,2630,2763,3467,3423,750.6,-8.1,368,8791,0.00,2.60,0.00,0.000,516,0.000,0.045,2629,1366,3444,3465,3424,0,0,0,0,0,0,14.70,13.79,14.70
$GC,8828,-0.88,-107.1,2629,1368,3467,3423,754.0,-8.1,374,8833,0.00,2.80,0.00,0.000,1030,0.000,0.109,2620,2754,3446,3465,3427,0,0,0,0,0,0,14.16,13.88,14.21
$GC,9179,-0.88,-107.1,2620,2754,3466,3423,782.5,-8.2,382,9180,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2754,3442,3464,3421,0,0,0,0,0,0,14.63,14.64,14.64
$STATE,9398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9398,begin apogee
$GC,9409,-0.23,0.0,2620,2232,3465,3421,801.4,-8.4,386,9514,0.73,0.08,94.80,2.709,10244,0.174,0.234,2821,2251,3054,3090,3019,0,0,0,0,1,0,13.74,13.66,12.64
$STATE,9515,end apogee,CONTROL_FINISHED_OK
$STATE,9515,begin climb
$GC,9520,0.93,107.1,2822,2252,3093,3026,805.2,0.0,388,9658,1.12,2.60,127.22,1.779,10756,0.083,0.056,3182,867,2622,2683,2562,0,0,0,0,0,0,13.67,13.71,13.01
$GC,9736,0.84,140.1,3183,868,2676,2539,802.1,6.1,419,9776,0.00,2.62,35.78,1.796,9382,0.000,0.084,3182,2260,2492,2565,2419,0,0,0,0,0,0,14.13,13.93,13.13
$GC,10121,0.72,140.1,3182,2260,2557,2395,770.1,8.7,432,10122,0.17,0.00,0.00,0.000,4230,0.220,0.000,3134,2260,2475,2556,2395,0,0,0,0,0,0,13.99,14.29,14.23
$GC,10457,0.74,152.4,3135,2260,2557,2392,745.9,7.1,438,10468,0.00,2.80,5.10,1.771,8484,0.000,0.154,3133,3659,2447,2522,2372,0,0,0,0,0,0,14.71,14.06,13.28
$GC,10513,0.65,152.4,3138,3659,2524,2391,741.5,7.8,446,10519,0.12,2.42,2.12,0.388,13446,0.226,0.050,3109,2263,2442,2522,2362,0,0,0,0,0,0,14.03,14.28,12.92
$GC,10846,0.69,184.5,3109,2263,2523,2384,720.9,6.1,458,10897,0.00,0.00,46.12,1.741,8230,0.000,0.000,3109,2262,2307,2389,2226,0,0,0,0,0,0,14.66,14.01,13.31
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$STATE,19597,end climb,SURFACE_DEPTH_REACHED
$STATE,19597,begin surface coast
$FINISH,-0.7,1.022271
$STATE,19625,end surface coast,CONTROL_FINISHED_OK
$STATE,19625,begin surface
$SM_CCo,19656,49.20,0.148,0,0,1058,500.14
$SM_GC,-2.31,9.32,1.02,49.20,0.071,0.124,0.148,164,2773,1058,-8.40,-0.34,500.14,0,0,0,0,0,0,14.42,13.83,14.07
$IRIDIUM_FIX,951.69,-12514.95,240217,002216
$TT8_MAMPS,0.038199,0.405209
$HUMID,55.43
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.10
$XPDR_PINGS,2
$SC_FREEKB,3630944
$PM_FREEKB,51526208
$24V_AH,12.64,247.283
$10V_AH,12.13,0.000
$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
$DEVICE_SECS,24.925,194.775,463.675,49.200,0.000,0.000,0.000,383.375,0.500,0.000,6.404,0.000,16622.477,768.154,2370.379,714.732,0.000,1890.340,0.000,1468.356,0.000,0.840,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.614,2.445,0.000,0.000
$MEM,334732
$DATA_FILE_SIZE,30050,818
$CAP_FILE_SIZE,148228,0
$CFSIZE,1024409600,899203072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.047,302.90,1
$GPS,240217,112711,956.475,-12513.608,30,2.0,33,9.0,0.7,95.0,6,9.7