version: 66.13
glider: 220
mission: 6
dive: 740
start: 2 27 117 14 51 20
data:
$ID,220
$MISSION,6
$DIVE,740
$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,47
$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
$GPS1,270217,143700,943.7383,-12501.4121,21,0.8,21,9.0,0.5,245.6,10,3.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.84
$_SM_ANGLEo,-69.3
$GPS2,270217,145054,943.7874,-12501.3877,2,0.7,4,9.0,0.3,87.4,11,3.4
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,152.2,5900,-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,-107.1,135,2779,1104,1019,0.0,0.0,0,103,0.00,0.00,-80.95,0.000,16390,0.000,0.000,130,2780,3479,3469,3489,0,0,0,0,0,0,14.51,12.64,14.43
$GC,107,-0.93,-107.1,131,2781,3471,3488,4.0,-9.9,3,124,11.93,2.50,0.00,0.000,2564,0.378,0.035,2590,1356,3479,3471,3488,0,0,0,0,0,0,13.83,14.29,14.22
$GC,229,-0.72,-107.1,2590,1355,3473,3489,41.3,-20.6,21,235,0.32,2.83,0.00,0.000,3206,0.238,0.119,2666,2772,3481,3470,3492,0,0,0,0,0,0,13.79,13.88,14.09
$GC,552,-0.72,-107.1,2665,2773,3476,3489,82.6,-6.8,34,557,0.00,2.20,0.00,0.000,292,0.000,0.177,2658,3828,3480,3474,3487,0,0,0,0,0,0,14.65,13.83,14.65
$GC,720,-0.72,-107.1,2658,3827,3477,3489,94.8,-8.1,58,725,0.00,1.88,0.00,0.000,1030,0.000,0.060,2658,2755,3481,3476,3487,0,0,0,0,0,0,14.26,14.19,14.27
$GC,1084,-0.72,-107.1,2658,2754,3478,3489,123.5,-7.6,69,1085,0.00,0.00,0.00,0.000,38,0.000,0.000,2658,2755,3482,3477,3487,0,0,0,0,0,0,14.69,14.68,14.69
$GC,1420,-0.72,-107.1,2658,2756,3478,3486,150.1,-8.0,75,1425,0.00,2.47,0.00,0.000,516,0.000,0.042,2658,1367,3481,3477,3486,0,0,0,0,0,0,14.69,13.95,14.69
$GC,1476,-0.72,-107.1,2658,1368,3474,3485,154.7,-8.0,83,1481,0.00,2.78,0.00,0.000,1030,0.000,0.108,2649,2771,3485,3477,3493,0,0,0,0,0,0,14.15,13.87,14.20
$GC,1812,-0.72,-107.1,2649,2771,3478,3482,182.5,-8.3,96,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2771,3479,3477,3481,0,0,0,0,0,0,14.69,14.69,14.69
$GC,2148,-0.72,-107.1,2649,2771,3477,3477,209.5,-8.1,102,2153,0.00,2.58,0.00,0.000,516,0.000,0.042,2648,1358,3476,3477,3476,0,0,0,0,0,0,14.73,13.89,14.73
$GC,2231,-0.72,-107.1,2648,1358,3478,3475,216.5,-8.4,114,2237,0.10,2.80,0.00,0.000,3078,0.223,0.110,2668,2768,3475,3476,3474,0,0,0,0,0,0,13.90,13.89,14.13
$GC,2597,-0.79,-107.1,2668,2768,3478,3468,245.7,-8.1,124,2601,0.00,2.55,0.00,0.000,644,0.000,0.044,2672,1367,3472,3476,3468,0,0,0,0,0,0,14.67,13.92,14.68
$GC,2672,-0.89,-107.1,2667,1368,3477,3468,252.0,-8.1,135,2677,0.08,2.80,0.00,0.000,5254,0.138,0.115,2596,2765,3472,3477,3467,0,0,0,0,0,0,14.13,13.88,14.23
$GC,2988,-0.89,-107.1,2595,2764,3476,3464,284.2,-10.3,145,2994,0.00,2.22,0.00,0.000,260,0.000,0.174,2588,3828,3469,3477,3462,0,0,0,0,0,0,14.73,13.82,14.73
$GC,3044,-0.89,-107.1,2588,3828,3477,3463,290.2,-10.3,153,3050,0.00,1.90,0.00,0.000,1030,0.000,0.060,2586,2752,3469,3476,3462,0,0,0,0,0,0,14.21,14.15,14.22
$GC,3380,-0.89,-107.1,2586,2751,3477,3458,323.9,-10.1,166,3385,0.08,2.47,0.00,0.000,2564,0.256,0.037,2613,1372,3467,3477,3457,0,0,0,0,0,0,13.84,13.88,13.91
$GC,3414,-0.89,-107.1,2613,1373,3478,3457,327.3,-9.5,171,3419,0.00,2.80,0.00,0.000,1030,0.000,0.107,2603,2771,3466,3476,3457,0,0,0,0,0,0,14.16,13.88,14.21
$GC,3772,-0.89,-107.1,2603,2772,3478,3452,363.4,-10.3,180,3777,0.00,2.20,0.00,0.000,260,0.000,0.173,2595,3826,3465,3477,3453,0,0,0,0,0,0,14.63,13.85,14.63
$GC,3834,-0.89,-107.1,2596,3826,3477,3454,370.4,-10.8,189,3840,0.00,1.88,0.00,0.000,1030,0.000,0.059,2594,2762,3464,3476,3452,0,0,0,0,0,0,14.19,14.13,14.21
$GC,4164,-0.89,-107.1,2595,2756,3477,3450,405.6,-10.7,201,4170,0.00,2.50,0.00,0.000,516,0.000,0.042,2594,1371,3463,3477,3449,0,0,0,0,0,0,14.73,13.83,14.72
$GC,4198,-0.89,-107.1,2594,1372,3478,3449,409.2,-10.3,206,4203,0.00,2.78,0.00,0.000,1030,0.000,0.108,2585,2766,3460,3473,3448,0,0,0,0,0,0,14.16,13.88,14.21
$GC,4556,-0.89,-107.1,2585,2763,3477,3444,447.5,-10.7,215,4561,0.00,2.20,0.00,0.000,260,0.000,0.172,2577,3824,3464,3484,3444,0,0,0,0,0,0,14.73,13.83,14.71
$GC,4633,-0.81,-107.1,2576,3824,3476,3445,456.0,-11.3,226,4638,0.22,1.88,0.00,0.000,3206,0.208,0.060,2638,2760,3460,3476,3444,0,0,0,0,0,0,13.66,14.14,13.94
$GC,4948,-0.81,-107.1,2638,2760,3477,3442,481.8,-8.1,236,4953,0.00,2.53,0.00,0.000,516,0.000,0.041,2638,1366,3459,3477,3441,0,0,0,0,0,0,14.66,13.89,14.66
$GC,5004,-0.81,-107.1,2639,1366,3477,3441,486.4,-8.2,244,5009,0.00,2.80,0.00,0.000,1030,0.000,0.106,2629,2763,3458,3476,3440,0,0,0,0,0,0,14.15,13.88,14.21
$GC,5340,-0.81,-107.1,2629,2763,3477,3438,513.6,-8.0,257,5346,0.00,2.58,0.00,0.000,516,0.000,0.042,2628,1361,3456,3476,3436,0,0,0,0,0,0,14.66,13.90,14.66
$GC,5388,-0.81,-107.1,2629,1361,3477,3438,517.9,-8.3,264,5394,0.00,2.83,0.00,0.000,1030,0.000,0.109,2619,2764,3453,3476,3430,0,0,0,0,0,0,14.16,13.89,14.19
$GC,5732,-0.81,-107.1,2620,2763,3477,3435,546.7,-8.4,271,5737,0.00,2.22,0.00,0.000,260,0.000,0.173,2611,3825,3454,3476,3433,0,0,0,0,0,0,14.71,13.83,14.73
$GC,5788,-0.81,-107.1,2611,3827,3477,3430,551.8,-9.3,279,5793,0.00,1.90,0.00,0.000,1030,0.000,0.063,2610,2766,3454,3476,3432,0,0,0,0,0,0,14.19,14.12,14.21
$GC,6124,-0.81,-107.1,2611,2767,3477,3433,583.2,-9.4,292,6125,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2773,3454,3476,3432,0,0,0,0,0,0,14.71,14.71,14.71
$GC,6460,-0.81,-107.1,2611,2766,3472,3432,615.0,-9.4,298,6465,0.00,2.58,0.00,0.000,516,0.000,0.044,2611,1361,3452,3473,3431,0,0,0,0,0,0,14.71,13.83,14.71
$GC,6494,-0.81,-107.1,2614,1361,3474,3432,618.3,-9.4,303,6499,0.12,2.85,0.00,0.000,3078,0.217,0.111,2637,2770,3451,3472,3431,0,0,0,0,0,0,13.88,13.88,14.12
$GC,6853,-0.81,-107.1,2637,2769,3471,3430,646.6,-7.9,312,6857,0.00,2.60,0.00,0.000,516,0.000,0.045,2637,1363,3449,3470,3428,0,0,0,0,0,0,14.64,13.91,14.64
$GC,6928,-0.81,-107.1,2638,1365,3471,3431,652.7,-7.8,323,6933,0.00,2.83,0.00,0.000,1030,0.000,0.112,2628,2762,3449,3470,3429,0,0,0,0,0,0,14.15,13.88,14.21
$GC,7244,-0.81,-107.1,2628,2762,3470,3430,678.4,-8.3,333,7245,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2762,3449,3470,3429,0,0,0,0,0,0,14.69,14.69,14.70
$GC,7580,-0.81,-107.1,2628,2762,3468,3429,706.0,-8.3,339,7585,0.00,2.60,0.00,0.000,516,0.000,0.044,2627,1363,3447,3468,3427,0,0,0,0,0,0,14.69,13.85,14.69
$GC,7636,-0.81,-107.1,2627,1364,3470,3428,710.8,-8.7,347,7641,0.00,2.83,0.00,0.000,1030,0.000,0.112,2619,2755,3447,3468,3426,0,0,0,0,0,0,14.16,13.88,14.20
$GC,7972,-0.81,-107.1,2619,2755,3468,3425,739.9,-8.7,360,7973,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2755,3446,3467,3425,0,0,0,0,0,0,14.62,14.62,14.65
$GC,8308,-0.81,-107.1,2619,2756,3467,3423,769.9,-8.9,366,8313,0.00,2.60,0.00,0.000,516,0.000,0.043,2617,1363,3444,3466,3422,0,0,0,0,0,0,14.69,13.86,14.69
$GC,8356,-0.81,-107.1,2616,1364,3468,3423,774.7,-9.0,373,8364,0.10,2.85,0.00,0.000,3078,0.235,0.112,2637,2757,3444,3466,3423,0,0,0,0,0,0,13.90,13.91,14.14
$STATE,8696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8696,begin apogee
$GC,8707,-0.23,0.0,2638,2219,3465,3423,802.0,-7.9,380,8815,0.65,0.10,100.15,2.498,10244,0.160,0.217,2822,2258,3051,3091,3012,0,0,0,0,1,0,13.74,13.68,12.66
$STATE,8816,end apogee,CONTROL_FINISHED_OK
$STATE,8816,begin climb
$GC,8821,0.93,107.1,2824,2258,3092,3029,806.0,0.0,382,8960,1.12,2.62,126.10,1.771,10756,0.083,0.054,3185,865,2615,2677,2553,0,0,0,0,0,0,13.62,13.66,13.05
$GC,9039,0.83,131.5,3185,866,2676,2538,802.9,6.5,414,9071,0.00,2.62,25.80,1.820,9382,0.000,0.078,3185,2253,2522,2594,2450,0,0,0,0,0,0,14.09,13.90,13.18
$GC,9431,0.70,131.5,3184,2254,2590,2429,769.3,8.8,428,9436,0.17,2.88,0.00,0.000,4484,0.227,0.158,3130,3666,2509,2589,2429,0,0,0,0,0,0,13.88,13.97,14.06
$GC,9487,0.61,131.5,3131,3666,2589,2430,764.5,8.6,436,9492,0.15,2.47,0.00,0.000,5254,0.232,0.050,3100,2258,2508,2588,2429,0,0,0,0,0,0,13.93,14.28,14.22
$GC,9823,0.64,158.5,3100,2258,2588,2427,742.8,6.4,449,9856,0.00,2.58,29.60,1.814,8740,0.000,0.057,3110,856,2411,2492,2331,0,0,0,0,0,0,14.66,14.22,13.41
$GC,9879,0.69,197.0,3106,856,2488,2321,739.3,5.8,457,9926,0.00,2.60,43.10,1.701,9254,0.000,0.080,3110,2248,2265,2350,2180,0,0,0,0,0,0,14.23,14.02,13.23
$GC,10264,0.69,197.0,3110,2247,2340,2150,709.4,7.8,470,10269,0.00,2.90,0.00,0.000,260,0.000,0.163,3110,3658,2245,2341,2149,0,0,0,0,0,0,14.61,13.93,14.61
$GC,10354,0.69,197.0,3111,3658,2341,2150,701.7,8.5,483,10358,0.00,2.47,0.00,0.000,1030,0.000,0.048,3120,2253,2244,2340,2148,0,0,0,0,0,0,14.29,14.21,14.32
$GC,10711,0.69,197.0,3122,2252,2341,2148,673.0,8.1,492,10716,0.00,2.53,0.00,0.000,516,0.000,0.059,3130,851,2243,2340,2146,0,0,0,0,0,0,14.65,14.09,14.65
$GC,10739,0.69,197.0,3130,851,2341,2147,670.7,8.2,496,10744,0.00,2.62,0.00,0.000,1030,0.000,0.083,3130,2249,2242,2339,2145,0,0,0,0,0,0,14.26,14.02,14.31
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$STATE,18847,end climb,SURFACE_DEPTH_REACHED
$STATE,18847,begin surface coast
$FINISH,1.3,1.022215
$STATE,18855,end surface coast,CONTROL_FINISHED_OK
$STATE,18855,begin surface
$SM_CCo,18885,59.83,0.148,0,0,1058,500.14
$SM_GC,-1.82,9.50,3.70,59.83,0.082,0.098,0.148,186,2771,1058,-8.41,-0.25,500.14,0,0,0,0,0,0,14.24,13.85,14.07
$IRIDIUM_FIX,940.75,-12459.70,270217,090153
$TT8_MAMPS,0.038948,0.28462
$HUMID,55.94
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,21.90
$XPDR_PINGS,1
$SC_FREEKB,3625568
$PM_FREEKB,51364160
$24V_AH,12.64,251.709
$10V_AH,11.99,0.000
$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,25.150,194.000,452.125,59.825,0.000,0.000,0.000,419.075,0.250,0.000,6.225,0.000,15900.617,742.131,2414.032,702.573,0.000,1903.873,0.000,1482.623,0.000,0.841,0.000
$DEVICE_MAMPS,377.910,217.260,2497.725,148.410,0.000,0.000,0.000,173.655,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18923.000,18869.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.594,2.452,0.000,0.000
$MEM,334736
$DATA_FILE_SIZE,29997,834
$CAP_FILE_SIZE,144336,0
$CFSIZE,1024409600,897155072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.048,324.06,1
$GPS,270217,200809,942.606,-12500.889,26,1.1,27,9.0,0.5,40.8,8,7.6