version: 66.13
glider: 220
mission: 6
dive: 795
start: 3 12 117 13 56 47
data:
$ID,220
$MISSION,6
$DIVE,795
$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,18
$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
$GPS1,120317,134230,942.7405,-12501.4678,24,0.8,24,9.0,1.2,226.0,11,3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.81
$_SM_ANGLEo,-68.2
$GPS2,120317,135624,942.6848,-12501.6074,2,0.7,3,9.0,0.6,318.6,11,6.1
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,124.3,4406,-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,13,begin dive
$GC,18,-0.93,-107.1,108,2785,1103,1018,0.0,0.0,0,101,0.00,0.00,-78.82,0.000,16390,0.000,0.000,108,2781,3474,3464,3485,0,0,0,0,0,0,14.56,12.82,14.51
$GC,106,-0.93,-107.1,108,2783,3465,3487,2.1,-12.0,3,123,11.95,2.50,0.00,0.000,2564,0.380,0.034,2590,1356,3476,3467,3485,0,0,0,0,0,0,13.94,14.36,14.30
$GC,201,-0.70,-107.1,2591,1356,3471,3485,31.9,-20.6,17,207,0.32,2.80,0.00,0.000,3206,0.241,0.108,2664,2765,3477,3469,3485,0,0,0,0,0,0,13.76,13.90,14.09
$GC,524,-0.70,-107.1,2666,2766,3472,3485,63.9,-7.9,30,528,0.00,2.50,0.00,0.000,516,0.000,0.042,2666,1367,3478,3471,3485,0,0,0,0,0,0,14.66,14.17,14.66
$GC,628,-0.70,-107.1,2666,1367,3472,3485,73.2,-7.6,45,635,0.00,2.75,0.00,0.000,1062,0.000,0.104,2656,2761,3478,3472,3485,0,0,0,0,0,0,14.14,13.85,14.20
$GC,944,-0.70,-107.1,2656,2761,3472,3486,97.1,-7.7,57,949,0.00,2.50,0.00,0.000,548,0.000,0.042,2656,1360,3478,3472,3485,0,0,0,0,0,0,14.70,14.18,14.70
$GC,985,-0.70,-107.1,2657,1360,3473,3486,101.6,-7.5,63,990,0.00,2.75,0.00,0.000,1062,0.000,0.104,2646,2764,3478,3471,3485,0,0,0,0,0,0,14.12,13.83,14.18
$GC,1336,-0.70,-107.1,2647,2764,3472,3483,128.3,-7.9,71,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2764,3477,3472,3482,0,0,0,0,0,0,14.69,14.69,14.72
$GC,1671,-0.70,-107.1,2647,2764,3472,3480,156.6,-8.7,77,1677,0.00,2.53,0.00,0.000,516,0.000,0.043,2646,1362,3475,3472,3478,0,0,0,0,0,0,14.69,14.14,14.69
$GC,1734,-0.70,-107.1,2647,1362,3472,3479,163.1,-9.4,86,1739,0.10,2.72,0.00,0.000,3078,0.236,0.099,2668,2758,3474,3471,3478,0,0,0,0,0,0,13.80,13.83,14.06
$GC,2064,-0.70,-107.1,2668,2757,3472,3475,188.4,-7.9,98,2068,0.00,2.50,0.00,0.000,516,0.000,0.042,2669,1369,3472,3472,3473,0,0,0,0,0,0,14.68,14.15,14.66
$GC,2126,-0.78,-107.1,2665,1369,3473,3472,193.2,-7.6,107,2131,0.00,2.70,0.00,0.000,1190,0.000,0.094,2658,2753,3472,3472,3472,0,0,0,0,0,0,14.11,13.83,14.16
$GC,2456,-0.78,-107.1,2659,2754,3473,3468,217.3,-7.3,119,2456,0.00,0.00,0.00,0.000,38,0.000,0.000,2658,2753,3470,3472,3468,0,0,0,0,0,0,14.71,14.72,14.71
$GC,2792,-0.78,-107.1,2658,2753,3472,3463,241.3,-7.2,125,2798,0.00,2.50,0.00,0.000,548,0.000,0.042,2658,1368,3467,3472,3463,0,0,0,0,0,0,14.71,14.12,14.71
$GC,2882,-0.85,-107.1,2659,1368,3472,3463,247.7,-7.5,138,2887,0.00,2.70,0.00,0.000,1190,0.000,0.090,2650,2756,3466,3471,3462,0,0,0,0,0,0,14.10,13.83,14.16
$GC,3240,-0.85,-107.1,2650,2755,3479,3459,272.6,-7.7,147,3245,0.00,2.53,0.00,0.000,548,0.000,0.041,2649,1364,3466,3471,3462,0,0,0,0,0,0,14.68,14.12,14.69
$GC,3288,-0.85,-107.1,2650,1364,3472,3456,277.1,-9.2,154,3294,0.00,2.72,0.00,0.000,1030,0.000,0.090,2641,2750,3464,3471,3457,0,0,0,0,0,0,14.10,13.83,14.15
$GC,3632,-0.85,-107.1,2642,2750,3472,3455,309.2,-9.7,161,3638,0.00,2.53,0.00,0.000,516,0.000,0.041,2641,1357,3462,3471,3453,0,0,0,0,0,0,14.68,14.10,14.67
$GC,3659,-0.85,-107.1,2641,1357,3472,3454,313.0,-12.6,165,3665,0.00,2.72,0.00,0.000,1030,0.000,0.092,2630,2752,3462,3471,3453,0,0,0,0,0,0,14.11,13.82,14.17
$GC,4024,-0.85,-107.1,2632,2753,3472,3450,344.7,-8.4,175,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2752,3460,3471,3450,0,0,0,0,0,0,14.71,14.71,14.71
$GC,4360,-0.85,-107.1,2632,2753,3472,3446,370.1,-7.3,181,4366,0.00,2.53,0.00,0.000,548,0.000,0.041,2631,1359,3458,3471,3445,0,0,0,0,0,0,14.71,14.12,14.71
$GC,4457,-0.85,-107.1,2633,1353,3472,3446,377.3,-9.7,195,4462,0.00,2.72,0.00,0.000,1030,0.000,0.093,2622,2744,3458,3471,3445,0,0,0,0,0,0,14.00,13.71,14.05
$GC,4808,-0.85,-107.1,2628,2743,3472,3444,406.3,-8.2,203,4813,0.00,2.17,0.00,0.000,260,0.000,0.146,2614,3834,3456,3470,3442,0,0,0,0,0,0,14.68,13.69,14.68
$GC,4842,-0.85,-107.1,2614,3829,3472,3443,411.0,-9.4,208,4847,0.00,1.88,0.00,0.000,1030,0.000,0.048,2613,2722,3458,3475,3442,0,0,0,0,0,0,14.35,14.28,14.36
$GC,5200,-0.85,-107.1,2613,2722,3476,3438,442.9,-8.5,217,5206,0.00,2.40,0.00,0.000,516,0.000,0.040,2613,1384,3455,3471,3439,0,0,0,0,0,0,14.71,14.12,14.71
$GC,5227,-0.85,-107.1,2613,1377,3472,3437,446.4,-11.8,221,5233,0.00,2.65,0.00,0.000,1030,0.000,0.083,2604,2748,3454,3471,3438,0,0,0,0,0,0,14.12,13.88,14.18
$GC,5592,-0.85,-107.1,2604,2748,3472,3438,479.9,-9.2,231,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2747,3453,3471,3436,0,0,0,0,0,0,14.66,14.66,14.66
$GC,5928,-0.85,-107.1,2604,2748,3472,3433,510.2,-9.2,237,5934,0.00,2.50,0.00,0.000,516,0.000,0.041,2603,1377,3451,3471,3432,0,0,0,0,0,0,14.67,14.11,14.66
$GC,5977,-0.85,-107.1,2603,1377,3472,3434,516.0,-12.4,244,5983,0.10,2.70,0.00,0.000,3078,0.240,0.086,2620,2747,3451,3471,3432,0,0,0,0,0,0,13.71,13.80,13.98
$GC,6321,-0.85,-107.1,2620,2747,3472,3431,542.2,-7.6,251,6326,0.00,2.50,0.00,0.000,548,0.000,0.041,2620,1375,3451,3471,3431,0,0,0,0,0,0,14.67,14.11,14.67
$GC,6348,-0.85,-107.1,2619,1375,3473,3431,544.6,-8.1,255,6352,0.00,2.65,0.00,0.000,1030,0.000,0.088,2611,2741,3450,3471,3430,0,0,0,0,0,0,14.09,13.83,14.14
$GC,6713,-0.85,-107.1,2612,2741,3472,3429,575.3,-8.6,265,6718,0.00,2.15,0.00,0.000,260,0.000,0.138,2603,3825,3449,3471,3427,0,0,0,0,0,0,14.67,13.64,14.67
$GC,6740,-0.85,-107.1,2603,3825,3472,3429,580.1,-17.8,269,6745,0.00,1.85,0.00,0.000,1030,0.000,0.050,2601,2743,3449,3471,3427,0,0,0,0,0,0,14.33,14.26,14.34
$GC,7105,-0.85,-107.1,2602,2744,3471,3429,613.4,-9.7,279,7110,0.00,2.47,0.00,0.000,516,0.000,0.041,2601,1369,3449,3470,3428,0,0,0,0,0,0,14.71,14.06,14.68
$GC,7139,-0.85,-107.1,2602,1368,3470,3429,617.2,-11.9,284,7144,0.10,2.67,0.00,0.000,3078,0.236,0.083,2619,2742,3448,3469,3428,0,0,0,0,0,0,13.71,13.81,13.97
$GC,7497,-0.85,-107.1,2619,2743,3467,3427,647.5,-8.4,293,7502,0.00,2.50,0.00,0.000,516,0.000,0.041,2619,1371,3446,3466,3427,0,0,0,0,0,0,14.67,13.97,14.67
$GC,7538,-0.85,-107.1,2620,1372,3467,3427,651.2,-8.3,299,7543,0.00,2.67,0.00,0.000,1030,0.000,0.086,2610,2738,3446,3466,3426,0,0,0,0,0,0,14.04,13.78,14.12
$GC,7889,-0.85,-107.1,2611,2740,3466,3425,680.0,-8.2,307,7894,0.00,2.50,0.00,0.000,516,0.000,0.042,2609,1372,3442,3466,3418,0,0,0,0,0,0,14.71,14.06,14.71
$GC,7916,-0.85,-107.1,2609,1374,3467,3424,683.0,-12.0,311,7920,0.00,2.67,0.00,0.000,1030,0.000,0.090,2600,2740,3444,3465,3424,0,0,0,0,0,0,14.04,13.76,14.11
$GC,8281,-0.85,-107.1,2599,2739,3467,3423,716.0,-9.2,321,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2740,3443,3464,3423,0,0,0,0,0,0,14.66,14.67,14.67
$GC,8617,-0.85,-107.1,2601,2740,3462,3423,744.2,-9.3,327,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2740,3442,3463,3422,0,0,0,0,0,0,14.66,14.66,14.66
$GC,8953,-0.85,-107.1,2601,2741,3464,3421,774.1,-9.0,333,8958,0.00,2.53,0.00,0.000,516,0.000,0.042,2599,1371,3441,3462,3420,0,0,0,0,0,0,14.66,14.04,14.66
$GC,9036,-0.85,-107.1,2600,1370,3463,3420,782.0,-5.9,345,9042,0.10,2.70,0.00,0.000,3110,0.237,0.091,2617,2737,3441,3462,3420,0,0,0,0,0,0,13.66,13.72,13.94
$STATE,9284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9284,begin apogee
$GC,9295,-0.23,0.0,2618,2250,3461,3421,803.6,-8.5,353,9412,0.73,0.00,114.05,1.844,10244,0.177,0.000,2821,2249,3049,3087,3012,0,0,0,0,0,0,13.69,13.78,12.99
$STATE,9413,end apogee,CONTROL_FINISHED_OK
$STATE,9413,begin climb
$GC,9418,0.93,107.1,2823,2249,3082,3003,807.8,0.0,355,9549,1.12,2.60,119.88,1.792,10756,0.088,0.052,3180,853,2625,2686,2564,0,0,0,0,0,0,13.74,13.77,12.35
$GC,9620,0.90,183.6,3181,853,2678,2543,805.4,3.9,386,9715,0.00,2.80,88.35,1.776,9382,0.000,0.062,3181,2256,2314,2395,2234,0,0,0,0,0,0,13.31,13.13,12.17
$GC,10080,0.80,183.6,3181,2256,2390,2207,762.8,9.7,409,10081,0.00,0.00,0.00,0.000,134,0.000,0.000,3180,2256,2297,2390,2205,0,0,0,0,0,0,14.19,14.19,14.19
$GC,10412,0.71,183.6,3179,2255,2390,2204,729.6,9.6,415,10417,0.15,2.58,0.00,0.000,4740,0.214,0.053,3144,858,2296,2390,2203,0,0,0,0,0,0,13.64,13.89,13.81
$GC,10446,0.71,183.6,3145,858,2391,2201,726.5,8.2,420,10451,0.00,2.62,0.00,0.000,1030,0.000,0.070,3144,2251,2295,2390,2200,0,0,0,0,0,0,14.07,13.83,14.12
$GC,10804,0.71,183.6,3144,2251,2389,2200,694.4,9.1,429,10809,0.00,2.85,0.00,0.000,260,0.000,0.139,3145,3661,2294,2389,2199,0,0,0,0,0,0,14.53,13.77,14.54
$GC,10852,0.63,183.6,3145,3662,2391,2198,690.0,8.7,436,10859,0.17,2.50,0.00,0.000,5254,0.212,0.042,3107,2251,2294,2390,2199,0,0,0,0,0,0,13.72,14.14,14.02
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$STATE,18964,end climb,SURFACE_DEPTH_REACHED
$STATE,18965,begin surface coast
$FINISH,-2.5,1.021854
$STATE,18997,end surface coast,CONTROL_FINISHED_OK
$STATE,18997,begin surface
$SM_CCo,19024,28.48,0.154,0,0,1056,500.14
$SM_GC,-4.86,9.52,1.05,28.48,0.083,0.128,0.154,191,2763,1056,-8.40,-0.54,500.14,0,0,0,0,0,0,14.21,13.83,14.12
$IRIDIUM_FIX,938.56,-12502.75,120317,080240
$TT8_MAMPS,0.038948,0.266644
$HUMID,59.60
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,20.90
$XPDR_PINGS,0
$SC_FREEKB,3604416
$PM_FREEKB,50737856
$24V_AH,12.17,269.347
$10V_AH,12.00,0.000
$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,24.775,192.675,531.425,28.475,0.000,0.000,0.000,398.525,0.000,0.000,4.884,0.000,16062.301,776.233,2278.972,746.937,0.000,1888.775,0.000,1385.789,0.000,0.838,0.000
$DEVICE_MAMPS,380.205,146.115,1844.415,153.765,0.000,0.000,0.000,173.655,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19070.000,19012.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.613,2.472,0.000,0.000
$MEM,334772
$DATA_FILE_SIZE,26711,765
$CAP_FILE_SIZE,141258,0
$CFSIZE,1024409600,889044992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,183.36,1
$GPS,120317,191530,941.108,-12500.198,30,0.7,30,9.0,0.6,194.0,12,5.5