version: 66.13
glider: 220
mission: 6
dive: 1009
start: 7 16 117 21 57 12
data:
$ID,220
$MISSION,6
$DIVE,1009
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,550
$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,220
$T_MISSION,1920
$T_ABORT,2300
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,86400
$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,100
$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,30
$PITCH_AD_RATE,100
$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,33
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2785
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$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,8.8000002
$MINV_10V,9
$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,0
$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,0.0
$SC_XMITPROFILE,0.0
$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
$GPS1,160717,214611,1010.9610,-12634.0127,44,1.5,46,9.1,0.6,90.3,6,10.0
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-5.01
$_SM_ANGLEo,-68.4
$GPS2,160717,215644,1011.0339,-12633.9160,5,1.4,9,9.1,1.2,55.5,6,9.4
$SPEED_LIMITS,0.144,0.169
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,69.5,207662,-20.3,-8.333,-26.24,1745
$D_GRID,550
$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,3,end surface,CONTROL_FINISHED_OK
$STATE,3,begin dive
$GC,9,-1.04,-97.3,105,2785,829,756,0.0,0.0,0,92,0.00,0.00,-76.82,0.000,16390,0.000,0.000,105,2786,3174,3157,3191,0,0,0,0,0,0,11.21,10.34,11.21
$GC,97,-1.04,-97.3,106,2786,3158,3192,1.1,-10.6,3,122,18.98,2.45,0.00,0.000,2308,0.369,0.066,2547,3834,3175,3160,3191,0,0,0,0,0,0,10.79,10.99,11.02
$GC,354,-0.82,-97.3,2548,3835,3161,3190,70.6,-10.7,40,359,0.45,2.28,0.00,0.000,3206,0.231,0.028,2630,2734,3176,3161,3191,0,0,0,0,0,0,10.90,11.09,11.08
$GC,683,-0.82,-97.3,2631,2733,3163,3191,92.8,-5.5,54,689,0.00,3.10,0.00,0.000,548,0.000,0.040,2630,1385,3176,3162,3190,0,0,0,0,0,0,11.24,11.03,11.24
$GC,863,-0.82,-97.3,2631,1385,3163,3189,103.3,-6.0,79,868,0.00,3.28,0.00,0.000,1062,0.000,0.053,2620,2768,3175,3163,3187,0,0,0,0,0,0,11.10,11.02,11.11
$GC,1528,-0.82,-97.3,2620,2770,3164,3176,151.2,-7.2,87,1533,0.00,2.53,0.00,0.000,292,0.000,0.090,2612,3833,3170,3164,3176,0,0,0,0,0,0,11.24,10.98,11.24
$GC,1583,-0.82,-97.3,2612,3832,3164,3177,155.8,-8.5,95,1588,0.00,2.25,0.00,0.000,1030,0.000,0.031,2612,2757,3169,3163,3176,0,0,0,0,0,0,11.12,11.10,11.14
$GC,2372,-0.82,-97.3,2612,2757,3164,3163,222.2,-8.5,120,2377,0.00,3.17,0.00,0.000,516,0.000,0.039,2612,1384,3162,3163,3161,0,0,0,0,0,0,11.23,11.04,11.23
$GC,2413,-0.82,-97.3,2612,1385,3164,3160,226.0,-8.3,126,2419,0.15,3.33,0.00,0.000,3110,0.207,0.056,2631,2764,3161,3163,3160,0,0,0,0,0,0,10.93,11.01,11.08
$GC,3212,-0.82,-97.3,2632,2764,3164,3147,287.1,-7.7,153,3216,0.00,3.28,0.00,0.000,548,0.000,0.041,2631,1378,3154,3163,3146,0,0,0,0,0,0,11.24,11.04,11.24
$GC,3302,-0.82,-97.3,2632,1377,3163,3145,291.0,-0.5,166,3309,0.00,3.38,0.00,0.000,1062,0.000,0.057,2621,2762,3153,3163,3144,0,0,0,0,0,0,11.11,11.02,11.12
$GC,4052,-0.82,-97.3,2621,2762,3163,3137,353.1,-7.5,186,4057,0.00,3.28,0.00,0.000,548,0.000,0.041,2620,1378,3148,3162,3135,0,0,0,0,0,0,11.25,11.04,11.24
$GC,4171,-0.82,-97.3,2621,1378,3162,3136,360.5,-7.5,203,4176,0.00,3.38,0.00,0.000,1062,0.000,0.058,2611,2762,3147,3160,3135,0,0,0,0,0,0,11.11,11.01,11.12
$GC,4892,-0.82,-97.3,2612,2762,3155,3133,417.1,-7.9,219,4897,0.00,3.28,0.00,0.000,548,0.000,0.040,2610,1377,3143,3154,3132,0,0,0,0,0,0,11.24,11.04,11.25
$GC,4927,-0.82,-97.3,2611,1377,3155,3133,419.6,-7.5,224,4932,0.15,3.38,0.00,0.000,3110,0.209,0.058,2629,2763,3142,3154,3131,0,0,0,0,0,0,10.93,11.02,11.08
$GC,5732,-0.82,-97.3,2630,2763,3152,3129,472.6,-7.7,252,5737,0.00,3.30,0.00,0.000,548,0.000,0.041,2630,1377,3139,3152,3127,0,0,0,0,0,0,11.25,11.05,11.25
$GC,5858,-0.82,-97.3,2629,1378,3152,3126,470.6,-7.0,270,5863,0.00,3.38,0.00,0.000,1062,0.000,0.059,2620,2761,3139,3152,3126,0,0,0,0,0,0,11.11,11.02,11.12
$GC,6572,-0.82,-97.3,2620,2762,3149,3124,526.4,-7.9,285,6577,0.00,3.28,0.00,0.000,548,0.000,0.040,2619,1383,3136,3148,3124,0,0,0,0,0,0,11.25,11.05,11.25
$GC,6677,-0.82,-97.3,2619,1385,3149,3122,535.2,-8.1,300,6681,0.00,3.38,0.00,0.000,1062,0.000,0.059,2610,2758,3135,3148,3122,0,0,0,0,0,0,11.10,11.01,11.13
$STATE,6986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6986,begin apogee
$GC,6999,-0.23,0.0,2610,2261,3147,3124,559.8,-7.6,316,7113,1.02,0.00,111.55,1.682,10244,0.182,0.000,2819,2255,2785,2825,2745,0,0,0,0,0,0,10.94,10.90,10.10
$STATE,7113,end apogee,CONTROL_FINISHED_OK
$STATE,7113,begin loiter
$GC,7121,-0.23,0.0,2820,2257,2822,2738,562.5,0.0,317,7125,0.00,0.00,0.00,0.000,1030,0.000,0.000,2820,2255,2779,2821,2737,0,0,0,0,0,0,11.17,11.17,11.17
$GC,7959,-0.60,0.0,2820,2256,2822,2728,552.6,1.4,349,7961,0.38,0.00,0.00,0.000,4230,0.047,0.000,2706,2255,2775,2821,2729,0,0,0,0,0,0,11.05,11.12,11.10
$GC,8586,-0.84,8.5,2707,2255,2822,2724,559.6,-0.5,352,8592,0.22,0.00,4.35,1.378,12454,0.047,0.000,2616,2255,2751,2799,2704,0,0,0,0,0,0,11.08,10.89,9.74
$GC,9215,-0.79,51.8,2617,2255,2803,2724,575.4,-2.6,355,9279,0.12,0.00,63.10,1.733,10278,0.210,0.000,2640,2255,2578,2627,2529,0,0,0,0,0,0,10.93,10.89,10.07
$GC,9845,-0.79,51.8,2640,2256,2625,2513,553.5,2.3,358,9845,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2255,2568,2624,2513,0,0,0,0,0,0,11.23,11.22,11.22
$GC,10474,-0.79,51.8,2641,2256,2626,2511,522.7,4.9,361,10475,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2255,2567,2624,2510,0,0,0,0,0,0,11.23,11.23,11.23
$GC,11105,-0.79,51.8,2640,2255,2625,2511,506.2,3.0,364,11105,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2255,2566,2623,2510,0,0,0,0,0,0,11.24,11.24,11.24
$GC,11735,-0.79,51.8,2641,2255,2625,2509,489.1,2.5,367,11735,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2255,2566,2624,2509,0,0,0,0,0,0,11.24,11.24,11.24
$GC,12365,-0.79,51.8,2640,2256,2624,2507,470.6,3.0,370,12365,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2255,2565,2624,2507,0,0,0,0,0,0,11.24,11.24,11.24
$GC,12994,-0.79,51.8,2640,2256,2625,2507,449.9,3.2,373,12995,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2255,2565,2624,2507,0,0,0,0,0,0,11.23,11.24,11.24
$GC,13625,-0.79,51.8,2641,2255,2625,2508,422.7,4.2,376,13625,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2255,2565,2624,2507,0,0,0,0,0,0,11.24,11.24,11.24
$GC,14254,-0.79,51.8,2641,2255,2625,2508,401.4,3.6,379,14255,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2255,2565,2624,2507,0,0,0,0,0,0,11.24,11.24,11.24
$GC,14885,-0.79,51.8,2641,2255,2625,2508,384.2,2.8,382,14885,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2255,2565,2624,2507,0,0,0,0,0,0,11.25,11.24,11.25
$GC,15514,-0.79,51.8,2641,2254,2625,2508,363.1,3.2,385,15515,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2255,2565,2624,2507,0,0,0,0,0,0,11.25,11.25,11.25
$GC,16145,-0.79,51.8,2640,2256,2625,2506,343.0,3.3,388,16145,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2255,2565,2624,2507,0,0,0,0,0,0,11.25,11.25,11.25
$GC,16774,-0.79,51.8,2641,2255,2625,2508,324.5,2.9,391,16775,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2254,2565,2624,2507,0,0,0,0,0,0,11.25,11.25,11.25
$GC,17405,-0.79,51.8,2640,2257,2625,2507,301.4,3.5,394,17405,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2255,2565,2624,2507,0,0,0,0,0,0,11.25,11.25,11.25
$GC,18034,-0.79,51.8,2640,2256,2626,2507,278.7,3.7,397,18035,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2255,2565,2624,2507,0,0,0,0,0,0,11.25,11.25,11.25
$GC,18665,-0.79,51.8,2640,2256,2625,2506,259.0,3.2,400,18665,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2255,2566,2625,2507,0,0,0,0,0,0,11.24,11.25,11.30
$GC,19295,-0.79,51.8,2641,2255,2625,2508,241.1,2.9,403,19296,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2256,2565,2624,2507,0,0,0,0,0,0,11.24,11.25,11.25
$GC,19925,-0.79,51.8,2640,2255,2625,2508,219.4,3.3,406,19926,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2255,2565,2624,2507,0,0,0,0,0,0,11.25,11.25,11.25
$GC,20554,-0.79,51.8,2641,2255,2625,2509,194.6,3.9,409,20555,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2255,2566,2624,2508,0,0,0,0,0,0,11.26,11.26,11.26
$GC,21185,-0.79,51.8,2641,2255,2625,2510,174.5,3.4,412,21185,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2255,2566,2624,2509,0,0,0,0,0,0,11.25,11.26,11.25
$GC,21814,-0.79,51.8,2641,2256,2626,2509,155.7,3.0,415,21815,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2255,2566,2624,2509,0,0,0,0,0,0,11.26,11.26,11.25
$GC,22445,-0.79,51.8,2641,2255,2626,2511,136.4,3.0,418,22445,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2255,2567,2624,2510,0,0,0,0,0,0,11.25,11.25,11.25
$GC,23074,-0.79,51.8,2641,2256,2625,2510,117.9,3.0,421,23075,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2255,2567,2624,2510,0,0,0,0,0,0,11.26,11.26,11.26
$GC,23705,-0.79,51.8,2640,2256,2625,2510,99.1,2.9,424,23706,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2255,2567,2624,2511,0,0,0,0,0,0,11.25,11.26,11.25
$GC,24012,-0.79,51.8,2641,2256,2626,2511,92.2,1.7,435,24013,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2255,2567,2624,2511,0,0,0,0,0,0,11.25,11.26,11.26
$GC,24321,-0.79,51.8,2640,2256,2625,2512,86.0,2.8,446,24321,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2255,2568,2624,2512,0,0,0,0,0,0,11.26,11.25,11.26
$GC,24628,-0.80,36.9,2640,2256,2626,2512,80.0,0.9,457,24629,0.00,0.00,0.00,0.000,38,0.000,0.000,2639,2254,2568,2624,2512,0,0,0,0,0,0,11.26,11.26,11.26
$GC,24937,-0.82,23.3,2640,2255,2625,2514,78.6,0.8,468,24938,0.00,0.00,0.00,0.000,38,0.000,0.000,2640,2255,2568,2624,2513,0,0,0,0,0,0,11.25,11.25,11.25
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$STATE,47163,end loiter,SURFACE_DEPTH_REACHED
$STATE,47163,begin surface coast
$FINISH,69.5,1.027189
$STATE,47191,end surface coast,CONTROL_FINISHED_OK
$STATE,47191,begin surface
$SM_CCo,47197,427.85,0.320,0,0,500,573.99
$SM_GC,-3.49,9.20,1.27,0.00,0.030,0.060,0.000,198,2774,506,-8.40,-0.31,572.48,0,0,0,0,0,0,11.02,11.00,11.09
$IRIDIUM_FIX,1007.02,-12631.60,160717,214902
$TT8_MAMPS,0.045689,0.104111
$HUMID,57.00
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,9.74,320.172
$10V_AH,10.64,0.000
$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,30.850,58.050,240.425,427.850,0.000,0.000,0.000,409.525,0.000,0.000,11.215,0.000,44092.594,870.918,2839.802,830.182,0.000,2214.655,0.000,1794.365,0.000,0.549,0.000
$DEVICE_MAMPS,368.730,90.270,1732.725,319.770,0.000,0.000,0.000,208.845,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334748
$DATA_FILE_SIZE,43257,1263
$CAP_FILE_SIZE,188136,0
$CFSIZE,1024409600,866746368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105,271.64,1
$GPS,170717,111839,1011.405,-12636.069,22,1.1,31,9.1,0.4,18.2,10,3.3