version: 66.13
glider: 220
mission: 6
dive: 1014
start: 7 21 117 21 56 27
data:
$ID,220
$MISSION,6
$DIVE,1014
$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,46
$R_STBD_OVSHOOT,14
$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
$GPS1,210717,214830,1003.8093,-12648.5635,34,1.0,34,9.1,0.5,326.3,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-28.80
$_SM_ANGLEo,-67.9
$GPS2,210717,215604,1003.8214,-12648.5557,2,0.8,3,9.1,0.5,339.5,11,9.4
$SPEED_LIMITS,0.144,0.169
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,57.5,233461,-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,-97.3,139,2793,570,438,0.0,0.0,0,97,0.00,0.00,-86.95,0.000,16390,0.000,0.000,129,2792,3173,3158,3189,0,0,0,0,0,0,11.19,10.27,11.20
$GC,103,-1.04,-97.3,130,2791,3158,3191,-17.3,-164.0,3,127,19.00,2.45,0.00,0.000,2308,0.374,0.073,2546,3829,3175,3161,3189,0,0,0,0,0,0,10.78,10.96,11.01
$GC,360,-0.79,-97.3,2546,3829,3163,3190,43.5,-10.1,41,365,0.50,2.30,0.00,0.000,3206,0.233,0.031,2637,2750,3176,3163,3189,0,0,0,0,0,0,10.88,11.07,11.05
$GC,682,-0.79,-97.3,2637,2750,3165,3190,63.1,-5.2,54,688,0.00,2.62,0.00,0.000,292,0.000,0.088,2629,3833,3176,3164,3189,0,0,0,0,0,0,11.23,10.97,11.24
$GC,731,-0.79,-97.3,2630,3834,3166,3189,64.7,-6.4,61,737,0.00,2.30,0.00,0.000,1062,0.000,0.032,2629,2755,3176,3164,3189,0,0,0,0,0,0,11.12,11.10,11.12
$GC,1200,-0.79,-97.3,2629,2756,3165,3187,117.6,-25.8,72,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2755,3175,3164,3187,0,0,0,0,0,0,11.24,11.24,11.24
$GC,1830,-0.79,-97.3,2630,2756,3165,3177,163.5,-7.3,75,1835,0.00,3.25,0.00,0.000,548,0.000,0.040,2629,1379,3171,3164,3178,0,0,0,0,0,0,11.24,11.05,11.24
$GC,1900,-0.79,-97.3,2630,1378,3165,3178,169.0,-7.7,85,1905,0.00,3.35,0.00,0.000,1062,0.000,0.057,2619,2759,3170,3164,3177,0,0,0,0,0,0,11.10,11.00,11.11
$GC,2670,-0.79,-97.3,2620,2761,3165,3165,232.8,-8.4,108,2675,0.00,3.30,0.00,0.000,516,0.000,0.040,2619,1383,3164,3164,3164,0,0,0,0,0,0,11.24,11.02,11.24
$GC,2712,-0.79,-97.3,2619,1384,3165,3165,236.3,-8.6,114,2718,0.15,3.38,0.00,0.000,3078,0.201,0.057,2638,2756,3163,3163,3164,0,0,0,0,0,0,10.93,11.00,11.07
$GC,3511,-0.79,-97.3,2639,2758,3165,3155,297.7,-7.7,141,3516,0.00,3.33,0.00,0.000,548,0.000,0.041,2639,1381,3159,3164,3154,0,0,0,0,0,0,11.24,11.03,11.24
$GC,3601,-0.87,-97.3,2639,1381,3165,3154,264.1,-11.7,154,3607,0.00,3.40,0.00,0.000,1158,0.000,0.060,2629,2758,3158,3164,3153,0,0,0,0,0,0,11.10,11.00,11.12
$GC,4350,-0.87,-97.3,2629,2758,3164,3146,354.1,-7.3,174,4355,0.00,3.33,0.00,0.000,548,0.000,0.041,2628,1379,3154,3164,3145,0,0,0,0,0,0,11.24,11.03,11.24
$GC,4420,-0.87,-97.3,2629,1380,3165,3144,357.2,-16.4,184,4425,0.00,3.38,0.00,0.000,1030,0.000,0.059,2618,2755,3154,3164,3144,0,0,0,0,0,0,11.10,11.00,11.12
$GC,5195,-0.87,-97.3,2619,2755,3164,3139,421.6,-7.8,207,5196,0.00,0.00,0.00,0.000,38,0.000,0.000,2619,2755,3151,3164,3138,0,0,0,0,0,0,11.23,11.23,11.23
$GC,5821,-0.87,-97.3,2618,2756,3162,3135,474.8,-8.2,210,5826,0.00,3.35,0.00,0.000,548,0.000,0.042,2618,1378,3148,3161,3135,0,0,0,0,0,0,11.25,11.02,11.24
$GC,5911,-0.87,-97.3,2619,1378,3161,3136,452.4,8.2,223,5916,0.00,3.42,0.00,0.000,1062,0.000,0.060,2608,2759,3147,3160,3134,0,0,0,0,0,0,11.11,11.00,11.12
$GC,6721,-0.87,-97.3,2609,2759,3158,3132,484.9,-15.2,245,6726,0.00,3.35,0.00,0.000,516,0.000,0.041,2607,1375,3144,3157,3132,0,0,0,0,0,0,11.24,11.03,11.24
$GC,6811,-0.87,-97.3,2608,1375,3158,3132,481.6,7.0,258,6816,0.00,3.42,0.00,0.000,1062,0.000,0.060,2597,2757,3144,3157,3131,0,0,0,0,0,0,11.10,11.00,11.12
$GC,7561,-0.87,-97.3,2599,2757,3154,3130,542.5,-7.3,278,7566,0.00,2.62,0.00,0.000,292,0.000,0.096,2590,3827,3141,3154,3128,0,0,0,0,0,0,11.25,10.98,11.25
$GC,7616,-0.87,-97.3,2590,3827,3155,3128,541.4,1.2,286,7621,0.12,2.38,0.00,0.000,3110,0.217,0.036,2613,2755,3141,3154,3128,0,0,0,0,0,0,10.91,11.09,11.07
$STATE,7980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7980,begin apogee
$GC,7992,-0.23,0.0,2614,2243,3155,3126,556.1,-5.1,309,8114,1.00,0.00,119.18,1.817,10244,0.171,0.000,2822,2241,2784,2825,2744,0,0,0,0,0,0,10.93,10.87,9.97
$STATE,8114,end apogee,CONTROL_FINISHED_OK
$STATE,8114,begin loiter
$GC,8122,-0.23,0.0,2822,2240,2822,2737,562.9,0.0,310,8126,0.00,0.00,0.00,0.000,1030,0.000,0.000,2822,2240,2778,2821,2735,0,0,0,0,0,0,11.15,11.15,11.15
$STATE,8229,end loiter,SURFACE_DEPTH_REACHED
$STATE,8229,begin surface coast
$FINISH,529.0,1.027023
$STATE,8236,end surface coast,CONTROL_FINISHED_OK
$STATE,8236,begin surface
$SM_CCo,8242,720.00,1.652,0,1,654,535.06
$SM_CCo,8968,55.17,1.535,0,0,499,573.99
$SM_GC,4.49,10.02,1.35,0.00,0.040,0.064,0.000,194,2774,480,-8.40,-0.31,579.02,0,0,0,0,0,0,11.05,11.02,11.10
$IRIDIUM_FIX,1002.64,-12642.55,200717,194849
$TT8_MAMPS,0.047187,0.113099
$HUMID,70.90
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,9.97,321.654
$10V_AH,10.31,0.000
$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,30.800,57.400,119.175,775.175,0.000,0.000,0.000,268.050,0.000,0.000,4.972,0.000,12391.748,1040.468,998.240,358.626,0.000,1684.382,0.000,473.978,0.000,0.545,0.000
$DEVICE_MAMPS,374.085,95.625,1816.875,1652.400,0.000,0.000,0.000,213.435,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$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,10104,327
$CAP_FILE_SIZE,73962,7
$CFSIZE,1024409600,866385920
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0
$CURRENT,0.033,196.92,1
$GPS,220717,015730,1004.170,-12647.851,54,0.8,54,9.1,0.5,68.9,11,5.6