version: 66.13
glider: 220
mission: 5
dive: 6
start: 7 26 116 21 0 50
data:
$ID,220
$MISSION,5
$DIVE,6
$N_DIVES,7
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,180
$D_NO_BLEED,50
$D_BOOST,100
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53513
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,595.39197
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,20
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2047
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2850
$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,4
$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,-168.73994
$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,1
$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,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$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,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,260716,205234,4743.4937,-12225.0898,2,1.9,4,15.9,0.1,0.0,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.19
$_SM_ANGLEo,-67.7
$GPS2,260716,210032,4743.5332,-12225.0566,3,1.0,34,15.9,0.2,0.0,11,2.8
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,NE
$TGT_LATLONG,4743.500,-12224.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,93.3,1318,-18.1,-10.000,-20.93,2236
$D_GRID,178
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.09,-146.6,192,2709,546,461,0.0,0.0,0,144,0.00,0.00,-121.07,0.000,16390,0.000,0.000,191,2709,3433,3425,3441,0,0,0,0,0,0,14.78,13.91,14.78
$GC,146,-1.09,-146.6,192,2709,3426,3443,3.1,-8.7,21,166,11.23,2.40,0.00,0.000,2596,0.403,0.054,2603,1277,3434,3427,3442,0,0,0,0,0,0,14.39,14.56,14.60
$GC,271,-0.94,-146.6,2603,1278,3429,3442,30.5,-18.2,45,279,0.22,2.50,0.00,0.000,3206,0.286,0.080,2650,2702,3434,3428,3441,0,0,0,0,0,0,14.48,14.59,14.66
$GC,339,-0.84,-146.6,2652,2703,3429,3441,42.2,-16.3,58,346,0.10,2.03,0.00,0.000,2436,0.298,0.109,2675,3825,3434,3428,3441,0,0,0,0,0,0,14.51,14.58,14.64
$GC,361,-0.74,-146.6,2676,3826,3429,3441,45.7,-15.9,62,369,0.15,1.90,0.00,0.000,3206,0.253,0.050,2717,2674,3434,3428,3441,0,0,0,0,0,0,14.54,14.66,14.69
$GC,428,-0.71,-146.6,2717,2675,3429,3441,54.4,-12.5,75,437,0.00,2.12,0.00,0.000,388,0.000,0.113,2709,3829,3434,3428,3441,0,0,0,0,0,0,14.84,14.59,14.84
$GC,471,-0.66,-146.6,2709,3829,3433,3442,59.9,-12.9,83,480,0.12,1.88,0.00,0.000,3206,0.246,0.051,2745,2698,3434,3428,3441,0,0,0,0,0,0,14.57,14.69,14.71
$GC,600,-0.66,-146.6,2746,2699,3429,3442,74.7,-11.0,108,607,0.00,2.08,0.00,0.000,260,0.000,0.109,2736,3835,3434,3428,3441,0,0,0,0,0,0,14.87,14.62,14.87
$GC,796,-0.66,-146.6,2736,3842,3429,3441,95.6,-11.4,147,805,0.00,1.90,0.00,0.000,1030,0.000,0.049,2736,2697,3434,3428,3441,0,0,0,0,0,0,14.76,14.72,14.76
$GC,924,-0.66,-146.6,2737,2696,3429,3442,109.2,-10.3,172,932,0.00,2.33,0.00,0.000,516,0.000,0.056,2736,1307,3434,3428,3441,0,0,0,0,0,0,14.90,14.70,14.90
$GC,966,-0.68,-146.6,2735,1308,3428,3441,113.6,-10.4,180,974,0.00,2.42,0.00,0.000,1158,0.000,0.075,2726,2707,3433,3428,3439,0,0,0,0,0,0,14.78,14.68,14.79
$GC,1093,-0.68,-146.6,2730,2707,3428,3442,127.7,-11.8,205,1101,0.00,2.03,0.00,0.000,260,0.000,0.113,2717,3835,3434,3428,3441,0,0,0,0,0,0,14.90,14.65,14.90
$GC,1146,-0.66,-146.6,2717,3832,3429,3441,134.5,-13.8,215,1155,0.10,1.88,0.00,0.000,3206,0.252,0.050,2747,2689,3434,3428,3441,0,0,0,0,0,0,14.62,14.75,14.76
$GC,1274,-0.68,-146.6,2747,2690,3429,3441,148.9,-10.8,240,1282,0.00,2.08,0.00,0.000,388,0.000,0.112,2738,3830,3434,3428,3441,0,0,0,0,0,0,14.90,14.66,14.90
$STATE,1285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1285,begin apogee
$GC,1290,-0.25,0.0,2739,2056,3429,3441,150.2,-10.6,242,1419,0.43,0.00,118.28,1.772,10246,0.199,0.000,2870,2051,2852,2900,2804,0,0,0,0,1,0,14.62,14.07,13.40
$STATE,1422,end apogee,CONTROL_FINISHED_OK
$STATE,1422,begin climb
$GC,1423,1.09,146.6,2871,2052,2901,2810,157.1,0.0,263,1572,1.38,2.55,129.80,1.049,10756,0.145,0.075,3300,643,2254,2325,2184,0,0,0,0,0,0,14.11,14.12,13.74
$GC,1601,1.01,146.6,3300,643,2325,2176,145.3,12.4,290,1609,0.00,2.45,0.00,0.000,1158,0.000,0.060,3300,2051,2249,2324,2175,0,0,0,0,0,0,14.35,14.26,14.36
$GC,1729,0.93,146.6,3300,2052,2324,2174,128.7,14.2,315,1736,0.10,2.53,0.00,0.000,4484,0.276,0.094,3267,3458,2248,2324,2172,0,0,0,0,0,0,14.36,14.43,14.48
$GC,1841,0.84,146.6,3267,3459,2321,2172,112.1,14.5,337,1849,0.15,2.40,0.00,0.000,5254,0.261,0.051,3237,2041,2248,2324,2172,0,0,0,0,0,0,14.45,14.56,14.61
$GC,1969,0.87,169.7,3237,2041,2325,2170,99.0,8.9,362,1989,0.00,2.42,9.38,0.412,8740,0.000,0.077,3248,652,2178,2247,2109,0,0,0,0,0,0,14.79,14.55,14.38
$GC,2034,0.93,215.2,3248,653,2248,2126,93.3,7.9,374,2066,0.00,2.40,24.77,0.433,9254,0.000,0.062,3248,2055,1991,2064,1918,0,0,0,0,0,0,14.69,14.60,14.35
$GC,2185,0.97,261.8,3247,2056,2066,1933,79.1,7.9,403,2217,0.00,2.50,24.45,0.396,8612,0.000,0.101,3248,3457,1808,1883,1734,0,0,0,0,0,0,14.77,14.52,14.39
$GC,2282,0.94,261.8,3247,3458,1886,1746,68.1,13.6,421,2289,0.00,2.40,0.00,0.000,1158,0.000,0.053,3265,2040,1816,1886,1746,0,0,0,0,0,0,14.68,14.61,14.69
$GC,2409,0.94,261.8,3259,2036,1886,1746,52.6,12.3,446,2417,0.00,2.55,0.00,0.000,260,0.000,0.099,3258,3452,1815,1885,1746,0,0,0,0,0,0,14.83,14.58,14.83
$GC,2461,0.94,261.8,3259,3453,1886,1750,45.4,13.8,456,2470,0.00,2.38,1.35,0.239,9222,0.000,0.053,3269,2051,1805,1885,1726,0,0,0,0,0,0,14.74,14.65,14.56
$GC,2530,0.94,261.8,3269,2051,1886,1739,37.1,11.8,469,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2050,1812,1885,1739,0,0,0,0,0,0,14.85,14.84,14.84
$GC,2596,0.94,261.8,3269,2052,1886,1738,29.3,11.6,482,2604,0.00,2.55,0.00,0.000,260,0.000,0.101,3269,3457,1812,1885,1739,0,0,0,0,0,0,14.85,14.62,14.85
$GC,2643,0.92,261.8,3270,3457,1886,1741,23.3,12.9,491,2651,0.00,2.40,0.00,0.000,1158,0.000,0.054,3279,2038,1812,1885,1740,0,0,0,0,0,0,14.73,14.66,14.75
$GC,2710,0.92,261.8,3273,2037,1886,1741,15.3,11.9,504,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,2038,1812,1885,1740,0,0,0,0,0,0,14.85,14.85,14.85
$GC,2777,0.92,261.8,3279,2039,1886,1738,7.3,11.7,517,2785,0.00,2.40,0.00,0.000,516,0.000,0.082,3293,644,1812,1885,1740,0,0,0,0,0,0,14.86,14.64,14.87
$GC,2799,0.92,261.8,3289,645,1886,1740,4.9,11.0,521,2808,0.10,2.40,0.00,0.000,5126,0.255,0.066,3260,2047,1812,1885,1740,0,0,0,0,0,0,14.59,14.66,14.72
$STATE,2826,end climb,SURFACE_DEPTH_REACHED
$STATE,2826,begin surface coast
$FINISH,0.5,1.021897
$STATE,2841,end surface coast,CONTROL_FINISHED_OK
$STATE,2841,begin surface
$SM_CCo,2865,155.20,0.162,0,0,497,590.32
$SM_CCo,3022,-0.12,0.000,0,0,500,590.32
$SM_CCo,3024,0.08,1.587,0,0,498,590.32
$SM_GC,0.28,8.93,1.15,0.08,0.078,0.090,1.587,198,2699,498,-8.58,-0.76,590.32,0,0,0,0,0,0,14.69,14.67,14.44
$IRIDIUM_FIX,4726.11,-12229.50,260716,201008
$TT8_MAMPS,0.038199,0.462882
$HUMID,50.82
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,15.80
$XPDR_PINGS,0
$SC_FREEKB,3908096
$PM_FREEKB,62093568
$TM_FREEKB,7795488
$24V_AH,13.40,6.622
$10V_AH,13.81,0.000
$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,23.000,66.025,308.025,155.275,0.000,0.000,0.000,284.000,0.000,0.000,35.757,0.000,966.095,602.681,1897.814,42.431,0.000,1436.639,0.000,1121.926,0.000,0.544,0.000
$DEVICE_MAMPS,403.155,113.220,1771.740,1587.375,0.000,0.000,0.000,188.955,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2863.000,2831.000,2881.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.867,4.773,18.380,0.000
$MEM,311944
$DATA_FILE_SIZE,16737,529
$CAP_FILE_SIZE,76751,0
$CFSIZE,1024409600,1019691008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.052,308.79,1
$GPS,260716,215152,4743.460,-12224.651,8,1.1,8,15.9,0.2,9.4,10,7.0