version: 66.13
glider: 220
mission: 6
dive: 711
start: 2 20 117 15 12 27
data:
$ID,220
$MISSION,6
$DIVE,711
$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,56
$R_STBD_OVSHOOT,14
$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
$GPS1,200217,145830,1015.5618,-12502.6016,23,0.9,23,9.0,1.1,220.5,9,3.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.31
$_SM_ANGLEo,-69.0
$GPS2,200217,151201,1015.6646,-12502.6455,2,0.7,2,9.0,0.3,195.4,11,8.7
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,194.4,42122,-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,-107.1,107,2785,1101,1012,0.0,0.0,0,101,0.00,0.00,-79.38,0.000,16390,0.000,0.000,106,2783,3477,3466,3488,0,0,0,0,0,0,14.57,12.88,14.50
$GC,106,-0.93,-107.1,107,2783,3466,3489,2.1,-11.4,3,123,12.07,2.47,0.00,0.000,2820,0.379,0.033,2591,1352,3478,3469,3487,0,0,0,0,0,0,13.86,14.35,14.25
$GC,253,-0.71,-107.1,2590,1351,3472,3488,42.8,-19.3,24,258,0.32,2.72,0.00,0.000,3206,0.243,0.100,2666,2767,3479,3471,3487,0,0,0,0,0,0,13.85,13.97,14.16
$GC,581,-0.71,-107.1,2661,2768,3474,3487,78.9,-7.2,38,586,0.00,2.15,0.00,0.000,292,0.000,0.158,2658,3827,3479,3473,3486,0,0,0,0,0,0,14.71,13.83,14.71
$GC,615,-0.71,-107.1,2658,3828,3474,3487,82.1,-8.8,43,620,0.00,1.83,0.00,0.000,1030,0.000,0.058,2658,2753,3476,3467,3486,0,0,0,0,0,0,14.34,14.27,14.35
$GC,973,-0.71,-107.1,2659,2752,3474,3488,109.5,-8.1,56,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2752,3480,3474,3487,0,0,0,0,0,0,14.73,14.74,14.73
$GC,1309,-0.71,-107.1,2657,2753,3475,3486,137.3,-8.6,62,1314,0.00,2.20,0.00,0.000,260,0.000,0.150,2650,3825,3480,3474,3486,0,0,0,0,0,0,14.78,13.81,14.78
$GC,1392,-0.71,-107.1,2650,3825,3474,3487,144.2,-7.3,74,1397,0.00,1.83,0.00,0.000,1062,0.000,0.057,2648,2762,3478,3472,3485,0,0,0,0,0,0,14.30,14.24,14.31
$GC,1757,-0.71,-107.1,2650,2761,3478,3482,169.8,-7.3,84,1762,0.00,2.42,0.00,0.000,548,0.000,0.043,2648,1385,3477,3474,3480,0,0,0,0,0,0,14.79,13.76,14.79
$GC,1854,-0.71,-107.1,2649,1386,3475,3479,178.0,-8.2,98,1859,0.10,2.70,0.00,0.000,3078,0.223,0.099,2668,2769,3474,3469,3479,0,0,0,0,0,0,13.78,13.77,14.02
$GC,2205,-0.71,-107.1,2669,2770,3475,3474,202.0,-6.5,106,2206,0.00,0.00,0.00,0.000,38,0.000,0.000,2668,2770,3473,3473,3474,0,0,0,0,0,0,14.74,14.74,14.74
$GC,2541,-0.71,-107.1,2669,2770,3475,3469,225.0,-6.9,112,2546,0.00,2.53,0.00,0.000,548,0.000,0.044,2667,1373,3471,3473,3469,0,0,0,0,0,0,14.74,14.00,14.74
$GC,2603,-0.80,-107.1,2669,1373,3474,3470,229.7,-7.0,121,2609,0.00,2.72,0.00,0.000,1190,0.000,0.099,2659,2769,3471,3474,3468,0,0,0,0,0,0,14.06,13.76,14.12
$GC,2933,-0.80,-107.1,2660,2769,3474,3464,254.8,-7.7,133,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2769,3467,3473,3462,0,0,0,0,0,0,14.74,14.74,14.74
$GC,3269,-0.80,-107.1,2659,2771,3475,3460,281.0,-7.8,139,3274,0.00,2.53,0.00,0.000,516,0.000,0.043,2659,1380,3469,3478,3460,0,0,0,0,0,0,14.73,13.96,14.73
$GC,3325,-0.88,-107.1,2659,1381,3475,3458,285.4,-7.5,147,3330,0.05,2.78,0.00,0.000,5286,0.197,0.100,2594,2777,3467,3475,3459,0,0,0,0,0,0,13.97,13.78,14.12
$GC,3661,-0.88,-107.1,2594,2778,3475,3455,318.9,-10.0,160,3666,0.00,2.55,0.00,0.000,516,0.000,0.042,2592,1370,3464,3473,3455,0,0,0,0,0,0,14.73,13.97,14.76
$GC,3695,-0.88,-107.1,2592,1371,3475,3455,322.7,-10.7,165,3701,0.10,2.78,0.00,0.000,3078,0.243,0.099,2609,2773,3464,3473,3455,0,0,0,0,0,0,13.76,13.80,14.03
$GC,4053,-0.88,-107.1,2610,2773,3474,3452,357.3,-9.8,174,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2773,3462,3473,3452,0,0,0,0,0,0,14.73,14.72,14.73
$GC,4389,-0.88,-107.1,2609,2774,3474,3448,391.7,-10.2,180,4394,0.00,2.55,0.00,0.000,516,0.000,0.043,2609,1374,3460,3474,3447,0,0,0,0,0,0,14.71,13.90,14.72
$GC,4451,-0.88,-107.1,2610,1377,3474,3448,398.4,-10.4,189,4457,0.00,2.75,0.00,0.000,1030,0.000,0.098,2600,2767,3460,3473,3447,0,0,0,0,0,0,14.07,13.78,14.12
$GC,4781,-0.88,-107.1,2600,2768,3474,3444,433.4,-10.7,201,4786,0.00,2.17,0.00,0.000,260,0.000,0.156,2592,3826,3463,3482,3444,0,0,0,0,0,0,14.78,13.79,14.78
$GC,4829,-0.88,-107.1,2592,3826,3474,3445,438.8,-10.9,208,4835,0.00,1.90,0.00,0.000,1030,0.000,0.062,2590,2780,3460,3473,3447,0,0,0,0,0,0,14.02,14.00,14.05
$GC,5173,-0.88,-107.1,2591,2780,3474,3441,474.1,-10.2,215,5178,0.00,2.55,0.00,0.000,516,0.000,0.043,2590,1363,3456,3473,3440,0,0,0,0,0,0,14.76,13.88,14.76
$GC,5207,-0.88,-107.1,2591,1361,3473,3441,477.9,-10.7,220,5212,0.12,2.75,0.00,0.000,3078,0.233,0.096,2614,2767,3455,3473,3438,0,0,0,0,0,0,13.72,13.78,14.00
$GC,5565,-0.88,-107.1,2614,2767,3474,3436,509.3,-8.7,229,5570,0.00,2.17,0.00,0.000,260,0.000,0.154,2606,3828,3454,3472,3437,0,0,0,0,0,0,14.72,13.78,14.71
$GC,5599,-0.88,-107.1,2606,3828,3474,3437,512.5,-9.4,234,5604,0.00,1.90,0.00,0.000,1030,0.000,0.063,2605,2763,3455,3473,3437,0,0,0,0,0,0,14.16,14.09,14.19
$GC,5957,-0.88,-107.1,2606,2764,3474,3441,543.4,-8.7,243,5962,0.00,2.53,0.00,0.000,516,0.000,0.042,2605,1363,3453,3473,3433,0,0,0,0,0,0,14.71,13.90,14.71
$GC,5984,-0.88,-107.1,2604,1364,3473,3432,546.2,-9.8,247,5989,0.00,2.75,0.00,0.000,1030,0.000,0.096,2595,2770,3452,3473,3432,0,0,0,0,0,0,14.15,13.90,14.20
$GC,6349,-0.88,-107.1,2596,2771,3474,3431,579.6,-9.4,257,6354,0.00,2.17,0.00,0.000,260,0.000,0.154,2588,3829,3451,3472,3431,0,0,0,0,0,0,14.77,13.78,14.77
$GC,6390,-0.88,-107.1,2588,3831,3473,3431,583.7,-10.1,263,6395,0.10,1.92,0.00,0.000,3078,0.228,0.064,2614,2757,3451,3472,3431,0,0,0,0,0,0,13.69,14.07,13.93
$GC,6741,-0.88,-107.1,2612,2758,3472,3431,613.5,-8.3,271,6746,0.00,2.53,0.00,0.000,516,0.000,0.043,2617,1363,3450,3470,3431,0,0,0,0,0,0,14.76,13.88,14.76
$GC,6838,-0.88,-107.1,2615,1363,3471,3431,622.0,-8.3,285,6844,0.00,2.78,0.00,0.000,1030,0.000,0.095,2605,2759,3450,3470,3430,0,0,0,0,0,0,14.09,13.82,14.15
$GC,7189,-0.88,-107.1,2606,2759,3470,3430,652.1,-8.7,293,7195,0.00,2.17,0.00,0.000,260,0.000,0.154,2597,3827,3448,3469,3428,0,0,0,0,0,0,14.76,13.87,14.76
$GC,7223,-0.88,-107.1,2595,3827,3469,3430,655.4,-9.9,298,7228,0.00,1.92,0.00,0.000,1030,0.000,0.064,2596,2756,3448,3468,3429,0,0,0,0,0,0,14.19,14.11,14.20
$GC,7581,-0.88,-107.1,2597,2755,3466,3428,687.6,-9.0,307,7586,0.00,2.53,0.00,0.000,516,0.000,0.043,2595,1364,3446,3466,3427,0,0,0,0,0,0,14.75,13.83,14.76
$GC,7622,-0.88,-107.1,2597,1363,3466,3428,691.4,-9.1,313,7628,0.00,2.78,0.00,0.000,1030,0.000,0.095,2587,2767,3446,3466,3427,0,0,0,0,0,0,14.08,13.79,14.13
$GC,7973,-0.88,-107.1,2587,2768,3466,3425,725.5,-9.9,321,7974,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2767,3445,3465,3425,0,0,0,0,0,0,14.76,14.76,14.76
$GC,8309,-0.88,-107.1,2585,2768,3465,3425,760.2,-10.4,327,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2767,3444,3463,3425,0,0,0,0,0,0,14.74,14.75,14.78
$GC,8645,-0.88,-107.1,2588,2767,3464,3424,795.1,-10.3,333,8650,0.00,2.60,0.00,0.000,516,0.000,0.044,2585,1363,3441,3463,3419,0,0,0,0,0,0,14.74,13.80,14.75
$GC,8686,-0.88,-107.1,2585,1362,3464,3421,799.5,-10.4,339,8691,0.12,2.78,0.00,0.000,3078,0.234,0.096,2609,2765,3442,3463,3422,0,0,0,0,0,0,13.73,13.78,14.00
$STATE,8697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8697,begin apogee
$GC,8707,-0.23,0.0,2609,2226,3465,3422,800.9,-9.9,341,8824,0.75,0.08,113.80,1.832,10244,0.173,0.226,2820,2251,3050,3090,3011,0,0,0,0,0,0,13.69,13.85,13.12
$STATE,8825,end apogee,CONTROL_FINISHED_OK
$STATE,8825,begin climb
$GC,8830,0.93,107.1,2820,2253,3086,3001,804.6,0.0,343,8961,1.12,2.55,117.62,1.791,10756,0.088,0.051,3185,871,2617,2679,2555,0,0,0,0,0,0,13.89,13.94,13.05
$GC,9031,0.84,141.0,3186,871,2678,2542,800.7,6.0,374,9072,0.00,2.58,36.67,1.816,9382,0.000,0.070,3185,2258,2489,2562,2417,0,0,0,0,0,0,14.19,14.02,13.12
$GC,9428,0.71,141.0,3185,2258,2555,2391,766.4,9.2,388,9433,0.17,2.78,0.00,0.000,4484,0.223,0.139,3131,3660,2472,2553,2391,0,0,0,0,0,0,13.92,14.00,14.11
$GC,9468,0.63,141.0,3132,3661,2555,2391,762.4,8.8,394,9473,0.12,2.45,0.00,0.000,5254,0.228,0.052,3108,2257,2470,2550,2391,0,0,0,0,0,0,14.00,14.34,14.27
$GC,9819,0.65,159.1,3109,2257,2555,2388,738.1,6.8,402,9845,0.00,2.80,19.23,1.877,8484,0.000,0.140,3107,3659,2407,2489,2326,0,0,0,0,0,0,14.72,14.09,13.38
$GC,9881,0.66,165.6,3105,3660,2486,2321,733.6,7.4,411,9886,0.00,2.45,1.77,0.215,9254,0.000,0.051,3117,2248,2390,2471,2309,0,0,0,0,0,0,14.43,14.36,14.00
$GC,10211,0.67,179.7,3116,2246,2470,2325,710.1,7.0,423,10242,0.00,2.90,22.88,1.854,8484,0.000,0.141,3117,3664,2324,2406,2242,0,0,0,0,0,0,14.71,14.07,13.36
$GC,10273,0.68,186.5,3117,3665,2405,2235,705.4,7.4,432,10279,0.00,2.47,1.67,0.221,9254,0.000,0.051,3127,2251,2306,2390,2222,0,0,0,0,0,0,14.39,14.28,14.03
$GC,10596,0.68,186.5,3127,2247,2388,2238,680.6,7.8,443,10601,0.00,2.88,0.00,0.000,260,0.000,0.140,3127,3664,2312,2387,2237,0,0,0,0,0,0,14.66,13.94,14.67
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$STATE,19321,end climb,SURFACE_DEPTH_REACHED
$STATE,19321,begin surface coast
$FINISH,-2.5,1.022234
$STATE,19349,end surface coast,CONTROL_FINISHED_OK
$STATE,19349,begin surface
$SM_CCo,19375,41.90,0.149,0,0,1057,500.14
$SM_GC,-4.66,9.20,1.02,41.90,0.064,0.129,0.149,186,2770,1057,-8.38,-0.28,500.14,0,0,0,0,0,0,14.24,13.77,14.09
$IRIDIUM_FIX,1011.40,-12458.62,200217,091233
$TT8_MAMPS,0.038948,0.286867
$HUMID,56.10
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,21.60
$XPDR_PINGS,3
$SC_FREEKB,3636704
$PM_FREEKB,51699904
$24V_AH,12.88,242.556
$10V_AH,12.32,0.000
$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,25.075,200.375,473.525,41.900,0.000,0.000,0.000,407.675,0.750,0.000,4.241,0.000,16348.504,756.995,2398.548,705.951,0.000,1911.107,0.000,1473.323,0.000,0.841,0.000
$DEVICE_MAMPS,379.440,226.440,1877.310,149.175,0.000,0.000,0.000,179.010,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.644,2.457,0.000,0.000
$MEM,334712
$DATA_FILE_SIZE,30047,821
$CAP_FILE_SIZE,148912,0
$CFSIZE,1024409600,901414912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106,269.07,1
$GPS,200217,203700,1013.982,-12504.316,17,0.8,17,9.0,0.3,42.2,11,6.3