version: 66.13
glider: 220
mission: 6
dive: 17
start: 8 26 116 3 32 40
data:
$ID,220
$MISSION,6
$DIVE,17
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,540
$D_ABORT,640
$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,180
$T_MISSION,210
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$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,150
$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,0.003
$HD_B,0.0099999998
$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,609.96155
$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
$PITCH_ADJ_DBAND,1
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2950
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.050000001
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2970
$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,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,500.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,260816,032125,950.9343,-12503.1904,12,1.2,13,9.0,0.7,207.5,7,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.73
$_SM_ANGLEo,-70.5
$GPS2,260816,033222,950.8894,-12503.1943,3,1.3,4,9.0,0.6,151.2,7,7.9
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,132.0,19380,-17.6,-10.000,-21.24,2209
$D_GRID,540
$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,15,-1.06,-146.0,183,2970,591,503,0.0,0.0,0,111,0.00,0.00,-92.78,0.000,16386,0.000,0.000,181,2970,3427,3411,3443,0,0,0,0,0,0,14.75,28.83,14.76
$GC,113,-1.06,-146.0,182,2970,3412,3445,3.4,-7.6,6,135,11.18,1.65,-1.75,0.000,18724,0.394,2.170,2606,3826,3554,3549,3559,0,0,0,0,0,0,14.39,13.74,14.64
$GC,274,-1.06,-146.0,2606,3826,3551,3560,69.4,-31.1,38,282,0.00,1.45,0.00,0.000,1030,0.000,0.044,2604,2941,3555,3551,3559,0,0,0,0,0,0,14.69,14.66,14.70
$GC,594,-1.06,-146.0,2604,2942,3554,3560,110.1,-10.9,57,601,0.00,1.58,0.00,0.000,260,0.000,0.104,2598,3826,3556,3553,3559,0,0,0,0,0,0,14.92,14.69,14.92
$GC,800,-1.06,-146.0,2599,3826,3554,3560,135.8,-11.4,98,809,0.00,1.42,0.00,0.000,1030,0.000,0.044,2598,2952,3556,3553,3559,0,0,0,0,0,0,14.81,14.78,14.82
$GC,1106,-1.06,-146.0,2598,2953,3554,3558,172.1,-12.0,109,1113,0.00,2.25,0.00,0.000,516,0.000,0.045,2597,1556,3556,3554,3558,0,0,0,0,0,0,14.99,14.79,14.99
$GC,1151,-1.06,-146.0,2598,1557,3554,3559,177.6,-11.7,118,1159,0.10,2.42,0.00,0.000,3078,0.275,0.074,2614,2974,3555,3553,3557,0,0,0,0,0,0,14.68,14.76,14.84
$GC,1468,-1.06,-146.0,2614,2974,3554,3554,213.9,-11.6,131,1474,0.00,1.52,0.00,0.000,260,0.000,0.109,2612,3822,3553,3553,3553,0,0,0,0,0,0,15.01,14.76,15.01
$GC,1543,-1.06,-146.0,2609,3823,3554,3551,223.1,-12.1,146,1550,0.00,1.42,0.00,0.000,1030,0.000,0.046,2609,2952,3551,3553,3550,0,0,0,0,0,0,14.86,14.83,14.88
$GC,1859,-1.06,-146.0,2609,2952,3554,3547,259.5,-11.5,159,1866,0.00,2.30,0.00,0.000,516,0.000,0.048,2608,1545,3550,3553,3547,0,0,0,0,0,0,15.02,14.82,15.03
$GC,1959,-1.06,-146.0,2609,1545,3553,3545,270.6,-10.8,179,1966,0.00,2.42,0.00,0.000,1030,0.000,0.079,2598,2961,3549,3553,3545,0,0,0,0,0,0,14.89,14.78,14.90
$GC,2281,-1.06,-146.0,2598,2962,3554,3540,308.4,-11.7,193,2288,0.00,2.33,0.00,0.000,516,0.000,0.049,2597,1546,3546,3553,3540,0,0,0,0,0,0,15.02,14.83,15.03
$GC,2356,-1.06,-146.0,2597,1549,3554,3538,317.2,-11.7,208,2364,0.10,2.42,0.00,0.000,3078,0.278,0.080,2614,2954,3545,3553,3538,0,0,0,0,0,0,14.71,14.79,14.87
$GC,2673,-1.06,-146.0,2615,2954,3553,3535,352.5,-11.2,221,2680,0.00,2.30,0.00,0.000,516,0.000,0.050,2614,1559,3543,3553,3533,0,0,0,0,0,0,15.02,14.83,15.02
$GC,2719,-1.06,-146.0,2615,1559,3554,3533,357.8,-11.3,230,2726,0.00,2.40,0.00,0.000,1030,0.000,0.081,2605,2952,3542,3552,3532,0,0,0,0,0,0,14.90,14.79,14.91
$GC,3036,-1.06,-146.0,2605,2951,3553,3529,395.6,-12.0,243,3042,0.00,2.30,0.00,0.000,516,0.000,0.050,2604,1557,3540,3553,3527,0,0,0,0,0,0,15.02,14.82,15.03
$GC,3080,-1.06,-146.0,2603,1558,3554,3527,401.0,-11.6,252,3088,0.00,2.45,0.00,0.000,1030,0.000,0.081,2594,2949,3539,3553,3526,0,0,0,0,0,0,14.85,14.78,14.88
$GC,3397,-1.06,-146.0,2595,2950,3554,3523,438.4,-11.9,265,3404,0.00,2.33,0.00,0.000,516,0.000,0.050,2593,1551,3539,3553,3526,0,0,0,0,0,0,15.02,14.82,15.02
$GC,3448,-1.06,-146.0,2593,1549,3551,3523,444.5,-11.4,275,3455,0.10,2.45,0.00,0.000,3078,0.284,0.082,2611,2962,3537,3552,3522,0,0,0,0,0,0,14.71,14.78,14.88
$GC,3760,-1.06,-146.0,2611,2963,3553,3517,476.8,-10.4,287,3766,0.00,2.35,0.00,0.000,516,0.000,0.051,2611,1550,3534,3552,3517,0,0,0,0,0,0,15.03,14.82,15.02
$GC,3860,-1.06,-146.0,2612,1549,3553,3518,487.0,-10.0,307,3867,0.00,2.45,0.00,0.000,1030,0.000,0.083,2602,2966,3534,3552,3517,0,0,0,0,0,0,14.90,14.78,14.91
$GC,4181,-1.06,-146.0,2602,2967,3555,3512,520.7,-10.5,321,4194,0.00,2.35,0.00,0.000,516,0.000,0.051,2602,1552,3532,3552,3512,0,0,0,0,0,0,15.03,14.83,15.04
$GC,4253,-1.06,-146.0,2602,1552,3553,3512,528.3,-10.4,334,4266,0.00,2.42,0.00,0.000,1030,0.000,0.085,2591,2957,3531,3552,3511,0,0,0,0,0,0,14.91,14.80,14.92
$STATE,4375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4375,begin apogee
$GC,4378,-0.25,0.0,2592,2283,3552,3510,541.5,-10.9,342,4518,0.95,0.00,129.90,1.552,10246,0.210,0.000,2873,2279,2968,3011,2925,0,0,0,0,0,0,14.74,14.19,13.62
$STATE,4520,end apogee,CONTROL_FINISHED_OK
$STATE,4520,begin climb
$GC,4521,1.06,146.0,2874,2278,3005,2916,544.2,0.0,346,4672,1.25,2.45,130.90,1.489,10756,0.099,0.067,3295,921,2377,2442,2312,0,0,0,0,0,0,14.21,14.05,13.54
$GC,4725,1.06,146.0,3295,922,2440,2300,525.2,14.9,386,4739,0.00,2.42,0.00,0.000,1030,0.000,0.062,3293,2310,2369,2439,2300,0,0,0,0,0,0,14.40,14.28,14.42
$GC,5043,1.06,146.0,3295,2311,2441,2294,477.5,15.1,398,5049,0.00,2.38,0.00,0.000,516,0.000,0.069,3303,922,2366,2439,2294,0,0,0,0,0,0,14.80,14.60,14.81
$GC,5118,1.06,146.0,3305,923,2440,2293,466.0,14.8,413,5126,0.00,2.38,0.00,0.000,1030,0.000,0.063,3304,2295,2366,2439,2293,0,0,0,0,0,0,14.68,14.62,14.69
$GC,5435,1.06,146.0,3311,2296,2440,2291,416.8,15.5,426,5441,0.00,2.35,0.00,0.000,516,0.000,0.069,3314,913,2364,2439,2289,0,0,0,0,0,0,14.90,14.69,14.90
$GC,5460,1.06,146.0,3314,913,2440,2289,412.6,15.7,431,5468,0.00,2.40,0.00,0.000,1030,0.000,0.065,3314,2303,2364,2439,2289,0,0,0,0,0,0,14.75,14.69,14.76
$GC,5766,1.06,146.0,3314,2304,2440,2286,363.0,16.3,442,5772,0.00,2.35,0.00,0.000,516,0.000,0.070,3324,916,2362,2439,2286,0,0,0,0,0,0,14.94,14.73,14.94
$GC,5881,1.06,146.0,3325,917,2440,2286,344.4,15.8,465,5890,0.00,2.38,0.00,0.000,1030,0.000,0.064,3324,2299,2362,2439,2286,0,0,0,0,0,0,14.78,14.72,14.83
$GC,6187,1.06,146.0,3325,2300,2440,2283,295.4,15.9,476,6193,0.00,2.35,0.00,0.000,516,0.000,0.070,3334,916,2361,2439,2284,0,0,0,0,0,0,14.96,14.74,14.96
$GC,6278,1.06,146.0,3335,915,2438,2285,281.2,15.3,494,6284,0.12,2.33,0.00,0.000,5126,0.293,0.063,3303,2301,2360,2439,2281,0,0,0,0,0,0,14.63,14.74,14.82
$GC,6609,1.06,146.0,3303,2302,2440,2277,232.0,14.8,510,6615,0.00,2.35,0.00,0.000,516,0.000,0.070,3312,913,2360,2439,2282,0,0,0,0,0,0,14.97,14.74,14.97
$GC,6719,1.06,146.0,3313,913,2439,2282,215.8,14.7,532,6726,0.00,2.38,0.00,0.000,1030,0.000,0.064,3313,2295,2360,2439,2282,0,0,0,0,0,0,14.81,14.74,14.85
$GC,7030,1.06,146.0,3319,2297,2440,2281,170.7,14.5,544,7037,0.00,2.47,0.00,0.000,260,0.000,0.102,3313,3704,2360,2439,2281,0,0,0,0,0,0,14.97,14.72,14.97
$GC,7065,1.06,146.0,3313,3704,2439,2282,164.8,16.8,551,7072,0.00,2.33,0.00,0.000,1030,0.000,0.047,3323,2316,2359,2438,2280,0,0,0,0,0,0,14.81,14.78,14.83
$GC,7392,1.06,146.0,3323,2314,2440,2280,115.5,14.9,566,7398,0.00,2.35,0.00,0.000,516,0.000,0.068,3332,904,2359,2438,2280,0,0,0,0,0,0,14.97,14.76,14.97
$GC,7543,1.06,146.0,3334,906,2439,2281,96.0,12.1,596,7549,0.10,2.35,0.00,0.000,5126,0.301,0.063,3308,2308,2359,2438,2281,0,0,0,0,0,0,14.64,14.75,14.83
$GC,7859,1.24,295.4,3309,2308,2439,2280,77.5,3.0,619,7931,0.08,0.00,67.40,0.413,10790,0.161,0.000,3360,2308,1791,1864,1719,0,0,0,0,0,0,14.78,14.66,14.42
$GC,8235,1.36,388.6,3361,2309,1865,1727,47.6,5.7,654,8288,0.05,2.47,45.75,0.317,10532,0.209,0.098,3397,3704,1419,1492,1347,0,0,0,0,0,0,14.70,14.57,14.45
$GC,8342,1.36,388.6,3396,3705,1493,1356,37.2,11.8,675,8349,0.00,2.33,0.00,0.000,1030,0.000,0.044,3407,2296,1424,1492,1356,0,0,0,0,0,0,14.73,14.66,14.73
$STATE,8657,end climb,SURFACE_DEPTH_REACHED
$STATE,8657,begin surface coast
$FINISH,-1.4,1.020390
$STATE,8672,end surface coast,CONTROL_FINISHED_OK
$STATE,8672,begin surface
$SM_CCo,8697,101.60,0.156,0,0,538,610.16
$SM_GC,-1.84,9.12,1.15,101.60,0.060,0.075,0.156,193,2945,538,-8.59,-0.88,610.16,0,0,0,0,0,0,14.71,14.69,14.59
$IRIDIUM_FIX,945.12,-12502.75,260816,004806
$TT8_MAMPS,0.038199,0.46438
$HUMID,51.69
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,21.90
$XPDR_PINGS,0
$SC_FREEKB,3903872
$PM_FREEKB,62001024
$TM_FREEKB,7662304
$24V_AH,13.54,10.564
$10V_AH,13.33,0.000
$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,23.150,92.025,373.950,101.600,0.000,0.000,0.000,415.000,0.000,0.000,5.822,0.000,6482.504,619.753,2291.768,61.493,0.000,1726.620,0.000,1256.088,0.000,0.547,0.000
$DEVICE_MAMPS,393.975,2170.305,1552.185,156.060,0.000,0.000,0.000,208.845,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8729.000,8666.000,7872.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.773,3.084,11.367,0.000
$MEM,334760
$DATA_FILE_SIZE,23413,699
$CAP_FILE_SIZE,96671,0
$CFSIZE,1024409600,1017036800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.154,203.92,1
$GPS,260816,060020,949.458,-12503.044,30,0.8,30,9.0,0.1,0.0,11,3.5