version: 66.13
glider: 220
mission: 6
dive: 40
start: 8 30 116 10 6 14
data:
$ID,220
$MISSION,6
$DIVE,40
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,420
$T_MISSION,480
$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,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,0.0024999999
$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,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,2930
$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,2800
$C_ROLL_CLIMB,2290
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$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,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
$GPS1,300816,095401,956.9645,-12443.1240,33,0.8,33,9.0,0.2,59.4,11,3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.02
$_SM_ANGLEo,-71.1
$GPS2,300816,100555,956.9419,-12442.9639,3,0.6,3,9.0,0.8,56.5,12,10.0
$SPEED_LIMITS,0.136,0.198
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,17.6,7106,-14.4,-7.857,-21.67,2718
$D_GRID,990
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.90,-146.0,193,2813,662,586,0.0,0.0,0,113,0.00,0.00,-94.10,0.000,16390,0.000,0.000,192,2814,3634,3627,3642,0,0,0,0,0,0,14.70,13.81,14.71
$GC,114,-0.90,-146.0,192,2816,3628,3642,0.9,-5.7,4,131,11.48,2.35,0.00,0.000,2820,0.402,0.032,2633,1377,3635,3628,3642,0,0,0,0,0,0,14.35,14.55,14.57
$GC,226,-0.90,-146.0,2633,1378,3632,3642,48.0,-26.0,21,236,0.00,2.53,0.00,0.000,1030,0.000,0.076,2629,2792,3636,3631,3642,0,0,0,0,0,0,14.65,14.54,14.66
$GC,563,-0.90,-146.0,2623,2794,3634,3642,106.1,-10.5,37,571,0.00,1.88,0.00,0.000,260,0.000,0.106,2615,3826,3637,3633,3642,0,0,0,0,0,0,14.89,14.65,14.87
$GC,800,-0.90,-146.0,2618,3826,3640,3643,134.9,-12.2,71,810,0.00,1.67,0.00,0.000,1030,0.000,0.041,2614,2801,3637,3634,3641,0,0,0,0,0,0,14.81,14.78,14.82
$GC,1123,-0.90,-146.0,2614,2800,3636,3643,172.6,-13.1,81,1131,0.00,1.92,0.00,0.000,260,0.000,0.107,2607,3839,3637,3634,3641,0,0,0,0,0,0,14.95,14.70,14.95
$GC,1290,-0.90,-146.0,2607,3840,3635,3640,192.6,-12.2,105,1300,0.10,1.65,0.00,0.000,3078,0.257,0.041,2635,2836,3636,3634,3638,0,0,0,0,0,0,14.68,14.82,14.82
$GC,1613,-0.90,-146.0,2635,2836,3635,3634,228.1,-10.5,115,1622,0.00,2.35,0.00,0.000,516,0.000,0.046,2635,1420,3633,3634,3633,0,0,0,0,0,0,14.98,14.78,14.99
$GC,1696,-0.90,-146.0,2635,1421,3635,3632,236.5,-9.9,127,1706,0.00,2.47,0.00,0.000,1030,0.000,0.074,2625,2828,3632,3634,3630,0,0,0,0,0,0,14.85,14.76,14.87
$GC,2033,-0.90,-146.0,2626,2828,3635,3627,273.1,-11.0,139,2041,0.00,1.83,0.00,0.000,260,0.000,0.109,2617,3822,3629,3634,3625,0,0,0,0,0,0,15.00,14.76,15.00
$GC,2074,-0.90,-146.0,2623,3823,3635,3625,278.1,-11.9,145,2078,0.00,1.67,0.00,0.000,1030,0.000,0.045,2614,2817,3628,3633,3624,0,0,0,0,0,0,14.88,14.84,14.90
$GC,2412,-0.90,-146.0,2617,2816,3634,3619,317.6,-11.7,157,2420,0.00,2.35,0.00,0.000,516,0.000,0.049,2616,1409,3626,3635,3617,0,0,0,0,0,0,15.00,14.81,15.01
$GC,2439,-0.90,-146.0,2619,1409,3635,3619,320.9,-11.8,161,2450,0.10,2.50,0.00,0.000,3078,0.264,0.076,2636,2828,3628,3634,3623,0,0,0,0,0,0,14.71,14.78,14.85
$GC,2762,-0.90,-146.0,2636,2828,3635,3612,354.6,-10.2,171,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2828,3623,3634,3612,0,0,0,0,0,0,15.00,15.00,15.00
$GC,3077,-0.90,-146.0,2636,2829,3635,3606,386.9,-10.2,180,3085,0.00,2.40,0.00,0.000,516,0.000,0.050,2636,1409,3620,3634,3606,0,0,0,0,0,0,15.01,14.81,15.01
$GC,3104,-0.90,-146.0,2636,1408,3635,3606,389.8,-10.2,184,3114,0.00,2.53,0.00,0.000,1030,0.000,0.078,2626,2833,3619,3633,3606,0,0,0,0,0,0,14.89,14.79,14.90
$GC,3427,-0.90,-146.0,2626,2834,3635,3601,423.3,-10.3,194,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2833,3618,3634,3602,0,0,0,0,0,0,15.01,15.02,15.01
$GC,3742,-0.90,-146.0,2626,2834,3633,3597,455.5,-10.1,203,3750,0.00,2.40,0.00,0.000,516,0.000,0.049,2626,1416,3617,3634,3601,0,0,0,0,0,0,15.01,14.81,15.01
$GC,3832,-0.90,-146.0,2626,1416,3634,3597,464.6,-9.8,216,3841,0.00,2.50,0.00,0.000,1030,0.000,0.077,2616,2820,3614,3633,3595,0,0,0,0,0,0,14.88,14.78,14.90
$GC,4162,-0.90,-146.0,2616,2823,3635,3592,498.6,-10.5,227,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2822,3612,3633,3592,0,0,0,0,0,0,15.00,15.01,15.01
$GC,4477,-0.90,-146.0,2616,2822,3635,3588,531.7,-10.5,236,4490,0.00,2.35,0.00,0.000,516,0.000,0.050,2615,1411,3610,3633,3587,0,0,0,0,0,0,15.02,14.83,15.02
$GC,4543,-0.90,-146.0,2616,1412,3635,3586,538.5,-10.3,245,4557,0.10,2.45,0.00,0.000,3078,0.274,0.079,2634,2815,3609,3633,3586,0,0,0,0,0,0,14.73,14.80,14.88
$GC,4866,-0.90,-146.0,2638,2815,3628,3586,571.2,-10.2,255,4879,0.00,2.35,0.00,0.000,516,0.000,0.051,2634,1404,3607,3629,3585,0,0,0,0,0,0,15.03,14.83,15.03
$GC,4911,-0.90,-146.0,2634,1404,3628,3587,575.8,-10.1,261,4924,0.00,2.42,0.00,0.000,1030,0.000,0.079,2626,2811,3608,3628,3589,0,0,0,0,0,0,14.90,14.80,14.92
$GC,5257,-0.90,-146.0,2626,2811,3625,3586,611.4,-10.2,274,5271,0.00,2.33,0.00,0.000,516,0.000,0.050,2625,1409,3604,3624,3584,0,0,0,0,0,0,15.03,14.83,15.03
$GC,5296,-0.90,-146.0,2627,1409,3625,3584,615.1,-10.4,279,5309,0.00,2.42,0.00,0.000,1030,0.000,0.079,2622,2808,3604,3625,3584,0,0,0,0,0,0,14.90,14.80,14.92
$GC,5650,-0.90,-146.0,2616,2809,3626,3581,651.1,-10.0,293,5663,0.00,1.83,0.00,0.000,260,0.000,0.118,2608,3828,3602,3624,3581,0,0,0,0,0,0,15.03,14.78,15.04
$GC,5694,-0.90,-146.0,2609,3827,3624,3582,654.6,-9.9,299,5708,0.00,1.65,0.00,0.000,1030,0.000,0.051,2608,2810,3602,3624,3581,0,0,0,0,0,0,14.92,14.87,14.93
$GC,6041,-0.90,-146.0,2609,2810,3622,3581,686.3,-8.8,312,6055,0.08,2.30,0.00,0.000,2564,0.285,0.050,2635,1406,3599,3621,3578,0,0,0,0,0,0,14.73,14.86,14.85
$GC,6115,-0.90,-146.0,2635,1404,3623,3579,696.3,-8.9,322,6129,0.00,2.45,0.00,0.000,1030,0.000,0.080,2626,2807,3600,3622,3578,0,0,0,0,0,0,14.90,14.80,14.91
$GC,6469,-0.90,-146.0,2626,2810,3621,3577,726.9,-8.8,336,6482,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2810,3598,3620,3576,0,0,0,0,0,0,15.02,15.03,15.03
$GC,6784,-0.90,-146.0,2626,2811,3621,3574,760.0,-8.9,345,6797,0.00,2.35,0.00,0.000,516,0.000,0.052,2625,1402,3596,3619,3574,0,0,0,0,0,0,15.03,14.83,15.03
$GC,6829,-0.90,-146.0,2626,1402,3620,3575,764.1,-10.0,351,6842,0.00,2.45,0.00,0.000,1030,0.000,0.083,2616,2805,3596,3619,3574,0,0,0,0,0,0,14.91,14.81,14.92
$GC,7176,-0.90,-146.0,2613,2807,3618,3573,796.6,-9.6,364,7189,0.00,2.35,0.00,0.000,516,0.000,0.052,2615,1401,3594,3617,3572,0,0,0,0,0,0,15.03,14.83,15.03
$GC,7207,-0.90,-146.0,2615,1400,3618,3572,799.7,-9.8,368,7221,0.10,2.45,0.00,0.000,3078,0.271,0.082,2634,2796,3594,3617,3571,0,0,0,0,0,0,14.73,14.80,14.88
$GC,7530,-0.90,-146.0,2634,2796,3618,3571,827.7,-8.8,378,7543,0.00,2.35,0.00,0.000,516,0.000,0.054,2634,1395,3593,3617,3570,0,0,0,0,0,0,15.02,14.83,15.02
$GC,7596,-0.90,-146.0,2634,1392,3618,3571,833.7,-8.9,387,7610,0.00,2.45,0.00,0.000,1030,0.000,0.083,2625,2789,3593,3617,3570,0,0,0,0,0,0,14.88,14.79,14.91
$GC,7918,-0.90,-146.0,2626,2788,3615,3569,862.7,-8.9,397,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2788,3591,3615,3568,0,0,0,0,0,0,15.02,15.02,15.02
$GC,8234,-0.90,-146.0,2626,2786,3614,3569,890.1,-8.7,406,8247,0.00,2.33,0.00,0.000,516,0.000,0.054,2625,1403,3590,3613,3568,0,0,0,0,0,0,15.01,14.82,15.03
$GC,8307,-0.90,-146.0,2626,1402,3614,3569,896.0,-8.5,416,8321,0.00,2.42,0.00,0.000,1030,0.000,0.083,2616,2783,3590,3613,3567,0,0,0,0,0,0,14.90,14.78,14.90
$GC,8661,-0.90,-146.0,2617,2783,3614,3566,926.3,-9.1,430,8674,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2783,3589,3613,3565,0,0,0,0,0,0,15.02,15.02,15.02
$GC,8976,-0.90,-146.0,2616,2784,3614,3565,930.8,-7.1,439,8990,0.00,2.33,0.00,0.000,548,0.000,0.054,2615,1400,3588,3612,3565,0,0,0,0,0,0,15.02,14.81,15.02
$GC,9015,-0.90,-146.0,2615,1400,3613,3564,936.6,-24.4,444,9029,0.12,2.42,0.00,0.000,3078,0.262,0.083,2642,2779,3588,3612,3564,0,0,0,0,0,0,14.71,14.78,14.87
$GC,9369,-0.90,-146.0,2642,2778,3613,3565,984.7,-8.2,458,9382,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2778,3587,3612,3563,0,0,0,0,0,0,15.02,15.01,15.01
$STATE,9438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9438,begin apogee
$GC,9441,-0.25,0.0,2643,2286,3613,3564,990.4,-8.2,460,9609,0.68,0.00,157.20,1.963,10244,0.185,0.000,2849,2286,3053,3092,3014,0,0,0,0,0,0,14.73,13.98,13.32
$STATE,9610,end apogee,CONTROL_FINISHED_OK
$STATE,9610,begin climb
$GC,9611,0.90,146.0,2849,2285,3085,2996,997.6,0.0,464,9657,1.10,2.50,30.42,2.037,10754,0.100,0.065,3203,894,2934,2977,2892,0,0,0,0,0,0,14.04,14.04,14.09
$STATE,9658,end climb,ABORT_DEPTH_EXCEEDED
$SM_CCo,9667,473.62,2.578,50,1,1284,443.12
$SM_CCo,10394,237.18,2.546,25,0,500,640.56
$SM_GC,-2.23,8.45,2.40,0.00,0.054,0.057,0.000,199,2306,499,-8.48,-0.34,640.56,0,0,0,0,0,0,14.85,14.84,14.92
$IRIDIUM_FIX,949.50,-12445.17,300816,042404
$TT8_MAMPS,0.042693,0.395472
$HUMID,52.67
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,15.10
$XPDR_PINGS,54
$SC_FREEKB,3894688
$PM_FREEKB,61250880
$TM_FREEKB,7361504
$24V_AH,12.58,18.840
$10V_AH,13.21,0.000
$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,22.300,87.150,187.625,710.800,0.000,0.000,0.000,451.650,13.500,0.000,5.140,0.000,14035.044,1504.485,2194.701,90.897,0.000,2734.519,0.000,890.810,0.000,0.545,0.000
$DEVICE_MAMPS,401.625,117.810,2037.195,2578.050,0.000,0.000,0.000,205.785,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9649.000,9617.000,4487.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.261,2.906,9.404,0.000
$MEM,334680
$DATA_FILE_SIZE,16770,470
$CAP_FILE_SIZE,122058,8
$CFSIZE,1024409600,1011630080
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,0,75,0,0
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$GPS,300816,145231,957.596,-12442.246,25,0.8,25,9.0,0.4,207.8,10,3.9