version: 66.13
glider: 220
mission: 6
dive: 167
start: 10 4 116 14 10 7
data:
$ID,220
$MISSION,6
$DIVE,167
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,930
$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,400
$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,120
$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,9
$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,51
$R_STBD_OVSHOOT,20
$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,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,250.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,041016,135831,952.2549,-12449.0830,17,0.8,17,9.0,1.2,86.6,11,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.90
$_SM_ANGLEo,-72.7
$GPS2,041016,140948,952.2672,-12448.8750,2,0.8,3,9.0,0.7,112.2,11,6.4
$SPEED_LIMITS,0.134,0.179
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,28.7,20792,-16.6,-7.750,-23.43,2225
$D_GRID,930
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.90,-116.8,166,2782,1098,1015,0.0,0.0,0,98,0.00,0.00,-76.30,0.000,16390,0.000,0.000,162,2781,3516,3508,3524,0,0,0,0,0,0,14.67,13.19,14.66
$GC,100,-0.90,-116.8,163,2783,3509,3523,0.7,-4.5,2,122,11.52,2.35,0.00,0.000,2564,0.392,0.034,2601,1351,3517,3509,3526,0,0,0,0,0,0,14.20,14.45,14.49
$GC,197,-0.53,-116.8,2602,1355,3513,3524,46.6,-28.4,17,207,0.47,2.53,0.00,0.000,3206,0.255,0.069,2718,2767,3519,3514,3524,0,0,0,0,0,0,14.19,14.40,14.39
$GC,513,-0.53,-116.8,2719,2760,3516,3525,89.6,-9.8,29,521,0.00,2.35,0.00,0.000,516,0.000,0.044,2718,1366,3519,3515,3523,0,0,0,0,0,0,14.79,14.52,14.79
$GC,525,-0.53,-116.8,2719,1365,3516,3525,91.0,-9.6,31,534,0.00,2.50,0.00,0.000,1030,0.000,0.066,2708,2765,3519,3515,3524,0,0,0,0,0,0,14.63,14.50,14.65
$GC,848,-0.53,-116.8,2709,2766,3521,3523,112.7,-5.3,40,856,0.00,1.95,0.00,0.000,292,0.000,0.104,2700,3823,3521,3518,3524,0,0,0,0,0,0,14.84,14.49,14.84
$GC,1086,-0.53,-116.8,2700,3824,3517,3524,132.4,-7.1,74,1093,0.00,1.80,0.00,0.000,1062,0.000,0.038,2700,2731,3520,3517,3524,0,0,0,0,0,0,14.73,14.69,14.74
$GC,1409,-0.53,-116.8,2700,2732,3519,3522,156.5,-7.6,85,1416,0.00,2.05,0.00,0.000,292,0.000,0.104,2692,3820,3520,3517,3523,0,0,0,0,0,0,14.87,14.51,14.87
$GC,1583,-0.53,-116.8,2692,3821,3518,3521,171.4,-8.6,110,1591,0.10,1.73,0.00,0.000,3078,0.198,0.039,2723,2779,3519,3517,3521,0,0,0,0,0,0,14.45,14.67,14.57
$GC,1913,-0.61,-116.8,2724,2778,3518,3515,195.1,-7.2,122,1915,0.00,0.00,0.00,0.000,166,0.000,0.000,2723,2778,3515,3515,3515,0,0,0,0,0,0,14.88,14.88,14.88
$GC,2249,-0.70,-116.8,2723,2778,3518,3509,218.9,-7.0,128,2256,0.10,2.33,0.00,0.000,4772,0.119,0.046,2650,1376,3513,3517,3509,0,0,0,0,0,0,14.66,14.62,14.73
$GC,2276,-0.70,-116.8,2651,1376,3518,3510,221.3,-9.0,132,2284,0.10,2.47,0.00,0.000,3078,0.216,0.069,2669,2759,3513,3517,3509,0,0,0,0,0,0,14.42,14.56,14.57
$GC,2643,-0.70,-116.8,2671,2762,3518,3503,253.0,-8.7,142,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2761,3509,3517,3502,0,0,0,0,0,0,14.90,14.90,14.90
$GC,2976,-0.70,-116.8,2671,2760,3518,3500,283.0,-8.9,148,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2761,3508,3517,3499,0,0,0,0,0,0,14.94,14.94,14.94
$GC,3313,-0.70,-116.8,2668,2761,3518,3494,311.3,-8.4,154,3326,0.00,1.95,0.00,0.000,260,0.000,0.111,2662,3824,3504,3517,3492,0,0,0,0,0,0,14.96,14.57,14.95
$GC,3351,-0.70,-116.8,2662,3824,3518,3493,314.8,-9.0,159,3364,0.00,1.73,0.00,0.000,1030,0.000,0.045,2662,2765,3504,3517,3492,0,0,0,0,0,0,14.81,14.76,14.83
$GC,3713,-0.70,-116.8,2662,2767,3518,3487,346.1,-8.8,168,3726,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2765,3502,3517,3487,0,0,0,0,0,0,14.95,14.96,14.95
$GC,4049,-0.70,-116.8,2663,2765,3517,3486,376.8,-9.2,174,4062,0.00,1.98,0.00,0.000,260,0.000,0.109,2654,3823,3500,3517,3484,0,0,0,0,0,0,14.97,14.57,14.97
$GC,4122,-0.70,-116.8,2654,3823,3517,3485,384.3,-10.2,184,4135,0.00,1.73,0.00,0.000,1030,0.000,0.044,2654,2771,3500,3517,3483,0,0,0,0,0,0,14.82,14.77,14.83
$GC,4448,-0.70,-116.8,2654,2772,3518,3479,416.2,-9.8,195,4462,0.00,2.35,0.00,0.000,516,0.000,0.046,2653,1367,3498,3517,3479,0,0,0,0,0,0,14.95,14.68,14.96
$GC,4509,-0.70,-116.8,2654,1368,3517,3478,422.1,-9.6,203,4522,0.10,2.45,0.00,0.000,3078,0.250,0.068,2673,2772,3497,3516,3478,0,0,0,0,0,0,14.48,14.63,14.71
$GC,4849,-0.70,-116.8,2673,2773,3517,3475,451.0,-8.3,216,4862,0.00,1.92,0.00,0.000,260,0.000,0.110,2665,3826,3496,3517,3475,0,0,0,0,0,0,14.95,14.57,14.96
$GC,4895,-0.70,-116.8,2663,3827,3518,3474,454.8,-8.7,222,4908,0.00,1.75,0.00,0.000,1030,0.000,0.044,2665,2752,3495,3516,3474,0,0,0,0,0,0,14.82,14.77,14.83
$GC,5249,-0.70,-116.8,2665,2753,3517,3470,483.3,-8.1,230,5262,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2752,3493,3516,3470,0,0,0,0,0,0,14.97,14.97,14.96
$GC,5585,-0.70,-116.8,2666,2752,3515,3469,510.2,-8.1,236,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2754,3491,3516,3467,0,0,0,0,0,0,14.96,14.96,14.97
$GC,5921,-0.70,-116.8,2665,2753,3518,3465,538.2,-8.4,242,5934,0.00,2.03,0.00,0.000,260,0.000,0.110,2655,3831,3490,3516,3465,0,0,0,0,0,0,14.95,14.55,14.96
$GC,5974,-0.70,-116.8,2657,3831,3517,3466,542.9,-8.9,249,5988,0.00,1.80,0.00,0.000,1030,0.000,0.044,2656,2760,3490,3516,3464,0,0,0,0,0,0,14.73,14.72,14.76
$GC,6318,-0.70,-116.8,2656,2761,3517,3461,572.5,-8.6,256,6331,0.00,2.33,0.00,0.000,516,0.000,0.047,2656,1374,3487,3515,3460,0,0,0,0,0,0,14.96,14.67,14.97
$GC,6412,-0.70,-116.8,2656,1375,3517,3461,580.4,-8.1,269,6426,0.00,2.47,0.00,0.000,1030,0.000,0.070,2647,2779,3488,3516,3461,0,0,0,0,0,0,14.75,14.59,14.78
$GC,6774,-0.70,-116.8,2648,2779,3514,3462,608.9,-7.8,278,6787,0.00,1.92,0.00,0.000,260,0.000,0.110,2639,3826,3486,3513,3460,0,0,0,0,0,0,14.95,14.52,14.96
$GC,6819,-0.70,-116.8,2639,3825,3513,3461,612.7,-8.2,284,6833,0.12,1.77,0.00,0.000,3078,0.231,0.044,2675,2751,3486,3512,3460,0,0,0,0,0,0,14.44,14.72,14.67
$GC,7174,-0.70,-116.8,2676,2751,3511,3460,635.8,-6.5,292,7187,0.00,0.00,0.00,0.000,38,0.000,0.000,2675,2749,3484,3510,3459,0,0,0,0,0,0,14.94,14.94,14.94
$GC,7511,-0.70,-116.8,2675,2752,3508,3456,659.0,-7.1,298,7524,0.00,2.33,0.00,0.000,548,0.000,0.046,2675,1369,3483,3510,3456,0,0,0,0,0,0,14.94,14.64,14.94
$GC,7571,-0.70,-116.8,2675,1369,3511,3461,663.5,-7.2,306,7584,0.00,2.47,0.00,0.000,1062,0.000,0.070,2666,2764,3483,3510,3456,0,0,0,0,0,0,14.74,14.58,14.77
$GC,7912,-0.70,-116.8,2661,2765,3509,3455,689.8,-7.9,319,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2764,3481,3508,3455,0,0,0,0,0,0,14.93,14.94,14.94
$GC,8248,-0.70,-116.8,2667,2764,3509,3454,716.6,-8.0,325,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2764,3480,3508,3453,0,0,0,0,0,0,14.93,14.94,14.94
$GC,8583,-0.70,-116.8,2667,2764,3509,3453,744.1,-8.2,331,8596,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2762,3481,3508,3455,0,0,0,0,0,0,14.94,14.94,14.94
$GC,8920,-0.70,-116.8,2667,2764,3508,3453,771.1,-7.9,337,8933,0.00,2.40,0.00,0.000,516,0.000,0.048,2666,1366,3478,3506,3451,0,0,0,0,0,0,14.93,14.63,14.94
$GC,8965,-0.70,-116.8,2666,1367,3507,3451,774.8,-8.0,343,8979,0.00,2.50,0.00,0.000,1030,0.000,0.073,2658,2768,3477,3504,3451,0,0,0,0,0,0,14.72,14.56,14.75
$GC,9320,-0.70,-116.8,2658,2768,3506,3451,802.0,-7.7,351,9333,0.00,0.00,0.00,0.000,38,0.000,0.000,2657,2768,3480,3512,3449,0,0,0,0,0,0,14.94,14.95,14.94
$GC,9656,-0.70,-116.8,2658,2770,3505,3449,825.7,-6.9,357,9669,0.00,0.00,0.00,0.000,38,0.000,0.000,2658,2768,3476,3504,3449,0,0,0,0,0,0,14.93,14.94,14.94
$GC,9992,-0.70,-116.8,2658,2765,3502,3449,849.1,-7.0,363,10005,0.00,2.40,0.00,0.000,548,0.000,0.048,2657,1373,3475,3504,3447,0,0,0,0,0,0,14.92,14.60,14.94
$GC,10053,-0.70,-116.8,2658,1372,3504,3448,853.1,-7.1,371,10066,0.00,2.50,0.00,0.000,1062,0.000,0.072,2650,2769,3475,3504,3447,0,0,0,0,0,0,14.70,14.53,14.73
$GC,10393,-0.70,-116.8,2650,2770,3505,3445,878.3,-7.4,384,10406,0.00,1.98,0.00,0.000,292,0.000,0.115,2641,3828,3474,3503,3445,0,0,0,0,0,0,14.92,14.46,14.91
$GC,10425,-0.70,-116.8,2641,3829,3504,3445,880.9,-7.4,388,10438,0.10,1.77,0.00,0.000,3110,0.239,0.047,2670,2761,3474,3503,3445,0,0,0,0,0,0,14.38,14.69,14.59
$GC,10794,-0.70,-116.8,2670,2761,3502,3445,907.0,-6.9,398,10807,0.00,2.35,0.00,0.000,548,0.000,0.048,2670,1374,3473,3502,3444,0,0,0,0,0,0,14.91,14.59,14.91
$GC,10833,-0.70,-116.8,2671,1373,3502,3445,910.0,-5.8,403,10846,0.00,2.47,0.00,0.000,1062,0.000,0.072,2661,2773,3472,3501,3444,0,0,0,0,0,0,14.70,14.52,14.72
$STATE,11137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11137,begin apogee
$GC,11142,-0.23,0.0,2662,2228,3501,3445,933.4,-7.7,411,11269,0.55,0.00,117.00,1.939,10244,0.184,0.000,2824,2228,3049,3094,3005,0,0,0,0,0,0,14.39,14.04,13.29
$STATE,11270,end apogee,CONTROL_FINISHED_OK
$STATE,11270,begin climb
$GC,11272,0.90,116.8,2825,2227,3090,2999,937.9,0.0,413,11411,1.10,2.42,122.57,1.955,10756,0.112,0.057,3172,867,2584,2646,2522,0,0,0,0,0,0,14.04,14.07,13.16
$GC,11437,0.73,116.8,3172,868,2643,2506,932.1,8.2,439,11450,0.12,2.50,0.00,0.000,5254,0.251,0.053,3140,2264,2573,2641,2506,0,0,0,0,0,0,13.89,14.00,14.07
$GC,11758,0.62,117.9,3141,2265,2643,2498,907.7,7.7,449,11771,0.10,2.58,0.00,0.000,4516,0.268,0.099,3106,3653,2573,2642,2505,0,0,0,0,0,0,14.18,14.29,14.34
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$STATE,23159,end climb,SURFACE_DEPTH_REACHED
$STATE,23159,begin surface coast
$FINISH,-1.2,1.020310
$STATE,23187,end surface coast,CONTROL_FINISHED_OK
$STATE,23187,begin surface
$SM_CCo,23208,18.45,0.158,0,0,1057,500.14
$SM_GC,-1.47,8.90,0.82,18.45,0.054,0.083,0.158,191,2764,1057,-8.39,-0.79,500.14,0,0,0,0,0,0,14.59,14.56,14.46
$IRIDIUM_FIX,945.12,-12453.06,041016,072330
$TT8_MAMPS,0.03745,0.452396
$HUMID,50.31
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,23.20
$XPDR_PINGS,0
$SC_FREEKB,3845632
$PM_FREEKB,58086656
$TM_FREEKB,6198848
$24V_AH,13.16,66.056
$10V_AH,12.99,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$DEVICE_MAMPS,392.445,114.750,2073.150,157.590,0.000,0.000,0.000,201.195,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23234.000,23185.000,3363.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.445,2.391,16.384,0.000
$MEM,334668
$DATA_FILE_SIZE,30051,868
$CAP_FILE_SIZE,177465,0
$CFSIZE,1024409600,985382912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103,63.45,1
$GPS,041016,203810,954.431,-12446.494,20,1.5,21,9.0,1.4,121.5,6,10.0