version: 66.13
glider: 220
mission: 6
dive: 184
start: 10 9 116 8 26 59
data:
$ID,220
$MISSION,6
$DIVE,184
$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,55
$R_STBD_OVSHOOT,21
$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
$GPS1,091016,081331,1018.0028,-12459.3008,51,1.1,51,9.1,1.0,90.7,8,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.74
$_SM_ANGLEo,-73.2
$GPS2,091016,082639,1018.1250,-12458.9414,2,0.7,3,9.1,1.2,57.8,12,4.2
$SPEED_LIMITS,0.134,0.179
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,300.6,2630,-24.5,-7.750,-30.00,1225
$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,18,-1.19,-63.1,163,2772,1103,1016,0.0,0.0,0,95,0.00,0.00,-72.95,0.000,16390,0.000,0.000,160,2775,3304,3297,3312,0,0,0,0,0,0,14.59,13.16,14.57
$GC,97,-1.19,-63.1,161,2777,3298,3313,-1.4,-3.3,2,114,11.38,2.35,0.00,0.000,2564,0.403,0.031,2507,1331,3305,3298,3312,0,0,0,0,0,0,14.14,14.45,14.41
$GC,210,-0.90,-63.1,2507,1329,3301,3312,43.0,-25.2,19,218,0.43,2.55,0.00,0.000,3206,0.298,0.060,2599,2769,3306,3300,3312,0,0,0,0,0,0,14.10,14.32,14.31
$GC,540,-0.82,-63.1,2599,2769,3304,3313,92.8,-12.0,33,547,0.12,2.38,0.00,0.000,2692,0.278,0.043,2632,1367,3308,3304,3312,0,0,0,0,0,0,14.21,14.42,14.45
$GC,777,-0.82,-63.1,2633,1367,3306,3313,113.1,-9.0,67,785,0.00,2.50,0.00,0.000,1030,0.000,0.063,2623,2777,3309,3306,3312,0,0,0,0,0,0,14.47,14.39,14.48
$GC,1100,-0.82,-63.1,2623,2778,3307,3312,140.1,-8.3,78,1107,0.00,2.42,0.00,0.000,516,0.000,0.043,2622,1376,3308,3305,3312,0,0,0,0,0,0,14.70,14.43,14.70
$GC,1204,-0.82,-63.1,2622,1375,3306,3313,149.1,-8.6,93,1213,0.00,2.50,0.00,0.000,1030,0.000,0.064,2612,2777,3308,3305,3312,0,0,0,0,0,0,14.48,14.41,14.51
$GC,1548,-0.82,-63.1,2613,2778,3307,3308,180.7,-9.3,100,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2777,3306,3305,3308,0,0,0,0,0,0,14.71,14.71,14.73
$GC,1884,-0.82,-63.1,2613,2778,3306,3304,213.6,-9.8,106,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2777,3305,3305,3305,0,0,0,0,0,0,14.71,14.71,14.71
$GC,2220,-0.82,-63.1,2613,2777,3306,3300,244.8,-9.2,112,2228,0.00,2.45,0.00,0.000,516,0.000,0.045,2612,1376,3301,3305,3298,0,0,0,0,0,0,14.71,14.43,14.71
$GC,2254,-0.82,-63.1,2612,1377,3305,3299,248.1,-9.8,117,2262,0.10,2.55,0.00,0.000,3078,0.252,0.067,2633,2785,3301,3305,3298,0,0,0,0,0,0,14.21,14.38,14.39
$GC,2612,-0.90,-63.1,2629,2785,3306,3292,279.1,-8.6,126,2625,0.00,2.42,0.00,0.000,644,0.000,0.047,2629,1364,3300,3305,3296,0,0,0,0,0,0,14.85,14.59,14.86
$GC,2673,-1.01,-63.1,2629,1365,3306,3293,284.4,-8.4,134,2686,0.08,2.50,0.00,0.000,5254,0.151,0.070,2564,2782,3298,3305,3292,0,0,0,0,0,0,14.59,14.54,14.68
$GC,3014,-1.01,-63.1,2563,2780,3306,3288,320.3,-10.7,147,3027,0.00,1.90,0.00,0.000,260,0.000,0.105,2555,3827,3296,3305,3287,0,0,0,0,0,0,14.90,14.52,14.90
$GC,3087,-1.01,-63.1,2555,3826,3305,3288,329.1,-12.1,157,3100,0.00,1.73,0.00,0.000,1030,0.000,0.041,2553,2756,3296,3305,3287,0,0,0,0,0,0,14.76,14.72,14.78
$GC,3414,-1.01,-63.1,2554,2755,3305,3283,365.1,-10.9,168,3427,0.00,2.00,0.00,0.000,260,0.000,0.105,2546,3839,3294,3306,3282,0,0,0,0,0,0,14.92,14.54,14.92
$GC,3467,-0.93,-63.1,2547,3832,3305,3282,371.2,-11.6,175,3481,0.17,1.73,0.00,0.000,3206,0.265,0.041,2592,2784,3292,3305,3280,0,0,0,0,0,0,14.35,14.71,14.64
$GC,3810,-0.93,-63.1,2592,2784,3306,3276,406.0,-10.0,182,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2784,3290,3305,3276,0,0,0,0,0,0,14.93,14.93,14.93
$GC,4146,-0.93,-63.1,2592,2784,3306,3274,439.4,-9.9,188,4160,0.00,2.38,0.00,0.000,516,0.000,0.046,2592,1374,3288,3305,3271,0,0,0,0,0,0,14.94,14.64,14.94
$GC,4213,-0.93,-63.1,2592,1374,3306,3272,446.1,-9.7,197,4227,0.00,2.47,0.00,0.000,1030,0.000,0.069,2583,2780,3289,3305,3273,0,0,0,0,0,0,14.75,14.59,14.77
$GC,4547,-0.93,-63.1,2583,2780,3307,3270,479.8,-10.1,209,4560,0.00,1.92,0.00,0.000,260,0.000,0.109,2575,3829,3287,3305,3269,0,0,0,0,0,0,14.95,14.53,14.95
$GC,4593,-0.93,-63.1,2575,3831,3306,3268,484.9,-11.3,215,4606,0.00,1.73,0.00,0.000,1030,0.000,0.044,2574,2776,3286,3305,3268,0,0,0,0,0,0,14.79,14.73,14.80
$GC,4947,-0.93,-63.1,2575,2777,3306,3263,521.3,-10.3,223,4960,0.00,2.35,0.00,0.000,516,0.000,0.045,2574,1375,3284,3305,3263,0,0,0,0,0,0,14.93,14.65,14.94
$GC,4993,-0.93,-63.1,2575,1375,3305,3264,526.2,-10.7,229,5006,0.12,2.47,0.00,0.000,3078,0.273,0.068,2594,2780,3284,3305,3263,0,0,0,0,0,0,14.35,14.58,14.63
$GC,5348,-0.93,-63.1,2597,2780,3305,3261,560.9,-9.9,237,5361,0.00,1.92,0.00,0.000,260,0.000,0.109,2590,3827,3282,3305,3260,0,0,0,0,0,0,14.94,14.52,14.94
$GC,5386,-0.93,-63.1,2590,3828,3305,3261,564.9,-10.6,242,5400,0.00,1.73,0.00,0.000,1030,0.000,0.044,2588,2777,3281,3304,3259,0,0,0,0,0,0,14.79,14.73,14.81
$GC,5748,-0.93,-63.1,2587,2776,3305,3257,599.7,-9.6,251,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2776,3280,3304,3256,0,0,0,0,0,0,14.95,14.95,14.95
$GC,6084,-0.93,-63.1,2588,2777,3302,3255,629.3,-8.7,257,6097,0.00,2.38,0.00,0.000,516,0.000,0.047,2588,1374,3277,3301,3254,0,0,0,0,0,0,14.95,14.64,14.95
$GC,6137,-0.93,-63.1,2588,1375,3302,3255,633.6,-8.0,264,6151,0.00,2.50,0.00,0.000,1030,0.000,0.070,2580,2779,3277,3300,3255,0,0,0,0,0,0,14.72,14.56,14.75
$GC,6481,-0.93,-63.1,2580,2780,3299,3254,662.5,-8.5,271,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2779,3276,3298,3254,0,0,0,0,0,0,14.92,14.93,14.92
$GC,6817,-0.93,-63.1,2580,2780,3297,3262,691.9,-8.8,277,6830,0.00,1.95,0.00,0.000,260,0.000,0.109,2571,3831,3274,3296,3253,0,0,0,0,0,0,14.92,14.50,14.93
$GC,6925,-0.93,-63.1,2571,3833,3294,3254,702.7,-9.8,292,6940,0.10,1.75,0.00,0.000,3078,0.277,0.045,2596,2789,3274,3295,3254,0,0,0,0,0,0,14.33,14.69,14.61
$GC,7270,-0.93,-63.1,2596,2788,3296,3252,733.3,-9.0,299,7283,0.00,2.40,0.00,0.000,516,0.000,0.047,2596,1367,3273,3295,3251,0,0,0,0,0,0,14.94,14.61,14.94
$GC,7343,-1.01,-63.1,2597,1369,3296,3252,740.2,-9.0,309,7357,0.00,2.53,0.00,0.000,1158,0.000,0.070,2587,2789,3272,3295,3250,0,0,0,0,0,0,14.70,14.54,14.73
$GC,7670,-1.01,-63.1,2587,2790,3296,3248,771.1,-9.6,320,7683,0.00,1.92,0.00,0.000,260,0.000,0.112,2579,3824,3271,3294,3248,0,0,0,0,0,0,14.92,14.46,14.92
$GC,7709,-1.01,-63.1,2580,3825,3294,3248,775.1,-10.5,325,7722,0.00,1.75,0.00,0.000,1030,0.000,0.044,2578,2767,3269,3290,3248,0,0,0,0,0,0,14.75,14.69,14.76
$GC,8070,-1.01,-63.1,2578,2765,3293,3247,810.6,-9.9,334,8083,0.00,2.38,0.00,0.000,516,0.000,0.046,2578,1366,3269,3292,3247,0,0,0,0,0,0,14.91,14.60,14.91
$GC,8116,-1.01,-63.1,2578,1366,3292,3248,815.5,-10.3,340,8129,0.00,2.50,0.00,0.000,1030,0.000,0.069,2569,2784,3269,3292,3246,0,0,0,0,0,0,14.70,14.54,14.73
$GC,8470,-1.01,-63.1,2569,2784,3289,3247,850.0,-9.7,348,8484,0.00,2.42,0.00,0.000,516,0.000,0.044,2568,1360,3271,3296,3246,0,0,0,0,0,0,14.91,14.60,14.92
$GC,8516,-1.01,-63.1,2563,1361,3292,3245,854.5,-7.9,354,8529,0.00,2.50,0.00,0.000,1030,0.000,0.068,2558,2779,3268,3291,3245,0,0,0,0,0,0,14.69,14.53,14.72
$GC,8871,-1.01,-63.1,2558,2779,3290,3246,888.4,-9.5,362,8884,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2779,3267,3290,3245,0,0,0,0,0,0,14.92,14.93,14.93
$GC,9207,-1.01,-63.1,2558,2779,3289,3245,918.5,-8.9,368,9220,0.00,2.42,0.00,0.000,516,0.000,0.044,2558,1359,3265,3288,3243,0,0,0,0,0,0,14.92,14.57,14.92
$GC,9253,-1.02,-64.7,2558,1361,3290,3243,922.4,-7.6,374,9266,0.00,2.53,0.00,0.000,1062,0.000,0.069,2548,2781,3265,3287,3243,0,0,0,0,0,0,14.68,14.51,14.70
$STATE,9382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9382,begin apogee
$GC,9387,-0.23,0.0,2541,2230,3290,3242,933.8,-8.4,378,9457,1.00,0.00,59.97,1.994,10244,0.233,0.000,2821,2229,3051,3091,3012,0,0,0,0,0,0,14.31,14.26,13.50
$STATE,9459,end apogee,CONTROL_FINISHED_OK
$STATE,9459,begin climb
$GC,9461,1.19,64.7,2822,2229,3086,3005,936.0,0.0,379,9544,1.38,2.40,67.78,1.996,10756,0.106,0.056,3264,865,2790,2839,2742,0,0,0,0,0,0,14.21,14.24,13.27
$GC,9606,1.06,64.7,3265,864,2838,2731,927.8,8.0,402,9620,0.00,2.45,0.00,0.000,1158,0.000,0.051,3264,2258,2783,2837,2729,0,0,0,0,0,0,14.26,14.15,14.27
$GC,9950,0.92,64.7,3265,2257,2837,2726,896.7,9.2,409,9963,0.22,2.58,0.00,0.000,4484,0.288,0.096,3204,3650,2783,2842,2725,0,0,0,0,0,0,14.07,14.32,14.30
$GC,10011,0.81,64.7,3204,3650,2837,2726,891.2,8.9,417,10024,0.20,2.35,0.00,0.000,5254,0.276,0.040,3163,2266,2780,2836,2724,0,0,0,0,0,0,14.14,14.49,14.45
$GC,10353,0.82,75.1,3164,2267,2838,2722,867.2,6.9,430,10371,0.00,2.50,5.78,2.101,8740,0.000,0.058,3174,854,2754,2811,2697,0,0,0,0,0,0,14.76,14.55,13.65
$GC,10396,0.82,75.1,3178,854,2812,2707,864.2,8.5,436,10411,0.00,2.42,0.00,0.000,1030,0.000,0.054,3173,2249,2759,2811,2707,0,0,0,0,0,0,14.59,14.48,14.61
$GC,10740,0.83,87.6,3174,2250,2812,2708,841.4,6.7,443,10772,0.00,2.60,18.00,2.013,8484,0.000,0.102,3173,3657,2697,2754,2641,0,0,0,0,0,0,14.81,14.43,13.79
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$STATE,21912,end climb,SURFACE_DEPTH_REACHED
$STATE,21912,begin surface coast
$FINISH,1.0,1.020740
$STATE,21919,end surface coast,CONTROL_FINISHED_OK
$STATE,21919,begin surface
$SM_CCo,21944,61.72,0.155,0,0,1058,500.39
$SM_GC,-1.30,9.62,3.30,61.72,0.095,0.060,0.155,199,2759,1058,-8.38,-0.85,500.39,0,0,0,0,0,0,14.57,14.52,14.43
$IRIDIUM_FIX,1011.40,-12458.62,091016,013418
$TT8_MAMPS,0.036701,0.370006
$HUMID,47.55
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,23.80
$XPDR_PINGS,1
$SC_FREEKB,3839104
$PM_FREEKB,57876864
$TM_FREEKB,6049504
$24V_AH,12.91,72.204
$10V_AH,13.11,0.000
$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,403.155,111.690,2100.690,155.295,0.000,0.000,0.000,198.900,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.509,2.400,53.783,0.000
$MEM,334648
$DATA_FILE_SIZE,36720,982
$CAP_FILE_SIZE,187776,0
$CFSIZE,1024409600,982024192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.048,12.38,1
$GPS,091016,143449,1019.631,-12500.082,30,1.0,30,9.1,0.7,99.6,9,4.7