version: 66.13
glider: 220
mission: 6
dive: 191
start: 10 11 116 7 21 16
data:
$ID,220
$MISSION,6
$DIVE,191
$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,58
$R_STBD_OVSHOOT,26
$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
$GPS1,111016,070901,1009.2839,-12507.1533,31,0.7,31,9.1,0.9,80.3,12,3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.80
$_SM_ANGLEo,-73.2
$GPS2,111016,072056,1009.4004,-12507.0059,2,0.8,3,9.1,0.4,134.7,10,6.2
$SPEED_LIMITS,0.134,0.179
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,231.1,28517,-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,-116.8,153,2786,1102,1019,0.0,0.0,0,98,0.00,0.00,-75.93,0.000,16390,0.000,0.000,151,2785,3516,3509,3523,0,0,0,0,0,0,14.59,13.14,14.56
$GC,100,-0.90,-116.8,152,2787,3510,3524,-0.2,-5.0,2,122,11.73,2.38,0.00,0.000,2564,0.396,0.035,2600,1371,3518,3512,3524,0,0,0,0,0,0,14.14,14.39,14.42
$GC,162,-0.53,-116.8,2599,1371,3515,3524,35.3,-28.8,12,170,0.50,2.50,0.00,0.000,3206,0.265,0.063,2721,2753,3516,3508,3524,0,0,0,0,0,0,14.13,14.28,14.32
$GC,485,-0.53,-116.8,2721,2756,3517,3525,73.9,-10.2,25,493,0.00,2.00,0.00,0.000,260,0.000,0.102,2712,3823,3520,3516,3524,0,0,0,0,0,0,14.64,14.31,14.64
$GC,722,-0.53,-116.8,2712,3824,3519,3523,96.8,-4.7,59,730,0.00,1.80,0.00,0.000,1062,0.000,0.038,2712,2752,3522,3519,3526,0,0,0,0,0,0,14.54,14.50,14.56
$GC,1073,-0.53,-116.8,2713,2755,3520,3530,121.8,-7.0,68,1080,0.00,2.03,0.00,0.000,292,0.000,0.102,2704,3818,3522,3520,3524,0,0,0,0,0,0,14.69,14.34,14.69
$GC,1176,-0.53,-116.8,2705,3819,3520,3525,129.7,-7.8,83,1186,0.00,1.77,0.00,0.000,1030,0.000,0.037,2704,2755,3521,3519,3524,0,0,0,0,0,0,14.57,14.53,14.57
$GC,1521,-0.53,-116.8,2704,2756,3521,3521,154.4,-7.2,90,1523,0.00,0.00,0.00,0.000,38,0.000,0.000,2704,2755,3520,3520,3521,0,0,0,0,0,0,14.70,14.69,14.69
$GC,1857,-0.53,-116.8,2707,2755,3520,3516,179.4,-7.4,96,1864,0.00,2.33,0.00,0.000,548,0.000,0.042,2704,1398,3517,3519,3516,0,0,0,0,0,0,14.70,14.40,14.73
$GC,1905,-0.53,-116.8,2704,1399,3521,3513,183.1,-7.6,103,1914,0.10,2.47,0.00,0.000,3110,0.203,0.065,2725,2780,3517,3519,3516,0,0,0,0,0,0,14.26,14.38,14.40
$GC,2249,-0.62,-116.8,2725,2782,3520,3510,205.3,-6.4,110,2251,0.00,0.00,0.00,0.000,166,0.000,0.000,2725,2781,3514,3519,3510,0,0,0,0,0,0,14.69,14.69,14.69
$GC,2585,-0.72,-116.8,2726,2781,3520,3505,227.1,-6.6,116,2592,0.12,2.35,0.00,0.000,4772,0.098,0.041,2644,1391,3511,3518,3504,0,0,0,0,0,0,14.50,14.45,14.54
$GC,2674,-0.72,-116.8,2644,1393,3520,3501,235.6,-9.7,129,2684,0.10,2.53,0.00,0.000,3078,0.220,0.067,2663,2779,3510,3519,3501,0,0,0,0,0,0,14.23,14.37,14.39
$GC,3033,-0.72,-116.8,2663,2780,3521,3498,268.3,-9.0,138,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2779,3509,3520,3498,0,0,0,0,0,0,14.83,14.83,14.83
$GC,3369,-0.72,-116.8,2663,2779,3519,3494,297.5,-8.6,144,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2779,3505,3519,3492,0,0,0,0,0,0,14.88,14.88,14.88
$GC,3704,-0.72,-116.8,2664,2779,3520,3489,325.0,-8.1,150,3718,0.00,2.35,0.00,0.000,516,0.000,0.044,2663,1396,3503,3519,3488,0,0,0,0,0,0,14.91,14.64,14.91
$GC,3736,-0.72,-116.8,2663,1396,3520,3487,327.7,-8.2,154,3749,0.00,2.42,0.00,0.000,1030,0.000,0.070,2653,2775,3503,3519,3488,0,0,0,0,0,0,14.71,14.57,14.73
$GC,4105,-0.72,-116.8,2654,2777,3521,3485,360.4,-9.1,164,4118,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2775,3501,3519,3484,0,0,0,0,0,0,14.92,14.92,14.92
$GC,4441,-0.72,-116.8,2653,2776,3520,3480,392.7,-9.7,170,4454,0.00,1.95,0.00,0.000,260,0.000,0.109,2645,3833,3499,3519,3480,0,0,0,0,0,0,14.92,14.52,14.93
$GC,4487,-0.72,-116.8,2646,3833,3524,3481,397.4,-10.0,176,4500,0.00,1.70,0.00,0.000,1030,0.000,0.044,2645,2785,3499,3519,3480,0,0,0,0,0,0,14.78,14.73,14.79
$GC,4841,-0.72,-116.8,2646,2784,3517,3478,431.9,-9.7,184,4855,0.00,2.38,0.00,0.000,516,0.000,0.046,2645,1370,3497,3517,3477,0,0,0,0,0,0,14.94,14.64,14.94
$GC,4866,-0.72,-116.8,2646,1369,3518,3478,434.3,-9.5,187,4880,0.10,2.50,0.00,0.000,3078,0.249,0.071,2664,2777,3497,3518,3476,0,0,0,0,0,0,14.41,14.57,14.65
$GC,5186,-0.72,-116.8,2665,2777,3518,3474,460.2,-7.9,197,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2777,3495,3517,3473,0,0,0,0,0,0,14.95,14.94,14.95
$GC,5522,-0.72,-116.8,2665,2778,3519,3470,486.5,-7.8,203,5535,0.00,2.38,0.00,0.000,516,0.000,0.048,2664,1386,3493,3517,3470,0,0,0,0,0,0,14.95,14.63,14.95
$GC,5575,-0.72,-116.8,2665,1386,3518,3471,490.8,-7.9,210,5589,0.00,2.47,0.00,0.000,1030,0.000,0.073,2654,2776,3493,3517,3469,0,0,0,0,0,0,14.71,14.55,14.74
$GC,5919,-0.72,-116.8,2655,2776,3518,3469,519.1,-8.4,217,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2775,3492,3517,3467,0,0,0,0,0,0,14.95,14.95,14.95
$GC,6255,-0.72,-116.8,2655,2777,3518,3464,548.3,-8.8,223,6268,0.00,2.38,0.00,0.000,516,0.000,0.048,2654,1386,3490,3517,3464,0,0,0,0,0,0,14.95,14.62,14.95
$GC,6315,-0.72,-116.8,2654,1385,3518,3463,553.7,-8.8,231,6328,0.00,2.50,0.00,0.000,1030,0.000,0.074,2645,2771,3490,3517,3463,0,0,0,0,0,0,14.72,14.56,14.73
$GC,6656,-0.72,-116.8,2645,2772,3516,3463,584.9,-9.2,244,6669,0.00,1.95,0.00,0.000,260,0.000,0.111,2637,3823,3488,3515,3462,0,0,0,0,0,0,14.95,14.48,14.93
$GC,6695,-0.72,-116.8,2637,3822,3515,3463,588.7,-10.2,249,6708,0.10,1.73,0.00,0.000,3078,0.234,0.044,2666,2775,3488,3514,3462,0,0,0,0,0,0,14.41,14.71,14.64
$GC,7057,-0.72,-116.8,2667,2775,3512,3463,618.0,-8.0,258,7070,0.00,2.38,0.00,0.000,516,0.000,0.048,2666,1371,3485,3511,3460,0,0,0,0,0,0,14.94,14.61,14.95
$GC,7166,-0.72,-116.8,2666,1372,3512,3463,626.6,-7.8,273,7181,0.00,2.50,0.00,0.000,1030,0.000,0.073,2656,2768,3488,3516,3461,0,0,0,0,0,0,14.69,14.52,14.72
$GC,7510,-0.72,-116.8,2657,2769,3511,3460,653.5,-7.9,280,7523,0.00,1.98,0.00,0.000,260,0.000,0.112,2649,3825,3485,3509,3461,0,0,0,0,0,0,14.94,14.45,14.93
$GC,7590,-0.72,-116.8,2649,3826,3510,3462,660.3,-8.3,291,7603,0.00,1.77,0.00,0.000,1030,0.000,0.044,2648,2752,3484,3508,3460,0,0,0,0,0,0,14.74,14.66,14.75
$GC,7910,-0.72,-116.8,2648,2752,3510,3458,686.5,-8.3,301,7923,0.00,2.33,0.00,0.000,516,0.000,0.047,2649,1377,3483,3509,3458,0,0,0,0,0,0,14.92,14.59,14.92
$GC,7977,-0.72,-116.8,2649,1377,3509,3459,692.3,-8.7,310,7990,0.00,2.47,0.00,0.000,1030,0.000,0.073,2639,2772,3482,3508,3457,0,0,0,0,0,0,14.69,14.52,14.76
$GC,8310,-0.72,-116.8,2640,2772,3509,3458,722.5,-9.2,322,8323,0.00,1.98,0.00,0.000,260,0.000,0.112,2631,3831,3482,3508,3457,0,0,0,0,0,0,14.92,14.44,14.92
$GC,8349,-0.72,-116.8,2631,3831,3508,3457,726.5,-10.1,327,8362,0.12,1.75,0.00,0.000,3078,0.226,0.044,2667,2774,3482,3508,3457,0,0,0,0,0,0,14.35,14.69,14.60
$GC,8711,-0.72,-116.8,2668,2774,3508,3456,755.8,-8.1,336,8724,0.00,2.38,0.00,0.000,516,0.000,0.047,2667,1373,3479,3507,3452,0,0,0,0,0,0,14.90,14.57,14.90
$GC,8828,-0.72,-116.8,2667,1374,3509,3454,765.0,-7.9,352,8841,0.00,2.50,0.00,0.000,1030,0.000,0.072,2658,2765,3480,3507,3453,0,0,0,0,0,0,14.66,14.49,14.69
$GC,9168,-0.72,-116.8,2658,2766,3508,3452,791.7,-7.8,365,9181,0.00,1.98,0.00,0.000,260,0.000,0.112,2650,3825,3479,3507,3452,0,0,0,0,0,0,14.92,14.42,14.92
$GC,9214,-0.72,-116.8,2650,3825,3507,3453,795.5,-8.2,371,9227,0.00,1.77,0.00,0.000,1030,0.000,0.044,2650,2751,3479,3506,3452,0,0,0,0,0,0,14.69,14.63,14.70
$GC,9568,-0.72,-116.8,2650,2752,3506,3451,822.9,-7.8,379,9582,0.00,2.35,0.00,0.000,516,0.000,0.047,2650,1370,3477,3503,3451,0,0,0,0,0,0,14.91,14.55,14.91
$GC,9663,-0.72,-116.8,2650,1370,3506,3453,830.2,-7.8,392,9676,0.00,2.53,0.00,0.000,1030,0.000,0.073,2641,2767,3478,3505,3451,0,0,0,0,0,0,14.61,14.43,14.63
$GC,10025,-0.72,-116.8,2642,2767,3505,3451,859.2,-8.1,401,10038,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2768,3477,3504,3450,0,0,0,0,0,0,14.92,14.92,14.92
$GC,10361,-0.72,-116.8,2642,2768,3502,3450,886.1,-8.0,407,10374,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2767,3479,3509,3449,0,0,0,0,0,0,14.90,14.90,14.90
$GC,10697,-0.72,-116.8,2642,2768,3503,3449,913.1,-7.9,413,10710,0.00,2.42,0.00,0.000,516,0.000,0.048,2642,1370,3474,3502,3447,0,0,0,0,0,0,14.92,14.54,14.92
$GC,10778,-0.72,-116.8,2641,1369,3503,3448,919.9,-8.2,424,10791,0.10,2.53,0.00,0.000,3078,0.252,0.073,2662,2765,3474,3502,3447,0,0,0,0,0,0,14.30,14.47,14.54
$STATE,10928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10928,begin apogee
$GC,10933,-0.23,0.0,2662,2236,3504,3446,931.6,-7.8,431,11057,0.55,0.00,114.47,1.976,10244,0.178,0.000,2825,2233,3050,3095,3006,0,0,0,0,0,0,14.35,14.02,13.25
$STATE,11059,end apogee,CONTROL_FINISHED_OK
$STATE,11059,begin climb
$GC,11061,0.90,116.8,2826,2234,3092,2999,935.0,0.0,433,11202,1.08,2.45,122.53,1.955,10756,0.103,0.059,3171,876,2581,2645,2517,0,0,0,0,0,0,14.02,14.05,13.11
$GC,11228,0.73,116.8,3172,875,2644,2508,928.7,8.8,459,11241,0.12,2.50,0.00,0.000,5254,0.244,0.055,3138,2256,2574,2643,2506,0,0,0,0,0,0,13.85,13.97,14.04
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$STATE,23160,end climb,SURFACE_DEPTH_REACHED
$STATE,23160,begin surface coast
$FINISH,-2.5,1.020541
$STATE,23189,end surface coast,CONTROL_FINISHED_OK
$STATE,23189,begin surface
$SM_CCo,23211,19.42,0.156,0,0,1057,500.14
$SM_GC,-1.90,9.05,0.85,19.42,0.056,0.062,0.156,184,2773,1057,-8.41,-0.74,500.14,0,0,0,0,0,0,14.59,14.52,14.41
$IRIDIUM_FIX,1004.83,-12508.32,111016,001953
$TT8_MAMPS,0.038199,0.375998
$HUMID,51.02
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3836416
$PM_FREEKB,57789696
$TM_FREEKB,5987904
$24V_AH,13.11,74.940
$10V_AH,12.94,0.000
$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
$DEVICE_SECS,24.675,204.900,455.350,19.425,0.000,0.000,0.000,404.750,0.000,0.000,4.924,0.000,19299.926,753.593,3567.225,308.719,0.000,2800.674,0.000,1690.249,0.000,0.840,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23239.000,23188.000,3573.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.494,2.392,55.243,0.000
$MEM,334688
$DATA_FILE_SIZE,33339,941
$CAP_FILE_SIZE,185513,0
$CFSIZE,1024409600,980664320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.006,33.17,1
$GPS,111016,134931,1008.267,-12508.601,30,0.7,30,9.1,0.4,346.6,11,3.8