version: 66.13
glider: 220
mission: 6
dive: 399
start: 12 7 116 16 33 19
data:
$ID,220
$MISSION,6
$DIVE,399
$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,110
$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,0
$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,59
$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,3
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,48
$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
$GPS1,071216,162201,948.8090,-12505.8506,23,0.8,23,9.0,0.7,61.9,11,3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.18
$_SM_ANGLEo,-66.8
$GPS2,071216,163256,948.9634,-12505.7568,2,0.8,2,9.0,0.1,0.0,10,5.9
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,153.0,18246,-17.6,-7.750,-24.23,2047
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-0.93,-107.1,108,2778,1098,1013,0.0,0.0,0,100,0.00,0.00,-79.25,0.000,16390,0.000,0.000,107,2777,3478,3470,3487,0,0,0,0,0,0,14.67,12.57,14.67
$GC,103,-0.93,-107.1,108,2778,3471,3486,5.9,-14.1,3,121,11.82,2.38,0.00,0.000,2564,0.384,0.032,2596,1363,3479,3471,3487,0,0,0,0,0,0,14.00,14.38,14.26
$GC,177,-0.68,-107.1,2594,1363,3475,3488,33.9,-23.4,14,184,0.30,2.58,0.00,0.000,3206,0.224,0.068,2670,2769,3480,3474,3487,0,0,0,0,0,0,14.06,14.30,14.23
$GC,493,-0.68,-107.1,2670,2769,3478,3487,72.3,-8.9,26,498,0.00,2.00,0.00,0.000,260,0.000,0.109,2662,3826,3481,3477,3486,0,0,0,0,0,0,14.82,14.24,14.83
$GC,597,-0.68,-107.1,2662,3827,3481,3486,81.3,-8.6,41,605,0.00,1.77,0.00,0.000,1030,0.000,0.039,2662,2745,3483,3479,3487,0,0,0,0,0,0,14.60,14.58,14.62
$GC,941,-0.68,-107.1,2662,2746,3482,3486,109.9,-7.7,52,946,0.00,2.03,0.00,0.000,292,0.000,0.106,2653,3828,3483,3480,3486,0,0,0,0,0,0,14.90,14.38,14.90
$GC,1094,-0.68,-107.1,2654,3828,3482,3487,123.9,-9.3,74,1100,0.00,1.75,0.00,0.000,1030,0.000,0.039,2653,2752,3483,3481,3486,0,0,0,0,0,0,14.66,14.63,14.67
$GC,1445,-0.68,-107.1,2654,2752,3482,3487,154.7,-8.9,82,1450,0.00,2.28,0.00,0.000,516,0.000,0.043,2653,1394,3482,3480,3484,0,0,0,0,0,0,14.93,14.55,14.93
$GC,1528,-0.68,-107.1,2654,1394,3481,3485,162.3,-8.8,94,1534,0.10,2.42,0.00,0.000,3078,0.206,0.065,2674,2757,3482,3480,3484,0,0,0,0,0,0,14.30,14.43,14.45
$GC,1893,-0.68,-107.1,2674,2758,3481,3479,192.4,-8.2,104,1898,0.00,2.03,0.00,0.000,260,0.000,0.107,2666,3822,3480,3480,3480,0,0,0,0,0,0,14.92,14.36,14.92
$GC,1948,-0.68,-107.1,2666,3823,3481,3479,197.2,-8.5,112,1954,0.00,1.75,0.00,0.000,1030,0.000,0.041,2665,2772,3479,3480,3479,0,0,0,0,0,0,14.65,14.63,14.67
$GC,2285,-0.68,-107.1,2666,2772,3480,3476,223.7,-7.8,125,2291,0.00,2.35,0.00,0.000,516,0.000,0.044,2666,1377,3477,3480,3474,0,0,0,0,0,0,14.95,14.57,14.95
$GC,2333,-0.68,-107.1,2666,1377,3481,3475,227.7,-8.1,132,2340,0.00,2.47,0.00,0.000,1030,0.000,0.066,2656,2757,3477,3480,3474,0,0,0,0,0,0,14.47,14.38,14.52
$GC,2677,-0.68,-107.1,2657,2758,3481,3469,256.0,-8.3,139,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2757,3474,3480,3469,0,0,0,0,0,0,14.94,14.94,14.94
$GC,3013,-0.68,-107.1,2657,2758,3480,3465,283.1,-8.1,145,3018,0.00,2.35,0.00,0.000,516,0.000,0.044,2655,1386,3472,3479,3465,0,0,0,0,0,0,14.95,14.56,14.95
$GC,3069,-0.68,-107.1,2657,1386,3480,3465,287.6,-8.0,153,3075,0.10,2.47,0.00,0.000,3078,0.232,0.067,2678,2768,3471,3479,3463,0,0,0,0,0,0,14.33,14.45,14.54
$GC,3405,-0.76,-107.1,2678,2769,3479,3462,312.7,-7.5,166,3406,0.00,0.00,0.00,0.000,166,0.000,0.000,2678,2768,3470,3479,3461,0,0,0,0,0,0,14.93,14.94,14.93
$GC,3741,-0.84,-107.1,2672,2770,3481,3456,338.7,-7.7,172,3746,0.10,2.38,0.00,0.000,4772,0.112,0.044,2602,1377,3468,3480,3456,0,0,0,0,0,0,14.67,14.55,14.72
$GC,3782,-0.84,-107.1,2603,1377,3480,3457,342.7,-10.1,178,3788,0.10,2.50,0.00,0.000,3078,0.228,0.067,2620,2760,3467,3479,3455,0,0,0,0,0,0,14.22,14.42,14.40
$GC,4133,-0.84,-107.1,2620,2761,3481,3451,377.5,-10.0,186,4138,0.00,2.03,0.00,0.000,260,0.000,0.109,2612,3826,3465,3479,3452,0,0,0,0,0,0,14.93,14.33,14.93
$GC,4209,-0.84,-107.1,2613,3825,3480,3451,385.1,-10.0,197,4216,0.00,1.83,0.00,0.000,1030,0.000,0.042,2612,2736,3465,3479,3451,0,0,0,0,0,0,14.67,14.65,14.68
$GC,4525,-0.84,-107.1,2613,2737,3479,3449,415.8,-9.8,207,4530,0.00,2.30,0.00,0.000,516,0.000,0.044,2612,1383,3464,3479,3450,0,0,0,0,0,0,14.95,14.54,14.96
$GC,4559,-0.84,-107.1,2612,1383,3480,3447,419.2,-9.7,212,4565,0.00,2.50,0.00,0.000,1030,0.000,0.068,2602,2760,3463,3479,3447,0,0,0,0,0,0,14.50,14.40,14.54
$GC,4917,-0.84,-107.1,2603,2761,3480,3444,454.9,-9.9,221,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2760,3462,3479,3445,0,0,0,0,0,0,14.93,14.93,14.94
$GC,5252,-0.84,-107.1,2603,2761,3481,3442,487.1,-9.5,227,5258,0.00,2.35,0.00,0.000,516,0.000,0.044,2602,1386,3460,3479,3442,0,0,0,0,0,0,14.96,14.52,14.95
$GC,5308,-0.84,-107.1,2603,1384,3480,3442,492.5,-9.6,235,5314,0.12,2.47,0.00,0.000,3078,0.241,0.068,2627,2763,3459,3479,3440,0,0,0,0,0,0,14.23,14.43,14.50
$GC,5645,-0.84,-107.1,2626,2765,3481,3438,520.5,-8.3,248,5650,0.00,2.03,0.00,0.000,260,0.000,0.109,2619,3820,3458,3479,3438,0,0,0,0,0,0,14.93,14.30,14.93
$GC,5693,-0.84,-107.1,2620,3821,3480,3438,524.8,-8.9,255,5700,0.00,1.83,0.00,0.000,1030,0.000,0.041,2619,2742,3458,3479,3437,0,0,0,0,0,0,14.68,14.65,14.69
$GC,6037,-0.84,-107.1,2620,2742,3480,3437,554.6,-8.7,262,6037,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2742,3457,3479,3436,0,0,0,0,0,0,14.92,14.92,14.93
$GC,6373,-0.84,-107.1,2620,2743,3480,3433,583.8,-8.7,268,6374,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2742,3455,3479,3432,0,0,0,0,0,0,14.95,14.95,14.95
$GC,6709,-0.84,-107.1,2619,2743,3481,3431,612.8,-8.7,274,6714,0.00,2.33,0.00,0.000,516,0.000,0.043,2619,1384,3454,3479,3430,0,0,0,0,0,0,14.93,14.50,14.93
$GC,6757,-0.84,-107.1,2619,1385,3481,3430,617.2,-9.0,281,6765,0.00,2.47,0.00,0.000,1030,0.000,0.067,2610,2752,3454,3479,3429,0,0,0,0,0,0,14.48,14.37,14.51
$GC,7101,-0.84,-107.1,2610,2752,3478,3430,648.7,-9.2,288,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2751,3452,3476,3429,0,0,0,0,0,0,14.92,14.92,14.92
$GC,7437,-0.84,-107.1,2610,2753,3473,3431,678.6,-8.8,294,7442,0.00,2.35,0.00,0.000,516,0.000,0.043,2609,1384,3450,3473,3428,0,0,0,0,0,0,14.92,14.50,14.92
$GC,7464,-0.84,-107.1,2608,1384,3474,3430,681.0,-8.7,298,7470,0.00,2.47,0.00,0.000,1030,0.000,0.066,2599,2752,3451,3473,3429,0,0,0,0,0,0,14.45,14.35,14.49
$GC,7828,-0.84,-107.1,2600,2753,3472,3428,712.9,-8.7,308,7834,0.00,2.05,0.00,0.000,260,0.000,0.108,2591,3829,3449,3471,3428,0,0,0,0,0,0,14.94,14.24,14.95
$GC,7877,-0.84,-107.1,2592,3827,3471,3429,717.5,-9.5,315,7884,0.10,1.83,0.00,0.000,3078,0.213,0.043,2620,2766,3448,3470,3427,0,0,0,0,0,0,14.19,14.62,14.35
$GC,8221,-0.84,-107.1,2620,2767,3472,3426,744.4,-7.8,322,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2766,3448,3471,3426,0,0,0,0,0,0,14.94,14.94,14.94
$GC,8557,-0.84,-107.1,2621,2766,3471,3425,771.0,-8.1,328,8558,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2766,3446,3470,3423,0,0,0,0,0,0,14.93,14.94,14.93
$GC,8893,-0.84,-107.1,2621,2765,3470,3425,799.0,-8.4,334,8893,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2766,3446,3470,3423,0,0,0,0,0,0,14.93,14.93,14.93
$GC,9229,-0.84,-107.1,2621,2766,3469,3423,827.1,-8.4,340,9229,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2766,3445,3469,3422,0,0,0,0,0,0,14.93,14.93,14.94
$GC,9565,-0.84,-107.1,2621,2766,3469,3422,857.2,-9.0,346,9566,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2766,3444,3469,3420,0,0,0,0,0,0,14.91,14.91,14.90
$GC,9900,-0.84,-107.1,2621,2766,3468,3421,887.3,-9.0,352,9906,0.00,2.40,0.00,0.000,516,0.000,0.045,2620,1376,3443,3466,3420,0,0,0,0,0,0,14.90,14.42,14.91
$GC,9991,-0.84,-107.1,2620,1377,3467,3419,895.3,-7.9,365,9998,0.00,2.53,0.00,0.000,1030,0.000,0.067,2612,2751,3442,3466,3419,0,0,0,0,0,0,14.38,14.28,14.42
$GC,10349,-0.84,-107.1,2612,2751,3466,3419,927.3,-9.0,374,10349,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2752,3442,3465,3419,0,0,0,0,0,0,14.90,14.90,14.90
$STATE,10402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10402,begin apogee
$GC,10408,-0.23,0.0,2612,2222,3466,3418,932.0,-8.9,375,10522,0.73,0.08,110.45,1.958,10244,0.174,0.178,2828,2257,3050,3092,3008,0,0,0,0,0,0,14.12,13.92,12.99
$STATE,10523,end apogee,CONTROL_FINISHED_OK
$STATE,10523,begin climb
$GC,10526,0.93,107.1,2825,2257,3090,3005,936.0,0.0,377,10652,1.10,2.58,117.25,1.971,10756,0.090,0.057,3182,854,2624,2685,2564,0,0,0,0,0,0,14.00,14.02,12.84
$GC,10686,0.84,130.6,3183,854,2681,2551,930.8,6.6,401,10720,0.00,2.55,26.58,2.009,9382,0.000,0.050,3182,2250,2525,2597,2454,0,0,0,0,0,0,14.00,13.93,12.91
$GC,11072,0.74,130.6,3183,2251,2598,2441,895.7,9.5,414,11079,0.12,2.60,0.00,0.000,4484,0.232,0.096,3141,3652,2518,2597,2439,0,0,0,0,0,0,14.16,14.30,14.40
$GC,11134,0.64,130.6,3141,3652,2598,2439,889.6,9.6,423,11140,0.12,2.45,0.00,0.000,5254,0.216,0.040,3115,2239,2518,2597,2439,0,0,0,0,0,0,14.15,14.42,14.32
$GC,11464,0.65,140.2,3116,2236,2597,2437,865.3,7.3,435,11470,0.00,0.00,4.95,2.018,8230,0.000,0.000,3115,2236,2491,2570,2413,0,0,0,0,0,0,14.79,14.40,12.93
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$STATE,22262,end climb,SURFACE_DEPTH_REACHED
$STATE,22262,begin surface coast
$FINISH,-1.1,1.021440
$STATE,22290,end surface coast,CONTROL_FINISHED_OK
$STATE,22290,begin surface
$SM_CCo,22314,58.03,0.155,0,0,1057,500.14
$SM_GC,-1.65,9.00,0.88,58.03,0.055,0.090,0.155,179,2766,1057,-8.40,-0.51,500.14,0,0,0,0,0,0,14.51,14.38,14.23
$IRIDIUM_FIX,945.12,-12502.75,071216,101014
$TT8_MAMPS,0.036701,0.492842
$HUMID,54.92
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.00
$XPDR_PINGS,1
$SC_FREEKB,3756512
$PM_FREEKB,55228864
$24V_AH,12.57,143.020
$10V_AH,12.61,0.000
$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,24.600,193.675,430.300,58.025,0.000,0.000,0.000,365.025,0.250,0.000,4.290,0.000,19118.781,827.043,2612.188,454.128,0.000,2002.203,0.000,1677.361,0.000,0.838,0.000
$DEVICE_MAMPS,384.030,178.245,2084.625,154.530,0.000,0.000,0.000,177.480,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22347.000,22297.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.495,2.415,0.000,0.000
$MEM,334732
$DATA_FILE_SIZE,33310,938
$CAP_FILE_SIZE,162804,0
$CFSIZE,1024409600,947306496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,102.10,1
$GPS,071216,224701,946.941,-12504.165,18,1.0,18,9.0,0.5,182.7,8,8.1