version: 66.13
glider: 220
mission: 6
dive: 402
start: 12 8 116 12 11 14
data:
$ID,220
$MISSION,6
$DIVE,402
$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,67
$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,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
$GPS1,081216,115939,942.7142,-12500.4873,37,0.9,37,9.0,0.6,54.1,8,7.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.72
$_SM_ANGLEo,-66.4
$GPS2,081216,121051,942.7465,-12500.4053,3,0.9,5,9.0,0.8,284.2,8,8.5
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,185.1,3481,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-1.19,-63.1,106,2786,1096,1009,0.0,0.0,0,92,0.00,0.00,-75.93,0.000,16390,0.000,0.000,105,2786,3304,3296,3312,0,0,0,0,0,0,14.67,12.59,14.66
$GC,95,-1.19,-63.1,106,2786,3296,3314,0.2,-2.6,2,115,11.68,2.40,0.00,0.000,2564,0.390,0.036,2511,1373,3305,3298,3313,0,0,0,0,0,0,13.97,14.40,14.35
$GC,219,-0.96,-63.1,2511,1374,3300,3313,43.3,-24.4,21,228,0.32,2.50,0.00,0.000,3206,0.270,0.068,2582,2755,3306,3299,3313,0,0,0,0,0,0,14.02,14.30,14.23
$GC,535,-0.98,-75.4,2580,2755,3304,3314,79.1,-6.7,33,541,0.00,2.00,0.00,0.000,292,0.000,0.103,2576,3824,3308,3304,3313,0,0,0,0,0,0,14.84,14.31,14.84
$GC,772,-0.98,-75.4,2576,3824,3305,3314,102.6,-9.6,67,778,0.00,1.77,0.00,0.000,1030,0.000,0.037,2575,2748,3308,3304,3312,0,0,0,0,0,0,14.69,14.64,14.69
$GC,1095,-0.98,-75.4,2576,2746,3305,3314,134.4,-9.7,78,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2747,3308,3305,3312,0,0,0,0,0,0,14.92,14.92,14.91
$GC,1431,-0.98,-75.4,2575,2748,3306,3311,168.7,-10.1,84,1436,0.00,2.05,0.00,0.000,260,0.000,0.103,2567,3829,3307,3305,3310,0,0,0,0,0,0,14.92,14.37,14.95
$GC,1472,-0.98,-75.4,2567,3833,3305,3311,173.0,-10.7,90,1478,0.00,1.75,0.00,0.000,1030,0.000,0.037,2566,2769,3307,3304,3310,0,0,0,0,0,0,14.70,14.69,14.70
$GC,1823,-0.98,-75.4,2566,2770,3305,3306,210.0,-10.7,98,1828,0.00,1.98,0.00,0.000,260,0.000,0.103,2558,3836,3305,3305,3306,0,0,0,0,0,0,14.92,14.37,14.92
$GC,1857,-0.98,-75.4,2558,3837,3306,3305,213.9,-11.4,103,1863,0.00,1.80,0.00,0.000,1030,0.000,0.036,2558,2747,3305,3305,3306,0,0,0,0,0,0,14.75,14.71,14.76
$GC,2215,-0.98,-75.4,2558,2748,3305,3302,252.5,-10.7,112,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2747,3300,3300,3301,0,0,0,0,0,0,14.94,14.92,14.93
$GC,2551,-0.98,-75.4,2558,2747,3305,3297,288.6,-10.8,118,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2748,3300,3305,3295,0,0,0,0,0,0,14.93,14.94,14.94
$GC,2887,-0.98,-75.4,2558,2748,3306,3293,326.6,-11.5,124,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2747,3298,3304,3292,0,0,0,0,0,0,14.94,14.94,14.93
$GC,3223,-0.98,-75.4,2557,2749,3306,3289,365.5,-11.5,130,3228,0.00,2.08,0.00,0.000,260,0.000,0.107,2550,3829,3296,3305,3287,0,0,0,0,0,0,14.93,14.34,14.93
$GC,3264,-0.98,-75.4,2550,3829,3305,3288,370.5,-12.2,136,3270,0.10,1.77,0.00,0.000,3078,0.239,0.041,2576,2786,3295,3304,3287,0,0,0,0,0,0,14.26,14.69,14.44
$GC,3615,-0.98,-75.4,2577,2787,3305,3283,407.1,-10.3,144,3620,0.00,2.45,0.00,0.000,516,0.000,0.044,2576,1375,3293,3304,3282,0,0,0,0,0,0,14.94,14.50,14.93
$GC,3656,-0.98,-75.4,2577,1376,3306,3283,411.4,-10.2,150,3662,0.00,2.50,0.00,0.000,1030,0.000,0.064,2568,2771,3294,3303,3286,0,0,0,0,0,0,14.51,14.43,14.57
$GC,4007,-0.98,-75.4,2568,2769,3306,3277,446.9,-10.0,158,4012,0.00,2.00,0.00,0.000,260,0.000,0.106,2559,3827,3290,3304,3277,0,0,0,0,0,0,14.95,14.33,14.95
$GC,4055,-0.98,-75.4,2560,3827,3305,3278,451.9,-10.4,165,4063,0.00,1.83,0.00,0.000,1030,0.000,0.040,2559,2743,3290,3304,3277,0,0,0,0,0,0,14.69,14.67,14.69
$GC,4399,-0.98,-75.4,2559,2745,3305,3276,486.9,-10.3,172,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2743,3289,3304,3274,0,0,0,0,0,0,14.93,14.93,14.93
$GC,4735,-0.98,-75.4,2560,2743,3305,3272,521.4,-10.1,178,4740,0.00,2.03,0.00,0.000,260,0.000,0.106,2551,3818,3287,3304,3270,0,0,0,0,0,0,14.92,14.36,14.92
$GC,4804,-0.98,-75.4,2551,3820,3305,3271,529.0,-11.0,188,4810,0.10,1.77,0.00,0.000,3078,0.243,0.040,2577,2775,3287,3304,3270,0,0,0,0,0,0,14.23,14.66,14.40
$GC,5127,-0.98,-75.4,2578,2776,3305,3266,559.5,-9.5,199,5132,0.00,2.40,0.00,0.000,516,0.000,0.043,2577,1367,3285,3304,3266,0,0,0,0,0,0,14.97,14.51,14.95
$GC,5183,-1.06,-75.4,2578,1368,3306,3266,564.8,-9.6,207,5188,0.00,2.47,0.00,0.000,1158,0.000,0.064,2568,2767,3285,3305,3266,0,0,0,0,0,0,14.60,14.43,14.63
$GC,5519,-1.06,-75.4,2568,2768,3305,3262,597.4,-9.8,220,5524,0.00,2.38,0.00,0.000,516,0.000,0.043,2568,1383,3283,3304,3262,0,0,0,0,0,0,14.94,14.51,14.94
$GC,5560,-1.06,-75.4,2568,1384,3305,3261,601.6,-9.7,226,5566,0.00,2.47,0.00,0.000,1030,0.000,0.064,2558,2757,3282,3304,3261,0,0,0,0,0,0,14.46,14.37,14.51
$GC,5911,-1.06,-75.4,2557,2758,3304,3260,636.6,-9.9,234,5916,0.00,2.03,0.00,0.000,260,0.000,0.106,2552,3829,3281,3304,3259,0,0,0,0,0,0,14.92,14.27,14.92
$GC,5959,-1.06,-75.4,2550,3830,3303,3259,641.7,-10.9,241,5967,0.00,1.83,0.00,0.000,1030,0.000,0.041,2550,2758,3280,3302,3259,0,0,0,0,0,0,14.65,14.64,14.66
$GC,6303,-1.06,-75.4,2551,2758,3300,3260,675.7,-9.8,248,6304,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2758,3279,3299,3259,0,0,0,0,0,0,14.94,14.94,14.94
$GC,6639,-1.06,-75.4,2550,2758,3298,3260,707.9,-9.5,254,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2758,3278,3298,3259,0,0,0,0,0,0,14.94,14.94,14.95
$GC,6975,-1.06,-75.4,2550,2759,3298,3258,740.0,-9.6,260,6980,0.00,2.40,0.00,0.000,516,0.000,0.044,2550,1387,3276,3296,3257,0,0,0,0,0,0,14.94,14.43,14.94
$GC,7037,-1.06,-75.4,2550,1388,3298,3256,746.3,-9.6,269,7044,0.00,2.53,0.00,0.000,1030,0.000,0.065,2540,2766,3276,3297,3256,0,0,0,0,0,0,14.41,14.31,14.46
$GC,7367,-1.06,-75.4,2540,2771,3298,3254,779.4,-10.1,281,7373,0.00,2.03,0.00,0.000,260,0.000,0.109,2532,3821,3275,3296,3254,0,0,0,0,0,0,14.93,14.22,14.93
$GC,7443,-1.06,-75.4,2532,3822,3296,3254,787.7,-10.9,292,7449,0.00,1.83,0.00,0.000,1030,0.000,0.041,2532,2758,3274,3295,3254,0,0,0,0,0,0,14.64,14.60,14.63
$GC,7759,-1.06,-75.4,2532,2757,3293,3255,821.1,-10.7,302,7764,0.00,2.38,0.00,0.000,516,0.000,0.044,2531,1374,3273,3292,3254,0,0,0,0,0,0,14.90,14.45,14.90
$GC,7807,-1.06,-75.4,2532,1374,3293,3254,826.5,-10.8,309,7816,0.10,2.55,0.00,0.000,3078,0.257,0.064,2548,2766,3273,3292,3254,0,0,0,0,0,0,14.00,14.30,14.21
$GC,8151,-1.06,-75.4,2549,2765,3293,3252,862.9,-10.7,316,8156,0.00,2.40,0.00,0.000,516,0.000,0.044,2548,1380,3271,3291,3252,0,0,0,0,0,0,14.90,14.46,14.90
$GC,8178,-1.06,-75.4,2549,1380,3293,3258,865.9,-10.1,320,8184,0.00,2.53,0.00,0.000,1030,0.000,0.064,2539,2756,3271,3292,3251,0,0,0,0,0,0,14.40,14.29,14.43
$GC,8543,-1.06,-75.4,2540,2757,3293,3250,905.8,-10.9,330,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2756,3271,3292,3250,0,0,0,0,0,0,14.89,14.89,14.90
$STATE,8820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8820,begin apogee
$GC,8827,-0.23,0.0,2540,2227,3288,3249,934.7,-10.3,335,8892,1.02,0.00,62.95,1.993,10244,0.206,0.000,2824,2223,3049,3088,3011,0,0,0,0,0,0,14.04,14.15,13.12
$STATE,8894,end apogee,CONTROL_FINISHED_OK
$STATE,8894,begin climb
$GC,8897,1.21,75.4,2825,2226,3086,3007,937.4,0.0,336,8991,1.38,2.47,82.38,1.986,10756,0.086,0.057,3278,844,2744,2796,2692,0,0,0,0,0,0,14.16,14.18,12.96
$GC,9027,1.12,94.8,3278,845,2797,2687,932.7,6.1,357,9054,0.00,2.58,21.02,2.044,9382,0.000,0.050,3277,2266,2670,2726,2614,0,0,0,0,0,0,14.13,14.07,13.00
$GC,9385,1.01,94.8,3277,2267,2728,2602,897.2,10.4,373,9391,0.20,2.58,0.00,0.000,4484,0.272,0.096,3226,3651,2664,2726,2603,0,0,0,0,0,0,14.10,14.30,14.42
$GC,9441,0.91,94.8,3226,3651,2728,2603,891.2,10.6,381,9447,0.15,2.42,0.00,0.000,5254,0.270,0.039,3198,2227,2664,2726,2602,0,0,0,0,0,0,14.11,14.45,14.42
$GC,9777,0.91,94.8,3198,2227,2727,2600,862.4,8.5,394,9782,0.00,2.67,0.00,0.000,260,0.000,0.096,3198,3655,2663,2727,2600,0,0,0,0,0,0,14.85,14.33,14.82
$GC,9817,0.91,94.8,3198,3656,2728,2600,858.6,10.8,400,9824,0.00,2.42,0.00,0.000,1030,0.000,0.039,3208,2251,2663,2726,2600,0,0,0,0,0,0,14.51,14.47,14.54
$GC,10169,0.91,94.8,3209,2253,2727,2598,830.0,8.1,408,10174,0.00,2.42,0.00,0.000,516,0.000,0.060,3219,863,2661,2726,2597,0,0,0,0,0,0,14.85,14.42,14.85
$GC,10202,0.91,94.8,3219,865,2728,2597,826.9,10.0,413,10209,0.00,2.45,0.00,0.000,1030,0.000,0.051,3218,2254,2663,2730,2597,0,0,0,0,0,0,14.47,14.39,14.51
$GC,10561,0.92,98.7,3217,2255,2727,2597,799.7,7.4,422,10562,0.00,0.00,0.00,0.000,38,0.000,0.000,3219,2255,2665,2736,2595,0,0,0,0,0,0,14.85,14.85,14.85
$GC,10897,0.92,103.0,3219,2256,2728,2595,774.7,7.4,428,10909,0.00,2.62,4.47,1.919,8484,0.000,0.099,3219,3651,2642,2704,2581,0,0,0,0,0,0,14.88,14.48,13.01
$GC,10986,0.92,103.0,3222,3652,2706,2589,767.4,8.3,441,10994,0.10,2.40,1.00,0.253,13318,0.257,0.038,3203,2253,2641,2705,2578,0,0,0,0,0,0,14.18,14.53,14.04
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$STATE,20974,end climb,SURFACE_DEPTH_REACHED
$STATE,20974,begin surface coast
$FINISH,-1.3,1.021452
$STATE,21002,end surface coast,CONTROL_FINISHED_OK
$STATE,21002,begin surface
$SM_CCo,21023,68.28,0.150,0,0,1057,500.14
$SM_GC,-0.50,9.27,0.80,68.28,0.057,0.091,0.150,186,2764,1057,-8.39,-0.79,500.14,0,0,0,0,0,0,14.53,14.42,14.24
$IRIDIUM_FIX,940.75,-12500.96,081216,052931
$TT8_MAMPS,0.03745,0.379743
$HUMID,52.52
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.80
$XPDR_PINGS,0
$SC_FREEKB,3755360
$PM_FREEKB,55194944
$24V_AH,12.59,143.910
$10V_AH,12.31,0.000
$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,25.125,181.325,341.275,68.275,0.000,0.000,0.000,375.550,0.000,0.000,6.683,0.000,17847.021,734.097,2712.646,454.019,0.000,1945.559,0.000,1758.578,0.000,0.839,0.000
$DEVICE_MAMPS,390.150,109.395,2044.080,149.940,0.000,0.000,0.000,182.070,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21062.000,21010.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.614,2.416,0.000,0.000
$MEM,334776
$DATA_FILE_SIZE,36682,1009
$CAP_FILE_SIZE,160317,0
$CFSIZE,1024409600,946864128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084,100.40,1
$GPS,081216,180409,941.136,-12459.572,51,1.2,51,9.0,0.8,163.5,6,7.9