version: 66.13
glider: 220
mission: 6
dive: 471
start: 12 26 116 19 26 20
data:
$ID,220
$MISSION,6
$DIVE,471
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,800
$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,345
$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,49
$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,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
$GPS1,261216,191401,1008.1882,-12507.6777,29,1.2,29,9.0,0.9,127.8,7,7.2
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.20
$_SM_ANGLEo,-67.8
$GPS2,261216,192556,1008.2722,-12507.6338,2,0.8,3,9.0,0.5,353.6,9,8.3
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,243.9,26352,-17.5,-7.729,-24.20,2052
$D_GRID,800
$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,-107.1,104,2783,1110,1018,0.0,0.0,0,100,0.00,0.00,-80.12,0.000,16390,0.000,0.000,105,2781,3478,3469,3488,0,0,0,0,0,0,14.66,13.09,14.65
$GC,104,-0.93,-107.1,105,2783,3470,3488,3.6,-12.5,3,121,11.88,2.40,0.00,0.000,2820,0.383,0.034,2590,1362,3479,3470,3488,0,0,0,0,0,0,13.97,14.34,14.23
$GC,129,0.23,-107.1,2590,1363,3472,3489,18.4,-51.9,7,135,1.35,2.58,0.00,0.000,3206,0.213,0.081,2951,2762,3480,3472,3488,0,0,0,0,0,0,14.13,14.30,14.38
$GC,465,-0.24,-107.1,2951,2763,3474,3481,40.2,-7.3,22,471,0.30,2.40,0.00,0.000,4772,0.106,0.041,2834,1359,3481,3475,3487,0,0,0,0,0,0,14.36,14.45,14.45
$GC,656,-0.66,-107.1,2835,1359,3477,3488,51.0,-6.1,49,663,0.38,2.50,0.00,0.000,5286,0.076,0.069,2686,2768,3481,3476,3487,0,0,0,0,0,0,14.48,14.38,14.56
$GC,969,-0.66,-107.1,2686,2769,3478,3487,71.4,-7.1,61,974,0.00,2.40,0.00,0.000,548,0.000,0.043,2686,1370,3482,3477,3487,0,0,0,0,0,0,14.89,14.49,14.89
$GC,1066,-0.74,-107.1,2686,1366,3478,3488,78.7,-7.4,75,1072,0.00,2.53,0.00,0.000,1190,0.000,0.067,2677,2788,3482,3477,3487,0,0,0,0,0,0,14.57,14.39,14.59
$GC,1417,-0.74,-107.1,2678,2790,3476,3487,105.4,-6.9,88,1418,0.00,0.00,0.00,0.000,38,0.000,0.000,2677,2789,3482,3477,3487,0,0,0,0,0,0,14.91,14.91,14.91
$GC,1753,-0.82,-107.1,2677,2788,3478,3490,129.1,-6.9,94,1759,0.08,2.45,0.00,0.000,4772,0.144,0.041,2601,1366,3480,3477,3484,0,0,0,0,0,0,14.63,14.52,14.65
$GC,1787,-0.82,-107.1,2602,1367,3478,3484,131.9,-8.7,99,1793,0.12,2.53,0.00,0.000,3078,0.216,0.067,2628,2760,3480,3477,3483,0,0,0,0,0,0,14.15,14.35,14.32
$GC,2145,-0.82,-107.1,2628,2761,3478,3479,164.9,-9.4,108,2150,0.00,2.40,0.00,0.000,516,0.000,0.043,2628,1370,3478,3477,3480,0,0,0,0,0,0,14.94,14.51,14.94
$GC,2186,-0.82,-107.1,2629,1370,3477,3481,169.0,-9.6,114,2193,0.00,2.50,0.00,0.000,1030,0.000,0.067,2617,2752,3477,3476,3479,0,0,0,0,0,0,14.47,14.37,14.51
$GC,2537,-0.82,-107.1,2618,2753,3478,3476,204.3,-10.2,122,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2752,3476,3476,3476,0,0,0,0,0,0,14.93,14.93,14.95
$GC,2873,-0.82,-107.1,2619,2752,3477,3472,239.4,-10.3,128,2878,0.00,2.03,0.00,0.000,260,0.000,0.111,2610,3832,3473,3477,3470,0,0,0,0,0,0,14.91,14.32,14.91
$GC,2914,-0.82,-107.1,2611,3834,3476,3470,243.6,-10.7,134,2921,0.00,1.85,0.00,0.000,1030,0.000,0.042,2610,2727,3476,3477,3476,0,0,0,0,0,0,14.62,14.62,14.65
$GC,3265,-0.82,-107.1,2610,2728,3478,3467,277.8,-9.5,142,3271,0.00,2.28,0.00,0.000,516,0.000,0.042,2609,1391,3472,3477,3467,0,0,0,0,0,0,14.94,14.52,14.94
$GC,3285,-0.82,-107.1,2610,1390,3477,3468,279.8,-8.9,145,3291,0.10,2.47,0.00,0.000,3078,0.219,0.067,2629,2757,3474,3481,3467,0,0,0,0,0,0,14.18,14.36,14.35
$GC,3601,-0.82,-107.1,2629,2758,3478,3462,307.0,-8.6,155,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2757,3469,3476,3462,0,0,0,0,0,0,14.94,14.94,14.94
$GC,3937,-0.82,-107.1,2629,2757,3477,3461,334.4,-8.2,161,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2756,3468,3476,3460,0,0,0,0,0,0,14.91,14.91,14.91
$GC,4273,-0.82,-107.1,2630,2757,3477,3457,363.1,-8.7,167,4278,0.00,2.38,0.00,0.000,516,0.000,0.044,2629,1388,3465,3476,3455,0,0,0,0,0,0,14.92,14.50,14.92
$GC,4307,-0.82,-107.1,2629,1388,3477,3456,364.9,-4.8,172,4313,0.00,2.50,0.00,0.000,1062,0.000,0.067,2620,2755,3465,3476,3455,0,0,0,0,0,0,14.40,14.29,14.44
$GC,4665,-0.82,-107.1,2620,2756,3478,3458,406.6,-9.9,181,4670,0.00,2.08,0.00,0.000,260,0.000,0.113,2611,3829,3464,3477,3452,0,0,0,0,0,0,14.91,14.23,14.92
$GC,4734,-0.82,-107.1,2612,3828,3477,3453,413.6,-10.2,191,4740,0.00,1.80,0.00,0.000,1030,0.000,0.044,2610,2779,3463,3475,3451,0,0,0,0,0,0,14.59,14.57,14.61
$GC,5057,-0.82,-107.1,2611,2780,3477,3449,444.9,-9.7,202,5063,0.00,2.42,0.00,0.000,516,0.000,0.044,2610,1375,3462,3476,3449,0,0,0,0,0,0,14.90,14.47,14.90
$GC,5161,-0.82,-107.1,2611,1375,3478,3449,454.3,-8.9,217,5168,0.10,2.53,0.00,0.000,3078,0.223,0.067,2630,2752,3462,3476,3448,0,0,0,0,0,0,14.10,14.29,14.28
$GC,5505,-0.82,-107.1,2630,2751,3477,3445,481.5,-7.9,224,5510,0.00,2.05,0.00,0.000,260,0.000,0.114,2621,3837,3460,3476,3444,0,0,0,0,0,0,14.92,14.23,14.93
$GC,5553,-0.82,-107.1,2622,3838,3477,3444,485.3,-7.9,231,5560,0.00,1.88,0.00,0.000,1030,0.000,0.044,2622,2746,3460,3476,3445,0,0,0,0,0,0,14.57,14.54,14.58
$GC,5897,-0.82,-107.1,2622,2749,3477,3442,507.7,-6.3,238,5898,0.00,0.00,0.00,0.000,38,0.000,0.000,2621,2748,3459,3476,3442,0,0,0,0,0,0,14.92,14.92,14.92
$GC,6233,-0.82,-107.1,2622,2747,3477,3441,536.7,-8.1,244,6238,0.00,2.38,0.00,0.000,516,0.000,0.044,2622,1375,3457,3476,3439,0,0,0,0,0,0,14.90,14.45,14.91
$GC,6267,-0.82,-107.1,2622,1374,3477,3440,539.0,-6.1,249,6273,0.00,2.53,0.00,0.000,1062,0.000,0.067,2613,2753,3457,3476,3438,0,0,0,0,0,0,14.33,14.23,14.38
$GC,6625,-0.82,-107.1,2612,2754,3477,3437,571.2,-9.0,258,6631,0.00,2.03,0.00,0.000,260,0.000,0.113,2604,3826,3456,3476,3436,0,0,0,0,0,0,14.90,14.23,14.90
$GC,6666,-0.82,-107.1,2604,3826,3475,3437,574.6,-9.0,264,6672,0.08,1.85,0.00,0.000,3078,0.212,0.045,2626,2763,3456,3476,3437,0,0,0,0,0,0,14.19,14.53,14.33
$GC,7017,-0.82,-107.1,2627,2762,3476,3434,603.4,-9.9,272,7022,0.00,2.42,0.00,0.000,516,0.000,0.044,2627,1370,3454,3476,3433,0,0,0,0,0,0,14.92,14.38,14.92
$GC,7065,-0.82,-107.1,2627,1370,3476,3434,603.2,-0.2,279,7072,0.00,2.53,0.00,0.000,1062,0.000,0.067,2617,2749,3454,3476,3432,0,0,0,0,0,0,14.35,14.26,14.40
$GC,7409,-0.82,-107.1,2618,2749,3477,3432,638.3,-7.6,286,7410,0.00,0.00,0.00,0.000,38,0.000,0.000,2617,2754,3453,3476,3431,0,0,0,0,0,0,14.90,14.90,14.90
$GC,7745,-0.82,-107.1,2618,2747,3477,3429,664.6,-7.9,292,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2751,3451,3475,3428,0,0,0,0,0,0,14.90,14.90,14.90
$GC,8081,-0.82,-107.1,2618,2751,3473,3429,692.8,-8.4,298,8087,0.00,2.45,0.00,0.000,516,0.000,0.044,2617,1359,3450,3473,3427,0,0,0,0,0,0,14.92,14.40,14.92
$GC,8108,-0.82,-107.1,2617,1360,3473,3427,695.5,-9.5,302,8115,0.00,2.58,0.00,0.000,1030,0.000,0.067,2608,2752,3449,3472,3427,0,0,0,0,0,0,14.33,14.24,14.38
$GC,8473,-0.82,-107.1,2609,2754,3472,3427,729.2,-9.3,312,8478,0.00,2.42,0.00,0.000,516,0.000,0.044,2607,1368,3448,3470,3427,0,0,0,0,0,0,14.89,14.40,14.89
$GC,8500,-0.82,-107.1,2607,1369,3470,3428,731.9,-10.0,316,8506,0.10,2.55,0.00,0.000,3078,0.227,0.067,2628,2751,3448,3470,3427,0,0,0,0,0,0,13.99,14.22,14.16
$GC,8865,-0.82,-107.1,2628,2751,3470,3428,762.0,-8.2,326,8871,0.00,2.05,0.00,0.000,260,0.000,0.114,2620,3834,3448,3469,3427,0,0,0,0,0,0,14.84,14.14,14.85
$GC,8921,-0.82,-107.1,2620,3832,3470,3427,766.8,-8.8,334,8926,0.00,1.90,0.00,0.000,1030,0.000,0.045,2619,2745,3448,3469,3427,0,0,0,0,0,0,14.47,14.43,14.49
$GC,9257,-0.82,-107.1,2619,2745,3467,3427,793.9,-8.1,347,9262,0.00,2.40,0.00,0.000,516,0.000,0.044,2619,1369,3447,3469,3425,0,0,0,0,0,0,14.91,14.40,14.91
$GC,9326,-0.82,-107.1,2619,1370,3470,3425,799.4,-7.7,357,9332,0.00,2.55,0.00,0.000,1062,0.000,0.067,2610,2742,3447,3469,3425,0,0,0,0,0,0,14.29,14.20,14.34
$STATE,9337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9337,begin apogee
$GC,9345,-0.23,0.0,2611,2229,3469,3423,800.6,-8.0,359,9452,0.73,0.00,95.35,2.671,10244,0.172,0.000,2824,2229,3059,3090,3028,0,0,0,0,1,0,14.08,13.87,12.53
$STATE,9454,end apogee,CONTROL_FINISHED_OK
$STATE,9454,begin climb
$GC,9457,0.93,107.1,2824,2230,3093,3034,803.7,0.0,361,9581,1.10,2.53,105.30,2.733,10756,0.088,0.057,3184,842,2626,2680,2573,0,0,0,0,1,0,13.95,13.97,12.40
$GC,9665,0.83,124.9,3184,842,2681,2588,798.6,6.8,391,9698,0.00,2.58,27.73,1.867,9382,0.000,0.050,3184,2266,2547,2614,2480,0,0,0,0,0,0,14.19,14.12,13.12
$GC,10018,0.70,124.9,3184,2266,2609,2461,768.1,8.8,406,10024,0.17,2.47,0.00,0.000,4740,0.232,0.057,3140,844,2533,2608,2459,0,0,0,0,0,0,14.16,14.36,14.33
$GC,10051,0.71,128.2,3139,845,2610,2458,765.2,7.6,411,10057,0.00,2.50,0.00,0.000,1062,0.000,0.051,3139,2257,2533,2608,2458,0,0,0,0,0,0,14.43,14.37,14.47
$GC,10409,0.72,139.0,3141,2257,2609,2458,739.5,7.2,420,10429,0.00,2.60,12.45,1.985,8484,0.000,0.101,3139,3647,2490,2566,2414,0,0,0,0,0,0,14.81,14.39,13.38
$GC,10530,0.62,139.0,3142,3648,2567,2410,729.9,8.3,437,10535,0.17,2.42,0.00,0.000,5254,0.227,0.041,3101,2230,2487,2565,2409,0,0,0,0,0,0,14.21,14.48,14.47
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$STATE,19822,end climb,SURFACE_DEPTH_REACHED
$STATE,19822,begin surface coast
$FINISH,-3.3,1.021820
$STATE,19850,end surface coast,CONTROL_FINISHED_OK
$STATE,19850,begin surface
$SM_CCo,19873,56.35,0.168,0,0,1056,500.14
$SM_GC,-5.67,9.25,0.93,56.35,0.080,0.085,0.168,190,2764,1056,-8.38,-0.76,500.14,0,0,0,0,0,0,14.48,14.33,14.18
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$TT8_MAMPS,0.036701,0.443408
$HUMID,57.56
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,19.30
$XPDR_PINGS,0
$SC_FREEKB,3728896
$PM_FREEKB,54364224
$24V_AH,11.86,167.157
$10V_AH,12.08,0.000
$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
$DEVICE_SECS,26.450,196.600,473.725,56.350,0.000,0.000,0.000,404.400,0.000,0.000,4.768,0.000,16838.381,828.559,2453.463,510.521,0.000,1976.758,0.000,1508.788,0.000,0.836,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19906.000,19859.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.660,2.431,0.000,0.000
$MEM,334712
$DATA_FILE_SIZE,30058,838
$CAP_FILE_SIZE,162069,0
$CFSIZE,1024409600,936722432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.054,291.01,1
$GPS,271216,005931,1007.615,-12509.772,29,1.5,29,9.0,1.3,53.3,6,7.5