version: 66.13
glider: 220
mission: 6
dive: 699
start: 2 17 117 17 19 11
data:
$ID,220
$MISSION,6
$DIVE,699
$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,53
$R_STBD_OVSHOOT,12
$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
$GPS1,170217,170531,958.5112,-12442.5518,30,0.7,36,9.0,0.2,258.9,12,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.36
$_SM_ANGLEo,-71.2
$GPS2,170217,171849,958.5303,-12442.5566,2,0.6,3,9.0,0.2,220.0,12,5.6
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,58.3,4473,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.93,-107.1,166,2779,1101,1019,0.0,0.0,0,102,0.00,0.00,-80.93,0.000,16390,0.000,0.000,163,2778,3477,3469,3486,0,0,0,0,0,0,14.58,12.66,14.52
$GC,106,-0.93,-107.1,169,2780,3471,3487,0.8,-9.3,3,123,11.88,2.47,0.00,0.000,2564,0.384,0.036,2589,1357,3479,3471,3487,0,0,0,0,0,0,13.84,14.35,14.25
$GC,144,-0.22,-107.1,2590,1357,3473,3486,18.4,-39.0,9,150,0.90,2.72,0.00,0.000,3206,0.235,0.109,2820,2765,3479,3472,3486,0,0,0,0,0,0,13.96,14.05,14.25
$GC,467,-0.39,-107.1,2820,2766,3474,3486,47.7,-7.7,22,468,0.10,0.00,0.00,0.000,4230,0.111,0.000,2739,2765,3479,3473,3486,0,0,0,0,0,0,14.35,14.41,14.39
$GC,775,-0.50,-107.1,2738,2767,3475,3486,70.2,-6.8,33,781,0.00,2.17,0.00,0.000,420,0.000,0.158,2731,3833,3482,3476,3488,0,0,0,0,0,0,14.73,13.78,14.73
$GC,789,-0.63,-107.1,2731,3833,3476,3487,71.0,-6.5,35,793,0.00,1.85,0.00,0.000,1190,0.000,0.060,2731,2770,3481,3476,3486,0,0,0,0,0,0,14.26,14.21,14.30
$GC,1111,-0.76,-107.1,2728,2771,3479,3486,86.0,-4.5,48,1116,0.15,2.45,0.00,0.000,4772,0.082,0.039,2617,1364,3482,3478,3486,0,0,0,0,0,0,14.33,14.14,14.34
$GC,1139,-0.76,-107.1,2617,1364,3480,3486,88.0,-7.2,52,1144,0.15,2.70,0.00,0.000,3110,0.226,0.095,2648,2768,3482,3478,3486,0,0,0,0,0,0,13.77,13.83,14.04
$GC,1475,-0.76,-107.1,2649,2771,3479,3485,117.7,-9.2,64,1480,0.00,2.17,0.00,0.000,260,0.000,0.157,2641,3828,3482,3478,3486,0,0,0,0,0,0,14.76,13.76,14.76
$GC,1684,-0.76,-107.1,2641,3830,3480,3485,136.4,-8.4,94,1689,0.00,1.88,0.00,0.000,1030,0.000,0.057,2640,2752,3481,3478,3485,0,0,0,0,0,0,14.28,14.21,14.30
$GC,2035,-0.76,-107.1,2641,2755,3479,3480,166.9,-8.9,102,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2754,3479,3478,3480,0,0,0,0,0,0,14.81,14.81,14.81
$GC,2371,-0.76,-107.1,2640,2754,3479,3476,196.8,-9.0,108,2376,0.00,2.45,0.00,0.000,516,0.000,0.042,2640,1366,3477,3478,3476,0,0,0,0,0,0,14.77,14.10,14.77
$GC,2405,-0.76,-107.1,2640,1367,3479,3475,199.8,-8.8,113,2411,0.00,2.75,0.00,0.000,1030,0.000,0.097,2630,2779,3476,3478,3475,0,0,0,0,0,0,14.06,13.75,14.12
$GC,2763,-0.76,-107.1,2631,2778,3477,3471,230.5,-8.6,122,2768,0.00,2.15,0.00,0.000,260,0.000,0.156,2622,3825,3473,3477,3469,0,0,0,0,0,0,14.81,13.68,14.81
$GC,2804,-0.76,-107.1,2623,3824,3478,3470,234.2,-9.2,128,2809,0.10,1.85,0.00,0.000,3078,0.223,0.060,2651,2773,3473,3478,3469,0,0,0,0,0,0,13.79,14.13,14.00
$GC,3155,-0.76,-107.1,2650,2775,3478,3464,261.6,-7.9,136,3160,0.00,2.50,0.00,0.000,516,0.000,0.041,2652,1364,3471,3478,3464,0,0,0,0,0,0,14.81,14.05,14.84
$GC,3189,-0.76,-107.1,2655,1365,3478,3463,264.7,-8.8,141,3195,0.00,2.75,0.00,0.000,1030,0.000,0.096,2641,2771,3471,3478,3465,0,0,0,0,0,0,14.04,13.73,14.09
$GC,3547,-0.76,-107.1,2641,2769,3479,3459,295.6,-8.8,150,3552,0.00,2.17,0.00,0.000,260,0.000,0.155,2633,3829,3468,3478,3459,0,0,0,0,0,0,14.76,13.71,14.77
$GC,3595,-0.76,-107.1,2634,3829,3478,3460,300.3,-9.5,157,3602,0.00,1.90,0.00,0.000,1030,0.000,0.060,2633,2779,3468,3478,3459,0,0,0,0,0,0,14.09,14.07,14.12
$GC,3939,-0.76,-107.1,2633,2780,3479,3454,330.1,-8.7,164,3944,0.00,2.53,0.00,0.000,516,0.000,0.041,2633,1361,3466,3478,3454,0,0,0,0,0,0,14.76,14.02,14.76
$GC,3966,-0.76,-107.1,2633,1362,3479,3454,331.3,-3.9,168,3971,0.10,2.78,0.00,0.000,3110,0.236,0.096,2651,2777,3465,3477,3453,0,0,0,0,0,0,13.71,13.73,13.97
$GC,4331,-0.76,-107.1,2652,2777,3478,3452,364.2,-8.7,178,4336,0.00,2.17,0.00,0.000,260,0.000,0.155,2643,3833,3466,3477,3456,0,0,0,0,0,0,14.76,13.72,14.76
$GC,4358,-0.76,-107.1,2643,3834,3479,3450,366.8,-9.5,182,4363,0.00,1.88,0.00,0.000,1030,0.000,0.060,2643,2771,3462,3475,3450,0,0,0,0,0,0,14.23,14.15,14.26
$GC,4723,-0.76,-107.1,2643,2772,3479,3446,400.2,-9.1,192,4728,0.00,2.53,0.00,0.000,516,0.000,0.041,2643,1361,3461,3477,3445,0,0,0,0,0,0,14.75,13.97,14.75
$GC,4757,-0.76,-107.1,2643,1359,3478,3446,403.4,-9.0,197,4763,0.00,2.78,0.00,0.000,1030,0.000,0.096,2633,2773,3462,3477,3448,0,0,0,0,0,0,14.03,13.73,14.09
$GC,5115,-0.76,-107.1,2633,2774,3478,3441,436.2,-9.1,206,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2773,3459,3477,3442,0,0,0,0,0,0,14.74,14.74,14.74
$GC,5451,-0.76,-107.1,2633,2776,3478,3439,464.8,-8.4,212,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2774,3458,3477,3439,0,0,0,0,0,0,14.75,14.75,14.75
$GC,5787,-0.76,-107.1,2633,2774,3476,3438,490.0,-7.2,218,5788,0.00,0.00,0.00,0.000,38,0.000,0.000,2633,2774,3456,3477,3436,0,0,0,0,0,0,14.74,14.74,14.74
$GC,6123,-0.76,-107.1,2634,2774,3478,3434,514.7,-7.4,224,6124,0.00,0.00,0.00,0.000,38,0.000,0.000,2633,2774,3455,3477,3433,0,0,0,0,0,0,14.79,14.79,14.78
$GC,6459,-0.76,-107.1,2633,2775,3478,3436,539.9,-7.6,230,6464,0.00,2.60,0.00,0.000,548,0.000,0.043,2632,1362,3454,3477,3431,0,0,0,0,0,0,14.73,13.93,14.73
$GC,6507,-0.76,-107.1,2633,1361,3478,3432,543.9,-7.7,237,6515,0.10,2.83,0.00,0.000,3110,0.238,0.096,2651,2781,3454,3477,3431,0,0,0,0,0,0,13.72,13.74,13.98
$GC,6852,-0.83,-107.1,2650,2782,3478,3428,569.8,-7.6,244,6856,0.00,2.15,0.00,0.000,420,0.000,0.155,2643,3826,3452,3477,3428,0,0,0,0,0,0,14.73,13.76,14.73
$GC,6913,-0.83,-107.1,2643,3827,3477,3428,574.8,-8.4,253,6919,0.00,1.90,0.00,0.000,1030,0.000,0.061,2642,2770,3452,3476,3428,0,0,0,0,0,0,14.14,14.05,14.16
$GC,7243,-0.83,-107.1,2642,2768,3474,3428,601.4,-8.1,265,7248,0.00,2.55,0.00,0.000,516,0.000,0.042,2642,1355,3450,3472,3428,0,0,0,0,0,0,14.78,13.90,14.77
$GC,7291,-0.91,-107.1,2644,1360,3473,3428,605.3,-8.3,272,7297,0.00,2.83,0.00,0.000,1158,0.000,0.096,2633,2779,3452,3476,3428,0,0,0,0,0,0,14.04,13.75,14.08
$GC,7635,-0.91,-107.1,2632,2779,3470,3429,633.4,-8.1,279,7640,0.00,2.17,0.00,0.000,260,0.000,0.154,2625,3832,3449,3470,3428,0,0,0,0,0,0,14.78,13.76,14.78
$GC,7704,-0.91,-107.1,2625,3833,3471,3424,639.1,-8.3,289,7710,0.00,1.92,0.00,0.000,1030,0.000,0.060,2624,2761,3449,3470,3428,0,0,0,0,0,0,14.14,14.04,14.16
$GC,8027,-0.91,-107.1,2624,2763,3471,3426,664.0,-7.7,300,8032,0.00,2.55,0.00,0.000,548,0.000,0.043,2624,1362,3448,3470,3426,0,0,0,0,0,0,14.71,13.87,14.71
$GC,8075,-0.91,-107.1,2624,1362,3471,3428,667.7,-7.7,307,8081,0.00,2.83,0.00,0.000,1062,0.000,0.095,2616,2775,3447,3470,3425,0,0,0,0,0,0,14.04,13.75,14.11
$GC,8419,-0.91,-107.1,2616,2772,3469,3426,695.0,-8.0,314,8424,0.00,2.17,0.00,0.000,260,0.000,0.154,2608,3831,3446,3468,3425,0,0,0,0,0,0,14.71,13.77,14.71
$GC,8446,-0.91,-107.1,2608,3832,3470,3426,697.4,-8.6,318,8451,0.00,1.95,0.00,0.000,1030,0.000,0.060,2606,2776,3446,3468,3425,0,0,0,0,0,0,14.00,13.96,14.02
$GC,8811,-0.91,-107.1,2607,2777,3468,3424,728.3,-8.5,328,8816,0.00,2.58,0.00,0.000,516,0.000,0.041,2606,1356,3445,3468,3422,0,0,0,0,0,0,14.77,13.85,14.77
$GC,8915,-0.91,-107.1,2607,1358,3475,3421,737.3,-8.5,343,8921,0.00,2.80,0.00,0.000,1030,0.000,0.094,2598,2769,3444,3467,3421,0,0,0,0,0,0,14.05,13.76,14.10
$GC,9259,-0.91,-107.1,2598,2770,3465,3423,767.5,-8.9,350,9260,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2769,3443,3465,3422,0,0,0,0,0,0,14.70,14.70,14.71
$GC,9595,-0.91,-107.1,2598,2770,3466,3420,796.1,-8.4,356,9596,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2769,3441,3463,3420,0,0,0,0,0,0,14.70,14.70,14.70
$STATE,9647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9647,begin apogee
$GC,9657,-0.23,0.0,2598,2197,3465,3420,800.8,-8.4,357,9764,0.82,0.15,99.25,2.531,10244,0.188,0.153,2822,2266,3052,3091,3013,0,0,0,0,1,0,13.71,13.79,12.63
$STATE,9766,end apogee,CONTROL_FINISHED_OK
$STATE,9766,begin climb
$GC,9770,0.93,107.1,2823,2266,3092,3022,802.4,0.0,359,9906,1.12,2.58,125.60,1.818,10756,0.083,0.052,3185,882,2622,2682,2562,0,0,0,0,0,0,13.78,13.84,13.02
$GC,9990,0.85,148.0,3185,882,2678,2537,790.1,5.7,391,10040,0.00,2.50,44.25,1.811,9382,0.000,0.070,3185,2249,2459,2534,2384,0,0,0,0,0,0,14.24,14.08,13.09
$GC,10376,0.73,148.0,3186,2249,2528,2363,759.5,9.0,404,10381,0.15,2.78,0.00,0.000,4484,0.238,0.136,3139,3655,2444,2527,2361,0,0,0,0,0,0,13.91,14.01,14.09
$GC,10445,0.63,148.0,3140,3655,2528,2362,753.4,8.3,414,10450,0.15,2.40,0.00,0.000,5254,0.234,0.050,3108,2272,2444,2527,2361,0,0,0,0,0,0,13.98,14.35,14.27
$GC,10768,0.67,180.4,3110,2269,2528,2357,733.1,6.1,425,10805,0.00,0.00,35.62,1.801,8230,0.000,0.000,3108,2268,2332,2416,2248,0,0,0,0,0,0,14.70,14.18,13.31
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$STATE,19963,end climb,SURFACE_DEPTH_REACHED
$STATE,19963,begin surface coast
$FINISH,0.8,1.022172
$STATE,19971,end surface coast,CONTROL_FINISHED_OK
$STATE,19971,begin surface
$SM_CCo,20000,30.40,0.158,0,0,1058,500.14
$SM_GC,-4.33,9.60,3.67,30.40,0.086,0.088,0.158,192,2767,1058,-8.38,-0.37,500.14,0,0,0,0,0,0,14.33,13.83,14.06
$IRIDIUM_FIX,949.50,-12445.17,170217,112306
$TT8_MAMPS,0.038948,0.292859
$HUMID,59.21
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.70
$XPDR_PINGS,0
$SC_FREEKB,3641312
$PM_FREEKB,51838144
$24V_AH,12.63,238.679
$10V_AH,12.20,0.000
$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,26.100,197.650,496.750,30.400,0.000,0.000,0.000,399.975,0.000,0.000,4.794,0.000,16953.771,780.980,2374.826,698.507,0.000,1907.333,0.000,1452.468,0.000,0.838,0.000
$DEVICE_MAMPS,384.030,158.355,2530.620,158.355,0.000,0.000,0.000,172.890,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20039.000,19984.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.636,2.425,0.000,0.000
$MEM,334776
$DATA_FILE_SIZE,30101,798
$CAP_FILE_SIZE,151855,0
$CFSIZE,1024409600,903184384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.073,353.88,1
$GPS,170217,225400,1000.072,-12441.033,22,1.0,22,9.0,0.2,207.6,8,6.7