version: 66.13
glider: 220
mission: 6
dive: 763
start: 3 5 117 2 23 23
data:
$ID,220
$MISSION,6
$DIVE,763
$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,59
$R_STBD_OVSHOOT,13
$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
$GPS1,050317,020939,1009.9974,-12451.2979,20,1.2,21,9.0,0.8,6.2,5,8.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.28
$_SM_ANGLEo,-67.1
$GPS2,050317,022301,1010.0754,-12451.4492,3,1.4,5,9.0,1.4,268.1,5,10.0
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,308.7,22835,-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,-107.1,117,2790,1109,1020,0.0,0.0,0,102,0.00,0.00,-80.28,0.000,16390,0.000,0.000,110,2791,3478,3464,3492,0,0,0,0,0,0,14.45,12.62,14.39
$GC,107,-0.93,-107.1,112,2790,3467,3492,3.8,-10.5,3,123,11.90,2.05,0.00,0.000,2308,0.375,0.136,2585,3826,3480,3469,3491,0,0,0,0,0,0,13.87,14.02,14.23
$GC,282,-0.63,-107.1,2586,3825,3471,3492,56.6,-22.6,28,288,0.40,1.83,0.00,0.000,3206,0.240,0.050,2690,2714,3480,3470,3491,0,0,0,0,0,0,13.70,14.22,14.03
$GC,604,-0.63,-107.1,2690,2714,3475,3490,83.6,-7.6,41,609,0.00,2.38,0.00,0.000,548,0.000,0.041,2694,1380,3481,3474,3489,0,0,0,0,0,0,14.62,14.01,14.62
$GC,688,-0.72,-107.1,2690,1380,3476,3489,90.1,-7.3,53,693,0.00,2.75,0.00,0.000,1190,0.000,0.112,2680,2767,3481,3474,3489,0,0,0,0,0,0,14.17,13.90,14.21
$GC,1052,-0.72,-107.1,2680,2768,3475,3488,114.8,-6.4,65,1057,0.00,2.20,0.00,0.000,292,0.000,0.180,2672,3824,3481,3475,3488,0,0,0,0,0,0,14.70,13.93,14.69
$GC,1121,-0.72,-107.1,2672,3824,3475,3489,120.0,-7.6,75,1126,0.00,1.83,0.00,0.000,1062,0.000,0.057,2671,2763,3480,3474,3487,0,0,0,0,0,0,14.21,14.16,14.23
$GC,1444,-0.72,-107.1,2672,2761,3478,3487,142.0,-6.7,86,1450,0.00,2.50,0.00,0.000,548,0.000,0.041,2672,1372,3480,3474,3486,0,0,0,0,0,0,14.70,13.93,14.70
$GC,1492,-0.80,-107.1,2673,1371,3475,3486,145.7,-7.5,93,1498,0.00,2.78,0.00,0.000,1190,0.000,0.103,2662,2769,3479,3474,3485,0,0,0,0,0,0,14.10,13.85,14.15
$GC,1836,-0.80,-107.1,2661,2769,3477,3480,172.6,-7.8,100,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2768,3477,3475,3479,0,0,0,0,0,0,14.64,14.64,14.64
$GC,2172,-0.80,-107.1,2663,2768,3475,3476,200.5,-8.3,106,2178,0.00,2.55,0.00,0.000,516,0.000,0.043,2662,1373,3475,3474,3476,0,0,0,0,0,0,14.64,13.88,14.64
$GC,2220,-0.88,-107.1,2663,1373,3475,3475,204.6,-8.0,113,2227,0.05,2.80,0.00,0.000,5254,0.198,0.106,2598,2769,3474,3474,3474,0,0,0,0,0,0,14.07,13.92,14.21
$GC,2564,-0.88,-107.1,2598,2770,3476,3469,240.4,-10.6,120,2569,0.00,2.58,0.00,0.000,516,0.000,0.042,2597,1365,3471,3473,3469,0,0,0,0,0,0,14.62,13.94,14.62
$GC,2612,-0.88,-107.1,2597,1365,3475,3469,245.5,-9.9,127,2619,0.10,2.83,0.00,0.000,3078,0.235,0.107,2614,2769,3470,3474,3467,0,0,0,0,0,0,13.85,13.87,14.09
$GC,2956,-0.88,-107.1,2615,2770,3475,3464,278.3,-9.5,134,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2769,3469,3474,3464,0,0,0,0,0,0,14.64,14.64,14.64
$GC,3292,-0.88,-107.1,2615,2769,3475,3460,310.0,-9.6,140,3296,0.00,2.58,0.00,0.000,516,0.000,0.043,2615,1375,3467,3474,3460,0,0,0,0,0,0,14.64,13.84,14.64
$GC,3333,-0.88,-107.1,2615,1375,3475,3461,314.1,-10.1,146,3339,0.00,2.80,0.00,0.000,1030,0.000,0.109,2605,2767,3467,3474,3460,0,0,0,0,0,0,14.18,13.88,14.23
$GC,3684,-0.88,-107.1,2606,2769,3475,3455,350.2,-10.5,154,3685,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2768,3464,3474,3455,0,0,0,0,0,0,14.64,14.64,14.64
$GC,4020,-0.88,-107.1,2605,2769,3475,3452,383.1,-9.8,160,4025,0.00,2.58,0.00,0.000,516,0.000,0.044,2604,1376,3463,3474,3452,0,0,0,0,0,0,14.64,13.85,14.62
$GC,4076,-0.88,-107.1,2605,1375,3475,3452,389.5,-9.8,168,4080,0.00,2.80,0.00,0.000,1030,0.000,0.110,2595,2762,3462,3474,3451,0,0,0,0,0,0,14.17,13.90,14.22
$GC,4412,-0.88,-107.1,2596,2762,3475,3449,423.7,-10.2,181,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2762,3461,3474,3448,0,0,0,0,0,0,14.69,14.69,14.69
$GC,4748,-0.88,-107.1,2592,2762,3473,3446,458.3,-10.3,187,4753,0.00,2.58,0.00,0.000,516,0.000,0.044,2594,1375,3459,3474,3444,0,0,0,0,0,0,14.62,13.87,14.62
$GC,4789,-0.88,-107.1,2594,1374,3475,3445,462.8,-10.7,193,4794,0.10,2.80,0.00,0.000,3078,0.234,0.111,2612,2760,3459,3474,3444,0,0,0,0,0,0,13.88,13.90,14.13
$GC,5140,-0.88,-107.1,2612,2761,3475,3439,496.4,-9.6,201,5145,0.00,2.58,0.00,0.000,516,0.000,0.044,2612,1371,3457,3474,3441,0,0,0,0,0,0,14.62,13.92,14.62
$GC,5167,-0.88,-107.1,2613,1371,3475,3442,499.1,-9.7,205,5172,0.00,2.80,0.00,0.000,1030,0.000,0.109,2602,2755,3457,3474,3440,0,0,0,0,0,0,14.21,13.95,14.26
$GC,5532,-0.88,-107.1,2602,2756,3474,3437,534.4,-9.7,215,5537,0.00,2.22,0.00,0.000,260,0.000,0.168,2594,3824,3455,3474,3437,0,0,0,0,0,0,14.62,13.84,14.62
$GC,5580,-0.88,-107.1,2594,3825,3474,3437,539.3,-10.2,222,5587,0.00,1.92,0.00,0.000,1030,0.000,0.058,2592,2762,3455,3473,3437,0,0,0,0,0,0,14.09,14.05,14.11
$GC,5924,-0.88,-107.1,2593,2763,3474,3435,573.6,-10.1,229,5929,0.00,2.58,0.00,0.000,516,0.000,0.043,2592,1358,3453,3473,3433,0,0,0,0,0,0,14.68,13.83,14.68
$GC,5980,-0.88,-107.1,2593,1357,3474,3434,579.5,-10.0,237,5985,0.10,2.83,0.00,0.000,3078,0.239,0.104,2610,2759,3452,3472,3433,0,0,0,0,0,0,13.87,13.90,14.11
$GC,6316,-0.88,-107.1,2610,2760,3474,3432,612.4,-9.8,250,6321,0.00,2.20,0.00,0.000,260,0.000,0.167,2603,3821,3452,3472,3432,0,0,0,0,0,0,14.66,13.83,14.67
$GC,6350,-0.88,-107.1,2603,3822,3472,3433,616.1,-10.7,255,6355,0.00,1.90,0.00,0.000,1030,0.000,0.061,2602,2750,3451,3471,3432,0,0,0,0,0,0,14.19,14.12,14.21
$GC,6708,-0.88,-107.1,2602,2751,3471,3431,651.3,-9.6,264,6713,0.00,2.55,0.00,0.000,516,0.000,0.043,2602,1356,3451,3470,3432,0,0,0,0,0,0,14.66,13.83,14.66
$GC,6735,-0.88,-107.1,2602,1356,3471,3433,654.1,-10.0,268,6740,0.00,2.80,0.00,0.000,1030,0.000,0.103,2593,2749,3450,3469,3432,0,0,0,0,0,0,14.16,13.88,14.21
$GC,7100,-0.88,-107.1,2593,2747,3464,3433,687.0,-9.0,278,7105,0.00,2.22,0.00,0.000,260,0.000,0.165,2585,3826,3449,3467,3432,0,0,0,0,0,0,14.66,13.83,14.66
$GC,7169,-0.88,-107.1,2585,3827,3468,3431,693.9,-9.6,288,7174,0.10,1.92,0.00,0.000,3078,0.239,0.060,2607,2743,3449,3466,3432,0,0,0,0,0,0,13.72,14.12,13.97
$GC,7492,-0.88,-107.1,2611,2743,3461,3430,720.9,-8.4,299,7493,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2742,3447,3466,3429,0,0,0,0,0,0,14.66,14.66,14.68
$GC,7828,-0.88,-107.1,2611,2744,3467,3426,748.8,-8.3,305,7833,0.00,2.53,0.00,0.000,516,0.000,0.043,2611,1371,3446,3466,3426,0,0,0,0,0,0,14.66,13.84,14.66
$GC,7897,-0.88,-107.1,2610,1371,3466,3426,754.7,-8.5,315,7902,0.00,2.78,0.00,0.000,1030,0.000,0.102,2602,2748,3446,3466,3426,0,0,0,0,0,0,14.14,13.87,14.19
$GC,8220,-0.88,-107.1,2602,2753,3465,3426,782.8,-8.8,326,8226,0.00,2.58,0.00,0.000,516,0.000,0.043,2600,1361,3445,3464,3426,0,0,0,0,0,0,14.59,13.90,14.59
$GC,8276,-0.88,-107.1,2601,1360,3464,3426,788.4,-10.2,334,8282,0.00,2.83,0.00,0.000,1030,0.000,0.104,2591,2763,3444,3463,3425,0,0,0,0,0,0,14.16,13.89,14.21
$STATE,8439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8439,begin apogee
$GC,8450,-0.23,0.0,2591,2212,3465,3424,804.8,-9.9,344,8559,0.85,0.12,101.50,2.507,10244,0.194,0.192,2824,2268,3050,3087,3013,0,0,0,0,1,0,13.80,13.66,12.62
$STATE,8561,end apogee,CONTROL_FINISHED_OK
$STATE,8561,begin climb
$GC,8566,0.93,107.1,2825,2268,3088,3025,809.4,0.0,346,8690,1.15,2.60,108.12,2.726,10756,0.094,0.051,3179,884,2624,2683,2565,0,0,0,0,1,0,13.49,13.58,12.17
$GC,8803,0.87,160.5,3179,886,2683,2577,807.7,5.1,381,8878,0.00,2.60,66.15,1.805,9382,0.000,0.075,3179,2238,2402,2477,2327,0,0,0,0,0,0,13.85,13.64,13.07
$GC,9235,0.77,160.5,3179,2237,2477,2312,772.9,8.7,400,9240,0.08,2.88,0.00,0.000,4484,0.263,0.148,3153,3666,2393,2476,2310,0,0,0,0,0,0,13.91,13.93,14.07
$GC,9290,0.65,160.5,3154,3666,2476,2312,767.6,9.1,408,9295,0.17,2.45,0.00,0.000,5254,0.233,0.051,3116,2265,2393,2476,2310,0,0,0,0,0,0,13.87,14.26,14.18
$GC,9626,0.67,178.2,3116,2261,2478,2306,744.5,6.8,421,9651,0.00,2.55,17.40,1.902,8740,0.000,0.056,3126,866,2332,2419,2246,0,0,0,0,0,0,14.62,14.20,13.49
$GC,9682,0.68,184.5,3125,872,2419,2242,740.4,7.4,429,9688,0.00,2.62,2.08,0.331,9254,0.000,0.076,3126,2255,2313,2402,2225,0,0,0,0,0,0,14.20,13.95,12.57
$GC,10011,0.68,184.5,3126,2256,2403,2244,713.5,8.2,441,10016,0.00,2.88,0.00,0.000,260,0.000,0.153,3125,3659,2322,2401,2244,0,0,0,0,0,0,14.62,13.82,14.62
$GC,10045,0.68,184.5,3125,3660,2403,2244,710.4,8.8,446,10050,0.00,2.47,0.00,0.000,1030,0.000,0.050,3135,2255,2323,2402,2245,0,0,0,0,0,0,14.29,14.21,14.31
$GC,10404,0.68,184.5,3135,2251,2403,2244,679.3,8.6,455,10406,0.00,0.00,1.25,0.235,8198,0.000,0.000,3135,2249,2314,2402,2227,0,0,0,0,0,0,14.61,14.16,13.91
$GC,10739,0.68,184.5,3135,2250,2403,2242,651.9,8.0,461,10744,0.00,2.95,0.00,0.000,260,0.000,0.155,3135,3658,2321,2402,2240,0,0,0,0,0,0,14.60,13.82,14.60
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$STATE,19095,end climb,SURFACE_DEPTH_REACHED
$STATE,19095,begin surface coast
$FINISH,-0.0,1.022001
$STATE,19123,end surface coast,CONTROL_FINISHED_OK
$STATE,19123,begin surface
$SM_CCo,19151,32.28,0.150,0,0,1056,500.14
$SM_GC,-2.12,9.25,1.05,32.28,0.068,0.141,0.150,197,2773,1056,-8.39,-0.23,500.14,0,0,0,0,0,0,14.12,13.82,14.10
$IRIDIUM_FIX,1004.83,-12449.47,040317,205257
$TT8_MAMPS,0.038199,0.402213
$HUMID,56.34
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.50
$XPDR_PINGS,1
$SC_FREEKB,3616736
$PM_FREEKB,51101888
$24V_AH,12.17,258.984
$10V_AH,11.74,0.000
$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,24.925,203.425,489.175,32.275,0.000,0.000,0.000,381.800,0.250,0.000,6.770,0.000,16063.148,767.828,2390.590,742.350,0.000,1911.146,0.000,1486.610,0.000,0.840,0.000
$DEVICE_MAMPS,374.850,192.015,2726.460,149.940,0.000,0.000,0.000,175.185,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19191.000,19137.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.646,2.464,0.000,0.000
$MEM,334748
$DATA_FILE_SIZE,30058,837
$CAP_FILE_SIZE,150509,0
$CFSIZE,1024409600,893747200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.074,293.68,1
$GPS,050317,074408,1011.520,-12453.398,24,0.9,24,9.0,0.7,216.2,8,8.0