version: 66.13
glider: 220
mission: 6
dive: 764
start: 3 5 117 7 58 19
data:
$ID,220
$MISSION,6
$DIVE,764
$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,46
$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
$GPS1,050317,074408,1011.5204,-12453.3984,24,0.9,24,9.0,0.7,216.2,8,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.23
$_SM_ANGLEo,-66.8
$GPS2,050317,075753,1011.5587,-12453.3809,2,0.9,5,9.0,0.8,177.5,8,8.0
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,320.8,18439,-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,-107.1,108,2788,1105,1013,0.0,0.0,0,102,0.00,0.00,-79.60,0.000,16390,0.000,0.000,107,2787,3476,3467,3486,0,0,0,0,0,0,14.46,12.77,14.40
$GC,107,-0.93,-107.1,107,2788,3467,3488,4.5,-11.6,3,124,11.98,2.10,0.00,0.000,2308,0.377,0.146,2584,3834,3479,3470,3488,0,0,0,0,0,0,13.88,14.02,14.24
$GC,313,-0.64,-107.1,2585,3834,3471,3491,67.1,-23.9,33,319,0.40,1.83,0.00,0.000,3206,0.246,0.050,2686,2715,3479,3470,3488,0,0,0,0,0,0,13.68,14.20,14.02
$GC,637,-0.64,-107.1,2686,2716,3474,3488,97.2,-7.1,46,641,0.00,2.30,0.00,0.000,548,0.000,0.042,2686,1415,3479,3472,3487,0,0,0,0,0,0,14.66,13.98,14.67
$GC,698,-0.64,-107.1,2687,1416,3474,3488,101.6,-7.8,55,703,0.00,2.70,0.00,0.000,1030,0.000,0.114,2676,2771,3480,3473,3487,0,0,0,0,0,0,14.19,13.91,14.23
$GC,1029,-0.64,-107.1,2677,2772,3475,3487,127.0,-7.6,67,1033,0.00,2.22,0.00,0.000,292,0.000,0.180,2668,3831,3480,3473,3488,0,0,0,0,0,0,14.65,13.91,14.65
$GC,1206,-0.64,-107.1,2669,3832,3474,3489,139.2,-6.7,92,1211,0.00,1.80,0.00,0.000,1062,0.000,0.057,2668,2815,3479,3473,3486,0,0,0,0,0,0,14.13,14.00,14.16
$GC,1535,-0.64,-107.1,2668,2816,3474,3485,163.0,-7.6,104,1539,0.00,2.60,0.00,0.000,548,0.000,0.041,2668,1366,3479,3473,3485,0,0,0,0,0,0,14.70,13.88,14.70
$GC,1625,-0.72,-107.1,2668,1368,3475,3483,170.5,-8.0,117,1631,0.00,2.78,0.00,0.000,1158,0.000,0.103,2659,2773,3480,3473,3487,0,0,0,0,0,0,14.18,13.92,14.23
$GC,1983,-0.72,-107.1,2659,2772,3474,3479,199.0,-7.7,126,1987,0.00,2.55,0.00,0.000,548,0.000,0.042,2658,1373,3472,3473,3472,0,0,0,0,0,0,14.64,13.84,14.64
$GC,2031,-0.72,-107.1,2659,1373,3474,3478,202.5,-6.8,133,2038,0.00,2.78,0.00,0.000,1062,0.000,0.103,2651,2772,3474,3472,3477,0,0,0,0,0,0,14.19,13.93,14.23
$GC,2375,-0.72,-107.1,2651,2772,3474,3472,224.6,-6.4,140,2380,0.00,2.17,0.00,0.000,292,0.000,0.168,2642,3824,3472,3473,3471,0,0,0,0,0,0,14.64,13.89,14.64
$GC,2409,-0.72,-107.1,2643,3825,3474,3469,227.1,-7.0,145,2415,0.00,1.83,0.00,0.000,1062,0.000,0.050,2643,2749,3472,3473,3471,0,0,0,0,0,0,14.16,14.09,14.19
$GC,2767,-0.72,-107.1,2643,2750,3474,3467,256.5,-8.7,154,2772,0.00,2.45,0.00,0.000,516,0.000,0.041,2643,1386,3468,3469,3467,0,0,0,0,0,0,14.71,13.85,14.71
$GC,2864,-0.72,-107.1,2643,1388,3474,3465,266.5,-10.0,168,2869,0.10,2.72,0.00,0.000,3078,0.239,0.090,2662,2775,3469,3473,3465,0,0,0,0,0,0,13.83,13.87,14.07
$GC,3215,-0.72,-107.1,2662,2776,3474,3461,297.2,-8.3,176,3220,0.00,2.55,0.00,0.000,516,0.000,0.042,2661,1388,3467,3473,3461,0,0,0,0,0,0,14.64,13.85,14.64
$GC,3249,-0.80,-107.1,2661,1388,3474,3461,299.8,-7.3,181,3255,0.00,2.70,0.00,0.000,1190,0.000,0.088,2653,2770,3466,3473,3460,0,0,0,0,0,0,14.17,13.94,14.21
$GC,3607,-0.80,-107.1,2653,2770,3474,3457,326.7,-7.6,190,3611,0.00,2.55,0.00,0.000,548,0.000,0.042,2653,1388,3464,3473,3455,0,0,0,0,0,0,14.64,13.89,14.64
$GC,3641,-0.80,-107.1,2654,1389,3474,3455,329.7,-8.5,195,3646,0.00,2.70,0.00,0.000,1030,0.000,0.092,2644,2766,3463,3473,3454,0,0,0,0,0,0,14.15,13.90,14.20
$GC,3999,-0.80,-107.1,2645,2766,3473,3459,360.1,-8.6,204,4003,0.00,2.55,0.00,0.000,516,0.000,0.043,2644,1385,3462,3473,3451,0,0,0,0,0,0,14.70,13.83,14.70
$GC,4061,-0.80,-107.1,2645,1385,3477,3451,365.7,-8.4,213,4066,0.00,2.72,0.00,0.000,1030,0.000,0.095,2639,2757,3461,3472,3451,0,0,0,0,0,0,14.15,13.90,14.20
$GC,4391,-0.80,-107.1,2638,2758,3473,3447,392.0,-7.8,225,4396,0.00,2.53,0.00,0.000,516,0.000,0.042,2639,1392,3460,3473,3447,0,0,0,0,0,0,14.70,13.83,14.70
$GC,4432,-0.80,-107.1,2638,1392,3473,3448,395.3,-7.5,231,4436,0.00,2.70,0.00,0.000,1062,0.000,0.096,2631,2756,3459,3473,3446,0,0,0,0,0,0,14.16,13.90,14.19
$GC,4783,-0.80,-107.1,2631,2757,3474,3443,422.5,-7.8,239,4784,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2756,3460,3473,3448,0,0,0,0,0,0,14.69,14.69,14.69
$GC,5118,-0.80,-107.1,2631,2755,3474,3440,451.2,-8.7,245,5124,0.00,2.55,0.00,0.000,516,0.000,0.043,2630,1385,3456,3473,3440,0,0,0,0,0,0,14.62,13.82,14.62
$GC,5146,-0.80,-107.1,2630,1386,3474,3440,453.7,-9.1,249,5151,0.00,2.72,0.00,0.000,1030,0.000,0.101,2622,2752,3456,3473,3439,0,0,0,0,0,0,14.18,13.93,14.23
$GC,5511,-0.80,-107.1,2622,2754,3475,3437,486.4,-8.9,259,5515,0.00,2.53,0.00,0.000,516,0.000,0.043,2622,1391,3454,3472,3437,0,0,0,0,0,0,14.69,13.84,14.69
$GC,5552,-0.80,-107.1,2622,1391,3470,3436,490.3,-9.0,265,5558,0.00,2.72,0.00,0.000,1030,0.000,0.101,2613,2749,3454,3472,3437,0,0,0,0,0,0,14.19,13.92,14.23
$GC,5902,-0.80,-107.1,2614,2749,3473,3434,523.0,-9.5,273,5908,0.00,2.22,0.00,0.000,260,0.000,0.161,2605,3830,3452,3472,3433,0,0,0,0,0,0,14.62,13.82,14.63
$GC,5937,-0.80,-107.1,2604,3830,3473,3434,526.4,-10.1,278,5942,0.12,1.88,0.00,0.000,3078,0.221,0.053,2639,2751,3452,3472,3432,0,0,0,0,0,0,13.66,14.12,13.92
$GC,6295,-0.80,-107.1,2640,2751,3474,3431,556.6,-8.4,287,6299,0.00,2.53,0.00,0.000,516,0.000,0.044,2640,1378,3452,3473,3431,0,0,0,0,0,0,14.62,13.85,14.62
$GC,6392,-0.80,-107.1,2641,1378,3473,3432,564.7,-8.3,301,6397,0.00,2.72,0.00,0.000,1030,0.000,0.095,2630,2747,3450,3472,3429,0,0,0,0,0,0,14.14,13.87,14.18
$GC,6743,-0.80,-107.1,2634,2748,3472,3429,592.6,-7.9,309,6748,0.00,2.58,0.00,0.000,516,0.000,0.044,2629,1360,3449,3470,3429,0,0,0,0,0,0,14.62,13.85,14.62
$GC,6791,-0.80,-107.1,2630,1359,3470,3430,596.5,-7.6,316,6797,0.00,2.78,0.00,0.000,1062,0.000,0.099,2620,2749,3449,3470,3429,0,0,0,0,0,0,14.15,13.89,14.19
$GC,7135,-0.80,-107.1,2621,2747,3469,3430,625.0,-8.5,323,7139,0.00,2.22,0.00,0.000,260,0.000,0.164,2612,3827,3449,3468,3430,0,0,0,0,0,0,14.61,13.81,14.62
$GC,7169,-0.80,-107.1,2613,3827,3468,3430,628.4,-9.6,328,7174,0.10,1.90,0.00,0.000,3078,0.218,0.053,2640,2739,3449,3468,3430,0,0,0,0,0,0,13.73,14.12,13.95
$GC,7526,-0.80,-107.1,2641,2740,3468,3428,658.9,-8.7,337,7532,0.00,2.53,0.00,0.000,516,0.000,0.044,2640,1368,3447,3467,3427,0,0,0,0,0,0,14.67,13.85,14.67
$GC,7575,-0.88,-107.1,2641,1367,3468,3426,663.5,-9.0,344,7581,0.00,2.75,0.00,0.000,1158,0.000,0.096,2632,2748,3447,3468,3426,0,0,0,0,0,0,14.14,13.88,14.19
$GC,7918,-0.88,-107.1,2631,2749,3466,3422,694.2,-8.9,351,7924,0.00,2.22,0.00,0.000,260,0.000,0.159,2623,3830,3446,3466,3426,0,0,0,0,0,0,14.60,13.80,14.60
$GC,7953,-0.88,-107.1,2623,3830,3465,3427,697.4,-9.2,356,7957,0.00,1.92,0.00,0.000,1030,0.000,0.054,2622,2722,3445,3464,3426,0,0,0,0,0,0,14.19,14.12,14.19
$GC,8311,-0.88,-107.1,2622,2723,3465,3425,726.2,-7.8,365,8316,0.00,2.45,0.00,0.000,516,0.000,0.043,2622,1381,3444,3465,3424,0,0,0,0,0,0,14.59,13.88,14.59
$GC,8352,-0.88,-107.1,2622,1381,3465,3425,729.5,-8.0,371,8357,0.00,2.72,0.00,0.000,1030,0.000,0.099,2613,2745,3443,3464,3423,0,0,0,0,0,0,14.13,13.85,14.18
$GC,8703,-0.88,-107.1,2614,2746,3463,3423,757.4,-7.9,379,8703,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2745,3442,3463,3422,0,0,0,0,0,0,14.59,14.59,14.59
$GC,9039,-0.88,-107.1,2614,2746,3462,3421,782.9,-7.5,385,9045,0.00,2.55,0.00,0.000,548,0.000,0.044,2613,1385,3441,3461,3421,0,0,0,0,0,0,14.58,13.87,14.58
$GC,9101,-0.88,-107.1,2613,1385,3462,3423,788.0,-7.7,394,9106,0.00,2.72,0.00,0.000,1062,0.000,0.103,2604,2742,3441,3461,3421,0,0,0,0,0,0,14.13,13.84,14.18
$STATE,9258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9258,begin apogee
$GC,9269,-0.23,0.0,2604,2241,3462,3421,801.1,-8.1,403,9383,0.80,0.00,111.50,1.837,10244,0.190,0.000,2822,2234,3049,3087,3012,0,0,0,0,0,0,13.77,13.92,13.14
$STATE,9384,end apogee,CONTROL_FINISHED_OK
$STATE,9385,begin climb
$GC,9389,0.93,107.1,2822,2235,3082,3002,804.3,0.0,405,9522,1.15,2.50,119.07,1.753,10756,0.096,0.055,3182,880,2614,2676,2553,0,0,0,0,0,0,13.71,13.81,13.00
$GC,9607,0.85,140.3,3189,880,2672,2540,799.9,6.1,438,9647,0.00,2.60,35.65,1.780,9382,0.000,0.076,3182,2249,2489,2558,2421,0,0,0,0,0,0,13.89,13.76,13.19
$GC,9986,0.73,140.3,3182,2250,2555,2395,770.2,8.1,450,9992,0.12,2.47,0.00,0.000,4740,0.243,0.055,3152,883,2474,2554,2395,0,0,0,0,0,0,13.83,14.12,14.02
$GC,10027,0.76,164.8,3153,882,2554,2396,767.2,6.5,456,10060,0.00,2.55,26.65,1.812,9254,0.000,0.076,3152,2252,2389,2469,2310,0,0,0,0,0,0,14.26,14.02,13.44
$GC,10379,0.76,170.0,3151,2252,2465,2290,741.5,7.5,471,10379,0.00,0.00,0.00,0.000,38,0.000,0.000,3152,2252,2377,2464,2290,0,0,0,0,0,0,14.60,14.60,14.60
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$STATE,19771,end climb,SURFACE_DEPTH_REACHED
$STATE,19771,begin surface coast
$FINISH,-1.4,1.022013
$STATE,19800,end surface coast,CONTROL_FINISHED_OK
$STATE,19800,begin surface
$SM_CCo,19826,42.22,0.149,0,0,1055,500.14
$SM_GC,-1.83,8.93,1.12,42.22,0.034,0.141,0.149,192,2773,1055,-8.39,-0.25,500.14,0,0,0,0,0,0,14.08,13.76,14.10
$IRIDIUM_FIX,1004.83,-12449.47,050317,021635
$TT8_MAMPS,0.036701,0.453145
$HUMID,58.42
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,21.50
$XPDR_PINGS,2
$SC_FREEKB,3616352
$PM_FREEKB,51091264
$24V_AH,12.77,259.288
$10V_AH,12.04,0.000
$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,24.475,221.300,491.750,42.225,0.000,0.000,0.000,398.450,0.500,0.000,7.221,0.000,16552.699,787.680,2567.706,765.664,0.000,2004.422,0.000,1611.287,0.000,0.841,0.000
$DEVICE_MAMPS,377.145,179.775,1836.765,149.175,0.000,0.000,0.000,176.715,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19870.000,19814.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.570,2.424,0.000,0.000
$MEM,334760
$DATA_FILE_SIZE,33371,919
$CAP_FILE_SIZE,160481,0
$CFSIZE,1024409600,893583360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,314.75,1
$GPS,050317,133030,1013.482,-12454.977,25,0.9,25,9.0,0.7,273.2,9,3.9