version: 66.13
glider: 220
mission: 6
dive: 818
start: 3 17 117 15 10 1
data:
$ID,220
$MISSION,6
$DIVE,818
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$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,100
$T_MISSION,200
$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,100
$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,30
$PITCH_AD_RATE,100
$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,30
$R_STBD_OVSHOOT,9
$ROLL_AD_RATE,100
$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,1
$VBD_PUMP_AD_RATE_APOGEE,1
$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,9.6999998
$MINV_10V,9.6999998
$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,1
$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
$GPS1,170317,150100,957.7776,-12446.0439,29,0.6,29,9.0,0.4,11.0,12,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.21
$_SM_ANGLEo,-69.8
$GPS2,170317,150939,957.7532,-12446.1738,2,0.6,2,9.0,0.9,324.5,12,9.8
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,65.6,10967,-24.3,-10.000,-29.26,1469
$D_GRID,300
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,15,-1.23,-97.3,152,2784,1099,1010,0.0,0.0,0,98,0.00,0.00,-79.65,0.000,16390,0.000,0.000,147,2783,3440,3419,3461,0,0,0,0,0,0,11.33,10.59,11.32
$GC,103,-1.23,-97.3,149,2783,3419,3461,0.3,-11.4,3,127,18.02,2.62,0.00,0.000,2308,0.380,0.109,2485,3837,3441,3422,3460,0,0,0,0,0,0,10.94,11.03,11.10
$GC,184,-0.94,-97.3,2485,3837,3424,3461,34.4,-29.7,15,189,0.60,2.35,0.00,0.000,3206,0.258,0.039,2590,2732,3442,3424,3460,0,0,0,0,0,0,11.01,11.20,11.17
$GC,520,-0.94,-97.3,2590,2733,3429,3459,72.3,-7.9,30,521,0.00,0.00,0.00,0.000,38,0.000,0.000,2590,2732,3443,3427,3460,0,0,0,0,0,0,11.41,11.41,11.41
$GC,828,-0.94,-97.3,2591,2731,3430,3461,97.1,-8.3,41,834,0.00,2.83,0.00,0.000,292,0.000,0.128,2582,3832,3444,3429,3459,0,0,0,0,0,0,11.42,11.08,11.42
$GC,884,-0.94,-97.3,2583,3831,3430,3460,102.1,-9.3,49,890,0.00,2.30,0.00,0.000,1062,0.000,0.044,2582,2774,3444,3429,3459,0,0,0,0,0,0,11.28,11.24,11.29
$GC,1220,-0.94,-97.3,2582,2775,3430,3458,130.3,-8.1,62,1225,0.00,2.72,0.00,0.000,292,0.000,0.130,2575,3828,3443,3429,3457,0,0,0,0,0,0,11.43,11.08,11.43
$GC,1290,-0.94,-97.3,2575,3829,3430,3457,160.5,-12.1,72,1295,0.00,2.33,0.00,0.000,1030,0.000,0.044,2574,2762,3443,3429,3457,0,0,0,0,0,0,11.28,11.24,11.32
$GC,1612,-0.94,-97.3,2575,2762,3430,3455,197.8,-11.6,83,1617,0.00,3.17,0.00,0.000,516,0.000,0.037,2573,1372,3441,3429,3453,0,0,0,0,0,0,11.43,11.19,11.43
$GC,1647,-1.02,-97.3,2574,1373,3430,3453,201.8,-11.1,88,1653,0.00,3.50,0.00,0.000,1158,0.000,0.083,2564,2779,3441,3429,3453,0,0,0,0,0,0,11.24,11.11,11.25
$GC,2004,-1.02,-97.3,2564,2780,3430,3448,242.2,-11.4,97,2009,0.00,3.28,0.00,0.000,516,0.000,0.037,2563,1367,3439,3429,3449,0,0,0,0,0,0,11.44,11.19,11.44
$GC,2046,-1.02,-97.3,2564,1366,3430,3450,246.9,-11.2,103,2050,0.00,3.53,0.00,0.000,1030,0.000,0.086,2553,2773,3438,3429,3448,0,0,0,0,0,0,11.25,11.12,11.26
$GC,2396,-1.02,-97.3,2554,2774,3430,3444,289.0,-12.1,111,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2772,3436,3429,3444,0,0,0,0,0,0,11.43,11.43,11.43
$STATE,2503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2503,begin apogee
$GC,2514,-0.23,0.0,2553,2234,3429,3444,302.5,-12.1,113,2622,1.30,0.10,104.05,1.256,10244,0.200,0.177,2815,2263,3049,3087,3012,0,0,0,0,0,0,11.09,10.98,10.60
$STATE,2623,end apogee,CONTROL_FINISHED_OK
$STATE,2623,begin climb
$GC,2628,1.23,97.3,2816,2264,3084,3006,306.9,0.0,115,2738,1.88,3.30,101.80,1.225,10756,0.093,0.047,3274,859,2664,2721,2608,0,0,0,0,0,0,11.05,11.05,10.61
$GC,2820,1.21,146.2,3273,860,2719,2597,302.5,6.6,143,2880,0.00,3.30,53.65,1.213,9382,0.000,0.060,3273,2244,2464,2535,2394,0,0,0,0,0,0,11.16,11.05,10.62
$GC,3233,1.21,146.2,3273,2246,2534,2381,258.4,11.2,160,3238,0.00,3.25,0.00,0.000,516,0.000,0.051,3284,858,2458,2533,2383,0,0,0,0,0,0,11.37,11.10,11.38
$GC,3310,1.21,146.2,3284,858,2534,2378,250.0,10.6,171,3314,0.00,3.33,0.00,0.000,1030,0.000,0.064,3282,2246,2456,2533,2379,0,0,0,0,0,0,11.19,11.07,11.20
$GC,3625,1.13,146.2,3284,2248,2534,2375,214.9,11.2,181,3630,0.00,3.25,0.00,0.000,644,0.000,0.050,3293,863,2454,2533,2375,0,0,0,0,0,0,11.39,11.12,11.39
$GC,3688,1.05,146.2,3294,863,2534,2376,207.6,11.9,190,3693,0.28,3.33,0.00,0.000,5254,0.243,0.065,3244,2243,2454,2533,2375,0,0,0,0,0,0,11.00,11.07,11.17
$GC,4017,1.05,146.2,3244,2245,2533,2371,172.1,10.6,202,4022,0.00,3.25,0.00,0.000,516,0.000,0.049,3254,859,2453,2535,2371,0,0,0,0,0,0,11.39,11.12,11.39
$GC,4059,1.05,146.2,3254,860,2534,2371,167.9,10.0,208,4064,0.00,3.30,0.00,0.000,1030,0.000,0.062,3254,2242,2452,2533,2371,0,0,0,0,0,0,11.19,11.08,11.21
$GC,4409,1.07,162.3,3254,2244,2534,2369,136.0,8.9,216,4434,0.00,3.33,16.70,1.081,8740,0.000,0.050,3264,862,2396,2475,2317,0,0,0,0,0,0,11.38,11.07,10.68
$GC,4479,1.10,184.6,3265,862,2476,2315,130.2,8.4,226,4511,0.00,3.30,24.05,1.079,9254,0.000,0.064,3262,2239,2310,2390,2231,0,0,0,0,0,0,11.17,11.05,10.65
$GC,4857,1.11,190.3,3264,2238,2390,2221,94.8,9.6,238,4868,0.00,3.78,2.47,0.212,8484,0.000,0.130,3264,3664,2296,2380,2213,0,0,0,0,0,0,11.33,11.02,10.93
$GC,4927,1.11,190.3,3265,3664,2381,2223,87.6,10.5,248,4933,0.00,3.17,1.98,0.188,9222,0.000,0.039,3274,2248,2292,2379,2205,0,0,0,0,0,0,11.19,11.14,11.00
$GC,5242,1.18,250.5,3275,2247,2381,2221,62.5,5.8,260,5303,0.00,3.33,52.17,0.335,8740,0.000,0.049,3279,855,2054,2135,1973,0,0,0,0,0,0,11.33,11.05,10.92
$GC,5438,1.25,310.6,3285,856,2136,1976,54.1,5.8,288,5499,0.00,3.30,50.95,0.308,9254,0.000,0.060,3285,2235,1813,1900,1727,0,0,0,0,0,0,11.17,11.07,10.93
$GC,5834,1.50,381.9,3285,2236,1901,1725,36.1,5.0,311,5896,0.25,0.00,59.97,0.249,10918,0.047,0.000,3380,2235,1528,1612,1445,0,0,0,0,0,0,11.17,11.12,10.96
$STATE,6193,end climb,SURFACE_DEPTH_REACHED
$STATE,6193,begin surface coast
$FINISH,-2.7,1.021828
$STATE,6217,end surface coast,CONTROL_FINISHED_OK
$STATE,6217,begin surface
$SM_CCo,6247,79.82,0.132,0,0,1058,500.14
$SM_GC,-1.84,12.15,1.38,79.82,0.050,0.098,0.132,196,2771,1058,-8.41,-0.25,500.14,0,0,0,0,0,0,11.12,11.07,11.03
$IRIDIUM_FIX,951.69,-12448.22,170317,130704
$TT8_MAMPS,0.045689,0.294357
$HUMID,59.56
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,22.50
$XPDR_PINGS,0
$SC_FREEKB,3595968
$24V_AH,10.57,276.987
$10V_AH,10.49,0.000
$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,34.475,77.775,467.800,79.825,0.000,0.000,0.000,252.425,0.000,0.000,4.201,0.000,4868.792,656.597,934.692,373.486,0.000,1241.775,0.000,481.516,0.000,0.547,0.000
$DEVICE_MAMPS,380.205,177.480,1256.130,131.580,0.000,0.000,0.000,192.780,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6260.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.788,0.000,0.000,0.000
$MEM,334712
$DATA_FILE_SIZE,10111,331
$CAP_FILE_SIZE,59290,0
$CFSIZE,1024409600,886489088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110,250.97,1
$GPS,170317,165605,957.699,-12446.044,2,0.8,3,9.0,0.4,261.3,11,7.9