version: 66.13
glider: 220
mission: 6
dive: 156
start: 10 1 116 13 17 14
data:
$ID,220
$MISSION,6
$DIVE,156
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,930
$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,400
$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,120
$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,9
$N_NOCOMM,1
$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,54
$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,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$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
$GPS1,011016,130538,953.8314,-12512.0078,24,1.2,24,9.0,0.9,41.2,8,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.65
$_SM_ANGLEo,-67.7
$GPS2,011016,131655,953.9126,-12511.9072,3,1.3,4,9.0,0.8,41.0,8,10.0
$SPEED_LIMITS,0.134,0.179
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,135.9,32441,-16.6,-7.750,-23.43,2225
$D_GRID,930
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.90,-116.8,182,2783,1109,1013,0.0,0.0,0,97,0.00,0.00,-76.10,0.000,16390,0.000,0.000,181,2783,3514,3506,3523,0,0,0,0,0,0,14.66,13.21,14.66
$GC,99,-0.90,-116.8,182,2783,3509,3525,1.1,-5.2,2,121,11.50,1.90,0.00,0.000,2820,0.393,0.093,2597,3822,3518,3512,3524,0,0,0,0,0,0,14.19,14.40,14.49
$GC,349,-0.56,-116.8,2596,3822,3516,3524,84.4,-18.2,39,357,0.40,1.80,0.00,0.000,3206,0.244,0.035,2712,2727,3519,3516,3523,0,0,0,0,0,0,14.29,14.60,14.46
$GC,679,-0.56,-116.8,2712,2728,3521,3523,108.5,-6.4,51,686,0.00,2.05,0.00,0.000,292,0.000,0.098,2704,3827,3521,3520,3523,0,0,0,0,0,0,14.83,14.48,14.83
$GC,755,-0.56,-116.8,2705,3826,3520,3525,114.1,-6.9,62,763,0.00,1.75,0.00,0.000,1062,0.000,0.040,2704,2776,3521,3519,3523,0,0,0,0,0,0,14.70,14.66,14.71
$GC,1071,-0.56,-116.8,2704,2777,3520,3520,138.7,-8.6,72,1078,0.00,2.35,0.00,0.000,516,0.000,0.041,2705,1388,3521,3519,3523,0,0,0,0,0,0,14.86,14.59,14.86
$GC,1112,-0.56,-116.8,2705,1387,3522,3525,142.2,-8.2,78,1120,0.00,2.42,0.00,0.000,1030,0.000,0.062,2694,2772,3521,3519,3523,0,0,0,0,0,0,14.61,14.54,14.64
$GC,1463,-0.56,-116.8,2695,2771,3520,3521,172.1,-8.6,86,1470,0.00,1.95,0.00,0.000,260,0.000,0.101,2687,3827,3519,3519,3519,0,0,0,0,0,0,14.86,14.52,14.87
$GC,1546,-0.56,-116.8,2686,3826,3519,3519,179.2,-8.4,98,1554,0.10,1.77,0.00,0.000,3078,0.229,0.040,2717,2765,3519,3520,3518,0,0,0,0,0,0,14.48,14.71,14.67
$GC,1911,-0.56,-116.8,2717,2765,3520,3514,202.8,-6.4,108,1918,0.00,2.35,0.00,0.000,548,0.000,0.043,2715,1376,3515,3519,3512,0,0,0,0,0,0,14.90,14.65,14.88
$GC,2036,-0.65,-116.8,2717,1376,3520,3511,211.1,-6.5,126,2044,0.00,2.45,0.00,0.000,1190,0.000,0.063,2707,2763,3514,3519,3510,0,0,0,0,0,0,14.64,14.57,14.68
$GC,2359,-0.65,-116.8,2705,2763,3517,3506,233.9,-7.2,137,2367,0.00,1.98,0.00,0.000,292,0.000,0.103,2700,3827,3512,3519,3505,0,0,0,0,0,0,14.88,14.50,14.88
$GC,2393,-0.65,-116.8,2700,3827,3520,3506,236.5,-7.5,142,2401,0.00,1.80,0.00,0.000,1062,0.000,0.041,2698,2751,3512,3519,3505,0,0,0,0,0,0,14.71,14.69,14.72
$GC,2751,-0.65,-116.8,2700,2751,3520,3500,262.1,-7.1,151,2764,0.00,2.28,0.00,0.000,548,0.000,0.043,2699,1379,3509,3519,3499,0,0,0,0,0,0,14.92,14.66,14.92
$GC,2811,-0.65,-116.8,2700,1380,3520,3498,266.4,-7.2,159,2825,0.00,2.42,0.00,0.000,1062,0.000,0.065,2691,2768,3508,3519,3498,0,0,0,0,0,0,14.76,14.62,14.78
$GC,3152,-0.65,-116.8,2691,2769,3520,3492,291.6,-7.5,172,3165,0.00,0.00,0.00,0.000,38,0.000,0.000,2691,2768,3505,3519,3492,0,0,0,0,0,0,14.94,14.94,14.94
$GC,3488,-0.65,-116.8,2690,2769,3519,3489,317.9,-7.9,178,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2769,3503,3519,3488,0,0,0,0,0,0,14.96,14.97,14.96
$GC,3824,-0.65,-116.8,2695,2770,3520,3485,345.1,-8.1,184,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2768,3502,3519,3485,0,0,0,0,0,0,14.96,14.96,14.96
$GC,4160,-0.65,-116.8,2691,2770,3520,3481,372.1,-8.0,190,4173,0.00,2.35,0.00,0.000,516,0.000,0.046,2691,1375,3500,3519,3481,0,0,0,0,0,0,14.97,14.69,14.97
$GC,4262,-0.65,-116.8,2690,1376,3520,3479,380.2,-7.8,204,4275,0.00,2.42,0.00,0.000,1030,0.000,0.067,2681,2766,3499,3519,3480,0,0,0,0,0,0,14.78,14.64,14.81
$GC,4616,-0.65,-116.8,2681,2767,3519,3476,407.8,-7.8,212,4629,0.00,1.92,0.00,0.000,260,0.000,0.108,2673,3825,3497,3519,3476,0,0,0,0,0,0,14.96,14.59,14.96
$GC,4676,-0.65,-116.8,2673,3823,3519,3477,412.7,-8.3,220,4689,0.00,1.75,0.00,0.000,1030,0.000,0.045,2673,2757,3497,3519,3476,0,0,0,0,0,0,14.82,14.77,14.83
$GC,5017,-0.65,-116.8,2673,2757,3517,3472,440.0,-8.1,233,5030,0.00,2.30,0.00,0.000,516,0.000,0.046,2673,1375,3495,3518,3472,0,0,0,0,0,0,14.97,14.69,14.97
$GC,5055,-0.65,-116.8,2673,1376,3520,3472,443.3,-8.7,238,5068,0.00,2.42,0.00,0.000,1030,0.000,0.068,2664,2770,3495,3519,3471,0,0,0,0,0,0,14.78,14.64,14.81
$GC,5417,-0.65,-116.8,2664,2771,3519,3469,475.0,-8.8,247,5430,0.00,1.92,0.00,0.000,260,0.000,0.108,2655,3830,3497,3526,3469,0,0,0,0,0,0,14.96,14.59,14.97
$GC,5462,-0.65,-116.8,2655,3831,3519,3469,479.3,-9.6,253,5475,0.10,1.75,0.00,0.000,3078,0.239,0.045,2685,2755,3492,3517,3468,0,0,0,0,0,0,14.50,14.77,14.72
$GC,5817,-0.65,-116.8,2686,2755,3519,3468,507.3,-7.8,261,5830,0.00,2.30,0.00,0.000,516,0.000,0.045,2686,1377,3492,3518,3466,0,0,0,0,0,0,14.97,14.68,14.97
$GC,5904,-0.65,-116.8,2686,1377,3519,3466,514.4,-7.9,273,5918,0.00,2.45,0.00,0.000,1030,0.000,0.068,2677,2771,3491,3518,3465,0,0,0,0,0,0,14.77,14.62,14.79
$GC,6273,-0.65,-116.8,2677,2772,3519,3462,544.0,-8.0,283,6286,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2771,3490,3518,3462,0,0,0,0,0,0,14.95,14.95,14.95
$GC,6609,-0.65,-116.8,2678,2771,3516,3463,569.7,-7.6,289,6622,0.00,0.00,0.00,0.000,38,0.000,0.000,2677,2771,3488,3515,3461,0,0,0,0,0,0,14.95,14.95,14.95
$GC,6945,-0.65,-116.8,2677,2772,3515,3461,595.3,-7.7,295,6958,0.00,0.00,0.00,0.000,38,0.000,0.000,2677,2771,3487,3513,3461,0,0,0,0,0,0,14.95,14.95,14.95
$GC,7281,-0.65,-116.8,2677,2771,3512,3462,622.2,-8.1,301,7295,0.00,2.38,0.00,0.000,516,0.000,0.047,2677,1370,3486,3511,3462,0,0,0,0,0,0,14.95,14.66,14.95
$GC,7334,-0.65,-116.8,2678,1370,3512,3461,626.8,-8.6,308,7348,0.00,2.47,0.00,0.000,1030,0.000,0.072,2669,2757,3485,3511,3459,0,0,0,0,0,0,14.75,14.59,14.79
$GC,7678,-0.65,-116.8,2669,2758,3510,3459,657.8,-9.2,315,7691,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2759,3484,3510,3458,0,0,0,0,0,0,14.95,14.94,14.95
$GC,8014,-0.65,-116.8,2668,2760,3510,3457,688.6,-9.1,321,8027,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2759,3483,3509,3457,0,0,0,0,0,0,14.94,14.95,14.95
$GC,8350,-0.65,-116.8,2672,2759,3509,3455,715.8,-7.9,327,8363,0.00,2.35,0.00,0.000,516,0.000,0.047,2668,1379,3481,3508,3455,0,0,0,0,0,0,14.94,14.65,14.95
$GC,8396,-0.65,-116.8,2669,1378,3509,3456,719.3,-7.5,333,8410,0.10,2.45,0.00,0.000,3110,0.246,0.071,2689,2764,3485,3507,3463,0,0,0,0,0,0,14.45,14.58,14.67
$GC,8751,-0.73,-116.8,2689,2766,3509,3453,740.4,-5.7,341,8765,0.00,2.35,0.00,0.000,676,0.000,0.047,2689,1380,3480,3508,3453,0,0,0,0,0,0,14.93,14.65,14.93
$GC,8791,-0.81,-116.8,2689,1380,3509,3452,742.7,-6.3,346,8804,0.08,2.45,0.00,0.000,5286,0.149,0.072,2623,2761,3480,3507,3453,0,0,0,0,0,0,14.65,14.57,14.74
$GC,9153,-0.81,-116.8,2623,2762,3508,3452,771.3,-8.0,355,9166,0.00,1.98,0.00,0.000,260,0.000,0.112,2615,3831,3479,3506,3452,0,0,0,0,0,0,14.94,14.51,14.95
$GC,9240,-0.81,-116.8,2616,3831,3505,3454,779.3,-9.1,367,9253,0.00,1.77,0.00,0.000,1030,0.000,0.047,2615,2759,3479,3506,3452,0,0,0,0,0,0,14.77,14.71,14.78
$GC,9609,-0.81,-116.8,2615,2758,3507,3451,812.0,-9.1,377,9622,0.00,2.33,0.00,0.000,516,0.000,0.048,2614,1376,3478,3506,3451,0,0,0,0,0,0,14.95,14.62,14.95
$GC,9669,-0.81,-116.8,2615,1376,3506,3452,818.3,-11.0,385,9683,0.10,2.47,0.00,0.000,3078,0.270,0.072,2633,2762,3478,3506,3451,0,0,0,0,0,0,14.38,14.55,14.64
$GC,10010,-0.81,-116.8,2633,2763,3506,3453,846.8,-8.4,398,10023,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2762,3477,3506,3449,0,0,0,0,0,0,14.92,14.92,14.92
$GC,10346,-0.81,-116.8,2633,2763,3505,3449,874.7,-8.3,404,10359,0.00,1.98,0.00,0.000,260,0.000,0.114,2626,3824,3476,3504,3449,0,0,0,0,0,0,14.92,14.47,14.92
$GC,10399,-0.81,-116.8,2626,3824,3504,3450,879.1,-8.7,411,10412,0.00,1.77,0.00,0.000,1030,0.000,0.047,2626,2759,3476,3503,3449,0,0,0,0,0,0,14.76,14.69,14.80
$GC,10743,-0.81,-116.8,2626,2760,3504,3449,907.7,-8.3,418,10756,0.00,2.35,0.00,0.000,516,0.000,0.048,2625,1369,3475,3503,3447,0,0,0,0,0,0,14.92,14.61,14.91
$GC,10795,-0.81,-116.8,2629,1370,3503,3447,912.3,-8.5,425,10810,0.00,2.50,0.00,0.000,1030,0.000,0.072,2616,2765,3474,3502,3447,0,0,0,0,0,0,14.71,14.53,14.73
$STATE,11026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11026,begin apogee
$GC,11031,-0.23,0.0,2616,2232,3504,3445,932.8,-8.7,430,11160,0.70,0.00,119.30,1.935,10244,0.201,0.000,2819,2230,3050,3096,3005,0,0,0,0,0,0,14.38,14.04,13.33
$STATE,11162,end apogee,CONTROL_FINISHED_OK
$STATE,11162,begin climb
$GC,11164,0.90,116.8,2819,2231,3092,2996,937.1,0.0,432,11305,1.12,2.40,122.10,1.940,10756,0.114,0.057,3172,882,2577,2642,2513,0,0,0,0,0,0,14.04,14.07,13.18
$GC,11324,0.72,116.8,3173,883,2643,2505,930.7,9.7,458,11338,0.15,2.45,0.00,0.000,5254,0.241,0.054,3133,2254,2572,2642,2503,0,0,0,0,0,0,13.90,14.00,14.07
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$STATE,23235,end climb,SURFACE_DEPTH_REACHED
$STATE,23235,begin surface coast
$FINISH,-0.6,1.019982
$STATE,23263,end surface coast,CONTROL_FINISHED_OK
$STATE,23263,begin surface
$SM_CCo,23284,18.05,0.158,0,0,1058,500.14
$SM_GC,-0.26,8.90,0.85,18.05,0.048,0.077,0.158,195,2771,1058,-8.38,-0.62,500.14,0,0,0,0,0,0,14.61,14.57,14.47
$IRIDIUM_FIX,951.69,-12511.90,011016,063122
$TT8_MAMPS,0.038199,0.435169
$HUMID,50.55
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,23.00
$XPDR_PINGS,0
$SC_FREEKB,3849856
$PM_FREEKB,58217856
$TM_FREEKB,6292576
$24V_AH,12.83,62.328
$10V_AH,13.06,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.175,187.600,479.650,18.050,0.000,0.000,0.000,394.025,0.000,0.000,6.005,0.000,19404.559,776.194,3521.476,261.485,0.000,2785.679,0.000,1676.989,0.000,0.840,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.446,2.383,16.494,0.000
$MEM,334700
$DATA_FILE_SIZE,33350,935
$CAP_FILE_SIZE,181448,0
$CFSIZE,1024409600,987496448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088,106.38,1
$GPS,011016,194638,952.118,-12509.402,28,1.0,28,9.0,0.6,49.4,6,10.0