version: 66.13
glider: 220
mission: 6
dive: 256
start: 10 29 116 12 19 24
data:
$ID,220
$MISSION,6
$DIVE,256
$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,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,56
$R_STBD_OVSHOOT,22
$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
$GPS1,291016,120840,944.0936,-12456.6846,21,1.3,22,9.0,0.9,25.6,5,8.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.28
$_SM_ANGLEo,-72.7
$GPS2,291016,121902,944.1316,-12456.5781,2,1.3,5,9.0,0.2,0.0,5,9.6
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,14.8,41374,-17.6,-7.750,-24.23,2047
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.93,-107.1,171,2790,1103,1012,0.0,0.0,0,89,0.00,0.00,-75.57,0.000,16390,0.000,0.000,169,2789,3478,3471,3486,0,0,0,0,0,0,14.65,12.83,14.65
$GC,92,-0.93,-107.1,170,2789,3472,3485,-1.5,-5.8,2,112,11.77,1.88,0.00,0.000,2308,0.390,0.072,2585,3825,3480,3473,3487,0,0,0,0,0,0,14.07,14.35,14.42
$GC,215,-0.44,-107.1,2585,3826,3476,3486,53.7,-31.1,21,224,0.62,1.83,0.00,0.000,3206,0.264,0.042,2748,2757,3481,3476,3486,0,0,0,0,0,0,14.08,14.53,14.31
$GC,531,-0.44,-107.1,2749,2757,3480,3488,88.6,-9.1,33,537,0.00,2.03,0.00,0.000,260,0.000,0.105,2741,3820,3483,3479,3487,0,0,0,0,0,0,14.83,14.33,14.83
$GC,768,-0.44,-107.1,2741,3818,3481,3488,107.3,-6.1,67,774,0.00,1.77,0.00,0.000,1062,0.000,0.041,2741,2768,3482,3478,3486,0,0,0,0,0,0,14.62,14.59,14.65
$GC,1091,-0.52,-107.1,2742,2768,3482,3486,127.5,-6.5,78,1092,0.00,0.00,0.00,0.000,166,0.000,0.000,2741,2768,3483,3481,3486,0,0,0,0,0,0,14.89,14.89,14.89
$GC,1427,-0.61,-107.1,2741,2768,3482,3487,147.5,-5.8,84,1433,0.08,2.35,0.00,0.000,4772,0.143,0.044,2674,1380,3481,3478,3485,0,0,0,0,0,0,14.65,14.48,14.71
$GC,1482,-0.61,-107.1,2674,1380,3481,3486,152.2,-8.7,92,1489,0.10,2.50,0.00,0.000,3078,0.216,0.067,2694,2778,3482,3481,3484,0,0,0,0,0,0,14.30,14.47,14.46
$GC,1819,-0.61,-107.1,2694,2779,3482,3480,181.4,-8.6,105,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2778,3481,3482,3481,0,0,0,0,0,0,14.94,14.95,14.94
$GC,2155,-0.61,-107.1,2693,2779,3482,3476,209.2,-8.3,111,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2778,3478,3480,3476,0,0,0,0,0,0,14.94,14.94,14.94
$GC,2491,-0.61,-107.1,2693,2778,3481,3472,236.8,-8.2,117,2497,0.00,2.42,0.00,0.000,516,0.000,0.044,2693,1383,3476,3481,3471,0,0,0,0,0,0,14.94,14.53,14.95
$GC,2525,-0.61,-107.1,2694,1382,3481,3471,239.7,-8.2,122,2532,0.00,2.50,0.00,0.000,1030,0.000,0.067,2683,2773,3475,3481,3470,0,0,0,0,0,0,14.59,14.49,14.63
$GC,2883,-0.61,-107.1,2684,2773,3481,3467,269.8,-8.5,131,2889,0.00,2.40,0.00,0.000,516,0.000,0.044,2685,1385,3473,3480,3466,0,0,0,0,0,0,14.96,14.49,14.97
$GC,2917,-0.61,-107.1,2684,1384,3481,3466,272.8,-8.7,136,2924,0.00,2.50,0.00,0.000,1030,0.000,0.067,2672,2772,3473,3480,3466,0,0,0,0,0,0,14.54,14.46,14.58
$GC,3275,-0.61,-107.1,2673,2771,3482,3462,304.9,-8.9,145,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2771,3471,3481,3461,0,0,0,0,0,0,14.95,14.94,14.95
$GC,3611,-0.61,-107.1,2673,2772,3481,3457,332.9,-8.2,151,3616,0.00,2.42,0.00,0.000,516,0.000,0.045,2672,1382,3468,3480,3456,0,0,0,0,0,0,14.95,14.52,14.95
$GC,3652,-0.61,-107.1,2672,1383,3482,3456,336.3,-8.1,157,3660,0.10,2.50,0.00,0.000,3078,0.222,0.068,2693,2767,3468,3481,3455,0,0,0,0,0,0,14.28,14.45,14.44
$GC,4003,-0.61,-107.1,2693,2768,3481,3451,361.6,-7.2,165,4010,0.00,2.00,0.00,0.000,292,0.000,0.110,2684,3821,3465,3480,3451,0,0,0,0,0,0,14.96,14.35,14.95
$GC,4093,-0.61,-107.1,2684,3822,3481,3452,368.5,-7.6,178,4099,0.00,1.80,0.00,0.000,1062,0.000,0.042,2684,2759,3465,3480,3450,0,0,0,0,0,0,14.73,14.67,14.74
$GC,4451,-0.61,-107.1,2684,2760,3482,3446,394.5,-7.3,187,4457,0.00,2.38,0.00,0.000,548,0.000,0.045,2684,1379,3463,3480,3446,0,0,0,0,0,0,14.94,14.50,14.93
$GC,4541,-0.61,-107.1,2685,1378,3481,3447,401.4,-7.6,200,4548,0.00,2.53,0.00,0.000,1062,0.000,0.068,2675,2773,3462,3480,3445,0,0,0,0,0,0,14.53,14.43,14.59
$GC,4899,-0.61,-107.1,2675,2773,3482,3444,430.8,-8.4,209,4906,0.00,2.42,0.00,0.000,516,0.000,0.045,2674,1383,3461,3480,3442,0,0,0,0,0,0,14.96,14.49,14.95
$GC,4926,-0.61,-107.1,2674,1384,3481,3442,433.4,-9.1,213,4934,0.10,2.53,0.00,0.000,3078,0.217,0.069,2694,2773,3461,3480,3442,0,0,0,0,0,0,14.24,14.47,14.41
$GC,5291,-0.61,-107.1,2683,2775,3484,3440,461.6,-7.7,223,5296,0.00,2.00,0.00,0.000,292,0.000,0.112,2674,3821,3458,3479,3438,0,0,0,0,0,0,14.93,14.31,14.92
$GC,5325,-0.61,-107.1,2674,3821,3481,3440,464.4,-8.1,228,5331,0.00,1.80,0.00,0.000,1030,0.000,0.044,2674,2773,3458,3479,3438,0,0,0,0,0,0,14.71,14.66,14.73
$GC,5683,-0.61,-107.1,2674,2774,3480,3435,491.4,-7.6,237,5689,0.00,2.40,0.00,0.000,548,0.000,0.045,2674,1379,3461,3487,3436,0,0,0,0,0,0,14.93,14.45,14.92
$GC,5766,-0.61,-107.1,2675,1379,3479,3436,497.9,-7.7,249,5774,0.10,2.47,0.00,0.000,3110,0.213,0.068,2693,2759,3457,3479,3435,0,0,0,0,0,0,14.23,14.41,14.38
$GC,6131,-0.70,-107.1,2694,2758,3480,3432,522.7,-6.8,259,6136,0.00,2.03,0.00,0.000,420,0.000,0.112,2687,3818,3455,3479,3432,0,0,0,0,0,0,14.92,14.27,14.93
$GC,6165,-0.78,-107.1,2687,3819,3481,3432,525.2,-7.4,264,6172,0.08,1.83,0.00,0.000,5286,0.142,0.044,2632,2757,3455,3479,3432,0,0,0,0,0,0,14.57,14.65,14.65
$GC,6523,-0.78,-107.1,2632,2757,3479,3429,558.4,-9.6,273,6530,0.00,2.38,0.00,0.000,516,0.000,0.045,2631,1380,3454,3479,3429,0,0,0,0,0,0,14.92,14.45,14.92
$GC,6592,-0.78,-107.1,2632,1380,3480,3429,565.1,-9.7,283,6599,0.00,2.53,0.00,0.000,1030,0.000,0.068,2621,2770,3452,3479,3426,0,0,0,0,0,0,14.53,14.43,14.57
$GC,6915,-0.78,-107.1,2622,2774,3480,3426,597.5,-10.1,294,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2774,3452,3479,3426,0,0,0,0,0,0,14.95,14.95,14.94
$GC,7251,-0.78,-107.1,2622,2774,3480,3428,631.6,-10.2,300,7251,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2773,3451,3478,3425,0,0,0,0,0,0,14.95,14.97,14.95
$GC,7587,-0.78,-107.1,2616,2774,3478,3422,665.8,-10.2,306,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2773,3449,3477,3422,0,0,0,0,0,0,14.95,14.95,14.95
$GC,7923,-0.78,-107.1,2622,2774,3474,3423,698.5,-9.7,312,7932,0.00,2.42,0.00,0.000,516,0.000,0.047,2620,1384,3447,3474,3421,0,0,0,0,0,0,14.95,14.40,14.95
$GC,7950,-0.78,-107.1,2621,1385,3475,3421,701.3,-9.5,316,7958,0.10,2.53,0.00,0.000,3078,0.236,0.070,2639,2763,3448,3474,3422,0,0,0,0,0,0,14.12,14.37,14.31
$GC,8315,-0.78,-107.1,2640,2767,3473,3421,730.6,-7.9,326,8321,0.00,2.03,0.00,0.000,260,0.000,0.112,2632,3818,3446,3471,3421,0,0,0,0,0,0,14.95,14.22,14.95
$GC,8342,-0.78,-107.1,2630,3818,3472,3423,732.8,-8.5,330,8349,0.00,1.83,0.00,0.000,1030,0.000,0.046,2631,2769,3446,3471,3421,0,0,0,0,0,0,14.66,14.60,14.68
$GC,8707,-0.78,-107.1,2632,2769,3472,3421,761.4,-7.8,340,8713,0.00,2.42,0.00,0.000,516,0.000,0.047,2631,1376,3445,3471,3419,0,0,0,0,0,0,14.94,14.39,14.94
$GC,8791,-0.78,-107.1,2626,1376,3471,3422,768.2,-8.0,352,8797,0.00,2.53,0.00,0.000,1030,0.000,0.067,2622,2758,3445,3471,3419,0,0,0,0,0,0,14.42,14.33,14.47
$GC,9155,-0.78,-107.1,2622,2759,3472,3417,798.7,-8.4,362,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2758,3444,3471,3418,0,0,0,0,0,0,14.91,14.91,14.91
$GC,9491,-0.78,-107.1,2622,2759,3472,3417,827.3,-8.5,368,9492,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2758,3446,3470,3422,0,0,0,0,0,0,14.93,14.94,14.94
$GC,9827,-0.78,-107.1,2622,2758,3471,3417,856.2,-8.4,374,9833,0.00,2.45,0.00,0.000,516,0.000,0.046,2621,1375,3442,3470,3415,0,0,0,0,0,0,14.93,14.37,14.93
$GC,9854,-0.78,-107.1,2621,1375,3471,3415,858.6,-7.9,378,9862,0.10,2.55,0.00,0.000,3078,0.241,0.069,2639,2761,3442,3470,3415,0,0,0,0,0,0,14.07,14.32,14.26
$GC,10219,-0.78,-107.1,2639,2762,3471,3413,888.1,-8.1,388,10220,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2761,3442,3470,3415,0,0,0,0,0,0,14.90,14.90,14.90
$GC,10555,-0.78,-107.1,2639,2762,3470,3412,916.4,-8.5,394,10556,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2760,3440,3469,3412,0,0,0,0,0,0,14.92,14.93,14.93
$STATE,10721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10721,begin apogee
$GC,10727,-0.23,0.0,2641,2223,3468,3413,930.2,-8.3,397,10840,0.62,0.08,110.40,1.926,10244,0.180,0.181,2821,2259,3050,3094,3007,0,0,0,0,0,0,14.16,13.95,13.23
$STATE,10842,end apogee,CONTROL_FINISHED_OK
$STATE,10842,begin climb
$GC,10844,0.93,107.1,2821,2260,3091,3000,934.5,0.0,399,10971,1.12,2.50,114.75,1.937,10756,0.099,0.059,3178,887,2616,2678,2555,0,0,0,0,0,0,13.99,14.01,13.02
$GC,10997,0.80,107.1,3181,887,2679,2547,929.0,8.2,422,11005,0.00,2.50,0.00,0.000,1158,0.000,0.052,3181,2246,2611,2678,2544,0,0,0,0,0,0,13.93,13.88,13.96
$GC,11341,0.66,107.1,3181,2245,2678,2537,900.7,8.5,429,11348,0.25,2.65,0.00,0.000,4484,0.226,0.099,3113,3661,2607,2678,2537,0,0,0,0,0,0,14.07,14.21,14.35
$GC,11438,0.58,110.2,3113,3661,2679,2538,893.1,7.6,443,11445,0.10,2.42,0.00,0.000,5286,0.213,0.041,3094,2269,2607,2678,2536,0,0,0,0,0,0,14.11,14.38,14.27
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$STATE,23243,end climb,SURFACE_DEPTH_REACHED
$STATE,23243,begin surface coast
$FINISH,-3.1,1.020461
$STATE,23288,end surface coast,CONTROL_FINISHED_OK
$STATE,23289,begin surface
$SM_CCo,23308,24.62,0.155,0,0,1058,500.14
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$IRIDIUM_FIX,938.56,-12456.65,291016,054435
$TT8_MAMPS,0.036701,0.414197
$HUMID,51.81
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3811424
$PM_FREEKB,56986688
$24V_AH,12.83,98.193
$10V_AH,12.84,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.473,2.420,0.000,0.000
$MEM,334712
$DATA_FILE_SIZE,33378,914
$CAP_FILE_SIZE,169263,0
$CFSIZE,1024409600,968507392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7924.80,0x233bac,0,24
$CURRENT,0.083,82.71,1
$GPS,291016,184909,946.186,-12454.915,23,0.7,23,9.0,0.3,37.9,11,10.0