version: 66.13
glider: 220
mission: 6
dive: 284
start: 11 6 116 4 27 52
data:
$ID,220
$MISSION,6
$DIVE,284
$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,47
$R_STBD_OVSHOOT,23
$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
$GPS1,061116,041701,1015.5007,-12503.2363,29,0.7,29,9.1,0.4,147.8,12,4.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.38
$_SM_ANGLEo,-71.8
$GPS2,061116,042730,1015.4944,-12503.3057,2,0.7,3,9.1,0.4,352.4,12,5.6
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,224.7,41036,-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,-107.1,222,2781,1097,1015,0.0,0.0,0,91,0.00,0.00,-76.15,0.000,16390,0.000,0.000,223,2780,3478,3470,3486,0,0,0,0,0,0,14.65,12.76,14.65
$GC,94,-0.93,-107.1,224,2781,3472,3486,0.2,-4.7,2,114,11.55,2.40,0.00,0.000,2564,0.389,0.035,2594,1360,3479,3472,3487,0,0,0,0,0,0,14.08,14.40,14.42
$GC,227,-0.60,-107.1,2594,1360,3475,3486,48.9,-21.9,22,232,0.43,2.53,0.00,0.000,3206,0.245,0.075,2697,2767,3480,3474,3487,0,0,0,0,0,0,14.11,14.35,14.38
$GC,561,-0.52,-107.1,2699,2767,3478,3488,88.0,-9.2,37,568,0.10,1.98,0.00,0.000,2436,0.247,0.106,2720,3825,3482,3478,3486,0,0,0,0,0,0,14.31,14.32,14.53
$GC,798,-0.52,-107.1,2720,3825,3479,3487,108.7,-9.2,71,804,0.00,1.80,0.00,0.000,1030,0.000,0.039,2719,2743,3482,3479,3486,0,0,0,0,0,0,14.68,14.64,14.68
$GC,1121,-0.52,-107.1,2720,2740,3480,3488,132.5,-7.2,82,1126,0.00,2.05,0.00,0.000,292,0.000,0.106,2711,3817,3483,3479,3487,0,0,0,0,0,0,14.89,14.36,14.89
$GC,1183,-0.52,-107.1,2712,3815,3480,3488,137.3,-7.6,91,1189,0.00,1.73,0.00,0.000,1062,0.000,0.039,2711,2777,3479,3479,3480,0,0,0,0,0,0,14.73,14.68,14.73
$GC,1513,-0.52,-107.1,2710,2778,3481,3485,162.5,-7.8,103,1518,0.00,2.33,0.00,0.000,516,0.000,0.044,2710,1390,3481,3479,3484,0,0,0,0,0,0,14.91,14.54,14.91
$GC,1569,-0.52,-107.1,2710,1390,3480,3481,167.0,-8.0,111,1575,0.08,2.47,0.00,0.000,3078,0.213,0.068,2724,2766,3481,3479,3483,0,0,0,0,0,0,14.31,14.45,14.47
$GC,1905,-0.52,-107.1,2721,2767,3479,3481,192.7,-7.8,124,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2767,3479,3479,3479,0,0,0,0,0,0,14.95,14.95,14.95
$GC,2241,-0.52,-107.1,2722,2767,3480,3475,218.2,-7.5,130,2246,0.00,2.35,0.00,0.000,548,0.000,0.045,2721,1398,3477,3480,3474,0,0,0,0,0,0,14.95,14.51,14.95
$GC,2282,-0.60,-107.1,2721,1399,3480,3474,221.3,-7.3,136,2288,0.00,2.50,0.00,0.000,1190,0.000,0.072,2712,2775,3475,3479,3472,0,0,0,0,0,0,14.54,14.43,14.58
$GC,2633,-0.60,-107.1,2712,2774,3480,3470,247.1,-7.3,144,2638,0.00,2.00,0.00,0.000,292,0.000,0.113,2704,3821,3472,3476,3468,0,0,0,0,0,0,14.95,14.36,14.95
$GC,2667,-0.60,-107.1,2704,3821,3488,3470,249.7,-7.6,149,2674,0.00,1.77,0.00,0.000,1062,0.000,0.041,2704,2769,3473,3479,3468,0,0,0,0,0,0,14.74,14.69,14.75
$GC,3025,-0.60,-107.1,2704,2769,3480,3463,274.6,-6.8,158,3030,0.00,2.38,0.00,0.000,548,0.000,0.046,2703,1390,3470,3479,3462,0,0,0,0,0,0,14.96,14.51,14.96
$GC,3081,-0.60,-107.1,2703,1391,3480,3462,278.4,-6.6,166,3086,0.00,2.50,0.00,0.000,1062,0.000,0.071,2693,2770,3471,3480,3462,0,0,0,0,0,0,14.53,14.42,14.57
$GC,3417,-0.60,-107.1,2693,2771,3480,3458,303.1,-7.5,179,3422,0.00,2.00,0.00,0.000,292,0.000,0.113,2685,3819,3468,3479,3458,0,0,0,0,0,0,14.95,14.33,14.95
$GC,3444,-0.60,-107.1,2686,3819,3479,3458,305.4,-8.3,183,3450,0.00,1.80,0.00,0.000,1030,0.000,0.041,2685,2758,3468,3480,3457,0,0,0,0,0,0,14.73,14.68,14.74
$GC,3809,-0.60,-107.1,2688,2758,3480,3454,337.7,-9.0,193,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2758,3465,3478,3453,0,0,0,0,0,0,14.94,14.94,14.95
$GC,4145,-0.60,-107.1,2661,2757,3479,3451,368.2,-9.0,199,4146,0.15,0.00,0.00,0.000,2054,0.216,0.000,2704,2757,3463,3478,3449,0,0,0,0,0,0,14.32,14.62,14.55
$GC,4481,-0.71,-107.1,2704,2757,3479,3447,391.6,-6.8,205,4487,0.00,2.40,0.00,0.000,676,0.000,0.049,2704,1385,3461,3478,3445,0,0,0,0,0,0,14.96,14.48,15.00
$GC,4557,-0.83,-107.1,2704,1392,3480,3446,396.9,-6.8,216,4564,0.12,2.53,0.00,0.000,5286,0.074,0.075,2620,2771,3459,3475,3444,0,0,0,0,0,0,14.50,14.40,14.55
$GC,4873,-0.83,-107.1,2621,2772,3480,3442,427.6,-10.0,226,4878,0.00,2.00,0.00,0.000,260,0.000,0.113,2612,3818,3460,3478,3442,0,0,0,0,0,0,14.94,14.29,14.93
$GC,4914,-0.83,-107.1,2612,3819,3479,3442,432.0,-10.7,232,4920,0.00,1.77,0.00,0.000,1030,0.000,0.042,2612,2774,3460,3478,3442,0,0,0,0,0,0,14.71,14.66,14.73
$GC,5265,-0.83,-107.1,2612,2775,3480,3438,466.8,-9.8,240,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2774,3458,3478,3438,0,0,0,0,0,0,14.93,14.93,14.93
$GC,5601,-0.83,-107.1,2613,2774,3479,3438,499.9,-9.8,246,5607,0.00,2.05,0.00,0.000,260,0.000,0.112,2603,3820,3457,3478,3436,0,0,0,0,0,0,14.96,14.28,14.96
$GC,5628,-0.83,-107.1,2604,3821,3479,3436,502.9,-10.7,250,5634,0.00,1.80,0.00,0.000,1030,0.000,0.043,2604,2772,3457,3478,3436,0,0,0,0,0,0,14.65,14.59,14.66
$GC,5993,-0.83,-107.1,2604,2773,3479,3433,542.4,-11.1,260,5998,0.00,2.05,0.00,0.000,260,0.000,0.112,2595,3819,3454,3478,3431,0,0,0,0,0,0,14.93,14.27,14.94
$GC,6027,-0.74,-107.1,2596,3818,3479,3433,546.5,-12.0,265,6035,0.20,1.80,0.00,0.000,3206,0.216,0.041,2659,2766,3454,3478,3431,0,0,0,0,0,0,14.19,14.66,14.35
$GC,6385,-0.74,-107.1,2659,2765,3479,3430,578.6,-8.8,274,6391,0.00,2.40,0.00,0.000,516,0.000,0.047,2659,1390,3453,3477,3429,0,0,0,0,0,0,14.92,14.44,14.93
$GC,6447,-0.74,-107.1,2658,1390,3480,3428,584.1,-8.6,283,6454,0.00,2.53,0.00,0.000,1030,0.000,0.073,2650,2772,3453,3478,3428,0,0,0,0,0,0,14.46,14.35,14.51
$GC,6777,-0.74,-107.1,2650,2773,3479,3426,611.6,-8.2,295,6777,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2772,3451,3478,3425,0,0,0,0,0,0,14.95,14.95,14.95
$GC,7113,-0.74,-107.1,2650,2772,3476,3426,636.5,-7.3,301,7114,0.00,0.00,0.00,0.000,38,0.000,0.000,2650,2772,3450,3476,3424,0,0,0,0,0,0,14.92,14.92,14.92
$GC,7449,-0.74,-107.1,2650,2772,3474,3426,660.7,-7.2,307,7450,0.00,0.00,0.00,0.000,38,0.000,0.000,2650,2772,3449,3473,3425,0,0,0,0,0,0,14.94,14.95,14.94
$GC,7785,-0.74,-107.1,2650,2771,3471,3426,686.0,-7.6,313,7791,0.00,2.45,0.00,0.000,548,0.000,0.047,2646,1389,3447,3470,3424,0,0,0,0,0,0,14.95,14.41,14.95
$GC,7847,-0.74,-107.1,2649,1390,3472,3423,691.0,-7.9,322,7853,0.00,2.53,0.00,0.000,1030,0.000,0.073,2640,2765,3446,3470,3423,0,0,0,0,0,0,14.42,14.31,14.47
$GC,8177,-0.74,-107.1,2640,2765,3471,3423,717.9,-8.3,334,8178,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2765,3445,3470,3420,0,0,0,0,0,0,14.93,14.93,14.94
$GC,8513,-0.74,-107.1,2640,2765,3472,3422,746.3,-8.5,340,8518,0.00,2.45,0.00,0.000,516,0.000,0.047,2639,1384,3445,3470,3421,0,0,0,0,0,0,14.92,14.37,14.92
$GC,8569,-0.74,-107.1,2638,1386,3470,3421,751.2,-8.7,348,8575,0.08,2.55,0.00,0.000,3078,0.235,0.073,2652,2768,3445,3470,3420,0,0,0,0,0,0,14.07,14.28,14.23
$GC,8905,-0.74,-107.1,2652,2768,3469,3420,778.7,-8.2,361,8911,0.00,2.05,0.00,0.000,260,0.000,0.115,2644,3828,3444,3469,3419,0,0,0,0,0,0,14.93,14.18,14.93
$GC,8967,-0.74,-107.1,2644,3829,3470,3419,784.3,-9.4,370,8973,0.00,1.83,0.00,0.000,1030,0.000,0.044,2644,2774,3444,3469,3419,0,0,0,0,0,0,14.64,14.57,14.65
$GC,9297,-0.74,-107.1,2644,2775,3468,3419,810.7,-7.9,382,9303,0.00,2.45,0.00,0.000,516,0.000,0.046,2644,1381,3442,3466,3418,0,0,0,0,0,0,14.92,14.33,14.92
$GC,9380,-0.74,-107.1,2644,1381,3468,3419,817.3,-7.8,394,9386,0.00,2.58,0.00,0.000,1030,0.000,0.073,2634,2773,3442,3467,3418,0,0,0,0,0,0,14.36,14.26,14.42
$GC,9745,-0.74,-107.1,2635,2775,3468,3417,845.9,-7.9,404,9745,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2774,3442,3467,3417,0,0,0,0,0,0,14.90,14.90,14.90
$GC,10081,-0.74,-107.1,2634,2774,3466,3415,871.9,-7.9,410,10082,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2772,3440,3465,3415,0,0,0,0,0,0,14.90,14.90,14.90
$GC,10417,-0.74,-107.1,2634,2775,3465,3415,899.1,-8.1,416,10422,0.00,2.50,0.00,0.000,516,0.000,0.047,2634,1376,3439,3464,3415,0,0,0,0,0,0,14.89,14.32,14.89
$GC,10451,-0.74,-107.1,2634,1375,3464,3416,902.1,-5.8,421,10459,0.10,2.60,0.00,0.000,3110,0.223,0.073,2653,2771,3440,3464,3417,0,0,0,0,0,0,14.03,14.26,14.21
$GC,10809,-0.74,-107.1,2653,2772,3465,3413,929.8,-7.7,430,10810,0.00,0.00,0.00,0.000,38,0.000,0.000,2653,2771,3438,3464,3413,0,0,0,0,0,0,14.87,14.88,14.88
$STATE,10862,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10862,begin apogee
$GC,10869,-0.23,0.0,2654,2241,3464,3413,934.2,-7.8,431,10980,0.57,0.00,109.03,1.939,10244,0.168,0.000,2824,2241,3050,3091,3009,0,0,0,0,0,0,14.16,14.01,13.18
$STATE,10981,end apogee,CONTROL_FINISHED_OK
$STATE,10981,begin climb
$GC,10984,0.93,107.1,2825,2241,3089,3004,938.8,0.0,433,11111,1.12,2.50,115.72,1.910,10756,0.093,0.060,3188,864,2616,2677,2556,0,0,0,0,0,0,13.98,14.01,12.99
$GC,11145,0.82,136.2,3187,864,2677,2548,934.0,6.3,457,11182,0.00,2.58,32.12,1.972,9382,0.000,0.056,3188,2255,2507,2578,2437,0,0,0,0,0,0,13.95,13.89,13.00
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$STATE,23079,end climb,SURFACE_DEPTH_REACHED
$STATE,23079,begin surface coast
$FINISH,-0.5,1.020793
$STATE,23109,end surface coast,CONTROL_FINISHED_OK
$STATE,23109,begin surface
$SM_CCo,23129,46.55,0.158,0,0,1057,500.14
$SM_GC,-2.80,9.02,0.98,46.55,0.069,0.087,0.158,189,2777,1057,-8.39,-0.37,500.14,0,0,0,0,0,0,14.54,14.40,14.31
$IRIDIUM_FIX,1013.59,-12500.42,051116,214315
$TT8_MAMPS,0.035203,0.38948
$HUMID,52.24
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.30
$XPDR_PINGS,1
$SC_FREEKB,3800672
$PM_FREEKB,56635968
$24V_AH,12.76,106.775
$10V_AH,12.81,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.500,188.725,434.850,46.550,0.000,0.000,0.000,377.575,0.250,0.000,7.029,0.000,19905.035,833.062,2691.909,360.408,0.000,2035.163,0.000,1726.863,0.000,0.840,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23165.000,23114.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.494,2.420,0.000,0.000
$MEM,334760
$DATA_FILE_SIZE,33277,964
$CAP_FILE_SIZE,166950,0
$CFSIZE,1024409600,964345856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.007,64.63,1
$GPS,061116,105501,1014.143,-12504.725,24,0.8,24,9.1,0.3,0.9,11,3.3