version: 66.13
glider: 220
mission: 6
dive: 354
start: 11 25 116 9 48 10
data:
$ID,220
$MISSION,6
$DIVE,354
$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,65
$R_STBD_OVSHOOT,26
$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
$GPS1,251116,093639,945.1629,-12502.0557,27,0.8,35,9.0,0.8,357.5,11,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.17
$_SM_ANGLEo,-70.3
$GPS2,251116,094747,945.4025,-12502.0283,2,0.9,3,9.0,0.7,50.0,9,8.7
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,160.2,9107,-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,14,-0.93,-107.1,107,2751,1104,1014,0.0,0.0,0,92,0.00,0.00,-77.35,0.000,16390,0.000,0.000,106,2751,3478,3470,3487,0,0,0,0,0,0,14.67,12.62,14.66
$GC,95,-0.93,-107.1,108,2751,3471,3488,-0.8,-4.2,2,115,11.90,2.33,0.00,0.000,2564,0.384,0.036,2590,1378,3479,3472,3486,0,0,0,0,0,0,13.99,14.36,14.37
$GC,163,-0.68,-107.1,2590,1377,3474,3488,31.0,-22.8,13,172,0.35,2.53,0.00,0.000,3206,0.240,0.070,2675,2767,3477,3468,3487,0,0,0,0,0,0,14.07,14.30,14.27
$GC,478,-0.68,-107.1,2675,2767,3479,3483,70.1,-9.9,25,485,0.00,2.35,0.00,0.000,516,0.000,0.041,2675,1381,3482,3477,3487,0,0,0,0,0,0,14.84,14.47,14.85
$GC,499,-0.68,-107.1,2675,1381,3479,3488,71.7,-8.3,28,506,0.00,2.45,0.00,0.000,1030,0.000,0.066,2665,2757,3482,3478,3487,0,0,0,0,0,0,14.46,14.38,14.50
$GC,815,-0.68,-107.1,2665,2758,3481,3487,97.7,-7.3,40,820,0.00,2.00,0.00,0.000,292,0.000,0.107,2661,3823,3483,3480,3487,0,0,0,0,0,0,14.89,14.34,14.89
$GC,982,-0.68,-107.1,2657,3823,3480,3488,112.5,-9.3,64,988,0.00,1.77,0.00,0.000,1030,0.000,0.039,2656,2754,3483,3479,3487,0,0,0,0,0,0,14.64,14.61,14.65
$GC,1319,-0.68,-107.1,2657,2756,3481,3486,141.4,-8.5,77,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2755,3482,3479,3486,0,0,0,0,0,0,14.93,14.93,14.94
$GC,1654,-0.68,-107.1,2657,2755,3481,3482,171.7,-9.1,83,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2754,3481,3479,3483,0,0,0,0,0,0,14.95,14.94,14.95
$GC,1990,-0.68,-107.1,2657,2756,3487,3477,201.5,-8.9,89,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2754,3478,3479,3478,0,0,0,0,0,0,14.96,14.96,14.96
$GC,2326,-0.68,-107.1,2654,2754,3480,3474,233.1,-9.5,95,2332,0.00,2.35,0.00,0.000,516,0.000,0.044,2656,1390,3476,3480,3473,0,0,0,0,0,0,14.96,14.53,14.96
$GC,2353,-0.68,-107.1,2657,1392,3481,3473,235.8,-9.5,99,2360,0.10,2.47,0.00,0.000,3078,0.210,0.067,2677,2760,3476,3480,3473,0,0,0,0,0,0,14.29,14.45,14.45
$GC,2718,-0.68,-107.1,2678,2761,3480,3469,265.3,-8.0,109,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2764,3474,3479,3469,0,0,0,0,0,0,14.95,14.95,14.95
$GC,3054,-0.68,-107.1,2677,2760,3480,3463,291.2,-7.6,115,3055,0.00,0.00,0.00,0.000,38,0.000,0.000,2677,2760,3471,3479,3463,0,0,0,0,0,0,14.95,14.95,14.95
$GC,3390,-0.68,-107.1,2678,2760,3480,3461,316.2,-7.5,121,3397,0.00,2.35,0.00,0.000,548,0.000,0.043,2677,1386,3469,3479,3459,0,0,0,0,0,0,14.95,14.56,14.95
$GC,3460,-0.77,-107.1,2678,1385,3480,3459,321.5,-7.5,131,3466,0.00,2.47,0.00,0.000,1190,0.000,0.067,2668,2763,3468,3479,3458,0,0,0,0,0,0,14.54,14.45,14.58
$GC,3782,-0.77,-107.1,2669,2763,3480,3455,347.6,-8.2,142,3788,0.00,2.35,0.00,0.000,516,0.000,0.043,2668,1386,3466,3479,3454,0,0,0,0,0,0,14.95,14.54,14.95
$GC,3809,-0.77,-107.1,2668,1387,3480,3452,350.0,-8.8,146,3816,0.00,2.50,0.00,0.000,1030,0.000,0.068,2659,2762,3466,3479,3453,0,0,0,0,0,0,14.54,14.43,14.58
$GC,4174,-0.77,-107.1,2658,2762,3478,3452,383.2,-9.1,156,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2761,3464,3479,3450,0,0,0,0,0,0,14.97,14.97,14.97
$GC,4510,-0.77,-107.1,2660,2762,3479,3448,410.9,-8.0,162,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2762,3463,3479,3447,0,0,0,0,0,0,14.95,14.95,14.95
$GC,4847,-0.77,-107.1,2660,2762,3480,3445,435.1,-7.1,168,4852,0.00,2.38,0.00,0.000,548,0.000,0.044,2659,1379,3461,3479,3444,0,0,0,0,0,0,14.95,14.54,14.94
$GC,4888,-0.77,-107.1,2659,1382,3480,3443,438.1,-7.0,174,4894,0.00,2.50,0.00,0.000,1062,0.000,0.068,2650,2746,3461,3479,3443,0,0,0,0,0,0,14.48,14.38,14.54
$GC,5239,-0.77,-107.1,2651,2746,3480,3441,463.4,-7.2,182,5239,0.00,0.00,0.00,0.000,38,0.000,0.000,2651,2746,3459,3479,3440,0,0,0,0,0,0,14.94,14.94,14.94
$GC,5574,-0.77,-107.1,2648,2747,3479,3437,489.2,-7.8,188,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2747,3458,3479,3437,0,0,0,0,0,0,14.97,14.97,14.97
$GC,5910,-0.77,-107.1,2651,2746,3479,3436,516.4,-8.1,194,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2746,3457,3479,3435,0,0,0,0,0,0,14.95,14.95,14.95
$GC,6247,-0.77,-107.1,2651,2747,3479,3432,544.0,-8.2,200,6247,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2747,3455,3478,3432,0,0,0,0,0,0,14.96,14.96,14.97
$GC,6582,-0.77,-107.1,2651,2748,3480,3429,571.8,-8.3,206,6588,0.00,2.40,0.00,0.000,516,0.000,0.045,2650,1373,3454,3479,3429,0,0,0,0,0,0,14.94,14.50,14.94
$GC,6658,-0.77,-107.1,2650,1374,3477,3428,578.2,-8.2,217,6666,0.00,2.53,0.00,0.000,1030,0.000,0.068,2640,2765,3453,3479,3428,0,0,0,0,0,0,14.48,14.38,14.53
$GC,6975,-0.77,-107.1,2642,2765,3477,3429,602.9,-7.8,227,6980,0.00,2.38,0.00,0.000,516,0.000,0.044,2641,1384,3452,3477,3428,0,0,0,0,0,0,14.93,14.50,14.93
$GC,7016,-0.77,-107.1,2641,1385,3477,3428,606.1,-7.6,233,7023,0.00,2.50,0.00,0.000,1062,0.000,0.068,2632,2749,3451,3476,3427,0,0,0,0,0,0,14.45,14.35,14.50
$GC,7367,-0.77,-107.1,2632,2749,3474,3426,631.9,-7.2,241,7367,0.00,0.00,0.00,0.000,38,0.000,0.000,2632,2748,3450,3473,3427,0,0,0,0,0,0,14.92,14.92,14.92
$GC,7702,-0.77,-107.1,2632,2749,3472,3428,655.4,-7.0,247,7708,0.00,2.35,0.00,0.000,548,0.000,0.044,2631,1389,3449,3471,3427,0,0,0,0,0,0,14.93,14.46,14.93
$GC,7744,-0.77,-107.1,2631,1390,3472,3427,658.5,-7.4,253,7751,0.00,2.47,0.00,0.000,1062,0.000,0.067,2622,2752,3448,3471,3426,0,0,0,0,0,0,14.43,14.34,14.48
$GC,8094,-0.77,-107.1,2622,2752,3468,3426,686.2,-8.1,261,8101,0.00,2.05,0.00,0.000,260,0.000,0.114,2614,3817,3448,3471,3425,0,0,0,0,0,0,14.92,14.21,14.92
$GC,8164,-0.77,-107.1,2614,3818,3472,3425,692.4,-9.1,271,8170,0.10,1.80,0.00,0.000,3078,0.216,0.043,2643,2768,3447,3470,3425,0,0,0,0,0,0,14.19,14.59,14.33
$GC,8486,-0.77,-107.1,2644,2767,3471,3425,718.1,-8.0,282,8492,0.00,2.45,0.00,0.000,516,0.000,0.045,2643,1365,3446,3470,3423,0,0,0,0,0,0,14.94,14.40,14.94
$GC,8555,-0.77,-107.1,2644,1366,3472,3422,724.0,-8.4,292,8562,0.00,2.53,0.00,0.000,1030,0.000,0.066,2634,2748,3446,3470,3422,0,0,0,0,0,0,14.41,14.31,14.47
$GC,8878,-0.77,-107.1,2635,2749,3471,3422,752.2,-8.9,303,8884,0.00,2.08,0.00,0.000,260,0.000,0.114,2625,3821,3446,3470,3422,0,0,0,0,0,0,14.92,14.18,14.91
$GC,8912,-0.77,-107.1,2626,3820,3471,3422,755.4,-9.4,308,8919,0.00,1.88,0.00,0.000,1030,0.000,0.044,2625,2740,3443,3466,3421,0,0,0,0,0,0,14.64,14.58,14.65
$GC,9271,-0.77,-107.1,2626,2741,3469,3422,788.1,-9.1,317,9277,0.00,2.35,0.00,0.000,516,0.000,0.044,2625,1375,3444,3468,3421,0,0,0,0,0,0,14.91,14.44,14.91
$GC,9326,-0.77,-107.1,2625,1376,3469,3420,793.1,-9.0,325,9333,0.10,2.53,0.00,0.000,3078,0.224,0.067,2644,2750,3444,3468,3421,0,0,0,0,0,0,14.02,14.28,14.21
$GC,9662,-0.77,-107.1,2645,2754,3468,3420,820.2,-7.9,338,9668,0.00,2.08,0.00,0.000,260,0.000,0.115,2636,3821,3443,3467,3419,0,0,0,0,0,0,14.90,14.14,14.91
$GC,9696,-0.77,-107.1,2637,3820,3467,3421,823.1,-8.7,343,9703,0.00,1.88,0.00,0.000,1030,0.000,0.044,2636,2742,3442,3466,3419,0,0,0,0,0,0,14.65,14.59,14.66
$GC,10054,-0.77,-107.1,2636,2743,3468,3418,851.6,-8.1,352,10060,0.00,2.40,0.00,0.000,516,0.000,0.044,2635,1375,3442,3467,3418,0,0,0,0,0,0,14.93,14.35,14.93
$GC,10096,-0.77,-107.1,2636,1376,3467,3419,854.9,-7.8,358,10102,0.00,2.53,0.00,0.000,1030,0.000,0.066,2626,2755,3441,3466,3416,0,0,0,0,0,0,14.35,14.26,14.41
$GC,10446,-0.77,-107.1,2626,2756,3467,3416,882.4,-7.8,366,10447,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2755,3441,3466,3417,0,0,0,0,0,0,14.92,14.92,14.93
$GC,10782,-0.77,-107.1,2627,2756,3468,3414,907.3,-7.2,372,10783,0.00,0.00,0.00,0.000,38,0.000,0.000,2626,2755,3440,3467,3414,0,0,0,0,0,0,14.92,14.93,14.93
$STATE,11116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11116,begin apogee
$GC,11123,-0.23,0.0,2627,2221,3467,3413,930.9,-7.0,378,11238,0.68,0.08,112.28,1.963,10244,0.175,0.174,2824,2260,3050,3093,3008,0,0,0,0,0,0,14.11,13.93,13.03
$STATE,11240,end apogee,CONTROL_FINISHED_OK
$STATE,11240,begin climb
$GC,11242,0.93,107.1,2823,2261,3091,3002,933.5,0.0,380,11372,1.10,2.50,118.25,1.953,10756,0.091,0.056,3184,886,2617,2679,2556,0,0,0,0,0,0,13.97,14.01,12.88
$GC,11399,0.80,107.1,3184,886,2678,2545,926.8,8.7,404,11404,0.00,2.45,0.00,0.000,1158,0.000,0.050,3184,2250,2611,2678,2544,0,0,0,0,0,0,14.01,13.92,14.04
$GC,11735,0.67,107.1,3184,2250,2678,2538,897.4,9.0,417,11742,0.22,2.62,0.00,0.000,4484,0.220,0.097,3119,3654,2606,2677,2536,0,0,0,0,0,0,14.16,14.28,14.42
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$STATE,22863,end climb,SURFACE_DEPTH_REACHED
$STATE,22863,begin surface coast
$FINISH,-1.1,1.021097
$STATE,22891,end surface coast,CONTROL_FINISHED_OK
$STATE,22891,begin surface
$SM_CCo,22912,42.03,0.160,0,0,1058,500.14
$SM_GC,-2.93,9.30,0.95,42.03,0.080,0.083,0.160,177,2761,1058,-8.40,-0.85,500.14,0,0,0,0,0,0,14.59,14.38,14.26
$IRIDIUM_FIX,942.94,-12502.75,251116,030802
$TT8_MAMPS,0.03745,0.429926
$HUMID,54.68
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,21.60
$XPDR_PINGS,2
$SC_FREEKB,3773792
$PM_FREEKB,55778112
$24V_AH,12.62,128.954
$10V_AH,12.64,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.625,191.400,447.575,42.025,0.000,0.000,0.000,389.750,0.500,0.000,5.006,0.000,19794.047,824.494,2573.303,415.845,0.000,1991.093,0.000,1617.507,0.000,0.839,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22950.000,22897.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.466,2.417,0.000,0.000
$MEM,334764
$DATA_FILE_SIZE,33300,888
$CAP_FILE_SIZE,161604,0
$CFSIZE,1024409600,953958400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,64.58,1
$GPS,251116,161131,943.687,-12500.859,17,0.8,17,9.0,0.7,42.2,11,3.7