version: 66.13
glider: 220
mission: 6
dive: 426
start: 12 15 116 1 34 22
data:
$ID,220
$MISSION,6
$DIVE,426
$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,52
$R_STBD_OVSHOOT,24
$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
$GPS1,151216,012301,1008.9024,-12508.1357,17,0.9,17,9.0,0.4,320.4,8,5.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.29
$_SM_ANGLEo,-70.2
$GPS2,151216,013359,1009.0689,-12508.2871,2,0.8,2,9.0,1.0,289.8,9,9.9
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,216.7,26309,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-0.93,-107.1,125,2785,1103,1012,0.0,0.0,0,100,0.00,0.00,-78.65,0.000,16390,0.000,0.000,120,2783,3479,3470,3488,0,0,0,0,0,0,14.66,12.51,14.65
$GC,104,-0.93,-107.1,120,2786,3471,3488,6.6,-13.8,3,120,11.73,2.40,0.00,0.000,2564,0.383,0.030,2593,1335,3481,3471,3492,0,0,0,0,0,0,13.96,14.34,14.24
$GC,213,-0.75,-107.1,2593,1337,3474,3483,36.9,-14.3,19,218,0.25,2.58,0.00,0.000,3206,0.239,0.069,2651,2773,3479,3473,3485,0,0,0,0,0,0,14.10,14.31,14.36
$GC,549,-0.75,-107.1,2652,2774,3479,3487,67.6,-8.0,34,554,0.00,2.40,0.00,0.000,516,0.000,0.041,2651,1367,3482,3478,3487,0,0,0,0,0,0,14.82,14.47,14.82
$GC,583,-0.75,-107.1,2651,1365,3479,3488,70.1,-6.8,39,589,0.00,2.50,0.00,0.000,1062,0.000,0.067,2642,2757,3482,3478,3487,0,0,0,0,0,0,14.40,14.29,14.44
$GC,913,-0.75,-107.1,2642,2757,3480,3488,101.9,-9.1,53,918,0.00,2.00,0.00,0.000,260,0.000,0.109,2633,3824,3483,3479,3487,0,0,0,0,0,0,14.86,14.29,14.86
$GC,1025,-0.75,-107.1,2634,3825,3480,3487,113.2,-10.3,69,1030,0.00,1.80,0.00,0.000,1030,0.000,0.039,2633,2726,3482,3479,3486,0,0,0,0,0,0,14.59,14.59,14.59
$GC,1361,-0.75,-107.1,2634,2726,3480,3487,145.9,-9.8,82,1366,0.00,2.25,0.00,0.000,516,0.000,0.041,2637,1398,3482,3479,3486,0,0,0,0,0,0,14.90,14.52,14.90
$GC,1417,-0.75,-107.1,2633,1397,3480,3487,150.9,-8.9,90,1422,0.10,2.42,0.00,0.000,3078,0.237,0.067,2653,2769,3482,3479,3485,0,0,0,0,0,0,14.28,14.43,14.51
$GC,1753,-0.75,-107.1,2653,2770,3480,3481,178.0,-8.1,103,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2769,3480,3479,3481,0,0,0,0,0,0,14.93,14.93,14.93
$GC,2089,-0.75,-107.1,2653,2770,3480,3477,206.8,-8.6,109,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2769,3478,3479,3477,0,0,0,0,0,0,14.92,14.92,14.92
$GC,2425,-0.75,-107.1,2654,2769,3479,3474,234.1,-8.1,115,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2769,3475,3478,3473,0,0,0,0,0,0,14.92,14.92,14.92
$GC,2761,-0.75,-107.1,2653,2769,3479,3470,263.0,-8.7,121,2766,0.00,2.38,0.00,0.000,516,0.000,0.044,2653,1401,3471,3478,3465,0,0,0,0,0,0,14.95,14.52,14.95
$GC,2809,-0.75,-107.1,2652,1401,3479,3470,267.5,-9.2,128,2817,0.00,2.47,0.00,0.000,1030,0.000,0.070,2644,2762,3473,3479,3468,0,0,0,0,0,0,14.43,14.36,14.50
$GC,3153,-0.75,-107.1,2645,2762,3479,3464,300.6,-9.7,135,3158,0.00,2.05,0.00,0.000,260,0.000,0.115,2635,3831,3471,3479,3463,0,0,0,0,0,0,14.92,14.27,14.92
$GC,3222,-0.75,-107.1,2635,3832,3480,3463,307.5,-9.8,145,3228,0.00,1.77,0.00,0.000,1030,0.000,0.044,2635,2790,3470,3478,3462,0,0,0,0,0,0,14.64,14.61,14.64
$GC,3545,-0.75,-107.1,2644,2791,3480,3460,338.7,-9.7,156,3551,0.00,2.42,0.00,0.000,516,0.000,0.044,2635,1369,3469,3479,3460,0,0,0,0,0,0,14.92,14.52,14.92
$GC,3621,-0.75,-107.1,2635,1375,3480,3458,345.7,-8.9,167,3627,0.10,2.53,0.00,0.000,3078,0.208,0.067,2655,2771,3467,3476,3458,0,0,0,0,0,0,14.20,14.38,14.36
$GC,3937,-0.75,-107.1,2654,2771,3479,3457,368.7,-7.2,177,3942,0.00,2.42,0.00,0.000,548,0.000,0.044,2656,1371,3467,3479,3455,0,0,0,0,0,0,14.92,14.51,14.92
$GC,3985,-0.75,-107.1,2656,1369,3483,3456,372.2,-7.0,184,3993,0.00,2.55,0.00,0.000,1062,0.000,0.069,2646,2757,3466,3479,3454,0,0,0,0,0,0,14.45,14.35,14.49
$GC,4329,-0.75,-107.1,2644,2758,3480,3451,399.4,-8.2,191,4334,0.00,2.03,0.00,0.000,260,0.000,0.113,2638,3834,3465,3479,3452,0,0,0,0,0,0,14.92,14.27,14.92
$GC,4370,-0.75,-107.1,2638,3835,3480,3452,403.2,-9.5,197,4376,0.00,1.83,0.00,0.000,1030,0.000,0.042,2637,2766,3465,3479,3451,0,0,0,0,0,0,14.63,14.60,14.64
$GC,4721,-0.75,-107.1,2638,2766,3479,3450,436.2,-9.4,205,4726,0.00,2.40,0.00,0.000,516,0.000,0.044,2637,1368,3463,3478,3448,0,0,0,0,0,0,14.94,14.49,14.94
$GC,4769,-0.75,-107.1,2639,1369,3479,3449,440.8,-9.2,212,4777,0.08,2.55,0.00,0.000,3078,0.223,0.068,2654,2761,3463,3478,3448,0,0,0,0,0,0,14.16,14.33,14.31
$GC,5113,-0.75,-107.1,2651,2759,3479,3446,468.8,-8.0,219,5118,0.00,2.40,0.00,0.000,516,0.000,0.043,2650,1373,3461,3478,3445,0,0,0,0,0,0,14.91,14.49,14.91
$GC,5169,-0.75,-107.1,2650,1374,3480,3444,473.3,-8.0,227,5174,0.00,2.50,0.00,0.000,1030,0.000,0.067,2641,2767,3461,3478,3444,0,0,0,0,0,0,14.55,14.38,14.58
$GC,5505,-0.75,-107.1,2641,2767,3479,3443,501.4,-8.4,240,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2767,3459,3478,3441,0,0,0,0,0,0,14.91,14.91,14.90
$GC,5841,-0.75,-107.1,2641,2768,3480,3439,531.0,-8.7,246,5846,0.00,2.45,0.00,0.000,516,0.000,0.044,2640,1369,3458,3478,3439,0,0,0,0,0,0,14.92,14.47,14.92
$GC,5897,-0.75,-107.1,2639,1370,3480,3438,535.9,-8.6,254,5902,0.00,2.50,0.00,0.000,1030,0.000,0.068,2631,2761,3456,3475,3438,0,0,0,0,0,0,14.54,14.36,14.57
$GC,6233,-0.75,-107.1,2639,2761,3479,3437,564.9,-8.6,267,6238,0.00,2.05,0.00,0.000,260,0.000,0.113,2623,3824,3457,3478,3436,0,0,0,0,0,0,14.91,14.20,14.91
$GC,6274,-0.75,-107.1,2623,3824,3479,3436,568.7,-8.9,273,6280,0.10,1.83,0.00,0.000,3078,0.202,0.044,2652,2756,3457,3479,3436,0,0,0,0,0,0,14.21,14.57,14.36
$GC,6625,-0.75,-107.1,2654,2756,3479,3435,593.2,-6.8,281,6630,0.00,2.40,0.00,0.000,548,0.000,0.044,2653,1367,3455,3478,3433,0,0,0,0,0,0,14.90,14.45,14.91
$GC,6708,-0.83,-107.1,2654,1368,3479,3434,599.0,-6.9,293,6714,0.00,2.55,0.00,0.000,1190,0.000,0.068,2644,2773,3456,3478,3434,0,0,0,0,0,0,14.50,14.31,14.54
$GC,7073,-0.83,-107.1,2652,2773,3477,3433,625.1,-7.3,303,7074,0.00,0.00,0.00,0.000,38,0.000,0.000,2644,2774,3454,3477,3431,0,0,0,0,0,0,14.90,14.90,14.90
$GC,7409,-0.83,-107.1,2644,2775,3476,3431,652.1,-8.2,309,7414,0.00,2.45,0.00,0.000,516,0.000,0.043,2643,1370,3453,3474,3432,0,0,0,0,0,0,14.90,14.45,14.90
$GC,7457,-0.83,-107.1,2644,1371,3475,3432,656.3,-8.6,316,7465,0.00,2.55,0.00,0.000,1030,0.000,0.069,2635,2751,3453,3474,3432,0,0,0,0,0,0,14.38,14.24,14.42
$GC,7801,-0.83,-107.1,2633,2751,3473,3431,685.5,-8.5,323,7801,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2750,3451,3472,3431,0,0,0,0,0,0,14.90,14.90,14.90
$GC,8137,-0.83,-107.1,2636,2751,3471,3433,711.6,-7.7,329,8138,0.00,0.00,0.00,0.000,38,0.000,0.000,2635,2751,3450,3470,3431,0,0,0,0,0,0,14.90,14.90,14.90
$GC,8473,-0.83,-107.1,2636,2750,3471,3430,737.6,-7.8,335,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2753,3450,3471,3429,0,0,0,0,0,0,14.92,14.92,14.92
$GC,8809,-0.83,-107.1,2636,2752,3472,3427,764.6,-8.1,341,8810,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2751,3448,3470,3427,0,0,0,0,0,0,14.90,14.90,14.90
$GC,9145,-0.83,-107.1,2636,2752,3472,3425,791.5,-8.0,347,9146,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2750,3447,3470,3425,0,0,0,0,0,0,14.90,14.90,14.90
$GC,9481,-0.83,-107.1,2636,2752,3471,3425,817.7,-7.6,353,9486,0.00,2.45,0.00,0.000,548,0.000,0.045,2635,1374,3447,3469,3425,0,0,0,0,0,0,14.89,14.40,14.90
$GC,9522,-0.83,-107.1,2635,1368,3470,3426,820.9,-7.6,359,9528,0.00,2.58,0.00,0.000,1062,0.000,0.068,2626,2758,3447,3469,3425,0,0,0,0,0,0,14.33,14.23,14.38
$GC,9873,-0.83,-107.1,2627,2758,3468,3426,847.5,-7.6,367,9874,0.00,0.00,0.00,0.000,38,0.000,0.000,2626,2758,3446,3468,3424,0,0,0,0,0,0,14.88,14.88,14.89
$GC,10209,-0.83,-107.1,2626,2758,3467,3424,871.8,-7.2,373,10210,0.00,0.00,0.00,0.000,38,0.000,0.000,2626,2758,3444,3466,3423,0,0,0,0,0,0,14.89,14.88,14.89
$GC,10545,-0.83,-107.1,2626,2759,3467,3426,897.5,-7.8,379,10550,0.00,2.45,0.00,0.000,516,0.000,0.046,2625,1368,3444,3467,3421,0,0,0,0,0,0,14.92,14.36,14.89
$GC,10601,-0.83,-107.1,2626,1368,3467,3422,902.0,-7.9,387,10606,0.00,2.53,0.00,0.000,1030,0.000,0.069,2616,2754,3445,3470,3421,0,0,0,0,0,0,14.43,14.25,14.46
$GC,10937,-0.83,-107.1,2616,2756,3466,3421,929.2,-8.0,400,10937,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2755,3442,3465,3420,0,0,0,0,0,0,14.86,14.86,14.85
$STATE,10990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10990,begin apogee
$GC,10997,-0.23,0.0,2616,2227,3465,3422,933.6,-7.9,401,11111,0.70,0.03,110.72,1.960,10244,0.172,0.307,2820,2248,3051,3090,3012,0,0,0,0,0,0,14.05,13.90,12.92
$STATE,11112,end apogee,CONTROL_FINISHED_OK
$STATE,11112,begin climb
$GC,11115,0.93,107.1,2822,2250,3088,3005,937.0,0.0,403,11246,1.12,2.50,117.53,1.959,10756,0.087,0.057,3188,880,2617,2678,2557,0,0,0,0,0,0,13.97,14.00,12.82
$GC,11273,0.81,107.1,3188,880,2678,2551,931.2,8.4,427,11279,0.00,2.50,0.00,0.000,1158,0.000,0.053,3188,2262,2612,2676,2548,0,0,0,0,0,0,14.04,13.97,14.08
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$STATE,22954,end climb,SURFACE_DEPTH_REACHED
$STATE,22954,begin surface coast
$FINISH,-1.0,1.021492
$STATE,22982,end surface coast,CONTROL_FINISHED_OK
$STATE,22982,begin surface
$SM_CCo,23006,43.12,0.158,0,0,1056,500.14
$SM_GC,-1.26,9.12,0.90,43.12,0.070,0.096,0.158,184,2766,1056,-8.39,-0.48,500.14,0,0,0,0,0,0,14.50,14.31,14.19
$IRIDIUM_FIX,1004.83,-12505.26,141216,185619
$TT8_MAMPS,0.038199,0.25466
$HUMID,54.72
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,21.10
$XPDR_PINGS,1
$SC_FREEKB,3746144
$PM_FREEKB,54901056
$24V_AH,12.51,151.449
$10V_AH,12.53,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.325,191.950,462.875,43.125,0.000,0.000,0.000,357.475,0.250,0.000,4.179,0.000,19812.463,809.134,2579.810,490.084,0.000,1958.917,0.000,1649.770,0.000,0.837,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23040.000,22989.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.494,2.428,0.000,0.000
$MEM,334760
$DATA_FILE_SIZE,33339,910
$CAP_FILE_SIZE,166091,0
$CFSIZE,1024409600,943292416
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,23451.27,0x213b74,7,24
$INTR,1,12786.05,0x233bac,1,24
$CURRENT,0.060,276.30,1
$GPS,151216,075931,1007.531,-12510.413,27,0.8,27,9.0,0.3,122.2,11,3.4