version: 66.13
glider: 220
mission: 6
dive: 497
start: 1 1 117 14 5 25
data:
$ID,220
$MISSION,6
$DIVE,497
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,800
$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,345
$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,45
$R_STBD_OVSHOOT,12
$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
$GPS1,010117,135330,953.0469,-12448.2920,33,0.8,33,9.0,1.8,94.1,10,3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.66
$_SM_ANGLEo,-69.6
$GPS2,010117,140504,953.2109,-12448.1104,2,0.8,3,9.0,1.2,5.3,10,4.4
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,37.3,18580,-17.5,-7.729,-24.20,2052
$D_GRID,800
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.93,-107.1,106,2758,1103,1015,0.0,0.0,0,101,0.00,0.00,-80.32,0.000,16390,0.000,0.000,105,2759,3479,3470,3488,0,0,0,0,0,0,14.66,13.07,14.64
$GC,105,-0.93,-107.1,105,2760,3470,3489,4.6,-12.7,3,122,11.80,1.95,0.00,0.000,2308,0.379,0.086,2582,3837,3479,3471,3488,0,0,0,0,0,0,14.00,14.33,14.26
$GC,354,-0.73,-107.1,2583,3836,3474,3490,61.6,-12.1,39,359,0.28,1.80,0.00,0.000,3206,0.226,0.037,2659,2717,3481,3474,3488,0,0,0,0,0,0,14.10,14.51,14.37
$GC,690,-0.73,-107.1,2659,2716,3478,3489,88.8,-7.6,54,695,0.00,2.10,0.00,0.000,292,0.000,0.106,2651,3832,3483,3478,3488,0,0,0,0,0,0,14.85,14.27,14.85
$GC,927,-0.73,-107.1,2651,3832,3478,3489,111.7,-10.3,88,933,0.00,1.75,0.00,0.000,1030,0.000,0.038,2650,2772,3483,3478,3489,0,0,0,0,0,0,14.59,14.57,14.60
$GC,1250,-0.73,-107.1,2651,2770,3479,3486,139.3,-8.2,99,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2772,3482,3478,3487,0,0,0,0,0,0,14.89,14.90,14.89
$GC,1586,-0.73,-107.1,2651,2772,3478,3481,165.8,-7.9,105,1592,0.00,2.33,0.00,0.000,516,0.000,0.041,2650,1397,3479,3478,3480,0,0,0,0,0,0,14.90,14.49,14.90
$GC,1613,-0.73,-107.1,2652,1396,3478,3485,168.1,-8.5,109,1620,0.00,2.50,0.00,0.000,1030,0.000,0.065,2641,2776,3480,3478,3483,0,0,0,0,0,0,14.38,14.29,14.43
$GC,1978,-0.73,-107.1,2641,2779,3479,3479,200.4,-8.9,119,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2778,3478,3477,3479,0,0,0,0,0,0,14.90,14.90,14.90
$GC,2314,-0.73,-107.1,2642,2778,3478,3475,228.7,-8.3,125,2320,0.00,1.98,0.00,0.000,260,0.000,0.111,2633,3828,3475,3477,3474,0,0,0,0,0,0,14.91,14.25,14.91
$GC,2348,-0.73,-107.1,2633,3829,3477,3475,231.7,-8.8,130,2354,0.08,1.77,0.00,0.000,3078,0.194,0.041,2656,2790,3475,3477,3473,0,0,0,0,0,0,14.24,14.56,14.38
$GC,2706,-0.73,-107.1,2657,2791,3478,3469,260.6,-8.2,139,2711,0.00,2.45,0.00,0.000,516,0.000,0.041,2657,1367,3473,3478,3469,0,0,0,0,0,0,14.90,14.47,14.91
$GC,2782,-0.81,-107.1,2661,1367,3478,3469,267.1,-8.4,150,2788,0.00,2.58,0.00,0.000,1158,0.000,0.067,2655,2775,3473,3478,3468,0,0,0,0,0,0,14.40,14.30,14.45
$GC,3098,-0.81,-107.1,2649,2775,3478,3464,293.8,-8.4,160,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2775,3470,3478,3463,0,0,0,0,0,0,14.93,14.93,14.92
$GC,3434,-0.81,-107.1,2648,2776,3479,3461,322.0,-8.4,166,3439,0.00,2.45,0.00,0.000,516,0.000,0.042,2648,1368,3468,3477,3460,0,0,0,0,0,0,14.97,14.46,14.93
$GC,3461,-0.81,-107.1,2648,1367,3478,3461,324.4,-8.7,170,3467,0.00,2.55,0.00,0.000,1030,0.000,0.066,2639,2770,3468,3477,3459,0,0,0,0,0,0,14.39,14.31,14.44
$GC,3826,-0.81,-107.1,2639,2771,3478,3450,356.0,-8.7,180,3831,0.00,2.42,0.00,0.000,516,0.000,0.042,2638,1374,3466,3477,3455,0,0,0,0,0,0,14.92,14.46,14.92
$GC,3867,-0.81,-107.1,2641,1374,3478,3457,359.7,-8.7,186,3873,0.00,2.53,0.00,0.000,1030,0.000,0.065,2629,2763,3466,3477,3455,0,0,0,0,0,0,14.39,14.30,14.43
$GC,4218,-0.81,-107.1,2630,2763,3479,3451,391.4,-9.1,194,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2761,3464,3477,3452,0,0,0,0,0,0,14.90,14.90,14.90
$GC,4554,-0.81,-107.1,2630,2764,3479,3447,422.8,-9.4,200,4559,0.00,2.00,0.00,0.000,260,0.000,0.112,2621,3824,3463,3477,3449,0,0,0,0,0,0,14.90,14.23,14.90
$GC,4588,-0.81,-107.1,2621,3825,3477,3449,426.1,-9.7,205,4595,0.00,1.83,0.00,0.000,1030,0.000,0.044,2615,2757,3462,3476,3449,0,0,0,0,0,0,14.54,14.52,14.56
$GC,4946,-0.81,-107.1,2621,2757,3478,3446,458.7,-9.1,214,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2758,3461,3478,3445,0,0,0,0,0,0,14.90,14.90,14.90
$GC,5282,-0.81,-107.1,2620,2759,3478,3443,490.3,-9.5,220,5287,0.00,2.08,0.00,0.000,260,0.000,0.111,2613,3839,3460,3477,3443,0,0,0,0,0,0,14.90,14.18,14.90
$GC,5309,-0.81,-107.1,2614,3839,3477,3444,493.0,-9.7,224,5315,0.00,1.85,0.00,0.000,1030,0.000,0.043,2612,2761,3460,3477,3443,0,0,0,0,0,0,14.54,14.51,14.56
$GC,5674,-0.81,-107.1,2613,2762,3478,3439,528.4,-9.7,234,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2761,3458,3477,3439,0,0,0,0,0,0,14.89,14.90,14.89
$GC,6010,-0.81,-107.1,2613,2757,3478,3437,559.7,-9.3,240,6015,0.00,2.03,0.00,0.000,260,0.000,0.111,2604,3818,3456,3476,3437,0,0,0,0,0,0,14.90,14.16,14.90
$GC,6072,-0.81,-107.1,2605,3818,3477,3437,565.8,-9.6,249,6079,0.10,1.80,0.00,0.000,3078,0.207,0.044,2633,2774,3456,3477,3436,0,0,0,0,0,0,14.11,14.50,14.27
$GC,6402,-0.81,-107.1,2634,2774,3478,3435,593.7,-8.5,261,6407,0.00,2.42,0.00,0.000,516,0.000,0.043,2634,1372,3455,3477,3433,0,0,0,0,0,0,14.88,14.40,14.88
$GC,6458,-0.81,-107.1,2634,1373,3478,3432,598.6,-8.7,269,6464,0.00,2.53,0.00,0.000,1030,0.000,0.064,2625,2772,3454,3477,3431,0,0,0,0,0,0,14.46,14.29,14.50
$GC,6794,-0.81,-107.1,2625,2772,3478,3431,629.0,-9.1,282,6795,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2771,3454,3477,3431,0,0,0,0,0,0,14.88,14.88,14.88
$GC,7130,-0.81,-107.1,2625,2772,3478,3428,658.2,-8.6,288,7131,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2771,3453,3477,3429,0,0,0,0,0,0,14.89,14.89,14.88
$GC,7466,-0.81,-107.1,2625,2772,3475,3428,687.0,-8.6,294,7471,0.00,2.45,0.00,0.000,516,0.000,0.042,2624,1374,3450,3473,3428,0,0,0,0,0,0,14.91,14.40,14.92
$GC,7507,-0.81,-107.1,2624,1376,3474,3428,690.6,-8.5,300,7513,0.00,2.55,0.00,0.000,1030,0.000,0.065,2615,2759,3450,3473,3428,0,0,0,0,0,0,14.31,14.22,14.35
$GC,7858,-0.81,-107.1,2615,2760,3472,3428,720.6,-8.5,308,7863,0.00,2.03,0.00,0.000,260,0.000,0.112,2607,3828,3449,3471,3428,0,0,0,0,0,0,14.91,14.13,14.91
$GC,7906,-0.81,-107.1,2608,3828,3471,3429,725.0,-9.3,315,7913,0.10,1.85,0.00,0.000,3078,0.199,0.044,2636,2768,3449,3471,3428,0,0,0,0,0,0,14.07,14.45,14.21
$GC,8250,-0.81,-107.1,2637,2769,3471,3427,749.3,-7.0,322,8255,0.00,2.45,0.00,0.000,548,0.000,0.044,2635,1367,3448,3470,3427,0,0,0,0,0,0,14.88,14.35,14.88
$GC,8312,-0.89,-107.1,2637,1364,3472,3427,753.7,-6.8,331,8318,0.00,2.58,0.00,0.000,1190,0.000,0.067,2627,2762,3448,3470,3426,0,0,0,0,0,0,14.27,14.17,14.33
$GC,8642,-0.89,-107.1,2627,2763,3471,3425,777.2,-7.2,343,8643,0.00,0.00,0.00,0.000,38,0.000,0.000,2627,2762,3448,3470,3426,0,0,0,0,0,0,14.87,14.87,14.85
$STATE,8975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8975,begin apogee
$GC,8983,-0.23,0.0,2627,2211,3468,3425,802.4,-7.5,349,9098,0.68,0.10,112.07,1.824,10244,0.164,0.155,2826,2262,3050,3090,3010,0,0,0,0,0,0,14.05,13.97,12.99
$STATE,9100,end apogee,CONTROL_FINISHED_OK
$STATE,9100,begin climb
$GC,9103,0.93,107.1,2828,2268,3086,3001,804.8,0.0,351,9223,1.10,0.00,115.22,1.800,11270,0.079,0.000,3200,2267,2620,2681,2559,0,0,0,0,0,0,14.07,14.31,12.96
$GC,9540,0.77,107.1,3201,2267,2677,2537,777.9,8.4,380,9546,0.17,2.45,0.00,0.000,4740,0.233,0.057,3162,891,2605,2676,2535,0,0,0,0,0,0,14.13,14.32,14.40
$GC,9589,0.71,117.2,3162,892,2678,2535,774.3,7.2,387,9596,0.10,2.42,2.85,0.985,13478,0.210,0.050,3133,2253,2584,2653,2515,0,0,0,0,0,0,14.10,14.31,12.90
$GC,9933,0.75,148.9,3133,2254,2655,2541,752.8,6.1,394,9977,0.00,0.00,42.97,1.810,8230,0.000,0.000,3133,2253,2458,2529,2387,0,0,0,0,0,0,14.80,14.22,13.27
$GC,10269,0.76,158.1,3133,2254,2523,2364,729.0,7.3,400,10280,0.00,2.67,3.30,1.279,8484,0.000,0.099,3133,3649,2427,2498,2357,0,0,0,0,0,0,14.73,14.33,12.90
$GC,10309,0.76,158.1,3134,3649,2499,2368,725.6,8.2,406,10316,0.00,2.40,1.95,0.236,9222,0.000,0.041,3143,2277,2420,2496,2344,0,0,0,0,0,0,14.47,14.43,13.86
$GC,10660,0.76,160.7,3144,2275,2499,2367,699.0,7.6,414,10672,0.00,2.55,3.72,1.490,8740,0.000,0.060,3153,865,2413,2483,2344,0,0,0,0,0,0,14.81,14.39,13.00
$GC,10701,0.77,164.9,3154,865,2483,2358,695.8,7.5,420,10717,0.00,2.45,12.00,1.974,9254,0.000,0.051,3153,2252,2394,2470,2319,0,0,0,0,0,0,14.48,14.40,13.36
$GC,11053,0.77,164.9,3153,2253,2464,2303,666.5,8.5,428,11057,0.00,2.62,0.00,0.000,260,0.000,0.102,3153,3657,2383,2463,2303,0,0,0,0,0,0,14.78,14.26,14.79
$GC,11094,0.67,164.9,3153,3657,2464,2304,662.7,9.1,434,11100,0.15,2.45,0.00,0.000,5254,0.214,0.041,3121,2254,2383,2463,2303,0,0,0,0,0,0,14.10,14.42,14.27
$GC,11445,0.67,168.9,3122,2250,2464,2302,636.4,7.5,442,11450,0.00,2.47,0.00,0.000,548,0.000,0.060,3131,854,2382,2463,2301,0,0,0,0,0,0,14.85,14.36,14.86
$GC,11471,0.68,172.2,3131,855,2464,2301,634.3,7.6,446,11478,0.00,2.47,2.35,0.670,9254,0.000,0.053,3131,2248,2365,2447,2283,0,0,0,0,0,0,14.40,14.32,12.93
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$STATE,19722,end climb,SURFACE_DEPTH_REACHED
$STATE,19722,begin surface coast
$FINISH,-1.6,1.021945
$STATE,19750,end surface coast,CONTROL_FINISHED_OK
$STATE,19750,begin surface
$SM_CCo,19773,50.20,0.154,0,0,1057,500.14
$SM_GC,-2.72,9.38,0.95,50.20,0.085,0.090,0.154,179,2766,1057,-8.39,-0.62,500.14,0,0,0,0,0,0,14.54,14.31,14.17
$IRIDIUM_FIX,945.12,-12450.02,010117,082727
$TT8_MAMPS,0.03745,0.29211
$HUMID,55.86
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,21.10
$XPDR_PINGS,0
$SC_FREEKB,3718912
$PM_FREEKB,54087680
$24V_AH,12.90,175.765
$10V_AH,12.57,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.375,164.200,458.575,50.200,0.000,0.000,0.000,372.600,0.000,0.000,5.343,0.000,16972.166,760.806,2268.683,500.777,0.000,1816.904,0.000,1399.039,0.000,1.161,0.000
$DEVICE_MAMPS,379.440,155.295,1973.700,153.765,0.000,0.000,0.000,173.655,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19809.000,19759.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.572,2.439,0.000,0.000
$MEM,334720
$DATA_FILE_SIZE,26705,765
$CAP_FILE_SIZE,142403,0
$CFSIZE,1024409600,932937728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100,67.57,1
$GPS,010117,193655,954.827,-12445.861,33,0.7,33,9.0,1.1,75.7,12,5.0