version: 66.13
glider: 220
mission: 6
dive: 576
start: 1 19 117 18 59 36
data:
$ID,220
$MISSION,6
$DIVE,576
$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,42
$R_STBD_OVSHOOT,18
$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
$GPS1,190117,184730,1000.3726,-12519.1104,30,0.7,30,9.0,0.3,76.0,12,4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.15
$_SM_ANGLEo,-68.3
$GPS2,190117,185914,1000.3738,-12519.1523,2,0.6,3,9.0,0.4,0.2,12,4.8
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,111.5,50219,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,16,-0.93,-107.1,108,2774,987,871,0.0,0.0,0,101,0.00,0.00,-84.15,0.000,16386,0.000,0.000,107,2773,3377,3361,3394,0,0,0,0,0,0,14.65,28.83,14.65
$GC,105,-0.93,-107.1,108,2775,3363,3394,3.4,-7.9,3,129,12.45,2.80,-1.52,0.000,18948,0.394,2.039,2590,1349,3479,3477,3482,0,0,0,0,0,0,13.81,12.89,14.27
$GC,157,-0.63,-107.1,2590,1350,3480,3482,23.6,-27.0,11,163,0.43,2.62,0.00,0.000,3206,0.266,0.076,2689,2770,3480,3478,3482,0,0,0,0,0,0,14.05,14.30,14.35
$GC,494,-0.63,-107.1,2690,2769,3482,3483,63.0,-8.0,26,498,0.00,2.00,0.00,0.000,260,0.000,0.110,2681,3834,3481,3481,3482,0,0,0,0,0,0,14.81,14.22,14.81
$GC,633,-0.63,-107.1,2682,3835,3483,3483,75.3,-8.5,46,638,0.00,1.80,0.00,0.000,1030,0.000,0.038,2681,2728,3482,3482,3482,0,0,0,0,0,0,14.58,14.53,14.60
$GC,970,-0.63,-107.1,2682,2729,3484,3483,98.7,-6.6,61,975,0.00,2.28,0.00,0.000,548,0.000,0.041,2685,1398,3482,3483,3482,0,0,0,0,0,0,14.85,14.42,14.84
$GC,1018,-0.63,-107.1,2682,1396,3484,3483,102.1,-6.9,68,1024,0.00,2.50,0.00,0.000,1062,0.000,0.066,2671,2774,3482,3483,3482,0,0,0,0,0,0,14.48,14.30,14.52
$GC,1362,-0.63,-107.1,2673,2775,3484,3482,128.1,-7.8,75,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2780,3482,3483,3482,0,0,0,0,0,0,14.85,14.85,14.85
$GC,1697,-0.63,-107.1,2670,2775,3484,3479,154.2,-7.7,81,1698,0.00,0.00,0.00,0.000,38,0.000,0.000,2672,2773,3481,3484,3479,0,0,0,0,0,0,14.88,14.88,14.88
$GC,2034,-0.63,-107.1,2672,2775,3484,3476,181.0,-8.0,87,2039,0.00,2.42,0.00,0.000,516,0.000,0.041,2672,1383,3481,3486,3476,0,0,0,0,0,0,14.87,14.45,14.88
$GC,2075,-0.73,-107.1,2673,1384,3485,3475,184.3,-8.0,93,2081,0.00,2.50,0.00,0.000,1158,0.000,0.066,2662,2778,3477,3479,3475,0,0,0,0,0,0,14.52,14.34,14.54
$GC,2426,-0.73,-107.1,2663,2779,3484,3470,211.2,-7.5,101,2426,0.00,0.00,0.00,0.000,38,0.000,0.000,2662,2776,3476,3483,3470,0,0,0,0,0,0,14.88,14.88,14.88
$GC,2761,-0.73,-107.1,2662,2779,3484,3467,236.4,-7.5,107,2762,0.00,0.00,0.00,0.000,38,0.000,0.000,2665,2778,3474,3482,3467,0,0,0,0,0,0,14.88,14.88,14.88
$GC,3098,-0.73,-107.1,2663,2777,3483,3464,262.4,-7.8,113,3103,0.00,2.45,0.00,0.000,516,0.000,0.044,2662,1386,3472,3483,3462,0,0,0,0,0,0,14.88,14.42,14.88
$GC,3160,-0.82,-107.1,2662,1385,3484,3461,267.4,-7.8,122,3165,0.00,2.55,0.00,0.000,1158,0.000,0.069,2654,2777,3472,3483,3462,0,0,0,0,0,0,14.47,14.29,14.50
$GC,3490,-0.82,-107.1,2654,2776,3483,3460,293.8,-8.0,134,3494,0.00,2.42,0.00,0.000,516,0.000,0.042,2654,1385,3471,3483,3459,0,0,0,0,0,0,14.86,14.41,14.88
$GC,3523,-0.82,-107.1,2654,1385,3482,3459,296.6,-8.1,139,3529,0.00,2.50,0.00,0.000,1030,0.000,0.067,2646,2771,3472,3483,3461,0,0,0,0,0,0,14.46,14.28,14.50
$GC,3881,-0.82,-107.1,2645,2772,3484,3454,325.7,-8.2,148,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2771,3468,3482,3454,0,0,0,0,0,0,14.88,14.87,14.90
$GC,4217,-0.82,-107.1,2645,2772,3484,3452,352.7,-7.9,154,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2771,3467,3483,3452,0,0,0,0,0,0,14.88,14.88,14.88
$GC,4554,-0.82,-107.1,2646,2770,3483,3450,379.1,-7.9,160,4558,0.00,2.42,0.00,0.000,516,0.000,0.042,2645,1386,3465,3482,3449,0,0,0,0,0,0,14.87,14.39,14.87
$GC,4629,-0.82,-107.1,2645,1385,3483,3450,385.5,-8.3,171,4635,0.00,2.50,0.00,0.000,1030,0.000,0.068,2636,2768,3465,3483,3448,0,0,0,0,0,0,14.45,14.27,14.51
$GC,4945,-0.82,-107.1,2637,2769,3483,3445,413.2,-8.9,181,4951,0.00,2.00,0.00,0.000,260,0.000,0.111,2629,3829,3463,3482,3445,0,0,0,0,0,0,14.87,14.13,14.87
$GC,4993,-0.82,-107.1,2628,3830,3484,3445,417.8,-9.6,188,5000,0.00,1.80,0.00,0.000,1030,0.000,0.043,2620,2787,3463,3482,3445,0,0,0,0,0,0,14.46,14.43,14.48
$GC,5337,-0.82,-107.1,2627,2788,3483,3443,449.5,-9.2,195,5342,0.00,2.47,0.00,0.000,516,0.000,0.043,2627,1366,3462,3482,3443,0,0,0,0,0,0,14.90,14.38,14.90
$GC,5385,-0.82,-107.1,2627,1367,3484,3440,453.9,-8.8,202,5392,0.00,2.58,0.00,0.000,1030,0.000,0.067,2617,2778,3462,3483,3442,0,0,0,0,0,0,14.40,14.23,14.45
$GC,5729,-0.82,-107.1,2618,2778,3482,3441,484.5,-8.9,209,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2778,3461,3482,3440,0,0,0,0,0,0,14.90,14.90,14.90
$GC,6066,-0.82,-107.1,2618,2779,3484,3436,514.9,-9.0,215,6070,0.00,2.00,0.00,0.000,260,0.000,0.111,2609,3833,3459,3482,3437,0,0,0,0,0,0,14.89,14.12,14.89
$GC,6114,-0.82,-107.1,2610,3833,3482,3438,519.6,-9.8,222,6120,0.00,1.88,0.00,0.000,1030,0.000,0.044,2609,2754,3459,3482,3437,0,0,0,0,0,0,14.43,14.40,14.45
$GC,6458,-0.82,-107.1,2609,2754,3481,3438,553.0,-9.8,229,6463,0.00,2.40,0.00,0.000,516,0.000,0.043,2608,1375,3458,3479,3437,0,0,0,0,0,0,14.89,14.36,14.89
$GC,6484,-0.82,-107.1,2609,1381,3480,3438,555.8,-10.2,233,6491,0.12,2.53,0.00,0.000,3078,0.242,0.067,2634,2770,3458,3479,3437,0,0,0,0,0,0,14.00,14.23,14.27
$GC,6850,-0.82,-107.1,2634,2770,3489,3436,589.2,-9.2,243,6854,0.00,2.00,0.00,0.000,260,0.000,0.112,2626,3829,3457,3478,3436,0,0,0,0,0,0,14.88,14.07,14.88
$GC,6883,-0.82,-107.1,2626,3830,3479,3436,592.5,-9.8,248,6889,0.00,1.85,0.00,0.000,1030,0.000,0.044,2625,2763,3456,3477,3436,0,0,0,0,0,0,14.41,14.40,14.48
$GC,7241,-0.82,-107.1,2626,2764,3476,3436,626.0,-9.4,257,7247,0.00,2.42,0.00,0.000,516,0.000,0.042,2625,1372,3455,3475,3436,0,0,0,0,0,0,14.88,14.33,14.88
$GC,7269,-0.82,-107.1,2625,1373,3479,3436,628.7,-9.6,261,7275,0.00,2.55,0.00,0.000,1030,0.000,0.065,2616,2772,3455,3475,3436,0,0,0,0,0,0,14.38,14.20,14.42
$GC,7633,-0.82,-107.1,2617,2772,3475,3434,663.4,-9.6,271,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2772,3453,3475,3432,0,0,0,0,0,0,14.85,14.85,14.85
$GC,7970,-0.82,-107.1,2616,2773,3474,3431,694.2,-9.1,277,7975,0.00,2.50,0.00,0.000,516,0.000,0.042,2615,1360,3452,3473,3432,0,0,0,0,0,0,14.88,14.31,14.88
$GC,8017,-0.82,-107.1,2616,1360,3474,3433,698.7,-8.9,284,8025,0.08,2.62,0.00,0.000,3078,0.229,0.067,2627,2767,3449,3473,3426,0,0,0,0,0,0,13.85,14.08,14.03
$GC,8361,-0.82,-107.1,2627,2767,3473,3432,726.4,-8.1,291,8362,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2766,3451,3472,3430,0,0,0,0,0,0,14.83,14.85,14.85
$GC,8697,-0.82,-107.1,2627,2768,3473,3430,753.9,-8.2,297,8698,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2767,3450,3471,3430,0,0,0,0,0,0,14.88,14.88,14.88
$GC,9034,-0.82,-107.1,2628,2767,3473,3430,781.1,-8.0,303,9038,0.00,2.47,0.00,0.000,516,0.000,0.043,2627,1370,3449,3470,3428,0,0,0,0,0,0,14.87,14.27,14.87
$GC,9096,-0.82,-107.1,2628,1371,3472,3427,786.4,-8.5,312,9101,0.00,2.58,0.00,0.000,1030,0.000,0.068,2619,2764,3449,3471,3427,0,0,0,0,0,0,14.31,14.12,14.35
$STATE,9310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9310,begin apogee
$GC,9319,-0.23,0.0,2620,2223,3471,3428,804.4,-8.3,322,9433,0.70,0.08,111.65,1.825,10244,0.187,0.174,2819,2263,3051,3089,3014,0,0,0,0,0,0,13.90,13.97,12.97
$STATE,9435,end apogee,CONTROL_FINISHED_OK
$STATE,9435,begin climb
$GC,9439,0.93,107.1,2818,2263,3084,3006,807.5,0.0,324,9567,1.15,2.50,115.88,1.770,10756,0.108,0.054,3183,883,2616,2676,2557,0,0,0,0,0,0,14.02,14.08,12.96
$GC,9665,0.83,119.7,3184,884,2674,2542,799.9,7.1,358,9676,0.00,2.42,4.47,1.560,9382,0.000,0.051,3183,2255,2581,2643,2520,0,0,0,0,0,0,14.35,14.24,12.78
$GC,9987,0.69,119.7,3184,2256,2644,2537,773.9,8.3,369,9994,0.17,2.67,2.38,0.608,12676,0.243,0.097,3130,3653,2574,2634,2515,0,0,0,0,0,0,14.02,14.27,13.02
$GC,10036,0.60,119.7,3131,3654,2637,2531,769.8,8.2,376,10043,0.17,2.42,0.00,0.000,5254,0.239,0.040,3094,2246,2583,2636,2531,0,0,0,0,0,0,14.08,14.40,14.36
$GC,10380,0.64,157.7,3095,2247,2638,2533,749.3,5.8,383,10434,0.00,0.00,51.03,1.777,8230,0.000,0.000,3095,2246,2416,2486,2346,0,0,0,0,0,0,14.81,14.17,13.22
$GC,10772,0.68,189.8,3095,2246,2484,2328,725.1,6.1,390,10812,0.00,2.67,34.95,1.780,8484,0.000,0.098,3094,3653,2287,2367,2207,0,0,0,0,0,0,14.72,14.04,13.28
$GC,10861,0.69,194.3,3095,3653,2364,2202,719.0,7.5,403,10867,0.00,2.42,0.00,0.000,1062,0.000,0.040,3107,2253,2279,2363,2195,0,0,0,0,0,0,14.42,14.35,14.44
$GC,11220,0.70,205.1,3103,2250,2365,2188,693.7,7.2,412,11235,0.00,0.00,14.68,1.866,8230,0.000,0.000,3104,2249,2234,2322,2146,0,0,0,0,0,0,14.74,14.32,13.29
$GC,11556,0.70,205.1,3104,2249,2314,2128,667.2,8.0,418,11560,0.00,2.65,0.00,0.000,260,0.000,0.102,3104,3649,2220,2314,2126,0,0,0,0,0,0,14.75,14.19,14.75
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$STATE,19643,end climb,SURFACE_DEPTH_REACHED
$STATE,19643,begin surface coast
$FINISH,1.1,1.021993
$STATE,19651,end surface coast,CONTROL_FINISHED_OK
$STATE,19651,begin surface
$SM_CCo,19677,47.50,0.154,0,0,1057,500.14
$SM_GC,-1.61,9.30,3.42,47.50,0.084,0.062,0.154,181,2758,1057,-8.41,-0.82,500.14,0,0,0,0,0,0,14.46,14.20,14.14
$IRIDIUM_FIX,958.26,-12516.21,190117,135730
$TT8_MAMPS,0.038199,0.451647
$HUMID,56.89
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,22.10
$XPDR_PINGS,6
$SC_FREEKB,3688544
$PM_FREEKB,53222720
$24V_AH,12.78,200.819
$10V_AH,12.54,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.250,173.000,454.200,47.500,0.000,0.000,0.000,365.875,1.500,0.000,4.912,0.000,16861.686,769.910,2220.884,560.300,0.000,1810.870,0.000,1368.159,0.000,0.838,0.000
$DEVICE_MAMPS,393.975,2039.490,1865.835,153.765,0.000,0.000,0.000,172.890,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19709.000,19662.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.684,2.441,0.000,0.000
$MEM,334712
$DATA_FILE_SIZE,26763,745
$CAP_FILE_SIZE,139719,0
$CFSIZE,1024409600,921337856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042,45.89,1
$GPS,200117,002930,959.919,-12517.195,35,1.0,35,9.0,0.1,0.0,11,6.2