version: 66.13
glider: 220
mission: 6
dive: 158
start: 10 2 116 2 42 59
data:
$ID,220
$MISSION,6
$DIVE,158
$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,120
$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,9
$N_NOCOMM,1
$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,63
$R_STBD_OVSHOOT,21
$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,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$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
$GPS1,021016,023056,949.7589,-12507.7842,19,0.7,37,9.0,0.3,357.6,12,3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.66
$_SM_ANGLEo,-73.5
$GPS2,021016,024240,949.9193,-12507.6367,3,0.8,4,9.0,0.9,55.9,12,6.3
$SPEED_LIMITS,0.134,0.179
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,137.1,21743,-16.6,-7.750,-23.43,2225
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.90,-116.8,174,2780,1103,1018,0.0,0.0,0,97,0.00,0.00,-74.95,0.000,16390,0.000,0.000,169,2780,3516,3509,3524,0,0,0,0,0,0,14.66,13.21,14.66
$GC,99,-0.90,-116.8,170,2781,3510,3524,1.2,-5.2,2,116,11.55,1.90,0.00,0.000,2308,0.396,0.075,2594,3833,3517,3511,3524,0,0,0,0,0,0,14.21,14.44,14.49
$GC,345,-0.57,-116.8,2595,3833,3516,3525,83.3,-18.5,38,352,0.40,1.77,0.00,0.000,3206,0.236,0.036,2705,2746,3518,3513,3524,0,0,0,0,0,0,14.30,14.58,14.47
$GC,681,-0.57,-116.8,2705,2749,3520,3524,112.4,-7.0,50,688,0.00,2.00,0.00,0.000,292,0.000,0.100,2697,3821,3520,3520,3521,0,0,0,0,0,0,14.83,14.48,14.83
$GC,855,-0.57,-116.8,2698,3821,3520,3525,126.3,-8.6,75,863,0.00,1.75,0.00,0.000,1030,0.000,0.038,2697,2756,3521,3519,3524,0,0,0,0,0,0,14.73,14.68,14.73
$GC,1185,-0.57,-116.8,2698,2756,3520,3525,150.5,-8.3,87,1193,0.00,2.00,0.00,0.000,260,0.000,0.098,2689,3827,3521,3519,3523,0,0,0,0,0,0,14.88,14.52,14.87
$GC,1268,-0.57,-116.8,2689,3828,3521,3524,158.2,-9.0,99,1276,0.00,1.75,0.00,0.000,1030,0.000,0.040,2688,2770,3521,3520,3523,0,0,0,0,0,0,14.73,14.67,14.73
$GC,1633,-0.57,-116.8,2689,2770,3516,3520,187.8,-7.8,109,1640,0.00,2.33,0.00,0.000,516,0.000,0.042,2688,1398,3519,3520,3519,0,0,0,0,0,0,14.88,14.61,14.88
$GC,1730,-0.57,-116.8,2689,1398,3520,3518,195.5,-7.7,123,1738,0.10,2.45,0.00,0.000,3110,0.219,0.063,2709,2776,3518,3519,3517,0,0,0,0,0,0,14.45,14.58,14.59
$GC,2081,-0.57,-116.8,2708,2777,3519,3510,220.1,-7.1,131,2088,0.00,2.38,0.00,0.000,548,0.000,0.043,2708,1391,3515,3519,3511,0,0,0,0,0,0,14.88,14.61,14.88
$GC,2143,-0.57,-116.8,2709,1392,3520,3511,224.6,-7.1,140,2152,0.00,2.45,0.00,0.000,1062,0.000,0.064,2697,2770,3514,3519,3510,0,0,0,0,0,0,14.66,14.57,14.69
$GC,2473,-0.57,-116.8,2699,2772,3521,3505,248.7,-7.4,152,2481,0.00,2.33,0.00,0.000,548,0.000,0.043,2699,1391,3512,3519,3505,0,0,0,0,0,0,14.88,14.63,14.89
$GC,2529,-0.57,-116.8,2700,1391,3520,3505,252.8,-7.5,160,2543,0.00,2.40,0.00,0.000,1062,0.000,0.066,2690,2766,3511,3519,3504,0,0,0,0,0,0,14.75,14.62,14.77
$GC,2870,-0.57,-116.8,2690,2767,3520,3499,279.1,-7.8,173,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2763,3509,3519,3499,0,0,0,0,0,0,14.94,14.94,14.94
$GC,3206,-0.57,-116.8,2690,2767,3520,3494,304.4,-7.5,179,3219,0.00,0.00,0.00,0.000,38,0.000,0.000,2690,2765,3506,3519,3493,0,0,0,0,0,0,14.95,14.95,14.95
$GC,3542,-0.57,-116.8,2691,2766,3519,3491,330.2,-7.7,185,3555,0.00,2.33,0.00,0.000,548,0.000,0.045,2690,1392,3504,3519,3489,0,0,0,0,0,0,14.97,14.70,14.98
$GC,3603,-0.57,-116.8,2690,1392,3520,3488,334.9,-7.6,193,3616,0.10,2.42,0.00,0.000,3110,0.246,0.067,2709,2764,3503,3519,3488,0,0,0,0,0,0,14.50,14.64,14.75
$GC,3945,-0.65,-116.8,2710,2765,3519,3487,362.8,-9.3,206,3958,0.00,0.00,0.00,0.000,134,0.000,0.000,2712,2764,3501,3518,3485,0,0,0,0,0,0,14.95,14.95,14.95
$GC,4280,-0.73,-116.8,2710,2765,3519,3481,388.3,-7.6,212,4293,0.08,2.33,0.00,0.000,4772,0.148,0.043,2637,1385,3499,3518,3481,0,0,0,0,0,0,14.73,14.69,14.77
$GC,4332,-0.73,-116.8,2638,1386,3519,3480,393.7,-10.2,219,4347,0.12,2.42,0.00,0.000,3078,0.243,0.068,2664,2768,3499,3518,3480,0,0,0,0,0,0,14.49,14.64,14.71
$GC,4676,-0.73,-116.8,2665,2767,3519,3478,426.4,-9.6,226,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2767,3497,3518,3477,0,0,0,0,0,0,14.97,14.97,14.97
$GC,5013,-0.73,-116.8,2664,2767,3519,3475,456.9,-8.9,232,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2767,3496,3518,3474,0,0,0,0,0,0,14.97,14.97,14.97
$GC,5349,-0.73,-116.8,2665,2769,3519,3470,483.6,-7.7,238,5362,0.00,0.00,0.00,0.000,38,0.000,0.000,2664,2767,3494,3518,3470,0,0,0,0,0,0,14.97,14.97,14.97
$GC,5685,-0.73,-116.8,2664,2765,3519,3468,509.7,-7.7,244,5698,0.00,2.35,0.00,0.000,548,0.000,0.047,2664,1383,3493,3518,3468,0,0,0,0,0,0,14.97,14.68,14.97
$GC,5751,-0.73,-116.8,2665,1383,3519,3469,515.2,-8.1,253,5764,0.00,2.42,0.00,0.000,1030,0.000,0.070,2654,2760,3493,3518,3468,0,0,0,0,0,0,14.77,14.62,14.80
$GC,6085,-0.73,-116.8,2654,2758,3519,3466,542.8,-8.3,265,6098,0.00,1.95,0.00,0.000,260,0.000,0.108,2646,3827,3491,3518,3465,0,0,0,0,0,0,14.97,14.57,14.97
$GC,6151,-0.73,-116.8,2646,3828,3518,3465,548.6,-8.6,274,6164,0.00,1.73,0.00,0.000,1030,0.000,0.045,2646,2775,3490,3516,3465,0,0,0,0,0,0,14.81,14.76,14.82
$GC,6485,-0.73,-116.8,2646,2776,3515,3464,577.0,-8.5,286,6498,0.00,2.35,0.00,0.000,516,0.000,0.046,2645,1375,3489,3514,3464,0,0,0,0,0,0,14.97,14.66,14.96
$GC,6593,-0.73,-116.8,2647,1375,3514,3464,586.7,-8.7,301,6607,0.00,2.45,0.00,0.000,1030,0.000,0.068,2637,2760,3488,3514,3463,0,0,0,0,0,0,14.76,14.60,14.75
$GC,6937,-0.73,-116.8,2637,2760,3518,3462,618.4,-9.4,308,6950,0.10,0.00,0.00,0.000,2054,0.257,0.000,2663,2762,3487,3512,3462,0,0,0,0,0,0,14.46,14.74,14.69
$GC,7273,-0.73,-116.8,2662,2760,3513,3461,646.0,-8.2,314,7287,0.00,2.35,0.00,0.000,516,0.000,0.047,2664,1376,3486,3512,3460,0,0,0,0,0,0,14.95,14.66,14.97
$GC,7305,-0.73,-116.8,2666,1377,3513,3460,648.7,-8.1,318,7318,0.00,2.45,0.00,0.000,1030,0.000,0.070,2656,2762,3486,3512,3460,0,0,0,0,0,0,14.75,14.61,14.78
$GC,7673,-0.73,-116.8,2657,2763,3510,3460,677.5,-7.8,328,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2762,3484,3509,3459,0,0,0,0,0,0,14.95,14.95,14.95
$GC,8010,-0.73,-116.8,2656,2764,3509,3457,701.8,-7.1,334,8023,0.00,0.00,0.00,0.000,38,0.000,0.000,2656,2762,3482,3508,3457,0,0,0,0,0,0,14.94,14.94,14.94
$GC,8345,-0.73,-116.8,2657,2762,3509,3456,726.4,-7.3,340,8359,0.00,2.38,0.00,0.000,548,0.000,0.047,2656,1373,3482,3509,3455,0,0,0,0,0,0,14.94,14.64,14.95
$GC,8391,-0.73,-116.8,2656,1373,3509,3453,730.0,-7.7,346,8405,0.00,2.45,0.00,0.000,1062,0.000,0.071,2649,2759,3481,3508,3454,0,0,0,0,0,0,14.78,14.58,14.76
$GC,8746,-0.73,-116.8,2648,2759,3507,3455,757.7,-7.9,354,8759,0.00,1.98,0.00,0.000,260,0.000,0.110,2639,3828,3480,3507,3454,0,0,0,0,0,0,14.94,14.52,14.94
$GC,8833,-0.73,-116.8,2640,3827,3507,3457,764.8,-8.1,366,8846,0.00,1.77,0.00,0.000,1030,0.000,0.046,2639,2750,3480,3506,3454,0,0,0,0,0,0,14.77,14.71,14.79
$GC,9202,-0.73,-116.8,2639,2751,3507,3452,793.1,-7.6,376,9215,0.00,2.33,0.00,0.000,548,0.000,0.047,2639,1373,3479,3506,3452,0,0,0,0,0,0,14.95,14.66,14.95
$GC,9269,-0.73,-116.8,2639,1374,3507,3452,798.5,-8.0,385,9282,0.12,2.45,0.00,0.000,3078,0.253,0.070,2665,2765,3478,3506,3451,0,0,0,0,0,0,14.38,14.55,14.64
$GC,9603,-0.73,-116.8,2667,2766,3507,3451,820.6,-6.7,397,9616,0.00,0.00,0.00,0.000,38,0.000,0.000,2665,2764,3477,3506,3449,0,0,0,0,0,0,14.94,14.95,14.94
$GC,9939,-0.73,-116.8,2665,2766,3506,3450,844.0,-7.0,403,9952,0.00,2.38,0.00,0.000,548,0.000,0.047,2666,1372,3478,3506,3450,0,0,0,0,0,0,14.92,14.62,14.93
$GC,9984,-0.73,-116.8,2666,1373,3505,3449,847.4,-6.2,409,9998,0.00,2.45,0.00,0.000,1062,0.000,0.072,2657,2766,3477,3505,3450,0,0,0,0,0,0,14.72,14.56,14.75
$GC,10339,-0.73,-116.8,2657,2760,3504,3452,875.2,-8.0,417,10353,0.00,2.38,0.00,0.000,516,0.000,0.047,2657,1369,3480,3512,3448,0,0,0,0,0,0,14.93,14.61,14.93
$GC,10406,-0.73,-116.8,2657,1369,3504,3446,880.7,-8.2,426,10419,0.00,2.47,0.00,0.000,1030,0.000,0.073,2649,2755,3475,3503,3448,0,0,0,0,0,0,14.71,14.54,14.74
$GC,10740,-0.73,-116.8,2650,2755,3503,3448,909.0,-8.6,438,10753,0.00,2.00,0.00,0.000,260,0.000,0.114,2641,3830,3475,3503,3447,0,0,0,0,0,0,14.91,14.47,14.92
$GC,10806,-0.73,-116.8,2644,3831,3503,3447,915.0,-7.2,447,10820,0.00,1.80,0.00,0.000,1062,0.000,0.047,2640,2750,3474,3501,3447,0,0,0,0,0,0,14.76,14.70,14.77
$STATE,11026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11026,begin apogee
$GC,11031,-0.23,0.0,2641,2231,3503,3446,934.7,-9.0,457,11158,0.62,0.00,117.43,1.958,10244,0.194,0.000,2822,2229,3049,3094,3004,0,0,0,0,0,0,14.39,14.04,13.32
$STATE,11160,end apogee,CONTROL_FINISHED_OK
$STATE,11160,begin climb
$GC,11162,0.90,116.8,2823,2230,3091,2996,940.0,0.0,459,11300,1.10,0.00,122.57,1.936,11270,0.122,0.000,3171,2229,2580,2647,2514,0,0,0,0,0,0,14.04,14.26,13.19
$GC,11648,0.74,116.8,3171,2230,2647,2495,906.5,8.8,489,11662,0.08,2.70,0.00,0.000,4484,0.286,0.096,3146,3661,2570,2646,2495,0,0,0,0,0,0,14.16,14.31,14.32
$GC,11694,0.56,116.8,3146,3661,2646,2496,902.2,9.5,495,11708,0.28,2.42,0.00,0.000,5254,0.239,0.041,3082,2241,2570,2646,2495,0,0,0,0,0,0,14.20,14.45,14.45
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$STATE,23567,end climb,SURFACE_DEPTH_REACHED
$STATE,23568,begin surface coast
$FINISH,-1.8,1.020223
$STATE,23596,end surface coast,CONTROL_FINISHED_OK
$STATE,23596,begin surface
$SM_CCo,23617,12.57,0.157,0,0,1057,500.14
$SM_GC,-0.97,9.05,0.88,12.57,0.059,0.094,0.157,195,2767,1057,-8.38,-0.59,500.14,0,0,0,0,0,0,14.61,14.54,14.47
$IRIDIUM_FIX,947.31,-12502.75,011016,195128
$TT8_MAMPS,0.036701,0.444906
$HUMID,49.05
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.60
$XPDR_PINGS,2
$SC_FREEKB,3849088
$PM_FREEKB,58193536
$TM_FREEKB,6275360
$24V_AH,13.19,63.017
$10V_AH,13.03,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.423,2.381,16.300,0.000
$MEM,334720
$DATA_FILE_SIZE,33410,961
$CAP_FILE_SIZE,187132,0
$CFSIZE,1024409600,987119616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106,105.68,1
$GPS,021016,091801,947.909,-12504.980,38,1.3,38,9.0,0.3,0.0,6,5.0