version: 66.13
glider: 220
mission: 6
dive: 359
start: 11 26 116 18 29 1
data:
$ID,220
$MISSION,6
$DIVE,359
$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,48
$R_STBD_OVSHOOT,22
$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
$GPS1,261116,181801,945.7722,-12456.0791,33,0.7,33,9.0,1.1,6.0,12,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.14
$_SM_ANGLEo,-70.0
$GPS2,261116,182838,945.9397,-12455.9707,2,0.7,3,9.0,0.6,58.2,12,6.7
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,37.9,38248,-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,-107.1,107,2774,1096,1024,0.0,0.0,0,92,0.00,0.00,-76.57,0.000,16390,0.000,0.000,106,2772,3478,3470,3486,0,0,0,0,0,0,14.68,12.63,14.67
$GC,95,-0.93,-107.1,108,2773,3470,3488,-0.8,-4.1,2,110,11.77,1.95,0.00,0.000,2820,0.382,0.083,2584,3834,3478,3471,3486,0,0,0,0,0,0,14.02,14.34,14.40
$GC,341,-0.63,-107.1,2590,3836,3475,3487,72.4,-17.3,38,346,0.38,1.83,0.00,0.000,3206,0.231,0.041,2687,2751,3480,3474,3487,0,0,0,0,0,0,14.13,14.52,14.32
$GC,677,-0.63,-107.1,2687,2753,3480,3486,-115.2,143.9,53,682,0.00,2.03,0.00,0.000,292,0.000,0.105,2679,3846,3482,3479,3486,0,0,0,0,0,0,14.88,14.37,14.88
$GC,886,-0.63,-107.1,2679,3846,3479,3488,119.5,-7.9,83,893,0.00,1.83,0.00,0.000,1030,0.000,0.041,2679,2753,3482,3479,3486,0,0,0,0,0,0,14.71,14.66,14.72
$GC,1237,-0.63,-107.1,2679,2753,3479,3487,146.9,-7.8,91,1243,0.00,2.33,0.00,0.000,516,0.000,0.044,2683,1396,3482,3478,3486,0,0,0,0,0,0,14.92,14.52,14.92
$GC,1306,-0.63,-107.1,2679,1396,3480,3486,152.5,-8.0,101,1312,0.00,2.42,0.00,0.000,1030,0.000,0.065,2669,2764,3481,3478,3485,0,0,0,0,0,0,14.58,14.46,14.61
$GC,1629,-0.63,-107.1,2669,2766,3478,3481,180.1,-8.6,112,1634,0.00,2.35,0.00,0.000,516,0.000,0.044,2669,1386,3479,3478,3481,0,0,0,0,0,0,14.93,14.56,14.93
$GC,1656,-0.63,-107.1,2669,1386,3479,3482,182.4,-8.3,116,1662,0.10,2.45,0.00,0.000,3078,0.203,0.066,2690,2763,3479,3478,3480,0,0,0,0,0,0,14.31,14.47,14.47
$GC,2021,-0.71,-107.1,2691,2764,3489,3477,209.9,-7.7,126,2026,0.00,2.35,0.00,0.000,676,0.000,0.044,2690,1389,3476,3478,3475,0,0,0,0,0,0,14.92,14.58,14.93
$GC,2062,-0.81,-107.1,2691,1387,3479,3475,213.4,-8.4,132,2068,0.08,2.45,0.00,0.000,5254,0.087,0.067,2619,2762,3475,3477,3474,0,0,0,0,0,0,14.48,14.42,14.54
$GC,2413,-0.81,-107.1,2619,2763,3480,3469,252.0,-11.0,140,2418,0.00,1.98,0.00,0.000,260,0.000,0.106,2612,3817,3473,3478,3469,0,0,0,0,0,0,14.95,14.33,14.96
$GC,2447,-0.81,-107.1,2612,3818,3480,3469,256.0,-11.6,145,2453,0.00,1.77,0.00,0.000,1030,0.000,0.041,2611,2750,3473,3478,3469,0,0,0,0,0,0,14.70,14.69,14.71
$GC,2805,-0.81,-107.1,2612,2750,3478,3464,294.0,-10.6,154,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2750,3470,3478,3462,0,0,0,0,0,0,14.95,14.95,14.95
$GC,3141,-0.81,-107.1,2611,2752,3479,3460,330.0,-10.6,160,3146,0.00,2.05,0.00,0.000,260,0.000,0.105,2602,3824,3468,3477,3459,0,0,0,0,0,0,14.96,14.39,14.97
$GC,3217,-0.81,-107.1,2602,3824,3478,3458,338.4,-10.9,171,3224,0.10,1.80,0.00,0.000,3078,0.216,0.041,2631,2771,3468,3478,3458,0,0,0,0,0,0,14.31,14.69,14.47
$GC,3533,-0.81,-107.1,2631,2773,3479,3454,368.4,-9.5,181,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2772,3466,3478,3454,0,0,0,0,0,0,14.95,14.95,14.95
$GC,3869,-0.81,-107.1,2632,2773,3479,3451,398.0,-8.7,187,3875,0.00,2.42,0.00,0.000,516,0.000,0.043,2632,1379,3464,3478,3450,0,0,0,0,0,0,14.95,14.52,14.95
$GC,3903,-0.81,-107.1,2631,1380,3479,3450,401.0,-8.7,192,3909,0.00,2.47,0.00,0.000,1030,0.000,0.064,2622,2763,3464,3478,3450,0,0,0,0,0,0,14.54,14.45,14.59
$GC,4261,-0.81,-107.1,2622,2764,3479,3445,432.1,-8.9,201,4266,0.00,2.38,0.00,0.000,516,0.000,0.043,2621,1378,3462,3478,3446,0,0,0,0,0,0,14.96,14.54,14.95
$GC,4309,-0.81,-107.1,2621,1379,3479,3445,436.6,-9.0,208,4316,0.00,2.50,0.00,0.000,1030,0.000,0.065,2612,2770,3461,3478,3445,0,0,0,0,0,0,14.52,14.42,14.56
$GC,4653,-0.81,-107.1,2612,2771,3479,3442,469.3,-9.6,215,4654,0.10,0.00,0.00,0.000,2054,0.265,0.000,2640,2770,3460,3478,3442,0,0,0,0,0,0,14.34,14.64,14.57
$GC,4989,-0.81,-107.1,2641,2770,3478,3440,499.5,-9.0,221,4994,0.00,2.40,0.00,0.000,516,0.000,0.044,2640,1375,3458,3478,3438,0,0,0,0,0,0,14.96,14.54,14.96
$GC,5058,-0.81,-107.1,2642,1376,3479,3438,505.9,-9.2,231,5065,0.00,2.53,0.00,0.000,1030,0.000,0.066,2631,2768,3457,3478,3437,0,0,0,0,0,0,14.50,14.40,14.54
$GC,5381,-0.81,-107.1,2631,2770,3478,3437,537.3,-9.9,242,5381,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2770,3457,3478,3436,0,0,0,0,0,0,14.95,14.96,14.96
$GC,5717,-0.81,-107.1,2631,2770,3479,3433,569.5,-9.4,248,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2770,3455,3478,3432,0,0,0,0,0,0,14.96,14.96,14.96
$GC,6053,-0.81,-107.1,2631,2770,3479,3429,600.9,-9.3,254,6058,0.00,2.00,0.00,0.000,260,0.000,0.112,2623,3818,3453,3478,3429,0,0,0,0,0,0,14.93,14.28,14.93
$GC,6087,-0.81,-107.1,2623,3818,3478,3430,604.2,-9.5,259,6094,0.00,1.80,0.00,0.000,1030,0.000,0.043,2622,2768,3452,3477,3428,0,0,0,0,0,0,14.65,14.63,14.66
$GC,6445,-0.81,-107.1,2622,2769,3477,3426,634.3,-8.3,268,6450,0.00,2.40,0.00,0.000,516,0.000,0.044,2621,1365,3451,3476,3426,0,0,0,0,0,0,14.95,14.50,14.95
$GC,6549,-0.81,-107.1,2622,1366,3476,3427,642.9,-8.0,283,6557,0.00,2.50,0.00,0.000,1030,0.000,0.067,2613,2755,3451,3476,3426,0,0,0,0,0,0,14.46,14.36,14.50
$GC,6893,-0.81,-107.1,2613,2755,3472,3436,671.8,-8.5,290,6898,0.00,2.03,0.00,0.000,260,0.000,0.110,2604,3819,3449,3472,3426,0,0,0,0,0,0,14.92,14.26,14.92
$GC,6934,-0.81,-107.1,2604,3820,3473,3426,675.5,-9.2,296,6940,0.10,1.85,0.00,0.000,3078,0.245,0.043,2632,2745,3448,3471,3426,0,0,0,0,0,0,14.27,14.64,14.47
$GC,7285,-0.81,-107.1,2632,2746,3471,3426,703.2,-7.9,304,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2745,3448,3470,3426,0,0,0,0,0,0,14.94,14.94,14.94
$GC,7621,-0.81,-107.1,2633,2749,3470,3424,730.4,-8.1,310,7626,0.00,2.38,0.00,0.000,516,0.000,0.044,2632,1364,3450,3470,3431,0,0,0,0,0,0,14.92,14.45,14.92
$GC,7711,-0.81,-107.1,2633,1365,3471,3422,738.1,-8.3,323,7718,0.00,2.53,0.00,0.000,1030,0.000,0.066,2621,2759,3446,3470,3422,0,0,0,0,0,0,14.44,14.34,14.49
$GC,8069,-0.81,-107.1,2622,2761,3470,3425,768.2,-8.4,332,8070,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2760,3445,3469,3421,0,0,0,0,0,0,14.92,14.92,14.95
$GC,8405,-0.81,-107.1,2623,2760,3469,3421,795.5,-8.0,338,8410,0.00,2.42,0.00,0.000,516,0.000,0.044,2622,1385,3444,3468,3420,0,0,0,0,0,0,14.92,14.39,14.92
$GC,8446,-0.81,-107.1,2622,1385,3467,3421,799.0,-8.5,344,8452,0.00,2.50,0.00,0.000,1030,0.000,0.067,2613,2750,3443,3467,3420,0,0,0,0,0,0,14.42,14.33,14.47
$GC,8797,-0.81,-107.1,2612,2756,3467,3421,823.6,-6.9,352,8798,0.00,0.00,0.00,0.000,38,0.000,0.000,2613,2756,3442,3466,3418,0,0,0,0,0,0,14.91,14.91,14.91
$GC,9133,-0.81,-107.1,2613,2756,3467,3418,853.8,-9.0,358,9138,0.00,2.40,0.00,0.000,516,0.000,0.044,2612,1381,3441,3466,3417,0,0,0,0,0,0,14.91,14.44,14.90
$GC,9181,-0.81,-107.1,2612,1380,3466,3418,858.1,-8.9,365,9189,0.10,2.53,0.00,0.000,3078,0.234,0.067,2631,2757,3440,3465,3416,0,0,0,0,0,0,14.02,14.30,14.21
$GC,9525,-0.81,-107.1,2632,2756,3466,3415,887.0,-8.3,372,9530,0.00,2.05,0.00,0.000,260,0.000,0.112,2623,3822,3440,3466,3414,0,0,0,0,0,0,14.90,14.17,14.90
$GC,9594,-0.81,-107.1,2620,3822,3466,3414,893.2,-9.0,382,9600,0.00,1.85,0.00,0.000,1030,0.000,0.045,2621,2757,3439,3465,3414,0,0,0,0,0,0,14.62,14.56,14.64
$GC,9917,-0.81,-107.1,2623,2757,3466,3414,921.4,-8.8,393,9922,0.00,2.40,0.00,0.000,516,0.000,0.045,2622,1374,3438,3465,3412,0,0,0,0,0,0,14.92,14.39,14.95
$GC,9993,-0.81,-107.1,2622,1376,3466,3412,928.3,-9.0,404,9999,0.00,2.53,0.00,0.000,1030,0.000,0.067,2614,2752,3438,3464,3412,0,0,0,0,0,0,14.35,14.25,14.41
$STATE,10011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10011,begin apogee
$GC,10018,-0.23,0.0,2620,2231,3465,3414,930.3,-9.2,407,10129,0.73,0.00,108.62,2.000,10244,0.181,0.000,2824,2231,3050,3092,3008,0,0,0,0,0,0,14.11,13.99,13.02
$STATE,10130,end apogee,CONTROL_FINISHED_OK
$STATE,10130,begin climb
$GC,10133,0.93,107.1,2825,2230,3089,3003,934.9,0.0,409,10262,1.12,2.50,115.53,1.957,10756,0.092,0.057,3187,851,2619,2682,2556,0,0,0,0,0,0,13.99,14.01,12.90
$GC,10296,0.85,143.4,3187,851,2682,2550,930.3,5.9,433,10345,0.00,2.50,40.92,1.981,9382,0.000,0.050,3187,2257,2473,2546,2400,0,0,0,0,0,0,14.07,13.97,12.91
$GC,10689,0.73,143.4,3187,2256,2546,2386,895.8,9.3,447,10695,0.17,2.60,0.00,0.000,4484,0.226,0.099,3138,3655,2465,2546,2385,0,0,0,0,0,0,14.18,14.29,14.43
$GC,10745,0.66,150.6,3138,3655,2546,2386,891.3,7.4,455,10752,0.12,2.45,1.55,0.265,13478,0.236,0.041,3114,2231,2454,2532,2377,0,0,0,0,0,0,14.20,14.45,13.81
$GC,11083,0.68,169.5,3114,2230,2533,2390,867.8,6.8,468,11115,0.00,2.75,28.45,1.941,8484,0.000,0.098,3114,3653,2370,2449,2292,0,0,0,0,0,0,14.78,14.28,13.40
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$STATE,22056,end climb,SURFACE_DEPTH_REACHED
$STATE,22056,begin surface coast
$FINISH,-2.0,1.020885
$STATE,22084,end surface coast,CONTROL_FINISHED_OK
$STATE,22084,begin surface
$SM_CCo,22105,28.10,0.156,0,0,1057,500.14
$SM_GC,-1.41,8.95,0.88,28.10,0.047,0.083,0.156,177,2770,1057,-8.38,-0.76,500.14,0,0,0,0,0,0,14.54,14.42,14.26
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$TT8_MAMPS,0.03745,0.282373
$HUMID,53.38
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.30
$XPDR_PINGS,2
$SC_FREEKB,3771872
$PM_FREEKB,55716800
$24V_AH,12.63,130.448
$10V_AH,12.18,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.700,202.450,449.525,28.100,0.000,0.000,0.000,355.075,0.500,0.000,4.953,0.000,18928.725,819.379,2578.045,427.625,0.000,1982.491,0.000,1650.737,0.000,0.839,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22145.000,22091.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.476,2.406,0.000,0.000
$MEM,334764
$DATA_FILE_SIZE,33363,922
$CAP_FILE_SIZE,163242,0
$CFSIZE,1024409600,953221120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,66.27,1
$GPS,271116,003901,947.588,-12454.004,35,0.7,35,9.0,0.2,316.0,12,5.4