version: 66.13
glider: 220
mission: 6
dive: 370
start: 11 29 116 18 45 5
data:
$ID,220
$MISSION,6
$DIVE,370
$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,54
$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
$GPS1,291116,183301,1006.9227,-12448.7656,18,0.7,18,9.0,0.6,123.5,11,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-72.2
$GPS2,291116,184442,1007.0303,-12448.7197,2,0.8,3,9.0,0.9,92.8,11,6.9
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,296.7,30352,-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,14,-0.93,-107.1,105,2779,1097,1013,0.0,0.0,0,91,0.00,0.00,-75.95,0.000,16390,0.000,0.000,104,2778,3479,3470,3489,0,0,0,0,0,0,14.67,12.62,14.66
$GC,94,-0.93,-107.1,105,2779,3471,3489,1.7,-5.2,2,114,12.00,1.90,0.00,0.000,2308,0.386,0.088,2584,3825,3479,3470,3488,0,0,0,0,0,0,13.98,14.31,14.36
$GC,127,0.04,-107.1,2584,3825,3474,3488,26.5,-54.8,8,133,1.20,1.80,0.00,0.000,3206,0.269,0.045,2888,2776,3480,3473,3488,0,0,0,0,0,0,13.98,14.48,14.21
$GC,450,-0.27,-107.1,2888,2777,3478,3487,47.7,-4.6,21,456,0.17,1.95,0.00,0.000,4516,0.093,0.110,2804,3824,3482,3476,3488,0,0,0,0,0,0,14.50,14.33,14.59
$GC,659,-0.50,-107.1,2804,3825,3478,3488,58.5,-4.7,51,665,0.12,1.83,0.00,0.000,5286,0.061,0.041,2718,2730,3482,3478,3487,0,0,0,0,0,0,14.54,14.59,14.58
$GC,982,-0.50,-107.1,2718,2730,3481,3488,80.0,-5.7,64,987,0.00,2.08,0.00,0.000,292,0.000,0.107,2708,3831,3483,3480,3487,0,0,0,0,0,0,14.89,14.35,14.89
$GC,1180,-0.59,-107.1,2711,3824,3481,3488,93.0,-6.1,92,1185,0.00,1.77,0.00,0.000,1190,0.000,0.041,2710,2753,3483,3480,3487,0,0,0,0,0,0,14.63,14.62,14.67
$GC,1542,-0.69,-107.1,2711,2753,3481,3489,115.1,-6.2,104,1547,0.00,2.30,0.00,0.000,676,0.000,0.044,2710,1381,3483,3480,3487,0,0,0,0,0,0,14.92,14.53,14.92
$GC,1590,-0.80,-107.1,2710,1381,3482,3486,118.2,-6.4,111,1598,0.10,2.45,0.00,0.000,5286,0.071,0.067,2629,2757,3483,3480,3486,0,0,0,0,0,0,14.53,14.44,14.59
$GC,1934,-0.80,-107.1,2629,2758,3481,3483,152.7,-10.6,118,1939,0.00,2.00,0.00,0.000,260,0.000,0.108,2620,3843,3481,3480,3483,0,0,0,0,0,0,14.95,14.42,14.96
$GC,2017,-0.80,-107.1,2621,3844,3481,3482,162.2,-11.2,130,2023,0.00,1.83,0.00,0.000,1030,0.000,0.038,2620,2746,3481,3480,3482,0,0,0,0,0,0,14.75,14.71,14.76
$GC,2382,-0.80,-107.1,2621,2746,3480,3478,201.5,-10.8,140,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2746,3478,3480,3477,0,0,0,0,0,0,14.95,14.96,14.95
$GC,2718,-0.80,-107.1,2620,2747,3479,3471,237.8,-10.7,146,2723,0.00,2.33,0.00,0.000,516,0.000,0.043,2620,1373,3475,3480,3471,0,0,0,0,0,0,14.97,14.57,14.97
$GC,2752,-0.80,-107.1,2620,1372,3481,3472,241.5,-11.0,151,2758,0.08,2.53,0.00,0.000,3078,0.228,0.068,2632,2770,3475,3480,3470,0,0,0,0,0,0,14.28,14.45,14.45
$GC,3110,-0.80,-107.1,2632,2771,3481,3467,275.9,-9.5,160,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2770,3472,3479,3466,0,0,0,0,0,0,14.97,14.97,14.97
$GC,3446,-0.80,-107.1,2633,2771,3480,3462,307.7,-9.5,166,3451,0.00,2.38,0.00,0.000,516,0.000,0.043,2633,1387,3470,3480,3461,0,0,0,0,0,0,14.97,14.58,14.97
$GC,3508,-0.80,-107.1,2632,1388,3481,3459,313.7,-9.3,175,3514,0.00,2.50,0.00,0.000,1030,0.000,0.069,2623,2762,3470,3480,3461,0,0,0,0,0,0,14.52,14.42,14.57
$GC,3838,-0.80,-107.1,2623,2763,3481,3456,345.3,-9.6,187,3843,0.00,2.03,0.00,0.000,260,0.000,0.112,2614,3819,3466,3476,3456,0,0,0,0,0,0,14.95,14.36,14.98
$GC,3900,-0.80,-107.1,2613,3819,3480,3456,351.6,-10.1,196,3906,0.00,1.77,0.00,0.000,1030,0.000,0.041,2614,2772,3466,3477,3456,0,0,0,0,0,0,14.75,14.70,14.76
$GC,4230,-0.80,-107.1,2614,2774,3481,3451,383.7,-9.7,208,4230,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2772,3466,3480,3452,0,0,0,0,0,0,14.95,14.95,14.95
$GC,4566,-0.80,-107.1,2615,2772,3480,3450,416.7,-9.8,214,4571,0.00,2.05,0.00,0.000,260,0.000,0.111,2606,3828,3464,3480,3448,0,0,0,0,0,0,14.95,14.35,14.95
$GC,4607,-0.80,-107.1,2610,3829,3481,3448,420.8,-10.0,220,4613,0.10,1.80,0.00,0.000,3078,0.238,0.043,2635,2775,3463,3479,3448,0,0,0,0,0,0,14.34,14.68,14.52
$GC,4958,-0.80,-107.1,2636,2776,3479,3445,449.1,-8.0,228,4963,0.00,2.38,0.00,0.000,516,0.000,0.043,2636,1378,3462,3480,3444,0,0,0,0,0,0,14.95,14.54,14.95
$GC,4992,-0.80,-107.1,2636,1377,3480,3445,452.1,-8.9,233,4999,0.00,2.50,0.00,0.000,1030,0.000,0.067,2625,2767,3461,3479,3443,0,0,0,0,0,0,14.51,14.42,14.56
$GC,5350,-0.80,-107.1,2626,2768,3480,3440,486.8,-10.0,242,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2767,3458,3477,3440,0,0,0,0,0,0,14.94,14.94,14.95
$GC,5686,-0.80,-107.1,2626,2767,3480,3438,521.9,-10.4,248,5691,0.00,2.45,0.00,0.000,516,0.000,0.044,2626,1376,3458,3479,3437,0,0,0,0,0,0,14.94,14.48,14.94
$GC,5706,-0.80,-107.1,2626,1376,3480,3437,524.1,-10.4,251,5712,0.00,2.53,0.00,0.000,1030,0.000,0.067,2616,2767,3457,3479,3436,0,0,0,0,0,0,14.50,14.40,14.55
$GC,6022,-0.80,-107.1,2616,2768,3478,3433,556.2,-10.0,261,6028,0.00,2.03,0.00,0.000,260,0.000,0.112,2608,3825,3456,3479,3433,0,0,0,0,0,0,14.94,14.29,14.93
$GC,6078,-0.80,-107.1,2609,3824,3479,3434,562.1,-10.5,269,6084,0.10,1.80,0.00,0.000,3078,0.216,0.044,2637,2777,3455,3478,3433,0,0,0,0,0,0,14.20,14.59,14.40
$GC,6414,-0.80,-107.1,2638,2777,3476,3434,591.5,-8.7,282,6419,0.00,2.45,0.00,0.000,516,0.000,0.044,2637,1365,3453,3474,3433,0,0,0,0,0,0,14.95,14.47,14.95
$GC,6483,-0.80,-107.1,2636,1366,3474,3433,597.6,-8.5,292,6489,0.00,2.55,0.00,0.000,1030,0.000,0.066,2628,2769,3453,3474,3432,0,0,0,0,0,0,14.45,14.36,14.50
$GC,6806,-0.80,-107.1,2628,2770,3474,3432,624.8,-8.4,303,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2769,3452,3473,3432,0,0,0,0,0,0,14.95,14.95,14.95
$GC,7142,-0.80,-107.1,2628,2770,3472,3431,652.2,-8.1,309,7148,0.00,2.47,0.00,0.000,516,0.000,0.044,2627,1361,3451,3471,3431,0,0,0,0,0,0,14.93,14.46,14.94
$GC,7176,-0.80,-107.1,2628,1362,3473,3432,655.0,-8.4,314,7182,0.00,2.55,0.00,0.000,1030,0.000,0.068,2618,2758,3451,3471,3431,0,0,0,0,0,0,14.46,14.35,14.51
$GC,7534,-0.80,-107.1,2618,2759,3472,3427,682.9,-7.7,323,7535,0.00,0.00,0.00,0.000,38,0.000,0.000,2618,2758,3449,3471,3428,0,0,0,0,0,0,14.92,14.92,14.92
$GC,7870,-0.80,-107.1,2617,2758,3471,3426,710.9,-8.4,329,7876,0.00,2.42,0.00,0.000,516,0.000,0.044,2616,1369,3448,3470,3427,0,0,0,0,0,0,14.92,14.47,14.92
$GC,7932,-0.80,-107.1,2617,1371,3469,3426,716.3,-8.6,338,7938,0.10,2.55,0.00,0.000,3078,0.221,0.068,2640,2767,3447,3470,3425,0,0,0,0,0,0,14.12,14.34,14.29
$GC,8262,-0.80,-107.1,2636,2768,3472,3424,743.5,-8.3,350,8263,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2767,3447,3470,3424,0,0,0,0,0,0,14.94,14.94,14.94
$GC,8598,-0.80,-107.1,2636,2768,3469,3424,771.9,-8.5,356,8603,0.00,2.47,0.00,0.000,516,0.000,0.044,2636,1372,3445,3468,3423,0,0,0,0,0,0,14.95,14.41,14.95
$GC,8639,-0.80,-107.1,2636,1373,3469,3423,775.6,-8.8,362,8645,0.00,2.55,0.00,0.000,1030,0.000,0.068,2626,2754,3445,3468,3423,0,0,0,0,0,0,14.40,14.31,14.45
$GC,8990,-0.80,-107.1,2626,2755,3469,3421,806.4,-8.8,370,8995,0.00,2.08,0.00,0.000,260,0.000,0.115,2618,3826,3444,3468,3421,0,0,0,0,0,0,14.94,14.19,14.94
$GC,9024,-0.80,-107.1,2618,3826,3468,3416,809.6,-9.7,375,9030,0.00,1.85,0.00,0.000,1030,0.000,0.045,2617,2752,3443,3466,3421,0,0,0,0,0,0,14.58,14.54,14.59
$GC,9382,-0.80,-107.1,2617,2749,3465,3422,841.1,-8.8,384,9387,0.00,2.38,0.00,0.000,516,0.000,0.044,2617,1373,3442,3464,3420,0,0,0,0,0,0,14.91,14.41,14.91
$GC,9430,-0.80,-107.1,2617,1373,3465,3422,845.8,-9.9,391,9438,0.10,2.53,0.00,0.000,3078,0.220,0.067,2636,2753,3442,3465,3420,0,0,0,0,0,0,14.06,14.30,14.23
$GC,9774,-0.80,-107.1,2637,2754,3466,3419,872.6,-7.7,398,9775,0.00,0.00,0.00,0.000,38,0.000,0.000,2636,2752,3441,3464,3419,0,0,0,0,0,0,14.90,14.90,14.90
$GC,10110,-0.80,-107.1,2636,2754,3465,3418,898.2,-7.6,404,10115,0.00,2.40,0.00,0.000,548,0.000,0.044,2636,1375,3442,3464,3421,0,0,0,0,0,0,14.94,14.42,14.94
$GC,10144,-0.80,-107.1,2636,1374,3465,3417,900.7,-7.5,409,10151,0.00,2.55,0.00,0.000,1062,0.000,0.067,2627,2758,3440,3464,3417,0,0,0,0,0,0,14.36,14.26,14.40
$GC,10502,-0.80,-107.1,2627,2758,3464,3417,924.9,-6.7,418,10503,0.00,0.00,0.00,0.000,38,0.000,0.000,2630,2758,3440,3463,3417,0,0,0,0,0,0,14.90,14.90,14.90
$STATE,10611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10611,begin apogee
$GC,10618,-0.23,0.0,2627,2229,3463,3418,931.9,-6.1,420,10729,0.68,0.00,109.15,1.982,10244,0.171,0.000,2826,2227,3049,3091,3008,0,0,0,0,0,0,14.14,13.98,13.02
$STATE,10731,end apogee,CONTROL_FINISHED_OK
$STATE,10731,begin climb
$GC,10734,0.93,107.1,2826,2230,3089,3003,933.6,0.0,422,10860,1.10,2.45,116.65,1.952,10756,0.089,0.056,3185,884,2620,2680,2561,0,0,0,0,0,0,14.00,14.02,12.89
$GC,10873,0.73,107.1,3186,884,2680,2553,926.8,9.9,443,10880,0.17,2.53,0.00,0.000,5254,0.210,0.050,3138,2258,2613,2676,2550,0,0,0,0,0,0,13.74,13.88,13.85
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$STATE,21930,end climb,SURFACE_DEPTH_REACHED
$STATE,21930,begin surface coast
$FINISH,0.7,1.020787
$STATE,21938,end surface coast,CONTROL_FINISHED_OK
$STATE,21938,begin surface
$SM_CCo,21960,30.73,0.158,0,0,1057,500.39
$SM_GC,0.39,9.35,0.88,30.73,0.077,0.082,0.158,189,2771,1057,-8.40,-0.54,500.39,0,0,0,0,0,0,14.50,14.38,14.23
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$TT8_MAMPS,0.03745,0.286867
$HUMID,55.07
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.40
$XPDR_PINGS,1
$SC_FREEKB,3767648
$PM_FREEKB,55581504
$24V_AH,12.62,133.955
$10V_AH,12.64,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,26.375,206.550,455.300,30.725,0.000,0.000,0.000,412.275,0.250,0.000,4.584,0.000,18746.740,838.473,2648.542,440.477,0.000,2053.308,0.000,1656.028,0.000,0.839,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22000.000,21946.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.612,2.418,0.000,0.000
$MEM,334760
$DATA_FILE_SIZE,33368,921
$CAP_FILE_SIZE,165549,0
$CFSIZE,1024409600,951566336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.014,296.99,1
$GPS,301116,005239,1008.184,-12450.455,24,0.7,32,9.0,0.7,324.8,12,5.0