version: 66.13
glider: 220
mission: 6
dive: 513
start: 1 5 117 5 49 24
data:
$ID,220
$MISSION,6
$DIVE,513
$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,54
$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,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
$GPS1,050117,053730,1015.7014,-12456.5508,23,0.8,23,9.0,0.8,33.7,11,3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.00
$_SM_ANGLEo,-69.0
$GPS2,050117,054903,1015.7511,-12456.4883,2,0.9,2,9.0,0.4,57.8,10,8.3
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,297.2,8898,-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,-107.1,106,2770,1102,1009,0.0,0.0,0,102,0.00,0.00,-80.00,0.000,16390,0.000,0.000,104,2769,3477,3467,3487,0,0,0,0,0,0,14.67,13.09,14.66
$GC,105,-0.93,-107.1,106,2769,3464,3488,3.6,-13.2,3,122,11.98,1.95,0.00,0.000,2308,0.389,0.087,2583,3828,3479,3470,3488,0,0,0,0,0,0,14.00,14.33,14.26
$GC,227,-0.76,-107.1,2584,3829,3473,3487,41.4,-13.7,21,234,0.22,1.83,0.00,0.000,3206,0.204,0.037,2648,2727,3478,3470,3487,0,0,0,0,0,0,14.09,14.49,14.26
$GC,550,-0.76,-107.1,2648,2727,3475,3486,73.0,-9.1,34,555,0.00,2.22,0.00,0.000,516,0.000,0.040,2648,1403,3481,3475,3487,0,0,0,0,0,0,14.83,14.45,14.83
$GC,675,-0.76,-107.1,2648,1402,3478,3488,83.2,-8.0,52,681,0.00,2.42,0.00,0.000,1030,0.000,0.067,2638,2771,3481,3476,3487,0,0,0,0,0,0,14.50,14.33,14.54
$GC,1026,-0.76,-107.1,2639,2771,3477,3486,113.6,-9.8,64,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2771,3481,3476,3486,0,0,0,0,0,0,14.90,14.90,14.90
$GC,1363,-0.76,-107.1,2638,2772,3472,3486,143.7,-8.7,70,1367,0.00,1.98,0.00,0.000,260,0.000,0.109,2630,3831,3481,3475,3487,0,0,0,0,0,0,14.90,14.28,14.90
$GC,1431,-0.76,-107.1,2629,3831,3474,3486,149.9,-8.9,80,1437,0.00,1.77,0.00,0.000,1030,0.000,0.039,2629,2754,3479,3473,3486,0,0,0,0,0,0,14.59,14.58,14.61
$GC,1754,-0.76,-107.1,2629,2755,3478,3481,178.1,-8.8,91,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2754,3478,3475,3481,0,0,0,0,0,0,14.90,14.90,14.90
$GC,2090,-0.76,-107.1,2628,2755,3477,3477,206.6,-8.4,97,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2754,3476,3475,3477,0,0,0,0,0,0,14.90,14.90,14.90
$GC,2426,-0.76,-107.1,2629,2755,3474,3472,236.1,-8.9,103,2431,0.08,2.03,0.00,0.000,2308,0.251,0.109,2644,3829,3473,3475,3471,0,0,0,0,0,0,14.38,14.26,14.53
$GC,2482,-0.76,-107.1,2644,3830,3476,3471,240.7,-8.3,111,2487,0.00,1.75,0.00,0.000,1030,0.000,0.044,2644,2783,3473,3475,3471,0,0,0,0,0,0,14.64,14.59,14.66
$GC,2818,-0.76,-107.1,2644,2784,3476,3468,268.7,-8.4,124,2823,0.00,2.42,0.00,0.000,516,0.000,0.043,2644,1374,3471,3475,3467,0,0,0,0,0,0,14.90,14.45,14.90
$GC,2887,-0.76,-107.1,2643,1375,3476,3466,274.4,-8.2,134,2893,0.00,2.50,0.00,0.000,1030,0.000,0.067,2632,2752,3470,3475,3466,0,0,0,0,0,0,14.40,14.29,14.44
$GC,3210,-0.76,-107.1,2633,2752,3476,3463,301.3,-8.3,145,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2752,3468,3475,3462,0,0,0,0,0,0,14.92,14.93,14.93
$GC,3546,-0.76,-107.1,2641,2751,3476,3457,328.5,-8.1,151,3551,0.00,2.40,0.00,0.000,516,0.000,0.043,2634,1375,3466,3475,3458,0,0,0,0,0,0,14.93,14.46,14.93
$GC,3580,-0.76,-107.1,2635,1374,3476,3459,331.1,-7.6,156,3586,0.10,2.50,0.00,0.000,3110,0.244,0.067,2654,2769,3466,3475,3457,0,0,0,0,0,0,14.16,14.31,14.40
$GC,3938,-0.76,-107.1,2653,2768,3483,3454,357.6,-7.5,165,3944,0.00,2.42,0.00,0.000,548,0.000,0.044,2653,1376,3464,3475,3453,0,0,0,0,0,0,14.92,14.45,14.92
$GC,3994,-0.84,-107.1,2654,1376,3475,3454,362.0,-8.8,173,4000,0.00,2.47,0.00,0.000,1158,0.000,0.067,2644,2757,3463,3475,3452,0,0,0,0,0,0,14.51,14.33,14.53
$GC,4330,-0.84,-107.1,2645,2757,3476,3450,389.7,-8.3,186,4331,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2757,3462,3474,3450,0,0,0,0,0,0,14.90,14.89,14.90
$GC,4666,-0.84,-107.1,2644,2758,3476,3445,416.8,-8.0,192,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2757,3459,3474,3445,0,0,0,0,0,0,14.90,14.90,14.90
$GC,5002,-0.84,-107.1,2644,2758,3476,3444,442.1,-7.5,198,5003,0.00,0.00,0.00,0.000,38,0.000,0.000,2644,2757,3462,3481,3444,0,0,0,0,0,0,14.90,14.90,14.90
$GC,5339,-0.84,-107.1,2644,2754,3476,3442,466.9,-7.4,204,5343,0.00,2.42,0.00,0.000,548,0.000,0.044,2643,1380,3457,3475,3440,0,0,0,0,0,0,14.91,14.42,14.90
$GC,5421,-0.84,-107.1,2644,1379,3475,3441,475.0,-8.3,216,5427,0.00,2.55,0.00,0.000,1030,0.000,0.068,2636,2753,3457,3475,3439,0,0,0,0,0,0,14.33,14.23,14.38
$GC,5787,-0.84,-107.1,2644,2753,3475,3438,502.7,-7.5,226,5791,0.00,2.05,0.00,0.000,292,0.000,0.114,2628,3835,3456,3475,3437,0,0,0,0,0,0,14.88,14.15,14.89
$GC,5827,-0.84,-107.1,2628,3835,3475,3437,506.1,-8.1,232,5833,0.00,1.88,0.00,0.000,1030,0.000,0.044,2627,2746,3455,3475,3436,0,0,0,0,0,0,14.52,14.50,14.54
$GC,6178,-0.84,-107.1,2628,2746,3475,3434,534.7,-8.2,240,6183,0.00,2.38,0.00,0.000,516,0.000,0.042,2627,1379,3453,3475,3431,0,0,0,0,0,0,14.91,14.38,14.92
$GC,6219,-0.84,-107.1,2627,1379,3476,3433,538.1,-8.3,246,6225,0.00,2.53,0.00,0.000,1030,0.000,0.067,2617,2749,3453,3474,3433,0,0,0,0,0,0,14.47,14.21,14.50
$GC,6570,-0.84,-107.1,2618,2749,3475,3433,568.3,-8.7,254,6575,0.00,2.05,0.00,0.000,260,0.000,0.112,2609,3828,3453,3474,3432,0,0,0,0,0,0,14.88,14.14,14.88
$GC,6646,-0.84,-107.1,2610,3828,3474,3433,575.2,-9.0,265,6653,0.00,1.88,0.00,0.000,1030,0.000,0.047,2608,2754,3452,3473,3432,0,0,0,0,0,0,14.49,14.46,14.50
$GC,6962,-0.84,-107.1,2609,2748,3472,3432,603.8,-9.1,275,6967,0.00,2.40,0.00,0.000,516,0.000,0.044,2608,1373,3450,3469,3431,0,0,0,0,0,0,14.88,14.38,14.88
$GC,7010,-0.84,-107.1,2608,1372,3472,3436,608.2,-9.2,282,7017,0.00,2.55,0.00,0.000,1030,0.000,0.068,2599,2750,3451,3471,3432,0,0,0,0,0,0,14.28,14.18,14.33
$GC,7354,-0.84,-107.1,2600,2754,3470,3433,640.0,-9.2,289,7360,0.10,2.05,0.00,0.000,2308,0.256,0.109,2619,3830,3450,3470,3431,0,0,0,0,0,0,14.18,14.09,14.35
$GC,7410,-0.84,-107.1,2620,3829,3470,3432,644.8,-8.5,297,7416,0.00,1.88,0.00,0.000,1030,0.000,0.046,2618,2727,3450,3470,3431,0,0,0,0,0,0,14.54,14.47,14.55
$GC,7746,-0.84,-107.1,2618,2728,3471,3429,671.5,-7.9,310,7751,0.00,2.35,0.00,0.000,516,0.000,0.044,2618,1381,3449,3470,3428,0,0,0,0,0,0,14.90,14.36,14.90
$GC,7780,-0.84,-107.1,2618,1382,3471,3427,674.3,-7.9,315,7786,0.00,2.55,0.00,0.000,1030,0.000,0.067,2609,2749,3449,3470,3428,0,0,0,0,0,0,14.28,14.16,14.32
$GC,8138,-0.84,-107.1,2610,2749,3469,3428,705.2,-8.8,324,8143,0.00,2.05,0.00,0.000,260,0.000,0.112,2600,3834,3447,3468,3426,0,0,0,0,0,0,14.90,14.12,14.90
$GC,8186,-0.84,-107.1,2601,3835,3469,3430,709.7,-9.3,331,8193,0.00,1.88,0.00,0.000,1030,0.000,0.044,2600,2751,3447,3468,3427,0,0,0,0,0,0,14.45,14.42,14.47
$GC,8530,-0.84,-107.1,2601,2751,3466,3427,742.1,-9.4,338,8535,0.00,2.40,0.00,0.000,516,0.000,0.044,2599,1375,3446,3466,3426,0,0,0,0,0,0,14.90,14.35,14.90
$GC,8578,-0.84,-107.1,2600,1374,3467,3426,746.8,-9.8,345,8586,0.12,2.55,0.00,0.000,3078,0.226,0.069,2625,2747,3445,3465,3425,0,0,0,0,0,0,13.85,14.12,14.03
$GC,8922,-0.84,-107.1,2625,2746,3467,3425,774.9,-8.2,352,8927,0.00,2.08,0.00,0.000,260,0.000,0.115,2617,3831,3444,3465,3423,0,0,0,0,0,0,14.89,14.06,14.89
$GC,8991,-0.84,-107.1,2618,3832,3466,3422,780.8,-8.4,362,8997,0.00,1.90,0.00,0.000,1030,0.000,0.046,2617,2749,3444,3465,3423,0,0,0,0,0,0,14.41,14.38,14.43
$STATE,9255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9255,begin apogee
$GC,9263,-0.23,0.0,2617,2221,3465,3423,801.7,-7.8,372,9376,0.70,0.08,110.47,1.864,10244,0.177,0.184,2820,2256,3050,3089,3012,0,0,0,0,0,0,13.99,13.95,12.98
$STATE,9377,end apogee,CONTROL_FINISHED_OK
$STATE,9377,begin climb
$GC,9381,0.93,107.1,2821,2256,3084,3005,804.1,0.0,374,9505,1.12,2.58,115.07,1.822,10756,0.098,0.056,3182,845,2623,2681,2565,0,0,0,0,0,0,14.03,14.07,12.97
$GC,9554,0.83,130.3,3183,846,2677,2546,799.4,6.6,400,9583,0.00,2.53,25.02,1.893,9382,0.000,0.050,3183,2257,2532,2601,2463,0,0,0,0,0,0,14.26,14.16,13.09
$GC,9919,0.72,130.3,3183,2256,2595,2441,767.6,9.0,410,9924,0.15,2.60,0.00,0.000,4484,0.240,0.096,3135,3653,2517,2594,2440,0,0,0,0,0,0,14.11,14.26,14.28
$GC,10009,0.62,130.3,3135,3652,2594,2441,759.9,8.3,423,10015,0.15,2.50,0.00,0.000,5254,0.236,0.041,3105,2231,2516,2593,2440,0,0,0,0,0,0,14.13,14.40,14.41
$GC,10367,0.66,159.5,3106,2227,2596,2437,737.1,6.3,432,10408,0.00,2.78,31.92,1.854,8484,0.000,0.098,3105,3654,2405,2481,2329,0,0,0,0,0,0,14.81,14.28,13.33
$GC,10429,0.68,180.9,3106,3654,2485,2328,732.8,6.7,441,10457,0.00,2.47,24.35,1.865,9254,0.000,0.041,3114,2227,2329,2408,2250,0,0,0,0,0,0,14.45,14.38,13.24
$GC,10808,0.69,183.9,3115,2227,2406,2226,704.2,7.6,453,10808,0.00,0.00,0.00,0.000,38,0.000,0.000,3115,2227,2313,2401,2225,0,0,0,0,0,0,14.74,14.74,14.74
$GC,11144,0.69,185.7,3115,2228,2402,2222,678.6,7.6,459,11148,0.00,2.72,0.00,0.000,292,0.000,0.102,3115,3650,2311,2401,2222,0,0,0,0,0,0,14.81,14.23,14.81
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$STATE,19737,end climb,SURFACE_DEPTH_REACHED
$STATE,19737,begin surface coast
$FINISH,-2.5,1.021975
$STATE,19765,end surface coast,CONTROL_FINISHED_OK
$STATE,19765,begin surface
$SM_CCo,19789,38.67,0.156,0,0,1057,500.14
$SM_GC,-3.93,8.98,0.95,38.67,0.064,0.090,0.156,184,2760,1057,-8.39,-0.82,500.14,0,0,0,0,0,0,14.46,14.28,14.14
$IRIDIUM_FIX,1009.21,-12452.52,050117,000854
$TT8_MAMPS,0.036701,0.371504
$HUMID,57.87
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.50
$XPDR_PINGS,0
$SC_FREEKB,3712736
$PM_FREEKB,53915072
$24V_AH,12.97,180.669
$10V_AH,12.56,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.150,183.150,482.900,38.675,0.000,0.000,0.000,363.350,0.000,0.000,3.977,0.000,16786.541,780.533,2409.402,524.503,0.000,1895.041,0.000,1519.156,0.000,0.838,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.592,2.438,0.000,0.000
$MEM,334740
$DATA_FILE_SIZE,30048,850
$CAP_FILE_SIZE,151474,0
$CFSIZE,1024409600,930562048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043,317.45,1
$GPS,050117,112100,1017.008,-12458.257,34,1.1,34,9.0,0.1,0.0,9,3.9