version: 66.13
glider: 220
mission: 6
dive: 186
start: 10 9 116 21 26 19
data:
$ID,220
$MISSION,6
$DIVE,186
$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,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,55
$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,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
$GPS1,091016,211339,1017.9172,-12501.0508,47,1.2,49,9.1,1.0,46.7,5,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.76
$_SM_ANGLEo,-71.7
$GPS2,091016,212559,1018.0233,-12500.7568,2,1.2,6,9.1,0.3,125.3,5,8.9
$SPEED_LIMITS,0.134,0.179
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,213.5,47635,-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,18,-0.90,-116.8,141,2780,1100,1012,0.0,0.0,0,98,0.00,0.00,-76.65,0.000,16390,0.000,0.000,138,2779,3517,3508,3527,0,0,0,0,0,0,14.59,13.15,14.57
$GC,100,-0.90,-116.8,139,2777,3507,3525,-0.7,-5.9,2,116,11.82,0.00,0.00,0.000,2566,0.396,0.000,2601,2779,3515,3507,3524,0,0,0,0,0,0,14.14,14.46,14.42
$GC,430,-0.63,-116.8,2600,2780,3516,3524,81.2,-14.8,17,437,0.32,1.92,0.00,0.000,2436,0.234,0.099,2691,3826,3519,3515,3524,0,0,0,0,0,0,14.21,14.33,14.44
$GC,478,-0.51,-116.8,2683,3827,3516,3524,86.5,-10.8,24,489,0.12,1.77,0.00,0.000,3206,0.230,0.038,2724,2775,3519,3515,3524,0,0,0,0,0,0,14.27,14.50,14.38
$GC,822,-0.51,-116.8,2724,2775,3518,3524,112.9,-7.6,34,829,0.00,2.35,0.00,0.000,548,0.000,0.044,2721,1382,3520,3517,3524,0,0,0,0,0,0,14.69,14.41,14.68
$GC,905,-0.51,-116.8,2724,1382,3518,3525,118.5,-6.5,46,913,0.00,2.50,0.00,0.000,1062,0.000,0.065,2714,2782,3520,3517,3524,0,0,0,0,0,0,14.46,14.38,14.48
$GC,1270,-0.51,-116.8,2714,2782,3518,3524,143.1,-6.6,56,1278,0.00,1.95,0.00,0.000,292,0.000,0.106,2706,3821,3524,3518,3530,0,0,0,0,0,0,14.70,14.33,14.70
$GC,1360,-0.51,-116.8,2705,3822,3518,3522,149.5,-7.0,69,1368,0.00,1.75,0.00,0.000,1062,0.000,0.041,2706,2783,3519,3518,3521,0,0,0,0,0,0,14.57,14.52,14.58
$GC,1718,-0.51,-116.8,2707,2783,3518,3518,174.5,-7.2,78,1725,0.00,2.38,0.00,0.000,548,0.000,0.046,2706,1381,3517,3518,3517,0,0,0,0,0,0,14.70,14.44,14.70
$GC,1801,-0.51,-116.8,2706,1381,3522,3517,181.0,-7.7,90,1809,0.10,2.53,0.00,0.000,3110,0.203,0.069,2727,2783,3517,3518,3516,0,0,0,0,0,0,14.23,14.38,14.38
$GC,2166,-0.61,-116.8,2727,2784,3518,3510,205.8,-6.8,100,2174,0.00,2.40,0.00,0.000,676,0.000,0.047,2727,1388,3513,3518,3509,0,0,0,0,0,0,14.69,14.45,14.69
$GC,2200,-0.71,-116.8,2727,1390,3519,3509,208.2,-6.9,105,2208,0.08,2.53,0.00,0.000,5286,0.089,0.070,2656,2784,3513,3517,3509,0,0,0,0,0,0,14.42,14.38,14.48
$GC,2558,-0.71,-116.8,2657,2785,3519,3503,241.5,-9.5,114,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2784,3509,3517,3501,0,0,0,0,0,0,14.69,14.69,14.69
$GC,2894,-0.71,-116.8,2657,2785,3518,3500,274.0,-9.8,120,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2785,3508,3517,3499,0,0,0,0,0,0,14.85,14.85,14.85
$GC,3230,-0.71,-116.8,2657,2786,3519,3494,308.1,-10.2,126,3243,0.00,2.40,0.00,0.000,516,0.000,0.047,2656,1383,3505,3517,3494,0,0,0,0,0,0,14.90,14.62,14.90
$GC,3269,-0.71,-116.8,2656,1382,3518,3493,312.2,-10.4,131,3282,0.00,2.47,0.00,0.000,1030,0.000,0.072,2647,2781,3504,3516,3492,0,0,0,0,0,0,14.71,14.56,14.72
$GC,3631,-0.71,-116.8,2647,2782,3519,3489,348.6,-10.0,140,3644,0.00,2.38,0.00,0.000,516,0.000,0.047,2646,1388,3502,3517,3488,0,0,0,0,0,0,14.91,14.62,14.91
$GC,3676,-0.71,-116.8,2647,1388,3518,3488,353.1,-9.7,146,3690,0.10,2.47,0.00,0.000,3078,0.244,0.073,2666,2785,3502,3517,3488,0,0,0,0,0,0,14.42,14.57,14.65
$GC,4031,-0.71,-116.8,2666,2786,3518,3485,383.4,-8.4,154,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2785,3501,3517,3485,0,0,0,0,0,0,14.93,14.93,14.93
$GC,4367,-0.71,-116.8,2666,2785,3518,3482,410.7,-8.1,160,4380,0.00,2.40,0.00,0.000,516,0.000,0.049,2666,1383,3499,3517,3481,0,0,0,0,0,0,14.93,14.64,14.93
$GC,4420,-0.71,-116.8,2666,1383,3518,3482,414.9,-7.8,167,4434,0.00,2.47,0.00,0.000,1030,0.000,0.073,2656,2779,3498,3517,3479,0,0,0,0,0,0,14.73,14.57,14.75
$GC,4764,-0.71,-116.8,2652,2780,3518,3476,442.7,-8.2,174,4777,0.00,1.92,0.00,0.000,260,0.000,0.112,2649,3823,3496,3517,3476,0,0,0,0,0,0,14.95,14.51,14.95
$GC,4802,-0.71,-116.8,2649,3822,3518,3477,446.0,-9.0,179,4816,0.00,1.70,0.00,0.000,1030,0.000,0.044,2648,2791,3496,3517,3476,0,0,0,0,0,0,14.78,14.72,14.79
$GC,5164,-0.71,-116.8,2648,2792,3518,3472,477.6,-8.9,188,5177,0.00,2.40,0.00,0.000,516,0.000,0.046,2648,1368,3494,3517,3471,0,0,0,0,0,0,14.93,14.64,14.93
$GC,5216,-0.71,-116.8,2648,1369,3518,3471,482.5,-9.2,195,5230,0.10,2.50,0.00,0.000,3078,0.249,0.068,2667,2784,3494,3517,3471,0,0,0,0,0,0,14.41,14.57,14.65
$GC,5561,-0.71,-116.8,2668,2785,3517,3469,511.1,-8.4,202,5574,0.00,2.40,0.00,0.000,516,0.000,0.046,2667,1370,3492,3517,3468,0,0,0,0,0,0,14.92,14.64,14.93
$GC,5606,-0.71,-116.8,2667,1371,3518,3468,515.2,-8.8,208,5620,0.00,2.50,0.00,0.000,1030,0.000,0.069,2657,2783,3492,3517,3468,0,0,0,0,0,0,14.73,14.57,14.76
$GC,5961,-0.71,-116.8,2657,2783,3518,3466,547.3,-9.1,216,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2784,3491,3517,3465,0,0,0,0,0,0,14.95,14.94,14.94
$GC,6297,-0.71,-116.8,2657,2785,3518,3456,577.8,-9.1,222,6310,0.00,2.42,0.00,0.000,516,0.000,0.047,2657,1369,3489,3517,3462,0,0,0,0,0,0,14.93,14.62,14.93
$GC,6336,-0.71,-116.8,2657,1370,3517,3462,581.3,-9.1,227,6349,0.00,2.50,0.00,0.000,1030,0.000,0.070,2649,2776,3488,3517,3459,0,0,0,0,0,0,14.71,14.55,14.74
$GC,6697,-0.71,-116.8,2648,2777,3514,3462,612.7,-8.5,236,6710,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2776,3487,3513,3462,0,0,0,0,0,0,14.92,14.93,14.93
$GC,7033,-0.71,-116.8,2647,2776,3510,3462,640.0,-8.0,242,7046,0.00,2.42,0.00,0.000,516,0.000,0.047,2647,1366,3486,3510,3462,0,0,0,0,0,0,14.92,14.63,14.92
$GC,7072,-0.71,-116.8,2648,1373,3511,3461,643.1,-7.9,247,7086,0.10,2.50,0.00,0.000,3078,0.248,0.071,2665,2772,3485,3510,3461,0,0,0,0,0,0,14.38,14.54,14.63
$GC,7434,-0.71,-116.8,2667,2773,3509,3463,668.6,-7.1,256,7447,0.00,2.42,0.00,0.000,548,0.000,0.048,2666,1365,3484,3508,3460,0,0,0,0,0,0,14.91,14.59,14.94
$GC,7495,-0.71,-116.8,2666,1366,3510,3460,673.0,-7.3,264,7508,0.00,2.45,0.00,0.000,1062,0.000,0.070,2657,2776,3485,3510,3460,0,0,0,0,0,0,14.69,14.53,14.71
$GC,7836,-0.71,-116.8,2657,2778,3509,3458,699.0,-7.7,277,7849,0.00,0.00,0.00,0.000,38,0.000,0.000,2657,2777,3483,3508,3458,0,0,0,0,0,0,14.91,14.91,14.91
$GC,8172,-0.71,-116.8,2657,2777,3508,3458,726.6,-8.4,283,8185,0.00,2.42,0.00,0.000,516,0.000,0.048,2657,1370,3481,3507,3456,0,0,0,0,0,0,14.91,14.59,14.91
$GC,8238,-0.71,-116.8,2657,1369,3507,3457,732.5,-8.6,292,8252,0.00,2.53,0.00,0.000,1030,0.000,0.072,2648,2773,3481,3507,3456,0,0,0,0,0,0,14.65,14.48,14.68
$GC,8572,-0.71,-116.8,2648,2775,3508,3454,762.6,-9.1,304,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2774,3480,3506,3454,0,0,0,0,0,0,14.91,14.91,14.91
$GC,8908,-0.71,-116.8,2648,2773,3505,3455,792.7,-8.9,310,8921,0.00,2.42,0.00,0.000,516,0.000,0.049,2648,1373,3479,3505,3453,0,0,0,0,0,0,14.91,14.57,14.91
$GC,8989,-0.71,-116.8,2648,1373,3506,3453,799.8,-8.7,321,9002,0.10,2.50,0.00,0.000,3078,0.253,0.071,2670,2777,3478,3505,3451,0,0,0,0,0,0,14.34,14.50,14.59
$GC,9309,-0.71,-116.8,2667,2778,3505,3452,823.8,-7.4,331,9322,0.00,0.00,0.00,0.000,38,0.000,0.000,2666,2777,3478,3504,3452,0,0,0,0,0,0,14.92,14.92,14.92
$GC,9645,-0.71,-116.8,2667,2778,3506,3450,847.4,-6.9,337,9658,0.00,2.42,0.00,0.000,548,0.000,0.048,2666,1369,3477,3504,3450,0,0,0,0,0,0,14.90,14.56,14.91
$GC,9698,-0.71,-116.8,2665,1370,3506,3450,851.6,-8.6,344,9713,0.00,2.53,0.00,0.000,1030,0.000,0.073,2657,2765,3477,3504,3450,0,0,0,0,0,0,14.66,14.48,14.69
$GC,10042,-0.71,-116.8,2658,2765,3503,3450,874.6,-6.9,351,10055,0.00,0.00,0.00,0.000,38,0.000,0.000,2657,2765,3474,3500,3449,0,0,0,0,0,0,14.90,14.92,14.87
$GC,10378,-0.71,-116.8,2658,2765,3501,3450,898.0,-7.1,357,10391,0.00,2.42,0.00,0.000,548,0.000,0.050,2657,1370,3474,3501,3448,0,0,0,0,0,0,14.89,14.54,14.90
$GC,10410,-0.71,-116.8,2657,1371,3500,3449,900.4,-7.6,361,10423,0.00,2.50,0.00,0.000,1062,0.000,0.073,2649,2765,3474,3501,3448,0,0,0,0,0,0,14.66,14.49,14.70
$GC,10778,-0.71,-116.8,2649,2766,3502,3447,929.2,-8.0,371,10791,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2765,3473,3501,3446,0,0,0,0,0,0,14.91,14.91,14.91
$STATE,10833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10833,begin apogee
$GC,10838,-0.23,0.0,2649,2246,3502,3446,932.6,-7.9,372,10963,0.60,0.00,115.35,1.970,10244,0.184,0.000,2825,2245,3049,3093,3005,0,0,0,0,0,0,14.35,14.02,13.24
$STATE,10965,end apogee,CONTROL_FINISHED_OK
$STATE,10965,begin climb
$GC,10967,0.90,116.8,2826,2245,3090,2999,934.0,0.0,374,11106,1.08,2.47,122.53,1.965,10756,0.104,0.059,3170,866,2585,2647,2523,0,0,0,0,0,0,14.02,14.05,13.11
$GC,11111,0.64,116.8,3170,868,2644,2511,931.6,7.8,397,11125,0.22,2.53,0.00,0.000,5254,0.229,0.054,3112,2255,2575,2642,2508,0,0,0,0,0,0,13.80,13.89,13.97
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$STATE,22382,end climb,SURFACE_DEPTH_REACHED
$STATE,22382,begin surface coast
$FINISH,-1.3,1.020531
$STATE,22410,end surface coast,CONTROL_FINISHED_OK
$STATE,22410,begin surface
$SM_CCo,22433,12.70,0.161,0,0,1058,500.14
$SM_GC,-1.10,9.38,0.88,12.70,0.090,0.080,0.161,190,2762,1058,-8.39,-0.82,500.14,0,0,0,0,0,0,14.57,14.50,14.41
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$TT8_MAMPS,0.036701,0.333305
$HUMID,53.34
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,21.90
$XPDR_PINGS,4
$SC_FREEKB,3838336
$PM_FREEKB,57852544
$TM_FREEKB,6031616
$24V_AH,13.11,72.998
$10V_AH,12.95,0.000
$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
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22458.000,22410.000,3381.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.418,2.398,54.473,0.000
$MEM,334676
$DATA_FILE_SIZE,33359,877
$CAP_FILE_SIZE,180936,0
$CFSIZE,1024409600,981630976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.024,202.01,1
$GPS,101016,034131,1016.069,-12502.021,32,0.7,32,9.1,0.8,107.3,12,3.7