version: 66.13
glider: 220
mission: 6
dive: 199
start: 10 13 116 13 26 22
data:
$ID,220
$MISSION,6
$DIVE,199
$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,59
$R_STBD_OVSHOOT,25
$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
$GPS1,131016,131401,1000.2260,-12518.2178,27,0.7,27,9.1,0.1,0.0,11,3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.20
$_SM_ANGLEo,-72.7
$GPS2,131016,132602,1000.3141,-12518.1250,3,0.7,4,9.1,0.7,68.3,11,6.4
$SPEED_LIMITS,0.134,0.179
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,241.9,2378,-24.5,-7.750,-30.00,1225
$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,-1.19,-63.1,183,2778,1118,995,0.0,0.0,0,94,0.00,0.00,-72.15,0.000,16390,0.000,0.000,180,2779,3304,3297,3311,0,0,0,0,0,0,14.59,13.11,14.55
$GC,96,-1.19,-63.1,182,2786,3298,3312,-2.3,-5.2,2,118,11.15,1.90,0.00,0.000,2308,0.396,0.075,2499,3824,3305,3299,3312,0,0,0,0,0,0,14.13,14.34,14.41
$GC,271,-0.94,-63.1,2499,3827,3302,3313,66.0,-19.7,28,278,0.32,1.80,0.00,0.000,3206,0.265,0.034,2588,2744,3306,3301,3312,0,0,0,0,0,0,14.13,14.42,14.38
$GC,592,-0.94,-63.1,2589,2744,3306,3313,96.6,-9.2,41,600,0.00,2.30,0.00,0.000,516,0.000,0.039,2588,1386,3308,3305,3312,0,0,0,0,0,0,14.64,14.38,14.66
$GC,829,-0.94,-63.1,2589,1385,3306,3313,116.2,-8.0,75,837,0.00,2.47,0.00,0.000,1030,0.000,0.061,2579,2782,3308,3305,3312,0,0,0,0,0,0,14.44,14.36,14.47
$GC,1152,-0.94,-63.1,2578,2783,3306,3310,143.5,-10.2,86,1159,0.00,1.95,0.00,0.000,260,0.000,0.099,2571,3829,3311,3305,3318,0,0,0,0,0,0,14.66,14.33,14.68
$GC,1368,-0.94,-63.1,2574,3829,3306,3310,167.6,-11.3,117,1379,0.00,1.75,0.00,0.000,1030,0.000,0.037,2571,2781,3307,3305,3309,0,0,0,0,0,0,14.57,14.52,14.57
$GC,1712,-0.94,-63.1,2571,2781,3306,3306,203.8,-10.4,124,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2782,3307,3305,3309,0,0,0,0,0,0,14.68,14.69,14.68
$GC,2048,-0.94,-63.1,2571,2783,3306,3299,238.4,-10.3,130,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2782,3302,3305,3300,0,0,0,0,0,0,14.68,14.69,14.69
$GC,2384,-0.94,-63.1,2571,2783,3305,3294,273.3,-10.4,136,2397,0.00,1.95,0.00,0.000,260,0.000,0.103,2564,3825,3300,3305,3295,0,0,0,0,0,0,14.84,14.47,14.84
$GC,2437,-0.94,-63.1,2564,3825,3306,3296,279.4,-11.4,143,2451,0.10,1.73,0.00,0.000,3078,0.272,0.042,2590,2779,3300,3305,3295,0,0,0,0,0,0,14.33,14.64,14.57
$GC,2781,-0.94,-63.1,2590,2780,3306,3283,312.4,-9.5,150,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2779,3297,3305,3289,0,0,0,0,0,0,14.88,14.88,14.88
$GC,3117,-0.94,-63.1,2590,2779,3305,3286,343.5,-9.3,156,3130,0.00,2.38,0.00,0.000,516,0.000,0.044,2591,1369,3294,3305,3284,0,0,0,0,0,0,14.90,14.63,14.91
$GC,3253,-0.94,-63.1,2591,1369,3305,3284,356.1,-8.9,175,3267,0.00,2.50,0.00,0.000,1030,0.000,0.065,2581,2788,3293,3304,3282,0,0,0,0,0,0,14.68,14.53,14.70
$GC,3573,-0.94,-63.1,2576,2789,3306,3278,387.9,-10.1,185,3586,0.00,1.90,0.00,0.000,260,0.000,0.103,2573,3829,3291,3304,3278,0,0,0,0,0,0,14.93,14.52,14.92
$GC,3690,-0.94,-63.1,2573,3830,3305,3276,400.8,-11.2,201,3703,0.00,1.73,0.00,0.000,1030,0.000,0.043,2573,2775,3290,3305,3276,0,0,0,0,0,0,14.77,14.71,14.78
$GC,4030,-0.94,-63.1,2573,2775,3305,3275,436.9,-10.6,214,4044,0.00,1.95,0.00,0.000,260,0.000,0.103,2565,3827,3289,3306,3273,0,0,0,0,0,0,14.92,14.51,14.92
$GC,4125,-0.94,-63.1,2564,3829,3306,3273,447.9,-11.5,227,4139,0.05,1.73,0.00,0.000,3078,0.220,0.041,2590,2802,3289,3305,3273,0,0,0,0,0,0,14.36,14.69,14.63
$GC,4487,-0.94,-63.1,2588,2802,3305,3269,482.6,-9.5,236,4500,0.00,2.40,0.00,0.000,516,0.000,0.044,2590,1371,3286,3305,3268,0,0,0,0,0,0,14.92,14.64,14.95
$GC,4512,-0.94,-63.1,2590,1372,3306,3267,485.1,-9.6,239,4525,0.00,2.50,0.00,0.000,1030,0.000,0.065,2581,2795,3286,3305,3267,0,0,0,0,0,0,14.73,14.57,14.75
$GC,4832,-0.94,-63.1,2581,2796,3306,3263,515.8,-9.5,249,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2795,3284,3305,3263,0,0,0,0,0,0,14.92,14.92,14.92
$GC,5167,-0.94,-63.1,2581,2796,3306,3261,546.6,-9.2,255,5180,0.00,2.42,0.00,0.000,516,0.000,0.044,2580,1373,3282,3305,3260,0,0,0,0,0,0,14.91,14.63,14.92
$GC,5241,-0.94,-63.1,2580,1374,3306,3259,553.5,-9.1,265,5255,0.00,2.50,0.00,0.000,1030,0.000,0.066,2570,2795,3281,3304,3258,0,0,0,0,0,0,14.71,14.54,14.73
$GC,5568,-0.94,-63.1,2566,2794,3303,3259,584.2,-9.4,276,5582,0.00,2.42,0.00,0.000,516,0.000,0.044,2569,1367,3280,3302,3258,0,0,0,0,0,0,14.93,14.62,14.94
$GC,5614,-0.94,-63.1,2569,1368,3304,3257,588.9,-9.8,282,5628,0.12,2.53,0.00,0.000,3078,0.266,0.066,2592,2798,3280,3303,3257,0,0,0,0,0,0,14.31,14.55,14.59
$GC,5969,-0.94,-63.1,2592,2801,3303,3254,622.2,-9.4,290,5982,0.00,1.90,0.00,0.000,260,0.000,0.106,2585,3828,3278,3302,3254,0,0,0,0,0,0,14.94,14.47,14.93
$GC,6001,-0.94,-63.1,2585,3830,3303,3253,625.4,-9.7,294,6014,0.00,1.73,0.00,0.000,1030,0.000,0.044,2585,2781,3279,3305,3253,0,0,0,0,0,0,14.75,14.70,14.76
$GC,6369,-0.94,-63.1,2584,2782,3301,3252,661.4,-9.8,304,6382,0.00,2.38,0.00,0.000,516,0.000,0.046,2585,1375,3276,3300,3252,0,0,0,0,0,0,14.92,14.59,14.92
$GC,6436,-0.94,-63.1,2585,1376,3301,3252,668.0,-9.5,313,6449,0.00,2.50,0.00,0.000,1030,0.000,0.066,2572,2789,3273,3294,3252,0,0,0,0,0,0,14.69,14.57,14.76
$GC,6770,-0.94,-63.1,2576,2789,3299,3251,699.3,-9.2,325,6782,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2789,3274,3298,3250,0,0,0,0,0,0,14.92,14.91,14.91
$GC,7106,-0.94,-63.1,2574,2790,3298,3249,728.0,-8.4,331,7119,0.00,2.42,0.00,0.000,516,0.000,0.044,2574,1375,3273,3297,3249,0,0,0,0,0,0,14.91,14.59,14.91
$GC,7179,-0.94,-63.1,2574,1376,3298,3248,734.6,-8.6,341,7193,0.10,2.53,0.00,0.000,3078,0.282,0.067,2590,2790,3272,3297,3247,0,0,0,0,0,0,14.26,14.50,14.56
$GC,7507,-0.94,-63.1,2590,2790,3298,3247,761.7,-8.3,352,7520,0.00,1.92,0.00,0.000,260,0.000,0.109,2583,3829,3271,3298,3245,0,0,0,0,0,0,14.90,14.43,14.92
$GC,7608,-0.94,-63.1,2584,3829,3303,3247,771.1,-9.4,366,7622,0.00,1.77,0.00,0.000,1030,0.000,0.044,2582,2760,3271,3296,3246,0,0,0,0,0,0,14.71,14.64,14.72
$GC,7963,-0.94,-63.1,2583,2760,3296,3245,802.4,-8.8,374,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2760,3269,3295,3244,0,0,0,0,0,0,14.90,14.90,14.90
$GC,8299,-0.94,-63.1,2582,2761,3293,3242,830.6,-8.4,380,8312,0.00,2.35,0.00,0.000,516,0.000,0.047,2582,1378,3268,3292,3244,0,0,0,0,0,0,14.92,14.56,14.92
$GC,8345,-0.95,-73.5,2582,1378,3293,3244,834.5,-6.9,386,8358,0.00,2.53,0.00,0.000,1062,0.000,0.069,2573,2792,3267,3292,3242,0,0,0,0,0,0,14.66,14.49,14.69
$GC,8700,-0.95,-73.5,2574,2792,3292,3243,864.8,-8.6,394,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2792,3266,3291,3242,0,0,0,0,0,0,14.92,14.92,14.92
$GC,9036,-0.95,-73.5,2573,2792,3291,3240,893.3,-8.5,400,9049,0.00,2.45,0.00,0.000,516,0.000,0.046,2571,1374,3265,3291,3240,0,0,0,0,0,0,14.90,14.57,14.90
$GC,9103,-0.95,-73.5,2572,1375,3292,3240,899.3,-8.7,409,9116,0.00,2.55,0.00,0.000,1030,0.000,0.069,2562,2798,3265,3290,3240,0,0,0,0,0,0,14.64,14.45,14.67
$GC,9437,-0.95,-73.5,2563,2799,3291,3239,929.0,-8.8,421,9449,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2798,3264,3290,3239,0,0,0,0,0,0,14.90,14.90,14.90
$STATE,9491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9491,begin apogee
$GC,9496,-0.23,0.0,2562,2234,3291,3240,934.0,-8.8,422,9567,0.93,0.00,60.40,1.991,10244,0.223,0.000,2819,2234,3048,3088,3008,0,0,0,0,0,0,14.26,14.26,13.47
$STATE,9568,end apogee,CONTROL_FINISHED_OK
$STATE,9569,begin climb
$GC,9570,1.20,73.5,2819,2234,3087,3002,936.7,0.0,423,9665,1.40,0.00,77.60,1.962,11270,0.113,0.000,3269,2234,2750,2805,2696,0,0,0,0,0,0,14.19,14.45,13.23
$GC,9997,1.06,73.5,3269,2235,2807,2684,904.4,9.1,445,10010,0.00,2.38,0.00,0.000,644,0.000,0.060,3279,878,2748,2805,2692,0,0,0,0,0,0,14.62,14.32,14.63
$GC,10043,0.92,73.5,3279,878,2807,2685,900.1,10.9,451,10056,0.30,2.40,0.00,0.000,5254,0.271,0.055,3202,2257,2744,2805,2683,0,0,0,0,0,0,14.09,14.35,14.40
$GC,10398,0.92,76.2,3203,2257,2806,2680,873.2,7.5,459,10411,0.00,2.60,0.00,0.000,292,0.000,0.100,3202,3658,2743,2805,2681,0,0,0,0,0,0,14.74,14.34,14.74
$GC,10444,0.81,76.2,3202,3659,2806,2680,869.4,9.9,465,10458,0.17,2.38,0.00,0.000,5254,0.268,0.044,3167,2257,2743,2805,2681,0,0,0,0,0,0,14.16,14.52,14.45
$GC,10799,0.83,94.9,3167,2258,2807,2676,846.7,6.2,473,10838,0.00,2.67,22.05,1.965,8484,0.000,0.100,3167,3653,2665,2727,2603,0,0,0,0,0,0,14.79,14.41,13.76
$GC,10892,0.83,94.9,3166,3654,2728,2601,839.5,8.4,486,10905,0.00,2.40,0.00,0.000,1030,0.000,0.042,3177,2250,2663,2726,2600,0,0,0,0,0,0,14.51,14.45,14.52
$GC,11253,0.83,96.0,3177,2251,2728,2595,812.0,7.7,495,11266,0.00,0.00,0.00,0.000,38,0.000,0.000,3177,2251,2662,2727,2597,0,0,0,0,0,0,14.75,14.72,14.75
$GC,11589,0.83,98.4,3177,2251,2728,2596,787.1,7.5,501,11602,0.00,0.00,0.00,0.000,38,0.000,0.000,3177,2250,2661,2726,2596,0,0,0,0,0,0,14.79,14.79,14.79
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$STATE,21810,end climb,SURFACE_DEPTH_REACHED
$STATE,21810,begin surface coast
$FINISH,-2.3,1.020466
$STATE,21840,end surface coast,CONTROL_FINISHED_OK
$STATE,21840,begin surface
$SM_CCo,21862,51.20,0.152,0,0,1057,500.14
$SM_GC,-2.49,9.18,0.82,51.20,0.057,0.073,0.152,192,2773,1057,-8.38,-0.62,500.14,0,0,0,0,0,0,14.61,14.50,14.39
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$TT8_MAMPS,0.038199,0.302596
$HUMID,51.37
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.00
$XPDR_PINGS,0
$SC_FREEKB,3833344
$PM_FREEKB,57690880
$TM_FREEKB,5917440
$24V_AH,13.11,78.034
$10V_AH,13.10,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.480,2.395,52.584,0.000
$MEM,334616
$DATA_FILE_SIZE,33372,951
$CAP_FILE_SIZE,175664,0
$CFSIZE,1024409600,979075072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.003,294.81,1
$GPS,131016,193231,959.806,-12519.546,21,1.1,21,9.1,0.2,260.3,8,7.3