version: 66.13
glider: 220
mission: 6
dive: 303
start: 11 11 116 9 33 31
data:
$ID,220
$MISSION,6
$DIVE,303
$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,61
$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
$GPS1,111116,092201,946.9903,-12504.7520,25,0.9,25,9.0,0.0,0.0,9,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.37
$_SM_ANGLEo,-72.7
$GPS2,111116,093309,947.0134,-12504.6504,2,0.8,3,9.0,1.1,60.9,10,5.9
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,138.6,14137,-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,-107.1,220,2786,1103,1008,0.0,0.0,0,91,0.00,0.00,-75.60,0.000,16390,0.000,0.000,219,2779,3478,3470,3486,0,0,0,0,0,0,14.66,12.71,14.66
$GC,94,-0.93,-107.1,217,2781,3471,3486,0.3,-5.8,2,109,11.90,1.92,0.00,0.000,2308,0.398,0.082,2585,3831,3483,3472,3495,0,0,0,0,0,0,14.09,14.36,14.41
$GC,339,-0.57,-107.1,2585,3832,3475,3486,75.4,-15.4,38,345,0.47,1.80,0.00,0.000,3206,0.232,0.034,2711,2732,3481,3475,3487,0,0,0,0,0,0,14.14,14.54,14.32
$GC,675,-0.57,-107.1,2712,2731,3479,3488,101.9,-6.6,53,681,0.00,2.08,0.00,0.000,292,0.000,0.103,2702,3828,3482,3479,3486,0,0,0,0,0,0,14.86,14.35,14.87
$GC,723,-0.57,-107.1,2702,3829,3480,3486,106.8,-8.8,60,732,0.00,1.75,0.00,0.000,1030,0.000,0.037,2701,2773,3481,3478,3485,0,0,0,0,0,0,14.63,14.59,14.64
$GC,1067,-0.57,-107.1,2702,2773,3479,3488,134.7,-8.6,67,1073,0.00,1.98,0.00,0.000,260,0.000,0.103,2694,3820,3482,3478,3486,0,0,0,0,0,0,14.90,14.38,14.90
$GC,1108,-0.57,-107.1,2694,3820,3474,3487,138.4,-9.0,73,1115,0.00,1.75,0.00,0.000,1030,0.000,0.037,2693,2756,3482,3479,3486,0,0,0,0,0,0,14.74,14.68,14.73
$GC,1459,-0.57,-107.1,2694,2757,3480,3484,170.3,-9.1,81,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2756,3480,3478,3483,0,0,0,0,0,0,14.92,14.92,14.92
$GC,1795,-0.57,-107.1,2694,2756,3480,3480,200.5,-9.1,87,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2756,3478,3478,3479,0,0,0,0,0,0,14.94,14.94,14.94
$GC,2131,-0.57,-107.1,2693,2756,3480,3474,231.7,-9.3,93,2137,0.00,2.03,0.00,0.000,260,0.000,0.106,2685,3820,3476,3478,3474,0,0,0,0,0,0,14.94,14.38,14.93
$GC,2179,-0.57,-107.1,2685,3819,3479,3473,236.4,-9.8,100,2188,0.10,1.75,0.00,0.000,3078,0.223,0.041,2715,2786,3475,3478,3473,0,0,0,0,0,0,14.38,14.69,14.60
$GC,2523,-0.57,-107.1,2718,2787,3479,3468,264.4,-8.2,107,2529,0.00,2.42,0.00,0.000,516,0.000,0.044,2714,1357,3473,3478,3468,0,0,0,0,0,0,14.94,14.54,14.94
$GC,2564,-0.57,-107.1,2715,1358,3479,3468,268.0,-8.7,113,2571,0.00,2.53,0.00,0.000,1030,0.000,0.067,2705,2766,3472,3478,3467,0,0,0,0,0,0,14.56,14.46,14.61
$GC,2915,-0.57,-107.1,2705,2765,3478,3461,299.1,-9.0,121,2921,0.00,2.40,0.00,0.000,516,0.000,0.044,2708,1387,3470,3478,3462,0,0,0,0,0,0,14.97,14.51,14.97
$GC,2956,-0.57,-107.1,2705,1386,3479,3460,302.9,-9.1,127,2963,0.00,2.47,0.00,0.000,1030,0.000,0.068,2695,2763,3469,3478,3461,0,0,0,0,0,0,14.54,14.45,14.59
$GC,3307,-0.57,-107.1,2696,2762,3480,3457,334.5,-9.0,135,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2766,3467,3478,3456,0,0,0,0,0,0,14.95,14.95,14.95
$GC,3643,-0.57,-107.1,2696,2763,3479,3453,364.0,-8.7,141,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2763,3465,3478,3452,0,0,0,0,0,0,14.95,14.95,14.95
$GC,3979,-0.57,-107.1,2698,2765,3479,3449,393.1,-8.5,147,3985,0.00,2.03,0.00,0.000,260,0.000,0.111,2690,3829,3463,3477,3449,0,0,0,0,0,0,14.95,14.33,14.95
$GC,4020,-0.57,-107.1,2690,3831,3479,3449,397.1,-9.5,153,4027,0.00,1.83,0.00,0.000,1030,0.000,0.042,2690,2758,3463,3478,3448,0,0,0,0,0,0,14.73,14.68,14.75
$GC,4371,-0.57,-107.1,2690,2759,3478,3444,427.3,-8.4,161,4377,0.00,2.38,0.00,0.000,516,0.000,0.044,2690,1388,3461,3478,3444,0,0,0,0,0,0,14.97,14.47,14.95
$GC,4427,-0.57,-107.1,2690,1388,3473,3445,431.9,-7.8,169,4433,0.12,2.47,0.00,0.000,3078,0.215,0.070,2716,2760,3460,3477,3444,0,0,0,0,0,0,14.19,14.39,14.36
$GC,4763,-0.57,-107.1,2716,2764,3479,3440,453.7,-6.4,182,4764,0.00,0.00,0.00,0.000,38,0.000,0.000,2716,2760,3459,3477,3441,0,0,0,0,0,0,14.94,14.94,14.94
$GC,5099,-0.57,-107.1,2716,2761,3479,3441,477.5,-7.3,188,5106,0.00,2.42,0.00,0.000,548,0.000,0.046,2716,1386,3455,3474,3437,0,0,0,0,0,0,14.95,14.47,14.95
$GC,5126,-0.57,-107.1,2716,1387,3479,3436,479.7,-7.9,192,5134,0.00,2.47,0.00,0.000,1030,0.000,0.070,2707,2765,3457,3477,3437,0,0,0,0,0,0,14.50,14.40,14.55
$GC,5491,-0.57,-107.1,2704,2760,3477,3433,507.4,-7.5,202,5492,0.00,0.00,0.00,0.000,38,0.000,0.000,2706,2758,3455,3477,3433,0,0,0,0,0,0,14.94,14.94,14.94
$GC,5827,-0.57,-107.1,2707,2758,3478,3433,531.3,-7.0,208,5834,0.00,2.40,0.00,0.000,548,0.000,0.045,2706,1389,3454,3477,3431,0,0,0,0,0,0,14.97,14.45,14.97
$GC,5883,-0.57,-107.1,2706,1390,3479,3430,535.3,-7.1,216,5890,0.00,2.50,0.00,0.000,1062,0.000,0.070,2698,2761,3453,3478,3428,0,0,0,0,0,0,14.45,14.35,14.50
$GC,6219,-0.57,-107.1,2698,2763,3478,3427,560.2,-7.5,229,6220,0.00,0.00,0.00,0.000,38,0.000,0.000,2698,2761,3453,3479,3428,0,0,0,0,0,0,14.93,14.95,14.93
$GC,6555,-0.57,-107.1,2698,2762,3478,3425,585.8,-7.6,235,6561,0.00,2.42,0.00,0.000,548,0.000,0.046,2698,1384,3451,3477,3425,0,0,0,0,0,0,14.96,14.43,14.96
$GC,6589,-0.57,-107.1,2698,1385,3478,3425,588.5,-7.9,240,6597,0.00,2.50,0.00,0.000,1030,0.000,0.070,2689,2761,3450,3477,3424,0,0,0,0,0,0,14.45,14.35,14.51
$GC,6947,-0.57,-107.1,2690,2762,3475,3424,617.6,-8.3,249,6953,0.00,2.40,0.00,0.000,516,0.000,0.045,2689,1376,3448,3473,3423,0,0,0,0,0,0,14.93,14.47,14.92
$GC,7003,-0.57,-107.1,2689,1377,3474,3424,622.5,-8.7,257,7009,0.10,2.53,0.00,0.000,3078,0.224,0.070,2708,2755,3448,3473,3424,0,0,0,0,0,0,14.10,14.32,14.27
$GC,7339,-0.57,-107.1,2708,2758,3472,3424,649.1,-7.9,270,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2757,3447,3471,3424,0,0,0,0,0,0,14.92,14.92,14.92
$GC,7676,-0.57,-107.1,2709,2757,3472,3423,674.4,-7.5,276,7682,0.00,2.05,0.00,0.000,292,0.000,0.112,2700,3824,3446,3471,3422,0,0,0,0,0,0,14.92,14.20,14.92
$GC,7737,-0.57,-107.1,2701,3824,3471,3423,679.3,-7.9,285,7744,0.00,1.85,0.00,0.000,1030,0.000,0.044,2699,2756,3446,3470,3422,0,0,0,0,0,0,14.67,14.61,14.67
$GC,8067,-0.57,-107.1,2700,2756,3470,3422,702.5,-7.0,297,8073,0.00,2.42,0.00,0.000,548,0.000,0.046,2700,1375,3445,3469,3421,0,0,0,0,0,0,14.92,14.38,14.92
$GC,8136,-0.57,-107.1,2700,1376,3471,3418,707.6,-7.3,307,8143,0.00,2.53,0.00,0.000,1062,0.000,0.069,2692,2760,3445,3470,3420,0,0,0,0,0,0,14.40,14.31,14.45
$GC,8459,-0.57,-107.1,2692,2760,3471,3420,731.6,-7.5,318,8460,0.00,0.00,0.00,0.000,38,0.000,0.000,2692,2760,3444,3470,3419,0,0,0,0,0,0,14.92,14.92,14.91
$GC,8795,-0.57,-107.1,2692,2761,3469,3419,757.7,-7.8,324,8802,0.00,2.45,0.00,0.000,516,0.000,0.045,2692,1377,3443,3468,3419,0,0,0,0,0,0,14.95,14.35,14.95
$GC,8836,-0.57,-107.1,2692,1377,3468,3419,761.0,-7.7,330,8843,0.10,2.53,0.00,0.000,3110,0.221,0.069,2710,2764,3443,3468,3418,0,0,0,0,0,0,14.06,14.28,14.23
$GC,9187,-0.65,-107.1,2711,2766,3469,3417,783.8,-6.4,338,9188,0.00,0.00,0.00,0.000,166,0.000,0.000,2710,2765,3443,3467,3420,0,0,0,0,0,0,14.91,14.90,14.91
$GC,9524,-0.74,-107.1,2712,2764,3476,3416,804.7,-6.3,344,9530,0.10,2.42,0.00,0.000,4772,0.116,0.047,2644,1376,3440,3466,3415,0,0,0,0,0,0,14.59,14.42,14.65
$GC,9551,-0.74,-107.1,2645,1376,3467,3415,806.9,-8.0,348,9558,0.00,2.55,0.00,0.000,1030,0.000,0.070,2635,2764,3440,3465,3415,0,0,0,0,0,0,14.38,14.28,14.42
$GC,9915,-0.74,-107.1,2635,2765,3465,3415,841.3,-9.8,358,9921,0.00,2.05,0.00,0.000,260,0.000,0.112,2627,3826,3439,3464,3415,0,0,0,0,0,0,14.93,14.15,14.93
$GC,9977,-0.74,-107.1,2627,3827,3465,3415,847.9,-10.5,367,9984,0.10,1.85,0.00,0.000,3078,0.252,0.044,2653,2759,3438,3463,3414,0,0,0,0,0,0,14.12,14.55,14.39
$GC,10307,-0.74,-107.1,2653,2761,3461,3414,876.9,-8.6,379,10313,0.00,2.42,0.00,0.000,516,0.000,0.045,2653,1382,3438,3464,3413,0,0,0,0,0,0,14.90,14.31,14.92
$GC,10376,-0.74,-107.1,2655,1382,3464,3414,882.9,-8.5,389,10383,0.00,2.53,0.00,0.000,1030,0.000,0.067,2643,2765,3438,3464,3413,0,0,0,0,0,0,14.36,14.26,14.42
$GC,10699,-0.74,-107.1,2645,2764,3464,3413,910.7,-8.6,400,10700,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2764,3439,3466,3412,0,0,0,0,0,0,14.89,14.89,14.90
$STATE,10977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10977,begin apogee
$GC,10983,-0.23,0.0,2641,2229,3462,3412,933.8,-8.3,405,11093,0.65,0.00,107.88,1.955,10244,0.194,0.000,2823,2229,3049,3090,3008,0,0,0,0,0,0,14.04,14.00,13.16
$STATE,11095,end apogee,CONTROL_FINISHED_OK
$STATE,11095,begin climb
$GC,11097,0.93,107.1,2823,2229,3087,3004,937.0,0.0,407,11226,1.17,2.42,116.28,1.944,10756,0.116,0.057,3181,886,2618,2680,2556,0,0,0,0,0,0,13.95,14.00,12.95
$GC,11287,0.90,147.8,3181,888,2681,2543,927.5,5.7,435,11336,0.00,2.47,44.80,1.969,9382,0.000,0.051,3181,2255,2461,2535,2388,0,0,0,0,0,0,14.03,13.97,13.00
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$STATE,22934,end climb,SURFACE_DEPTH_REACHED
$STATE,22934,begin surface coast
$FINISH,-2.0,1.020721
$STATE,22962,end surface coast,CONTROL_FINISHED_OK
$STATE,22962,begin surface
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$TCM_TEMP,22.50
$XPDR_PINGS,1
$SC_FREEKB,3793376
$PM_FREEKB,56399808
$24V_AH,12.71,112.616
$10V_AH,12.75,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,334720
$DATA_FILE_SIZE,30060,868
$CAP_FILE_SIZE,162871,0
$CFSIZE,1024409600,961560576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11289.29,0x233bae,1,24
$CURRENT,0.041,85.16,1
$GPS,111116,155809,945.408,-12502.868,33,0.9,33,9.0,0.5,56.8,7,7.2