version: 66.13
glider: 220
mission: 6
dive: 376
start: 12 1 116 9 26 55
data:
$ID,220
$MISSION,6
$DIVE,376
$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,51
$R_STBD_OVSHOOT,20
$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
$GPS1,011216,091539,1018.4340,-12459.3115,16,1.6,16,9.1,0.2,0.0,5,7.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.10
$_SM_ANGLEo,-74.0
$GPS2,011216,092632,1018.5260,-12459.3350,18,0.8,18,9.1,0.2,0.0,12,2.6
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,194.6,50150,-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,-107.1,116,2777,1099,1014,0.0,0.0,0,92,0.00,0.00,-76.43,0.000,16390,0.000,0.000,114,2777,3479,3470,3488,0,0,0,0,0,0,14.68,12.60,14.66
$GC,95,-0.93,-107.1,115,2776,3471,3489,1.4,-4.7,2,109,12.12,0.00,0.00,0.000,2054,0.392,0.000,2593,2776,3480,3472,3488,0,0,0,0,0,0,13.99,14.44,14.38
$GC,409,-0.75,-107.1,2594,2777,3478,3487,73.0,-10.0,14,414,0.20,1.95,0.00,0.000,2436,0.237,0.106,2643,3827,3482,3477,3488,0,0,0,0,0,0,14.21,14.33,14.47
$GC,571,-0.66,-107.1,2644,3828,3480,3488,85.6,-9.4,37,577,0.12,1.75,0.00,0.000,3206,0.220,0.041,2680,2756,3484,3479,3489,0,0,0,0,0,0,14.28,14.59,14.51
$GC,913,-0.66,-107.1,2680,2757,3482,3488,114.6,-8.4,47,919,0.00,2.30,0.00,0.000,516,0.000,0.042,2681,1382,3484,3480,3489,0,0,0,0,0,0,14.90,14.49,14.90
$GC,961,-0.66,-107.1,2681,1382,3481,3489,118.6,-8.1,54,968,0.00,2.47,0.00,0.000,1030,0.000,0.066,2671,2775,3482,3480,3485,0,0,0,0,0,0,14.50,14.42,14.55
$GC,1304,-0.66,-107.1,2671,2776,3482,3486,145.6,-7.9,61,1310,0.00,2.00,0.00,0.000,260,0.000,0.108,2663,3829,3480,3475,3486,0,0,0,0,0,0,14.92,14.35,14.92
$GC,1345,-0.66,-107.1,2663,3830,3481,3486,149.1,-8.6,67,1353,0.00,1.77,0.00,0.000,1030,0.000,0.042,2662,2774,3483,3480,3486,0,0,0,0,0,0,14.72,14.67,14.73
$GC,1697,-0.66,-107.1,2663,2775,3481,3484,179.1,-8.4,75,1702,0.00,2.35,0.00,0.000,516,0.000,0.043,2662,1379,3481,3480,3482,0,0,0,0,0,0,14.95,14.57,14.95
$GC,1779,-0.66,-107.1,2662,1379,3481,3480,185.9,-8.2,87,1787,0.10,2.50,0.00,0.000,3078,0.202,0.067,2683,2779,3480,3480,3481,0,0,0,0,0,0,14.29,14.44,14.45
$GC,2145,-0.74,-107.1,2683,2780,3481,3475,213.0,-7.5,97,2150,0.00,2.38,0.00,0.000,676,0.000,0.042,2684,1375,3478,3480,3476,0,0,0,0,0,0,14.93,14.57,14.93
$GC,2186,-0.83,-107.1,2683,1379,3480,3476,216.2,-7.7,103,2193,0.05,2.53,0.00,0.000,5286,0.116,0.067,2620,2785,3478,3480,3476,0,0,0,0,0,0,14.45,14.45,14.53
$GC,2536,-0.83,-107.1,2620,2786,3481,3469,253.4,-10.9,111,2543,0.00,1.98,0.00,0.000,260,0.000,0.109,2610,3823,3474,3479,3469,0,0,0,0,0,0,14.94,14.36,14.93
$GC,2577,-0.83,-107.1,2613,3823,3481,3469,258.3,-12.0,117,2584,0.00,1.77,0.00,0.000,1030,0.000,0.043,2612,2779,3474,3480,3469,0,0,0,0,0,0,14.74,14.69,14.75
$GC,2929,-0.83,-107.1,2612,2774,3476,3465,297.6,-11.1,125,2934,0.00,2.03,0.00,0.000,260,0.000,0.108,2601,3846,3472,3480,3465,0,0,0,0,0,0,14.94,14.38,14.94
$GC,2977,-0.83,-107.1,2603,3847,3481,3464,303.1,-11.5,132,2985,0.08,1.83,0.00,0.000,3078,0.223,0.041,2625,2773,3472,3479,3465,0,0,0,0,0,0,14.33,14.68,14.47
$GC,3320,-0.83,-107.1,2626,2773,3481,3463,337.3,-9.9,139,3327,0.00,2.38,0.00,0.000,516,0.000,0.044,2625,1378,3473,3480,3467,0,0,0,0,0,0,14.94,14.56,14.94
$GC,3376,-0.83,-107.1,2626,1377,3481,3462,342.8,-9.6,147,3383,0.00,2.50,0.00,0.000,1030,0.000,0.067,2615,2787,3469,3479,3460,0,0,0,0,0,0,14.63,14.44,14.66
$GC,3713,-0.83,-107.1,2616,2788,3481,3456,376.4,-10.2,160,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2787,3467,3479,3455,0,0,0,0,0,0,14.97,14.96,14.96
$GC,4048,-0.83,-107.1,2616,2789,3481,3452,411.5,-10.4,166,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2787,3466,3481,3452,0,0,0,0,0,0,14.96,14.96,14.96
$GC,4384,-0.83,-107.1,2616,2787,3480,3451,445.2,-9.9,172,4390,0.00,2.42,0.00,0.000,516,0.000,0.044,2614,1379,3463,3478,3449,0,0,0,0,0,0,14.94,14.54,14.94
$GC,4474,-0.83,-107.1,2615,1379,3480,3449,453.8,-9.3,185,4481,0.00,2.55,0.00,0.000,1030,0.000,0.068,2605,2785,3463,3478,3448,0,0,0,0,0,0,14.50,14.40,14.54
$GC,4832,-0.83,-107.1,2606,2785,3481,3445,486.8,-9.2,194,4838,0.00,1.98,0.00,0.000,260,0.000,0.111,2598,3819,3462,3480,3445,0,0,0,0,0,0,14.95,14.23,14.94
$GC,4874,-0.83,-107.1,2598,3819,3481,3446,490.8,-9.7,200,4880,0.08,1.80,0.00,0.000,3078,0.259,0.042,2624,2775,3462,3479,3445,0,0,0,0,0,0,14.28,14.62,14.42
$GC,5225,-0.83,-107.1,2625,2775,3480,3441,519.6,-8.2,208,5230,0.00,2.40,0.00,0.000,516,0.000,0.044,2625,1375,3461,3480,3442,0,0,0,0,0,0,14.93,14.53,14.93
$GC,5252,-0.83,-107.1,2625,1375,3479,3443,522.0,-8.6,212,5258,0.00,2.53,0.00,0.000,1030,0.000,0.067,2615,2775,3461,3480,3442,0,0,0,0,0,0,14.50,14.40,14.54
$GC,5616,-0.83,-107.1,2615,2777,3482,3438,554.3,-9.1,222,5622,0.00,2.00,0.00,0.000,260,0.000,0.109,2607,3819,3458,3479,3438,0,0,0,0,0,0,14.93,14.31,14.93
$GC,5678,-0.83,-107.1,2607,3820,3481,3437,560.5,-9.7,231,5686,0.00,1.80,0.00,0.000,1030,0.000,0.043,2606,2769,3458,3480,3437,0,0,0,0,0,0,14.70,14.64,14.71
$GC,6008,-0.83,-107.1,2607,2769,3480,3437,593.0,-10.0,243,6015,0.00,2.05,0.00,0.000,260,0.000,0.109,2599,3822,3457,3479,3436,0,0,0,0,0,0,14.95,14.28,14.95
$GC,6043,-0.83,-107.1,2599,3823,3481,3436,596.7,-10.7,248,6049,0.10,1.77,0.00,0.000,3078,0.213,0.043,2627,2783,3458,3480,3436,0,0,0,0,0,0,14.23,14.60,14.39
$GC,6400,-0.83,-107.1,2635,2783,3479,3433,629.4,-9.1,257,6406,0.00,2.47,0.00,0.000,516,0.000,0.043,2627,1366,3455,3479,3432,0,0,0,0,0,0,14.98,14.45,14.95
$GC,6449,-0.83,-107.1,2628,1367,3481,3432,633.9,-9.2,264,6456,0.00,2.58,0.00,0.000,1030,0.000,0.066,2618,2787,3455,3479,3432,0,0,0,0,0,0,14.45,14.37,14.50
$GC,6793,-0.83,-107.1,2618,2788,3476,3432,667.6,-9.9,271,6799,0.00,2.45,0.00,0.000,516,0.000,0.043,2615,1372,3453,3476,3431,0,0,0,0,0,0,14.92,14.50,14.92
$GC,6820,-0.83,-107.1,2616,1373,3477,3431,670.3,-9.9,275,6827,0.00,2.55,0.00,0.000,1030,0.000,0.066,2608,2779,3453,3476,3431,0,0,0,0,0,0,14.49,14.36,14.50
$GC,7184,-0.83,-107.1,2608,2780,3474,3429,708.3,-10.5,285,7190,0.00,2.00,0.00,0.000,260,0.000,0.112,2600,3819,3451,3471,3431,0,0,0,0,0,0,14.94,14.22,14.94
$GC,7218,-0.83,-107.1,2600,3819,3473,3433,712.1,-11.1,290,7225,0.10,1.80,0.00,0.000,3078,0.246,0.043,2633,2772,3451,3472,3431,0,0,0,0,0,0,14.20,14.62,14.36
$GC,7576,-0.83,-107.1,2633,2773,3472,3429,745.2,-9.2,299,7583,0.00,2.45,0.00,0.000,516,0.000,0.044,2633,1375,3450,3472,3428,0,0,0,0,0,0,14.94,14.42,14.94
$GC,7660,-0.83,-107.1,2633,1376,3473,3428,752.7,-8.4,311,7667,0.00,2.55,0.00,0.000,1030,0.000,0.066,2624,2771,3450,3472,3428,0,0,0,0,0,0,14.42,14.32,14.46
$GC,8025,-0.83,-107.1,2624,2770,3472,3428,784.4,-8.6,321,8030,0.00,2.45,0.00,0.000,516,0.000,0.043,2622,1382,3448,3470,3427,0,0,0,0,0,0,14.91,14.40,14.91
$GC,8073,-0.83,-107.1,2622,1382,3470,3428,788.6,-8.4,328,8080,0.00,2.53,0.00,0.000,1030,0.000,0.067,2613,2772,3449,3471,3427,0,0,0,0,0,0,14.33,14.25,14.38
$GC,8417,-0.83,-107.1,2615,2772,3471,3426,816.6,-8.0,335,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2772,3447,3470,3425,0,0,0,0,0,0,14.90,14.90,14.91
$GC,8753,-0.83,-107.1,2614,2774,3470,3425,843.1,-7.7,341,8758,0.00,2.42,0.00,0.000,548,0.000,0.044,2614,1379,3447,3470,3424,0,0,0,0,0,0,14.91,14.45,14.91
$GC,8787,-0.83,-107.1,2613,1380,3471,3424,845.8,-5.9,346,8793,0.00,2.55,0.00,0.000,1062,0.000,0.067,2604,2775,3446,3469,3424,0,0,0,0,0,0,14.40,14.31,14.45
$GC,9144,-0.83,-107.1,2604,2775,3470,3423,875.4,-8.3,355,9145,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2776,3445,3468,3422,0,0,0,0,0,0,14.91,14.91,14.91
$GC,9480,-0.83,-107.1,2604,2776,3468,3423,905.1,-9.0,361,9486,0.00,2.50,0.00,0.000,516,0.000,0.044,2603,1373,3443,3466,3420,0,0,0,0,0,0,14.91,14.36,14.90
$GC,9521,-0.83,-107.1,2604,1373,3467,3423,908.8,-8.7,367,9529,0.10,2.58,0.00,0.000,3078,0.224,0.068,2621,2773,3444,3467,3422,0,0,0,0,0,0,14.03,14.27,14.20
$STATE,9814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9814,begin apogee
$GC,9821,-0.23,0.0,2621,2226,3467,3420,932.9,-8.4,374,9933,0.68,0.05,109.45,1.963,10244,0.172,0.211,2820,2258,3055,3091,3019,0,0,0,0,0,0,14.13,13.93,13.01
$STATE,9935,end apogee,CONTROL_FINISHED_OK
$STATE,9935,begin climb
$GC,9938,0.93,107.1,2821,2258,3089,3004,937.6,0.0,376,10063,1.12,2.47,116.95,1.956,10756,0.093,0.055,3185,892,2625,2685,2565,0,0,0,0,0,0,13.99,14.02,12.87
$GC,10118,0.85,135.0,3185,893,2681,2544,932.1,6.3,403,10155,0.00,2.47,30.65,2.004,9382,0.000,0.050,3185,2252,2507,2578,2436,0,0,0,0,0,0,14.07,14.01,12.97
$GC,10490,0.74,135.0,3185,2252,2578,2422,900.1,9.0,414,10495,0.15,2.60,0.00,0.000,4484,0.226,0.097,3143,3655,2499,2578,2421,0,0,0,0,0,0,14.19,14.29,14.44
$GC,10580,0.65,135.0,3143,3657,2579,2421,891.9,8.8,427,10587,0.12,2.40,0.00,0.000,5254,0.213,0.040,3118,2275,2499,2578,2421,0,0,0,0,0,0,14.16,14.44,14.33
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$STATE,21959,end climb,SURFACE_DEPTH_REACHED
$STATE,21959,begin surface coast
$FINISH,-0.4,1.020829
$STATE,21987,end surface coast,CONTROL_FINISHED_OK
$STATE,21987,begin surface
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$XPDR_PINGS,2
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$PM_FREEKB,55509056
$24V_AH,12.60,135.820
$10V_AH,12.09,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,334748
$DATA_FILE_SIZE,33391,915
$CAP_FILE_SIZE,167782,0
$CFSIZE,1024409600,950681600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.021,67.86,1
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