version: 66.13
glider: 220
mission: 6
dive: 429
start: 12 15 116 21 43 34
data:
$ID,220
$MISSION,6
$DIVE,429
$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,66
$R_STBD_OVSHOOT,16
$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
$GPS1,151216,213109,1003.9319,-12513.6826,30,0.8,30,9.0,0.3,96.5,10,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.2
$GPS2,151216,214311,1003.9451,-12513.6455,2,1.0,5,9.0,0.7,102.4,10,9.4
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,221.7,12772,-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,12,begin dive
$GC,15,-0.93,-107.1,151,2774,1103,1017,0.0,0.0,0,100,0.00,0.00,-79.45,0.000,16390,0.000,0.000,149,2775,3478,3467,3489,0,0,0,0,0,0,14.66,13.14,14.66
$GC,104,-0.93,-107.1,150,2776,3469,3489,9.1,-13.5,3,121,11.60,2.35,0.00,0.000,2564,0.384,0.030,2590,1367,3479,3470,3489,0,0,0,0,0,0,14.00,14.39,14.34
$GC,325,-0.79,-107.1,2591,1364,3476,3488,59.6,-12.5,35,330,0.22,2.50,0.00,0.000,3206,0.226,0.070,2642,2774,3481,3475,3487,0,0,0,0,0,0,14.16,14.35,14.40
$GC,661,-0.79,-107.1,2643,2775,3480,3487,82.8,-8.9,50,666,0.00,1.95,0.00,0.000,260,0.000,0.106,2634,3838,3482,3478,3486,0,0,0,0,0,0,14.85,14.31,14.85
$GC,801,-0.79,-107.1,2635,3838,3479,3488,96.0,-9.5,70,806,0.00,1.77,0.00,0.000,1030,0.000,0.039,2635,2754,3483,3479,3487,0,0,0,0,0,0,14.59,14.57,14.60
$GC,1137,-0.79,-107.1,2635,2754,3479,3487,127.4,-9.4,80,1142,0.00,2.30,0.00,0.000,516,0.000,0.044,2634,1393,3482,3478,3487,0,0,0,0,0,0,14.91,14.50,14.91
$GC,1199,-0.79,-107.1,2634,1397,3479,3486,133.5,-9.6,89,1206,0.00,2.47,0.00,0.000,1030,0.000,0.067,2624,2770,3482,3478,3486,0,0,0,0,0,0,14.48,14.40,14.52
$GC,1529,-0.79,-107.1,2625,2771,3479,3481,165.0,-9.4,101,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2769,3480,3478,3483,0,0,0,0,0,0,14.91,14.95,14.90
$GC,1865,-0.79,-107.1,2625,2770,3479,3481,195.8,-9.2,107,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2770,3478,3478,3479,0,0,0,0,0,0,14.94,14.94,14.94
$GC,2201,-0.79,-107.1,2625,2770,3475,3475,224.8,-8.5,113,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2770,3476,3478,3474,0,0,0,0,0,0,14.95,14.95,14.95
$GC,2537,-0.79,-107.1,2625,2771,3479,3469,257.2,-9.8,119,2542,0.00,2.35,0.00,0.000,516,0.000,0.044,2624,1402,3473,3478,3469,0,0,0,0,0,0,14.91,14.52,14.91
$GC,2578,-0.79,-107.1,2624,1404,3479,3469,261.7,-10.5,125,2585,0.00,2.47,0.00,0.000,1030,0.000,0.069,2615,2760,3473,3478,3469,0,0,0,0,0,0,14.47,14.38,14.52
$GC,2929,-0.79,-107.1,2615,2759,3478,3466,299.6,-10.8,133,2930,0.10,0.00,0.00,0.000,2054,0.253,0.000,2644,2760,3471,3478,3465,0,0,0,0,0,0,14.35,14.62,14.57
$GC,3265,-0.79,-107.1,2645,2760,3474,3462,330.1,-8.9,139,3270,0.00,2.38,0.00,0.000,516,0.000,0.046,2644,1399,3469,3478,3461,0,0,0,0,0,0,14.93,14.51,14.93
$GC,3306,-0.79,-107.1,2644,1401,3479,3461,333.8,-8.7,145,3313,0.00,2.50,0.00,0.000,1030,0.000,0.070,2635,2766,3469,3477,3461,0,0,0,0,0,0,14.47,14.36,14.51
$GC,3657,-0.79,-107.1,2635,2766,3478,3457,364.7,-8.8,153,3663,0.00,2.35,0.00,0.000,516,0.000,0.044,2633,1398,3467,3478,3456,0,0,0,0,0,0,14.92,14.51,14.92
$GC,3719,-0.79,-107.1,2633,1404,3479,3455,370.4,-9.1,162,3725,0.00,2.45,0.00,0.000,1030,0.000,0.070,2624,2754,3466,3478,3455,0,0,0,0,0,0,14.46,14.37,14.52
$GC,4049,-0.79,-107.1,2625,2755,3479,3452,401.2,-9.4,174,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2754,3463,3478,3449,0,0,0,0,0,0,14.92,14.92,14.92
$GC,4385,-0.79,-107.1,2625,2755,3478,3449,431.4,-8.9,180,4390,0.00,2.35,0.00,0.000,516,0.000,0.044,2624,1401,3463,3478,3449,0,0,0,0,0,0,14.92,14.50,14.92
$GC,4433,-0.79,-107.1,2625,1402,3479,3449,435.6,-8.4,187,4441,0.08,2.47,0.00,0.000,3078,0.227,0.068,2637,2760,3463,3478,3449,0,0,0,0,0,0,14.18,14.35,14.34
$GC,4777,-0.79,-107.1,2638,2762,3479,3445,461.1,-7.3,194,4778,0.00,0.00,0.00,0.000,38,0.000,0.000,2635,2760,3461,3478,3445,0,0,0,0,0,0,14.94,14.94,14.94
$GC,5113,-0.79,-107.1,2638,2761,3478,3444,484.7,-7.0,200,5114,0.00,0.00,0.00,0.000,38,0.000,0.000,2637,2761,3459,3477,3442,0,0,0,0,0,0,14.94,14.94,14.93
$GC,5449,-0.79,-107.1,2638,2761,3479,3439,510.6,-8.0,206,5454,0.00,2.38,0.00,0.000,516,0.000,0.046,2638,1394,3458,3477,3439,0,0,0,0,0,0,14.96,14.50,14.93
$GC,5505,-0.79,-107.1,2638,1395,3479,3439,515.4,-8.6,214,5510,0.00,2.45,0.00,0.000,1030,0.000,0.070,2628,2760,3458,3477,3439,0,0,0,0,0,0,14.54,14.36,14.57
$GC,5841,-0.79,-107.1,2629,2761,3479,3436,546.6,-9.5,227,5846,0.00,2.03,0.00,0.000,260,0.000,0.114,2620,3817,3456,3477,3436,0,0,0,0,0,0,14.94,14.23,14.94
$GC,5882,-0.79,-107.1,2621,3816,3477,3438,550.8,-10.0,233,5889,0.00,1.77,0.00,0.000,1030,0.000,0.044,2620,2775,3457,3477,3437,0,0,0,0,0,0,14.61,14.59,14.62
$GC,6233,-0.79,-107.1,2621,2777,3479,3432,583.5,-9.2,241,6239,0.00,2.42,0.00,0.000,516,0.000,0.046,2619,1373,3454,3477,3432,0,0,0,0,0,0,14.93,14.45,14.94
$GC,6316,-0.79,-107.1,2619,1375,3478,3432,591.0,-8.7,253,6323,0.10,2.53,0.00,0.000,3078,0.215,0.068,2640,2755,3454,3477,3432,0,0,0,0,0,0,14.10,14.30,14.27
$GC,6681,-0.79,-107.1,2640,2756,3476,3432,618.9,-7.5,263,6682,0.00,0.00,0.00,0.000,38,0.000,0.000,2639,2754,3452,3472,3432,0,0,0,0,0,0,14.91,14.90,14.90
$GC,7017,-0.79,-107.1,2640,2754,3473,3433,644.5,-7.7,269,7018,0.00,0.00,0.00,0.000,38,0.000,0.000,2640,2755,3452,3472,3432,0,0,0,0,0,0,14.91,14.91,14.91
$GC,7353,-0.79,-107.1,2639,2755,3472,3431,670.2,-7.6,275,7358,0.00,2.42,0.00,0.000,548,0.000,0.046,2640,1375,3451,3472,3430,0,0,0,0,0,0,14.90,14.40,14.91
$GC,7429,-0.79,-107.1,2639,1376,3472,3429,676.2,-7.6,286,7435,0.00,2.53,0.00,0.000,1062,0.000,0.069,2630,2742,3450,3471,3429,0,0,0,0,0,0,14.37,14.27,14.40
$GC,7745,-0.79,-107.1,2630,2744,3472,3428,700.8,-7.8,296,7745,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2742,3449,3470,3429,0,0,0,0,0,0,14.93,14.92,14.93
$GC,8081,-0.79,-107.1,2630,2744,3480,3427,727.4,-8.0,302,8086,0.00,2.40,0.00,0.000,516,0.000,0.046,2629,1377,3448,3470,3427,0,0,0,0,0,0,14.90,14.41,14.90
$GC,8129,-0.79,-107.1,2630,1378,3470,3428,731.4,-8.3,309,8137,0.00,2.53,0.00,0.000,1030,0.000,0.069,2620,2745,3448,3470,3427,0,0,0,0,0,0,14.36,14.26,14.40
$GC,8473,-0.79,-107.1,2620,2746,3471,3426,760.8,-8.6,316,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2745,3448,3470,3426,0,0,0,0,0,0,14.89,14.89,14.90
$GC,8809,-0.79,-107.1,2621,2744,3467,3427,789.1,-8.4,322,8809,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2744,3446,3467,3426,0,0,0,0,0,0,14.90,14.89,14.90
$GC,9145,-0.79,-107.1,2621,2744,3467,3425,814.8,-7.4,328,9150,0.00,2.40,0.00,0.000,548,0.000,0.047,2614,1381,3444,3466,3423,0,0,0,0,0,0,14.90,14.39,14.90
$GC,9186,-0.79,-107.1,2620,1380,3467,3424,818.1,-6.8,334,9192,0.10,2.53,0.00,0.000,3110,0.209,0.069,2640,2745,3444,3466,3423,0,0,0,0,0,0,14.04,14.23,14.21
$GC,9537,-0.79,-107.1,2640,2744,3466,3423,843.3,-7.2,342,9538,0.00,0.00,0.00,0.000,38,0.000,0.000,2640,2745,3444,3466,3422,0,0,0,0,0,0,14.92,14.92,14.90
$GC,9873,-0.79,-107.1,2640,2745,3465,3421,867.4,-7.2,348,9878,0.00,2.42,0.00,0.000,548,0.000,0.046,2640,1375,3441,3462,3421,0,0,0,0,0,0,14.89,14.30,14.89
$GC,9907,-0.79,-107.1,2640,1376,3468,3421,869.9,-5.7,353,9914,0.00,2.53,0.00,0.000,1062,0.000,0.068,2632,2740,3442,3464,3421,0,0,0,0,0,0,14.31,14.21,14.36
$GC,10265,-0.79,-107.1,2632,2739,3465,3421,895.6,-7.2,362,10266,0.00,0.00,0.00,0.000,38,0.000,0.000,2632,2740,3442,3464,3420,0,0,0,0,0,0,14.88,14.88,14.88
$GC,10601,-0.79,-107.1,2633,2740,3463,3421,919.4,-7.1,368,10602,0.00,0.00,0.00,0.000,38,0.000,0.000,2632,2739,3441,3462,3420,0,0,0,0,0,0,14.88,14.88,14.88
$STATE,10766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10766,begin apogee
$GC,10773,-0.23,0.0,2632,2228,3463,3419,930.7,-7.0,371,10888,0.65,0.00,112.95,1.955,10244,0.164,0.000,2825,2227,3048,3088,3009,0,0,0,0,0,0,14.10,13.95,12.93
$STATE,10889,end apogee,CONTROL_FINISHED_OK
$STATE,10890,begin climb
$GC,10893,0.93,107.1,2826,2227,3085,3004,934.3,0.0,373,11022,1.10,2.50,118.68,1.962,10756,0.087,0.057,3184,852,2619,2679,2560,0,0,0,0,0,0,13.98,14.00,12.81
$GC,11028,0.74,131.2,3183,853,2678,2553,931.2,6.5,394,11064,0.15,2.60,27.67,2.002,13478,0.208,0.051,3143,2256,2521,2592,2451,0,0,0,0,0,0,13.72,13.84,12.81
$GC,11388,0.76,144.2,3144,2257,2592,2435,906.5,7.1,410,11406,0.00,2.70,13.98,2.075,8484,0.000,0.103,3144,3661,2469,2546,2393,0,0,0,0,0,0,14.66,14.27,13.30
$GC,11513,0.68,152.0,3144,3662,2544,2388,896.6,7.4,428,11524,0.10,2.45,3.58,1.554,13478,0.246,0.041,3126,2236,2447,2521,2374,0,0,0,0,0,0,14.15,14.40,12.76
$GC,11883,0.71,172.6,3126,2237,2522,2383,871.6,6.7,439,11918,0.00,2.78,30.40,1.961,8484,0.000,0.101,3125,3653,2358,2436,2280,0,0,0,0,0,0,14.77,14.24,13.29
$GC,11959,0.71,172.6,3124,3657,2435,2274,865.4,8.6,450,11966,0.00,2.47,0.00,0.000,1030,0.000,0.041,3131,2257,2353,2434,2272,0,0,0,0,0,0,14.34,14.31,14.37
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$STATE,22499,end climb,SURFACE_DEPTH_REACHED
$STATE,22499,begin surface coast
$FINISH,6.8,1.021558
$STATE,22529,end surface coast,CONTROL_FINISHED_OK
$STATE,22529,begin surface
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$TT8_MAMPS,0.038199,0.421687
$HUMID,54.01
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$TCM_TEMP,19.90
$XPDR_PINGS,0
$SC_FREEKB,3744992
$PM_FREEKB,54862528
$24V_AH,12.76,152.430
$10V_AH,12.54,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.469,2.417,0.000,0.000
$MEM,334724
$DATA_FILE_SIZE,30035,866
$CAP_FILE_SIZE,160719,0
$CFSIZE,1024409600,942882816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12327.88,0x213b74,1,24
$CURRENT,0.070,265.79,1
$GPS,161216,040409,1002.403,-12515.985,20,1.3,20,9.0,0.5,21.8,6,9.2