version: 66.13
glider: 220
mission: 6
dive: 494
start: 12 31 116 21 18 40
data:
$ID,220
$MISSION,6
$DIVE,494
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,800
$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,345
$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,49
$R_STBD_OVSHOOT,23
$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
$GPS1,311216,210601,946.8237,-12453.4404,28,0.9,28,9.0,0.9,335.2,9,6.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.90
$_SM_ANGLEo,-65.2
$GPS2,311216,211819,946.9276,-12453.4355,2,0.8,3,9.0,0.2,75.1,11,7.6
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,10.7,33664,-17.5,-7.729,-24.20,2052
$D_GRID,800
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.93,-107.1,106,2787,541,404,0.0,0.0,0,119,0.00,0.00,-101.72,0.000,16390,0.000,0.000,105,2786,3478,3459,3498,0,0,0,0,0,0,14.65,12.50,14.65
$GC,123,-0.93,-107.1,106,2786,3461,3499,0.7,-2.6,3,143,12.00,1.92,0.00,0.000,2308,0.384,0.086,2585,3827,3479,3461,3497,0,0,0,0,0,0,13.90,14.30,14.29
$GC,373,-0.73,-107.1,2585,3826,3466,3499,68.9,-12.7,40,379,0.25,1.83,0.00,0.000,3206,0.219,0.039,2654,2749,3481,3466,3497,0,0,0,0,0,0,14.04,14.45,14.22
$GC,703,-0.73,-107.1,2655,2750,3472,3494,95.5,-8.6,54,708,0.00,2.03,0.00,0.000,260,0.000,0.108,2647,3821,3482,3471,3494,0,0,0,0,0,0,14.83,14.24,14.83
$GC,908,-0.73,-107.1,2647,3822,3472,3494,114.2,-9.4,83,912,0.00,1.75,0.00,0.000,1030,0.000,0.041,2646,2743,3482,3470,3494,0,0,0,0,0,0,14.64,14.59,14.65
$GC,1263,-0.73,-107.1,2647,2742,3471,3493,146.0,-8.6,92,1268,0.00,2.10,0.00,0.000,260,0.000,0.111,2639,3825,3481,3470,3492,0,0,0,0,0,0,14.88,14.15,14.87
$GC,1311,-0.73,-107.1,2639,3826,3471,3492,150.3,-8.9,99,1319,0.00,1.75,0.00,0.000,1030,0.000,0.040,2638,2774,3481,3471,3492,0,0,0,0,0,0,14.59,14.59,14.61
$GC,1655,-0.73,-107.1,2639,2774,3471,3489,180.3,-8.7,106,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2773,3478,3470,3487,0,0,0,0,0,0,14.88,14.89,14.89
$GC,1991,-0.73,-107.1,2638,2775,3472,3484,207.7,-8.0,112,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2774,3477,3469,3485,0,0,0,0,0,0,14.90,14.90,14.90
$GC,2327,-0.73,-107.1,2639,2775,3472,3480,236.4,-8.7,118,2332,0.00,2.40,0.00,0.000,516,0.000,0.044,2638,1381,3474,3470,3479,0,0,0,0,0,0,14.90,14.47,14.90
$GC,2368,-0.73,-107.1,2638,1381,3472,3479,240.1,-8.8,124,2374,0.10,2.53,0.00,0.000,3078,0.207,0.069,2658,2762,3475,3471,3479,0,0,0,0,0,0,14.16,14.33,14.32
$GC,2719,-0.73,-107.1,2659,2763,3470,3476,268.0,-7.9,132,2724,0.00,2.00,0.00,0.000,260,0.000,0.115,2651,3824,3472,3470,3474,0,0,0,0,0,0,14.92,14.28,14.92
$GC,2746,-0.73,-107.1,2650,3824,3471,3475,270.3,-8.3,136,2752,0.00,1.77,0.00,0.000,1030,0.000,0.043,2650,2782,3472,3470,3474,0,0,0,0,0,0,14.58,14.56,14.60
$GC,3111,-0.73,-107.1,2651,2784,3472,3469,300.1,-8.2,146,3116,0.00,2.42,0.00,0.000,516,0.000,0.044,2649,1373,3469,3470,3469,0,0,0,0,0,0,14.88,14.47,14.90
$GC,3145,-0.73,-107.1,2651,1373,3471,3470,303.0,-8.2,151,3151,0.00,2.55,0.00,0.000,1030,0.000,0.067,2641,2767,3470,3471,3469,0,0,0,0,0,0,14.41,14.31,14.46
$GC,3503,-0.73,-107.1,2641,2766,3471,3466,330.8,-7.8,160,3508,0.00,1.98,0.00,0.000,260,0.000,0.112,2633,3822,3467,3470,3465,0,0,0,0,0,0,14.89,14.26,14.90
$GC,3551,-0.73,-107.1,2641,3822,3471,3467,334.8,-8.3,167,3559,0.00,1.80,0.00,0.000,1030,0.000,0.043,2633,2765,3467,3470,3465,0,0,0,0,0,0,14.59,14.54,14.58
$GC,3895,-0.73,-107.1,2633,2766,3472,3461,361.4,-7.8,174,3900,0.10,2.40,0.00,0.000,2564,0.235,0.044,2659,1375,3465,3470,3461,0,0,0,0,0,0,14.27,14.45,14.46
$GC,3943,-0.83,-107.1,2662,1376,3471,3461,364.8,-6.8,181,3952,0.00,2.55,0.00,0.000,1190,0.000,0.067,2654,2771,3465,3470,3461,0,0,0,0,0,0,14.37,14.29,14.42
$GC,4287,-0.83,-107.1,2654,2772,3471,3456,389.1,-7.1,188,4292,0.00,2.42,0.00,0.000,548,0.000,0.043,2654,1377,3463,3470,3457,0,0,0,0,0,0,14.89,14.44,14.89
$GC,4314,-0.83,-107.1,2654,1377,3472,3457,391.1,-7.2,192,4320,0.00,2.55,0.00,0.000,1062,0.000,0.067,2645,2765,3463,3470,3457,0,0,0,0,0,0,14.38,14.31,14.42
$GC,4679,-0.83,-107.1,2645,2766,3471,3453,418.0,-7.5,202,4684,0.00,2.00,0.00,0.000,292,0.000,0.114,2637,3832,3462,3470,3454,0,0,0,0,0,0,14.88,14.23,14.88
$GC,4713,-0.83,-107.1,2637,3832,3471,3455,420.7,-7.9,207,4719,0.00,1.83,0.00,0.000,1030,0.000,0.043,2634,2769,3461,3470,3453,0,0,0,0,0,0,14.47,14.45,14.49
$GC,5071,-0.83,-107.1,2637,2770,3471,3451,447.9,-7.6,216,5076,0.00,2.42,0.00,0.000,548,0.000,0.044,2636,1371,3461,3470,3452,0,0,0,0,0,0,14.89,14.43,14.89
$GC,5140,-0.83,-107.1,2636,1371,3471,3449,453.1,-7.3,226,5146,0.00,2.55,0.00,0.000,1062,0.000,0.068,2627,2756,3460,3470,3451,0,0,0,0,0,0,14.37,14.26,14.42
$GC,5463,-0.83,-107.1,2627,2757,3471,3449,477.1,-7.5,237,5469,0.00,2.03,0.00,0.000,292,0.000,0.112,2618,3828,3459,3469,3449,0,0,0,0,0,0,14.88,14.20,14.88
$GC,5519,-0.83,-107.1,2619,3829,3469,3449,481.7,-8.3,245,5525,0.00,1.85,0.00,0.000,1030,0.000,0.044,2617,2756,3458,3468,3449,0,0,0,0,0,0,14.52,14.49,14.58
$GC,5855,-0.83,-107.1,2618,2757,3466,3444,509.6,-8.4,258,5860,0.00,2.40,0.00,0.000,516,0.000,0.044,2617,1373,3457,3465,3449,0,0,0,0,0,0,14.91,14.42,14.91
$GC,5889,-0.83,-107.1,2618,1374,3466,3449,512.7,-9.0,263,5895,0.00,2.55,0.00,0.000,1030,0.000,0.066,2608,2757,3457,3465,3449,0,0,0,0,0,0,14.36,14.26,14.39
$GC,6247,-0.83,-107.1,2608,2758,3466,3446,546.1,-9.4,272,6252,0.00,2.03,0.00,0.000,260,0.000,0.112,2600,3822,3456,3466,3446,0,0,0,0,0,0,14.88,14.16,14.89
$GC,6330,-0.83,-107.1,2601,3824,3465,3446,554.3,-10.1,284,6336,0.10,1.83,0.00,0.000,3078,0.213,0.044,2628,2778,3454,3464,3445,0,0,0,0,0,0,14.09,14.51,14.27
$GC,6695,-0.83,-107.1,2629,2779,3465,3444,585.1,-8.4,294,6700,0.00,2.47,0.00,0.000,516,0.000,0.046,2628,1361,3453,3463,3444,0,0,0,0,0,0,14.91,14.39,14.91
$GC,6778,-0.83,-107.1,2629,1362,3464,3444,591.6,-7.9,306,6784,0.00,2.55,0.00,0.000,1030,0.000,0.067,2619,2772,3453,3463,3444,0,0,0,0,0,0,14.45,14.26,14.49
$GC,7143,-0.83,-107.1,2620,2773,3462,3443,616.5,-6.5,316,7148,0.00,2.00,0.00,0.000,292,0.000,0.113,2611,3825,3452,3461,3443,0,0,0,0,0,0,14.88,14.13,14.87
$GC,7170,-0.83,-107.1,2611,3826,3458,3443,614.3,7.4,320,7176,0.00,1.85,0.00,0.000,1062,0.000,0.045,2611,2752,3452,3461,3443,0,0,0,0,0,0,14.52,14.47,14.52
$GC,7535,-0.83,-107.1,2611,2753,3461,3439,643.9,-6.7,330,7536,0.00,0.00,0.00,0.000,38,0.000,0.000,2611,2752,3450,3460,3440,0,0,0,0,0,0,14.90,14.90,14.90
$GC,7871,-0.83,-107.1,2611,2752,3458,3438,667.1,-6.5,336,7876,0.00,2.40,0.00,0.000,548,0.000,0.044,2610,1375,3449,3458,3441,0,0,0,0,0,0,14.90,14.37,14.91
$GC,7905,-0.83,-107.1,2611,1375,3458,3442,671.3,-10.5,341,7912,0.08,2.55,0.00,0.000,3078,0.226,0.066,2623,2755,3447,3457,3437,0,0,0,0,0,0,13.97,14.19,14.14
$GC,8264,-0.83,-107.1,2624,2757,3459,3438,663.9,-7.7,350,8268,0.00,2.05,0.00,0.000,292,0.000,0.113,2615,3831,3450,3457,3443,0,0,0,0,0,0,14.90,14.12,14.90
$GC,8339,-0.83,-107.1,2616,3831,3458,3439,670.1,-8.5,361,8346,0.00,1.85,0.00,0.000,1030,0.000,0.044,2614,2769,3447,3457,3438,0,0,0,0,0,0,14.46,14.44,14.47
$GC,8655,-0.83,-107.1,2615,2771,3458,3436,693.9,-7.8,371,8660,0.00,2.45,0.00,0.000,516,0.000,0.043,2614,1368,3446,3456,3436,0,0,0,0,0,0,14.87,14.35,14.87
$GC,8711,-0.83,-107.1,2615,1368,3457,3438,687.6,20.5,379,8716,0.00,2.55,0.00,0.000,1062,0.000,0.067,2605,2766,3446,3457,3436,0,0,0,0,0,0,14.40,14.23,14.44
$GC,9047,-0.83,-107.1,2606,2765,3455,3438,696.8,-3.7,392,9048,0.00,0.00,0.00,0.000,38,0.000,0.000,2605,2765,3441,3453,3430,0,0,0,0,0,0,14.86,14.86,14.86
$GC,9383,-0.83,-107.1,2605,2766,3454,3437,742.5,-15.2,398,9389,0.00,2.47,0.00,0.000,516,0.000,0.044,2604,1371,3445,3454,3436,0,0,0,0,0,0,14.87,14.31,14.87
$GC,9424,-0.83,-107.1,2604,1375,3454,3435,761.9,-8.0,404,9430,0.12,2.58,0.00,0.000,3078,0.216,0.067,2630,2760,3444,3454,3435,0,0,0,0,0,0,13.90,14.15,14.04
$GC,9775,-0.83,-107.1,2626,2761,3455,3432,791.1,-24.0,412,9780,0.00,2.05,0.00,0.000,260,0.000,0.115,2621,3827,3443,3453,3433,0,0,0,0,0,0,14.90,14.05,14.90
$GC,9809,-0.83,-107.1,2623,3827,3453,3434,748.6,-93.6,417,9815,0.00,1.88,0.00,0.000,1030,0.000,0.047,2622,2762,3442,3453,3432,0,0,0,0,0,0,14.40,14.38,14.42
$GC,10167,-0.83,-107.1,2623,2762,3454,3433,783.0,-19.0,426,10168,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2762,3442,3453,3432,0,0,0,0,0,0,14.86,14.86,14.86
$STATE,10220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10220,begin apogee
$GC,10228,-0.23,0.0,2623,2210,3454,3432,802.0,-14.2,427,10349,0.68,0.10,118.28,1.842,10244,0.167,0.157,2821,2269,3051,3082,3021,0,0,0,0,0,0,14.02,13.90,12.93
$STATE,10351,end apogee,CONTROL_FINISHED_OK
$STATE,10351,begin climb
$GC,10354,0.93,107.1,2821,2268,3070,3010,832.7,0.0,429,10484,1.10,2.53,118.32,1.854,10756,0.087,0.057,3183,894,2617,2670,2565,0,0,0,0,0,0,14.00,14.02,12.90
$GC,10511,0.87,180.1,3184,893,2665,2546,841.7,4.1,454,10600,0.00,2.42,80.80,1.817,9382,0.000,0.050,3183,2247,2325,2401,2250,0,0,0,0,0,0,14.16,14.04,12.96
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$STATE,19737,end climb,SURFACE_DEPTH_REACHED
$STATE,19737,begin surface coast
$FINISH,-1.6,1.021916
$STATE,19765,end surface coast,CONTROL_FINISHED_OK
$STATE,19765,begin surface
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$XPDR_PINGS,1
$SC_FREEKB,3720064
$PM_FREEKB,54121088
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$10V_AH,12.51,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,334696
$DATA_FILE_SIZE,26736,782
$CAP_FILE_SIZE,142053,0
$CFSIZE,1024409600,933380096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.047,88.58,1
$GPS,010117,025030,948.878,-12452.028,33,1.2,33,9.0,0.8,88.9,7,5.4