version: 66.13
glider: 220
mission: 6
dive: 599
start: 1 25 117 4 51 17
data:
$ID,220
$MISSION,6
$DIVE,599
$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,54
$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
$GPS1,250117,043800,957.4703,-12445.0264,33,0.8,33,9.0,0.3,359.9,10,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-71.4
$GPS2,250117,045052,957.5658,-12445.1436,2,0.8,4,9.0,0.7,288.1,12,3.6
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,62.6,9417,-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,-107.1,131,2780,1109,1016,0.0,0.0,0,101,0.00,0.00,-80.62,0.000,16390,0.000,0.000,124,2780,3478,3471,3486,0,0,0,0,0,0,14.65,13.00,14.62
$GC,105,-0.93,-107.1,125,2781,3470,3486,7.8,-11.8,3,119,12.10,0.00,0.00,0.000,2054,0.389,0.000,2591,2780,3478,3470,3486,0,0,0,0,0,0,13.95,14.41,14.35
$GC,411,-0.78,-107.1,2591,2781,3475,3486,64.8,-8.9,14,416,0.17,2.00,0.00,0.000,2436,0.258,0.115,2635,3828,3479,3473,3486,0,0,0,0,0,0,13.97,14.14,14.17
$GC,619,-0.78,-107.1,2635,3829,3474,3486,83.6,-8.1,44,625,0.00,1.80,0.00,0.000,1030,0.000,0.039,2635,2733,3480,3475,3486,0,0,0,0,0,0,14.48,14.45,14.48
$GC,971,-0.78,-107.1,2635,2734,3477,3486,112.0,-8.7,56,975,0.00,2.08,0.00,0.000,260,0.000,0.108,2627,3825,3481,3476,3486,0,0,0,0,0,0,14.85,14.17,14.85
$GC,997,-0.78,-107.1,2627,3824,3478,3486,114.7,-9.7,60,1003,0.00,1.75,0.00,0.000,1030,0.000,0.041,2626,2770,3480,3475,3486,0,0,0,0,0,0,14.48,14.46,14.50
$GC,1363,-0.78,-107.1,2626,2770,3476,3484,148.7,-9.4,70,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2770,3479,3475,3483,0,0,0,0,0,0,14.88,14.88,14.88
$GC,1699,-0.78,-107.1,2626,2770,3477,3480,181.2,-9.8,76,1703,0.00,2.38,0.00,0.000,516,0.000,0.044,2626,1396,3476,3475,3478,0,0,0,0,0,0,14.87,14.36,14.87
$GC,1768,-0.78,-107.1,2625,1397,3475,3477,188.1,-9.7,86,1773,0.10,2.53,0.00,0.000,3078,0.235,0.071,2645,2771,3476,3475,3477,0,0,0,0,0,0,14.07,14.19,14.31
$GC,2091,-0.78,-107.1,2646,2770,3477,3473,217.9,-9.3,97,2096,0.00,2.40,0.00,0.000,516,0.000,0.043,2646,1391,3473,3475,3472,0,0,0,0,0,0,14.90,14.38,14.90
$GC,2131,-0.78,-107.1,2646,1390,3474,3473,221.9,-9.4,103,2137,0.00,2.50,0.00,0.000,1030,0.000,0.069,2637,2762,3473,3475,3471,0,0,0,0,0,0,14.43,14.23,14.47
$GC,2483,-0.78,-107.1,2638,2762,3476,3469,255.0,-9.4,111,2487,0.00,2.40,0.00,0.000,516,0.000,0.042,2636,1389,3469,3475,3464,0,0,0,0,0,0,14.88,14.35,14.88
$GC,2517,-0.78,-107.1,2637,1389,3476,3469,258.3,-9.5,116,2522,0.00,2.50,0.00,0.000,1030,0.000,0.070,2627,2767,3471,3475,3467,0,0,0,0,0,0,14.41,14.22,14.46
$GC,2874,-0.78,-107.1,2628,2767,3476,3463,291.7,-9.3,125,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2767,3470,3479,3462,0,0,0,0,0,0,14.86,14.86,14.86
$GC,3210,-0.78,-107.1,2627,2763,3476,3458,323.3,-9.4,131,3215,0.00,2.40,0.00,0.000,516,0.000,0.041,2626,1390,3466,3475,3458,0,0,0,0,0,0,14.87,14.35,14.87
$GC,3245,-0.78,-107.1,2627,1392,3476,3458,326.7,-10.0,136,3250,0.10,2.53,0.00,0.000,3078,0.239,0.070,2646,2764,3466,3475,3458,0,0,0,0,0,0,14.02,14.19,14.27
$GC,3603,-0.78,-107.1,2647,2764,3469,3455,357.7,-8.7,145,3608,0.00,2.42,0.00,0.000,516,0.000,0.043,2644,1388,3465,3475,3455,0,0,0,0,0,0,14.85,14.33,14.86
$GC,3659,-0.78,-107.1,2647,1387,3476,3454,362.6,-8.5,153,3664,0.00,2.50,0.00,0.000,1030,0.000,0.070,2638,2757,3463,3475,3451,0,0,0,0,0,0,14.38,14.17,14.42
$GC,3995,-0.78,-107.1,2639,2755,3475,3451,392.6,-8.9,166,3999,0.00,2.38,0.00,0.000,516,0.000,0.042,2638,1398,3462,3475,3450,0,0,0,0,0,0,14.88,14.32,14.88
$GC,4022,-0.78,-107.1,2638,1397,3475,3450,395.1,-9.0,170,4027,0.00,2.47,0.00,0.000,1030,0.000,0.071,2628,2749,3462,3475,3449,0,0,0,0,0,0,14.35,14.14,14.38
$GC,4387,-0.78,-107.1,2629,2750,3476,3446,428.0,-9.0,180,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2749,3460,3475,3446,0,0,0,0,0,0,14.85,14.86,14.86
$GC,4722,-0.78,-107.1,2630,2749,3476,3444,458.3,-9.0,186,4727,0.00,2.40,0.00,0.000,516,0.000,0.042,2629,1389,3459,3475,3443,0,0,0,0,0,0,14.85,14.23,14.85
$GC,4792,-0.78,-107.1,2629,1391,3476,3442,464.5,-8.6,196,4797,0.10,2.55,0.00,0.000,3078,0.242,0.072,2647,2745,3458,3475,3442,0,0,0,0,0,0,13.97,14.06,14.23
$GC,5115,-0.78,-107.1,2647,2746,3476,3439,489.3,-7.6,207,5119,0.00,2.38,0.00,0.000,548,0.000,0.041,2647,1393,3457,3475,3439,0,0,0,0,0,0,14.88,14.31,14.88
$GC,5191,-0.78,-107.1,2648,1394,3476,3438,495.2,-7.3,218,5196,0.00,2.53,0.00,0.000,1062,0.000,0.071,2639,2753,3456,3475,3438,0,0,0,0,0,0,14.32,14.10,14.36
$GC,5507,-0.78,-107.1,2640,2754,3476,3436,519.1,-7.7,228,5507,0.00,0.00,0.00,0.000,38,0.000,0.000,2639,2753,3455,3475,3436,0,0,0,0,0,0,14.85,14.85,14.86
$GC,5843,-0.78,-107.1,2639,2754,3476,3433,544.8,-7.6,234,5847,0.00,2.40,0.00,0.000,548,0.000,0.043,2639,1393,3454,3475,3433,0,0,0,0,0,0,14.88,14.27,14.88
$GC,5940,-0.78,-107.1,2639,1394,3476,3432,552.4,-7.6,248,5945,0.00,2.53,0.00,0.000,1062,0.000,0.073,2631,2741,3453,3474,3432,0,0,0,0,0,0,14.28,14.06,14.33
$GC,6291,-0.78,-107.1,2631,2743,3476,3430,579.5,-7.7,256,6295,0.00,2.38,0.00,0.000,548,0.000,0.042,2631,1395,3452,3475,3430,0,0,0,0,0,0,14.84,14.25,14.85
$GC,6318,-0.78,-107.1,2631,1396,3476,3430,581.7,-7.9,260,6323,0.00,2.53,0.00,0.000,1030,0.000,0.073,2623,2744,3451,3474,3429,0,0,0,0,0,0,14.28,14.06,14.34
$GC,6683,-0.78,-107.1,2623,2745,3474,3426,611.3,-8.2,270,6688,0.00,2.10,0.00,0.000,260,0.000,0.120,2614,3828,3450,3473,3427,0,0,0,0,0,0,14.84,13.93,14.84
$GC,6710,-0.78,-107.1,2614,3829,3474,3427,613.7,-9.0,274,6715,0.10,1.85,0.00,0.000,3078,0.203,0.045,2642,2770,3450,3473,3427,0,0,0,0,0,0,13.90,14.33,14.06
$GC,7075,-0.78,-107.1,2643,2770,3471,3429,642.3,-7.8,284,7079,0.00,2.47,0.00,0.000,516,0.000,0.043,2643,1361,3448,3470,3427,0,0,0,0,0,0,14.84,14.23,14.84
$GC,7187,-0.86,-107.1,2644,1361,3470,3427,651.2,-7.8,300,7192,0.00,2.58,0.00,0.000,1158,0.000,0.072,2634,2736,3449,3472,3427,0,0,0,0,0,0,14.25,14.03,14.30
$GC,7523,-0.86,-107.1,2635,2737,3470,3427,678.9,-8.2,313,7528,0.00,2.42,0.00,0.000,516,0.000,0.044,2634,1369,3447,3469,3426,0,0,0,0,0,0,14.87,14.23,14.87
$GC,7564,-0.86,-107.1,2633,1370,3470,3426,682.4,-8.5,319,7569,0.00,2.60,0.00,0.000,1030,0.000,0.074,2625,2750,3447,3469,3426,0,0,0,0,0,0,14.20,13.95,14.25
$GC,7915,-0.86,-107.1,2626,2750,3469,3426,712.5,-8.6,327,7919,0.00,2.45,0.00,0.000,516,0.000,0.043,2625,1366,3447,3469,3425,0,0,0,0,0,0,14.87,14.22,14.87
$GC,7956,-0.86,-107.1,2626,1366,3469,3425,716.2,-8.7,333,7962,0.00,2.55,0.00,0.000,1030,0.000,0.074,2617,2730,3446,3468,3425,0,0,0,0,0,0,14.21,14.00,14.26
$GC,8307,-0.86,-107.1,2617,2732,3467,3423,746.8,-8.7,341,8308,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2731,3445,3466,3424,0,0,0,0,0,0,14.83,14.83,14.83
$GC,8642,-0.86,-107.1,2617,2731,3464,3423,774.4,-8.1,347,8647,0.00,2.45,0.00,0.000,516,0.000,0.044,2616,1359,3443,3466,3421,0,0,0,0,0,0,14.83,14.10,14.83
$GC,8698,-0.86,-107.1,2617,1360,3467,3421,779.0,-8.6,355,8703,0.00,2.60,0.00,0.000,1030,0.000,0.076,2608,2734,3443,3465,3421,0,0,0,0,0,0,14.19,13.96,14.24
$STATE,8975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8975,begin apogee
$GC,8984,-0.23,0.0,2609,2216,3465,3422,801.6,-8.1,367,9099,0.77,0.10,112.88,1.789,10244,0.199,0.182,2819,2276,3051,3091,3012,0,0,0,0,0,0,13.67,13.92,12.94
$STATE,9101,end apogee,CONTROL_FINISHED_OK
$STATE,9101,begin climb
$GC,9105,0.93,107.1,2820,2276,3086,3002,804.0,0.0,369,9232,1.15,2.60,117.15,1.755,10756,0.116,0.054,3178,848,2622,2681,2563,0,0,0,0,0,0,13.99,14.07,12.95
$GC,9317,0.84,121.5,3179,849,2676,2538,796.7,7.0,401,9335,0.00,2.50,13.85,1.883,9382,0.000,0.058,3179,2243,2566,2634,2498,0,0,0,0,0,0,14.31,14.18,13.09
$GC,9653,0.72,121.5,3179,2243,2629,2477,769.5,8.2,414,9659,0.12,2.70,0.00,0.000,4484,0.252,0.114,3139,3650,2552,2628,2476,0,0,0,0,0,0,14.00,14.12,14.19
$GC,9743,0.61,121.5,3140,3650,2628,2477,761.9,8.0,427,9749,0.20,2.42,0.00,0.000,5254,0.237,0.043,3097,2233,2551,2628,2474,0,0,0,0,0,0,14.00,14.40,14.31
$GC,10101,0.66,162.4,3097,2234,2623,2472,741.4,5.7,436,10156,0.00,2.83,45.72,1.771,8484,0.000,0.121,3096,3652,2393,2472,2315,0,0,0,0,0,0,14.79,14.14,13.24
$GC,10191,0.66,162.7,3096,3656,2471,2309,735.5,7.7,449,10196,0.00,2.40,0.00,0.000,1062,0.000,0.044,3106,2258,2387,2466,2308,0,0,0,0,0,0,14.41,14.34,14.42
$GC,10549,0.67,170.2,3105,2256,2471,2300,709.4,7.4,458,10552,0.00,0.00,1.83,0.219,8230,0.000,0.000,3106,2255,2370,2454,2286,0,0,0,0,0,0,14.77,14.21,13.93
$GC,10885,0.68,177.9,3107,2256,2454,2308,684.7,7.3,464,10904,0.00,2.70,14.65,1.834,8484,0.000,0.124,3106,3649,2335,2416,2255,0,0,0,0,0,0,14.81,14.15,13.32
$GC,10947,0.68,177.9,3107,3650,2413,2248,679.5,8.7,473,10952,0.00,2.40,0.00,0.000,1030,0.000,0.044,3115,2257,2329,2413,2246,0,0,0,0,0,0,14.52,14.45,14.54
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$STATE,19444,end climb,SURFACE_DEPTH_REACHED
$STATE,19444,begin surface coast
$FINISH,-1.0,1.022069
$STATE,19472,end surface coast,CONTROL_FINISHED_OK
$STATE,19472,begin surface
$SM_CCo,19496,40.45,0.151,0,0,1057,500.14
$SM_GC,-0.99,9.02,0.95,40.45,0.050,0.110,0.151,170,2764,1057,-8.39,-0.54,500.14,0,0,0,0,0,0,14.40,14.07,14.11
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$TT8_MAMPS,0.038948,0.410452
$HUMID,57.44
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,20.80
$XPDR_PINGS,0
$SC_FREEKB,3679712
$PM_FREEKB,52964032
$24V_AH,12.94,207.716
$10V_AH,12.54,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.545,2.437,0.000,0.000
$MEM,334760
$DATA_FILE_SIZE,30078,814
$CAP_FILE_SIZE,146467,0
$CFSIZE,1024409600,917946368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,13521.88,0x213b74,1,24
$CURRENT,0.015,3.19,1
$GPS,250117,101800,958.548,-12443.513,31,0.8,31,9.0,0.4,258.6,10,3.5