version: 66.13
glider: 220
mission: 6
dive: 615
start: 1 28 117 22 39 15
data:
$ID,220
$MISSION,6
$DIVE,615
$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,11
$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
$GPS1,280117,222539,1011.8663,-12504.6338,61,1.2,61,9.0,1.3,249.9,6,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.94
$_SM_ANGLEo,-66.5
$GPS2,280117,223850,1011.8653,-12504.7080,4,1.3,7,9.0,0.9,328.0,6,8.9
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,202.6,34639,-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,17,-0.93,-107.1,106,2782,1103,1024,0.0,0.0,0,102,0.00,0.00,-81.60,0.000,16390,0.000,0.000,105,2782,3480,3471,3489,0,0,0,0,0,0,14.63,12.60,14.58
$GC,106,-0.93,-107.1,105,2783,3471,3489,5.3,-10.4,3,123,11.98,2.45,0.00,0.000,2564,0.383,0.032,2590,1357,3480,3471,3489,0,0,0,0,0,0,13.90,14.38,14.34
$GC,215,-0.68,-107.1,2591,1358,3473,3490,39.8,-22.5,19,220,0.35,2.70,0.00,0.000,3206,0.268,0.099,2671,2771,3480,3472,3489,0,0,0,0,0,0,13.89,14.08,14.22
$GC,551,-0.68,-107.1,2670,2771,3478,3490,72.7,-8.5,34,555,0.00,2.45,0.00,0.000,516,0.000,0.043,2672,1366,3482,3477,3488,0,0,0,0,0,0,14.78,14.31,14.78
$GC,704,-0.68,-107.1,2671,1365,3479,3490,85.4,-8.9,56,709,0.00,2.65,0.00,0.000,1030,0.000,0.095,2661,2769,3483,3478,3488,0,0,0,0,0,0,14.31,14.04,14.35
$GC,1055,-0.68,-107.1,2661,2768,3479,3497,115.1,-8.2,67,1059,0.00,2.45,0.00,0.000,516,0.000,0.043,2661,1365,3483,3478,3488,0,0,0,0,0,0,14.83,14.29,14.83
$GC,1117,-0.68,-107.1,2661,1364,3478,3489,119.8,-7.1,76,1122,0.00,2.62,0.00,0.000,1062,0.000,0.093,2652,2765,3483,3478,3488,0,0,0,0,0,0,14.33,14.06,14.38
$GC,1447,-0.68,-107.1,2652,2766,3479,3486,143.2,-7.3,88,1452,0.00,2.12,0.00,0.000,292,0.000,0.150,2644,3835,3482,3478,3486,0,0,0,0,0,0,14.84,13.93,14.84
$GC,1481,-0.68,-107.1,2644,3835,3479,3488,145.7,-7.4,93,1487,0.10,1.88,0.00,0.000,3110,0.196,0.049,2674,2747,3482,3478,3486,0,0,0,0,0,0,14.00,14.40,14.15
$GC,1839,-0.68,-107.1,2674,2747,3479,3484,170.3,-7.1,102,1844,0.00,2.40,0.00,0.000,548,0.000,0.043,2673,1361,3480,3478,3483,0,0,0,0,0,0,14.84,14.31,14.84
$GC,1908,-0.78,-107.1,2674,1361,3479,3483,175.6,-7.6,112,1913,0.00,2.60,0.00,0.000,1190,0.000,0.087,2664,2756,3480,3478,3482,0,0,0,0,0,0,14.33,14.08,14.37
$GC,2231,-0.78,-107.1,2665,2756,3476,3475,202.2,-8.3,123,2236,0.00,2.42,0.00,0.000,516,0.000,0.041,2664,1369,3477,3477,3478,0,0,0,0,0,0,14.85,14.31,14.85
$GC,2265,-0.78,-107.1,2664,1369,3479,3479,205.2,-8.6,128,2270,0.00,2.60,0.00,0.000,1030,0.000,0.088,2655,2752,3478,3478,3478,0,0,0,0,0,0,14.31,14.05,14.37
$GC,2623,-0.78,-107.1,2655,2753,3478,3474,234.5,-8.2,137,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2752,3476,3478,3474,0,0,0,0,0,0,14.87,14.88,14.88
$GC,2959,-0.78,-107.1,2655,2752,3479,3470,261.7,-8.0,143,2963,0.00,2.42,0.00,0.000,516,0.000,0.044,2655,1373,3473,3478,3469,0,0,0,0,0,0,14.88,14.30,14.88
$GC,3015,-0.78,-107.1,2655,1374,3479,3469,266.1,-7.7,151,3019,0.00,2.62,0.00,0.000,1062,0.000,0.090,2646,2758,3473,3478,3469,0,0,0,0,0,0,14.28,14.02,14.33
$GC,3351,-0.78,-107.1,2646,2754,3479,3464,293.9,-8.4,164,3355,0.00,2.15,0.00,0.000,260,0.000,0.147,2638,3833,3472,3478,3466,0,0,0,0,0,0,14.88,13.88,14.88
$GC,3371,-0.78,-107.1,2638,3834,3478,3466,295.8,-8.8,167,3376,0.00,1.90,0.00,0.000,1030,0.000,0.051,2637,2744,3472,3478,3466,0,0,0,0,0,0,14.38,14.35,14.40
$GC,3687,-0.78,-107.1,2638,2744,3478,3463,324.2,-9.0,177,3692,0.00,2.38,0.00,0.000,516,0.000,0.042,2634,1376,3470,3479,3461,0,0,0,0,0,0,14.88,14.28,14.88
$GC,3763,-0.78,-107.1,2638,1376,3478,3463,331.1,-9.1,188,3768,0.00,2.60,0.00,0.000,1030,0.000,0.089,2628,2745,3470,3479,3461,0,0,0,0,0,0,14.18,13.89,14.25
$GC,4079,-0.78,-107.1,2628,2747,3479,3459,360.9,-9.4,198,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2746,3468,3477,3459,0,0,0,0,0,0,14.87,14.87,14.88
$GC,4415,-0.78,-107.1,2628,2747,3479,3456,391.0,-8.8,204,4419,0.00,2.42,0.00,0.000,516,0.000,0.043,2627,1375,3466,3478,3455,0,0,0,0,0,0,14.87,14.29,14.87
$GC,4470,-0.78,-107.1,2627,1374,3479,3456,395.8,-8.6,212,4475,0.00,2.62,0.00,0.000,1030,0.000,0.090,2618,2754,3466,3477,3455,0,0,0,0,0,0,14.23,13.97,14.28
$GC,4807,-0.78,-107.1,2617,2755,3477,3452,424.4,-8.4,225,4808,0.10,0.00,0.00,0.000,2054,0.253,0.000,2646,2753,3465,3478,3452,0,0,0,0,0,0,14.12,14.38,14.32
$GC,5143,-0.78,-107.1,2647,2755,3478,3450,450.1,-7.7,231,5148,0.00,2.45,0.00,0.000,548,0.000,0.043,2646,1372,3463,3477,3450,0,0,0,0,0,0,14.86,14.26,14.86
$GC,5177,-0.78,-107.1,2646,1373,3479,3449,453.0,-8.5,236,5182,0.00,2.62,0.00,0.000,1030,0.000,0.089,2637,2747,3463,3478,3449,0,0,0,0,0,0,14.23,13.95,14.28
$GC,5535,-0.78,-107.1,2638,2747,3478,3447,484.3,-8.8,245,5540,0.00,2.42,0.00,0.000,516,0.000,0.043,2637,1374,3462,3478,3446,0,0,0,0,0,0,14.86,14.28,14.86
$GC,5583,-0.78,-107.1,2637,1376,3479,3451,488.7,-8.8,252,5589,0.00,2.62,0.00,0.000,1030,0.000,0.090,2628,2744,3461,3478,3445,0,0,0,0,0,0,14.18,13.87,14.23
$GC,5927,-0.78,-107.1,2628,2746,3479,3444,519.3,-8.9,259,5932,0.00,2.42,0.00,0.000,516,0.000,0.042,2627,1375,3461,3478,3444,0,0,0,0,0,0,14.83,14.23,14.83
$GC,5975,-0.78,-107.1,2631,1376,3479,3443,523.7,-8.8,266,5982,0.10,2.62,0.00,0.000,3078,0.240,0.090,2646,2743,3460,3478,3443,0,0,0,0,0,0,13.85,13.91,14.12
$GC,6319,-0.78,-107.1,2646,2742,3478,3443,551.0,-7.9,273,6325,0.00,2.42,0.00,0.000,516,0.000,0.042,2646,1376,3458,3477,3440,0,0,0,0,0,0,14.85,14.25,14.83
$GC,6353,-0.78,-107.1,2645,1377,3478,3442,553.7,-7.9,278,6358,0.00,2.60,0.00,0.000,1030,0.000,0.090,2637,2739,3458,3477,3440,0,0,0,0,0,0,14.20,13.92,14.26
$GC,6711,-0.78,-107.1,2638,2738,3478,3439,580.5,-7.4,287,6715,0.00,2.20,0.00,0.000,292,0.000,0.151,2629,3825,3458,3478,3438,0,0,0,0,0,0,14.83,13.75,14.83
$GC,6738,-0.78,-107.1,2629,3826,3479,3438,582.6,-7.6,291,6743,0.00,1.88,0.00,0.000,1062,0.000,0.054,2628,2744,3457,3477,3438,0,0,0,0,0,0,14.41,14.33,14.43
$GC,7103,-0.78,-107.1,2628,2746,3478,3436,608.9,-7.3,301,7108,0.00,2.45,0.00,0.000,548,0.000,0.044,2628,1360,3457,3478,3436,0,0,0,0,0,0,14.83,14.21,14.82
$GC,7159,-0.78,-107.1,2629,1360,3476,3435,613.1,-7.5,309,7165,0.10,2.65,0.00,0.000,3110,0.240,0.090,2647,2738,3457,3478,3436,0,0,0,0,0,0,13.81,13.87,14.07
$GC,7495,-0.78,-107.1,2646,2739,3478,3434,636.7,-7.1,322,7499,0.00,2.22,0.00,0.000,292,0.000,0.152,2639,3833,3454,3477,3432,0,0,0,0,0,0,14.85,13.70,14.85
$GC,7529,-0.78,-107.1,2638,3830,3478,3432,639.4,-8.1,327,7534,0.00,1.95,0.00,0.000,1030,0.000,0.052,2638,2738,3454,3477,3432,0,0,0,0,0,0,14.26,14.23,14.28
$GC,7887,-0.78,-107.1,2638,2738,3475,3433,668.4,-8.2,336,7892,0.00,2.42,0.00,0.000,516,0.000,0.044,2638,1362,3455,3479,3432,0,0,0,0,0,0,14.82,14.18,14.81
$GC,7943,-0.78,-107.1,2638,1363,3475,3432,673.2,-8.5,344,7948,0.00,2.67,0.00,0.000,1030,0.000,0.090,2629,2744,3453,3474,3432,0,0,0,0,0,0,14.13,13.84,14.19
$GC,8279,-0.78,-107.1,2629,2746,3473,3432,701.9,-8.5,357,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2745,3451,3471,3432,0,0,0,0,0,0,14.81,14.81,14.81
$GC,8615,-0.78,-107.1,2629,2746,3472,3432,729.8,-8.3,363,8619,0.00,2.47,0.00,0.000,516,0.000,0.043,2629,1361,3451,3471,3432,0,0,0,0,0,0,14.82,14.14,14.82
$GC,8649,-0.78,-107.1,2629,1361,3472,3433,732.7,-8.1,368,8654,0.10,2.65,0.00,0.000,3078,0.237,0.090,2647,2733,3451,3471,3432,0,0,0,0,0,0,13.75,13.83,14.01
$GC,9007,-0.86,-107.1,2647,2733,3472,3431,758.5,-7.2,377,9008,0.00,0.00,0.00,0.000,166,0.000,0.000,2648,2734,3450,3471,3429,0,0,0,0,0,0,14.84,14.85,14.85
$GC,9343,-0.94,-107.1,2647,2733,3471,3429,782.3,-7.1,383,9348,0.08,2.47,0.00,0.000,4772,0.145,0.043,2576,1353,3449,3471,3427,0,0,0,0,0,0,14.40,14.11,14.41
$GC,9398,-0.94,-107.1,2577,1354,3472,3427,787.3,-9.5,391,9404,0.10,2.67,0.00,0.000,3078,0.245,0.090,2592,2733,3448,3470,3427,0,0,0,0,0,0,13.69,13.78,13.97
$STATE,9563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9563,begin apogee
$GC,9572,-0.23,0.0,2593,2205,3463,3429,802.9,-9.3,401,9681,0.82,0.12,101.25,2.514,10244,0.194,0.167,2819,2273,3050,3089,3012,0,0,0,0,1,0,13.63,13.80,12.52
$STATE,9683,end apogee,CONTROL_FINISHED_OK
$STATE,9683,begin climb
$GC,9687,0.93,107.1,2821,2272,3090,3023,806.1,0.0,403,9814,1.12,2.53,106.80,2.710,10756,0.097,0.054,3180,891,2629,2687,2571,0,0,0,0,1,0,13.92,13.99,12.38
$GC,9933,0.85,143.3,3181,893,2683,2580,800.7,5.9,439,9987,0.00,2.45,47.10,1.807,9382,0.000,0.067,3181,2242,2473,2544,2402,0,0,0,0,0,0,14.33,14.17,13.07
$GC,10301,0.74,143.3,3181,2243,2543,2387,771.5,8.3,456,10306,0.12,2.80,0.00,0.000,4484,0.243,0.136,3141,3658,2463,2540,2387,0,0,0,0,0,0,14.04,14.06,14.21
$GC,10376,0.64,143.3,3142,3659,2543,2388,764.9,8.3,467,10381,0.15,2.38,0.00,0.000,5254,0.232,0.047,3110,2271,2465,2543,2387,0,0,0,0,0,0,14.04,14.39,14.33
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$STATE,20117,end climb,SURFACE_DEPTH_REACHED
$STATE,20117,begin surface coast
$FINISH,0.9,1.022143
$STATE,20125,end surface coast,CONTROL_FINISHED_OK
$STATE,20125,begin surface
$SM_CCo,20153,30.75,0.154,0,0,1057,500.14
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$TT8_MAMPS,0.038199,0.290612
$HUMID,58.26
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.30
$XPDR_PINGS,2
$SC_FREEKB,3673568
$PM_FREEKB,52782272
$24V_AH,12.38,212.771
$10V_AH,12.38,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20186.000,20139.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.616,2.438,0.000,0.000
$MEM,334716
$DATA_FILE_SIZE,30061,873
$CAP_FILE_SIZE,157974,0
$CFSIZE,1024409600,915570688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,14104.31,0x213b6c,1,24
$CURRENT,0.090,264.69,1
$GPS,290117,041630,1010.098,-12506.387,16,1.4,16,9.0,1.4,257.5,7,5.5