version: 66.13
glider: 220
mission: 6
dive: 74
start: 9 8 116 13 50 38
data:
$ID,220
$MISSION,6
$DIVE,74
$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,150
$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,9
$N_NOCOMM,1
$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,0.015
$PITCH_ADJ_DBAND,3
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2765
$C_ROLL_CLIMB,2290
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,22
$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,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$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
$GPS1,080916,133901,943.0232,-12500.8467,28,0.9,28,9.0,0.4,109.9,9,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.33
$_SM_ANGLEo,-70.3
$GPS2,080916,135017,943.0714,-12500.7334,2,0.8,3,9.0,0.3,113.2,10,4.7
$SPEED_LIMITS,0.134,0.197
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,165.5,4221,-23.4,-7.750,-29.04,1323
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.15,-68.2,186,2783,942,818,0.0,0.0,0,103,0.00,0.00,-78.38,0.000,16390,0.000,0.000,184,2783,3322,3317,3328,0,0,0,0,0,0,14.69,13.56,14.69
$GC,105,-1.15,-68.2,185,2783,3318,3329,1.4,-13.4,3,119,11.18,0.00,0.00,0.000,2054,0.398,0.000,2522,2783,3323,3318,3328,0,0,0,0,0,0,14.26,14.52,14.50
$GC,410,-1.00,-68.2,2523,2783,3321,3329,78.3,-11.1,14,418,0.20,1.92,0.00,0.000,2436,0.288,0.107,2566,3828,3323,3319,3328,0,0,0,0,0,0,14.46,14.55,14.67
$GC,647,-0.91,-71.9,2567,3830,3323,3329,101.2,-7.5,48,656,0.12,1.77,0.00,0.000,3238,0.282,0.040,2598,2757,3325,3323,3328,0,0,0,0,0,0,14.52,14.73,14.71
$GC,970,-0.91,-71.9,2598,2758,3324,3328,132.8,-10.6,59,979,0.00,2.00,0.00,0.000,260,0.000,0.111,2590,3826,3326,3324,3328,0,0,0,0,0,0,14.90,14.62,14.90
$GC,1207,-0.91,-71.9,2591,3827,3325,3327,157.1,-10.5,93,1215,0.00,1.77,0.00,0.000,1030,0.000,0.041,2590,2742,3326,3324,3328,0,0,0,0,0,0,14.80,14.76,14.81
$GC,1530,-0.91,-71.9,2591,2743,3324,3322,188.7,-10.0,104,1538,0.00,2.03,0.00,0.000,260,0.000,0.113,2582,3819,3322,3323,3322,0,0,0,0,0,0,14.92,14.66,14.92
$GC,1704,-0.91,-71.9,2582,3820,3324,3321,207.8,-10.7,129,1713,0.00,1.73,0.00,0.000,1030,0.000,0.042,2581,2778,3322,3323,3321,0,0,0,0,0,0,14.82,14.78,14.85
$GC,2034,-0.91,-71.9,2582,2777,3324,3316,241.9,-10.3,141,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2778,3319,3323,3315,0,0,0,0,0,0,14.94,14.95,14.95
$GC,2370,-0.91,-71.9,2581,2779,3324,3310,279.3,-11.1,147,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2778,3316,3323,3310,0,0,0,0,0,0,14.98,14.98,14.98
$GC,2706,-0.91,-71.9,2582,2778,3324,3306,317.0,-11.3,153,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2777,3313,3323,3304,0,0,0,0,0,0,15.00,15.00,15.00
$GC,3042,-0.91,-71.9,2581,2776,3323,3299,354.3,-11.1,159,3055,0.00,1.92,0.00,0.000,260,0.000,0.121,2574,3819,3311,3323,3300,0,0,0,0,0,0,15.00,14.74,15.01
$GC,3283,-0.91,-71.9,2575,3819,3324,3296,380.0,-10.4,193,3297,0.10,1.67,0.00,0.000,3078,0.282,0.048,2599,2788,3309,3323,3296,0,0,0,0,0,0,14.66,14.85,14.85
$GC,3610,-0.91,-71.9,2600,2789,3324,3292,407.7,-8.3,204,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2788,3307,3323,3292,0,0,0,0,0,0,15.02,15.02,15.02
$GC,3946,-0.91,-71.9,2600,2789,3324,3289,434.6,-8.2,210,3959,0.00,2.35,0.00,0.000,516,0.000,0.050,2599,1372,3306,3324,3288,0,0,0,0,0,0,15.02,14.81,15.02
$GC,3983,-0.91,-71.9,2599,1373,3324,3287,437.9,-8.9,215,3997,0.00,2.45,0.00,0.000,1030,0.000,0.080,2590,2780,3305,3323,3287,0,0,0,0,0,0,14.88,14.76,14.90
$GC,4345,-0.91,-71.9,2590,2780,3324,3284,471.0,-9.3,224,4358,0.00,1.90,0.00,0.000,260,0.000,0.122,2582,3824,3302,3323,3282,0,0,0,0,0,0,15.02,14.74,15.02
$GC,4439,-0.91,-71.9,2582,3825,3324,3279,480.7,-10.3,237,4452,0.00,1.75,0.00,0.000,1030,0.000,0.050,2581,2777,3302,3322,3282,0,0,0,0,0,0,14.90,14.84,14.91
$GC,4800,-0.91,-71.9,2582,2777,3323,3279,514.8,-9.3,246,4813,0.00,1.95,0.00,0.000,260,0.000,0.125,2574,3829,3299,3322,3276,0,0,0,0,0,0,15.02,14.73,15.02
$GC,4838,-0.91,-71.9,2574,3830,3322,3277,518.9,-10.9,251,4852,0.10,1.73,0.00,0.000,3078,0.287,0.050,2599,2776,3299,3321,3277,0,0,0,0,0,0,14.66,14.85,14.85
$GC,5199,-0.91,-71.9,2600,2776,3319,3279,552.0,-9.2,260,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2776,3297,3318,3277,0,0,0,0,0,0,15.02,15.02,15.02
$GC,5536,-0.91,-71.9,2599,2777,3319,3274,582.3,-9.0,266,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2775,3296,3318,3275,0,0,0,0,0,0,15.02,15.02,15.02
$GC,5872,-0.91,-71.9,2599,2777,3319,3273,611.0,-8.4,272,5885,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2778,3294,3318,3270,0,0,0,0,0,0,15.02,15.02,15.05
$GC,6208,-0.91,-71.9,2599,2776,3316,3274,637.9,-7.9,278,6221,0.00,2.35,0.00,0.000,516,0.000,0.051,2598,1361,3294,3316,3272,0,0,0,0,0,0,15.02,14.81,15.02
$GC,6238,-0.91,-71.9,2599,1360,3316,3273,640.5,-8.2,282,6252,0.00,2.50,0.00,0.000,1030,0.000,0.081,2589,2783,3293,3315,3271,0,0,0,0,0,0,14.88,14.75,14.90
$GC,6606,-0.91,-71.9,2590,2783,3314,3272,670.7,-8.4,292,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2783,3291,3313,3269,0,0,0,0,0,0,15.02,15.02,15.02
$GC,6943,-0.91,-71.9,2590,2783,3311,3269,699.0,-8.5,298,6956,0.00,2.38,0.00,0.000,516,0.000,0.051,2588,1370,3289,3311,3268,0,0,0,0,0,0,15.01,14.80,15.01
$GC,6974,-0.91,-71.9,2586,1370,3311,3273,701.8,-8.8,302,6987,0.00,2.47,0.00,0.000,1030,0.000,0.080,2580,2779,3289,3311,3267,0,0,0,0,0,0,14.87,14.76,14.88
$GC,7342,-0.91,-71.9,2580,2778,3311,3266,733.5,-8.7,312,7355,0.00,2.38,0.00,0.000,516,0.000,0.051,2579,1370,3288,3311,3265,0,0,0,0,0,0,15.02,14.79,15.02
$GC,7394,-0.91,-71.9,2580,1370,3311,3265,738.1,-8.6,319,7409,0.12,2.45,0.00,0.000,3078,0.277,0.080,2602,2774,3287,3311,3264,0,0,0,0,0,0,14.60,14.74,14.81
$GC,7738,-0.91,-71.9,2602,2775,3312,3261,765.5,-8.0,326,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2775,3286,3311,3262,0,0,0,0,0,0,15.00,15.00,14.99
$GC,8074,-0.91,-71.9,2602,2782,3311,3261,793.3,-8.3,332,8087,0.00,2.38,0.00,0.000,516,0.000,0.052,2601,1364,3285,3310,3261,0,0,0,0,0,0,15.00,14.76,15.00
$GC,8154,-0.91,-71.9,2601,1365,3311,3261,800.2,-8.5,343,8167,0.00,2.47,0.00,0.000,1030,0.000,0.081,2592,2781,3285,3310,3261,0,0,0,0,0,0,14.84,14.71,14.86
$GC,8473,-0.91,-71.9,2593,2781,3310,3261,827.2,-8.5,353,8486,0.00,2.38,0.00,0.000,516,0.000,0.050,2591,1369,3284,3308,3260,0,0,0,0,0,0,15.00,14.77,15.00
$GC,8518,-0.91,-74.6,2592,1370,3310,3260,831.2,-7.5,359,8531,0.00,2.47,0.00,0.000,1062,0.000,0.081,2582,2779,3283,3308,3259,0,0,0,0,0,0,14.85,14.71,14.87
$GC,8872,-0.91,-74.6,2582,2780,3308,3260,862.5,-8.7,367,8885,0.00,1.92,0.00,0.000,260,0.000,0.128,2574,3826,3283,3307,3259,0,0,0,0,0,0,14.99,14.69,15.00
$GC,8938,-0.91,-74.6,2574,3827,3308,3259,868.3,-8.2,376,8952,0.10,1.75,0.00,0.000,3078,0.285,0.053,2600,2771,3283,3307,3259,0,0,0,0,0,0,14.59,14.80,14.81
$GC,9272,-0.92,-76.5,2600,2771,3307,3258,893.9,-7.6,388,9284,0.00,0.00,0.00,0.000,38,0.000,0.000,2600,2771,3282,3306,3259,0,0,0,0,0,0,14.99,14.99,14.99
$GC,9608,-0.93,-83.5,2600,2772,3308,3255,918.4,-7.2,394,9621,0.00,2.38,0.00,0.000,548,0.000,0.054,2600,1356,3280,3306,3254,0,0,0,0,0,0,14.99,14.76,15.00
$GC,9653,-0.96,-113.2,2600,1356,3307,3255,921.8,-5.4,400,9666,0.00,2.47,0.00,0.000,1062,0.000,0.083,2591,2767,3280,3307,3254,0,0,0,0,0,0,14.84,14.70,14.86
$STATE,9782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9782,begin apogee
$GC,9785,-0.23,0.0,2591,2271,3308,3254,931.4,-7.1,404,9862,0.80,0.00,66.70,1.959,10244,0.226,0.000,2819,2268,3049,3092,3007,0,0,0,0,0,0,14.59,14.27,13.59
$STATE,9863,end apogee,CONTROL_FINISHED_OK
$STATE,9863,begin climb
$GC,9865,1.20,113.2,2820,2268,3084,2996,933.4,0.0,405,9999,1.40,2.42,117.55,1.901,10756,0.116,0.062,3267,888,2599,2656,2543,0,0,0,0,0,0,14.25,14.28,13.38
$GC,10228,1.12,113.2,3268,889,2647,2514,896.5,12.7,460,10241,0.00,2.47,0.00,0.000,1158,0.000,0.067,3267,2304,2579,2646,2512,0,0,0,0,0,0,14.50,14.39,14.51
$GC,10568,1.04,113.2,3268,2304,2647,2509,852.5,12.9,473,10581,0.08,2.58,0.00,0.000,4484,0.317,0.112,3244,3700,2577,2645,2509,0,0,0,0,0,0,14.40,14.50,14.56
$GC,10809,0.93,113.2,3244,3701,2647,2509,820.5,12.9,507,10823,0.20,2.40,0.00,0.000,5254,0.285,0.048,3202,2278,2577,2646,2508,0,0,0,0,0,0,14.43,14.62,14.69
$GC,11136,0.93,113.2,3203,2274,2647,2507,788.5,9.8,518,11149,0.00,2.33,0.00,0.000,516,0.000,0.065,3213,896,2576,2646,2506,0,0,0,0,0,0,14.86,14.64,14.87
$GC,11181,0.93,113.2,3213,897,2649,2506,784.1,9.7,524,11194,0.00,2.40,0.00,0.000,1030,0.000,0.067,3213,2294,2576,2646,2506,0,0,0,0,0,0,14.74,14.64,14.76
$GC,11535,0.93,113.2,3213,2295,2647,2505,749.5,9.9,532,11548,0.00,2.38,0.00,0.000,516,0.000,0.064,3223,895,2575,2645,2505,0,0,0,0,0,0,14.90,14.67,14.90
$GC,11580,0.93,113.2,3223,896,2648,2505,744.9,10.1,538,11593,0.00,2.38,0.00,0.000,1030,0.000,0.068,3223,2311,2575,2646,2505,0,0,0,0,0,0,14.77,14.66,14.79
$GC,11934,0.93,113.2,3222,2312,2648,2504,706.9,10.8,546,11947,0.00,2.42,0.00,0.000,516,0.000,0.065,3233,888,2575,2647,2503,0,0,0,0,0,0,14.92,14.68,14.92
$GC,12000,0.93,113.2,3233,889,2647,2503,699.5,10.8,555,12013,0.10,2.40,0.00,0.000,5126,0.289,0.068,3207,2285,2574,2646,2503,0,0,0,0,0,0,14.54,14.67,14.76
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$STATE,20477,end climb,SURFACE_DEPTH_REACHED
$STATE,20477,begin surface coast
$FINISH,-3.0,1.020547
$STATE,20505,end surface coast,CONTROL_FINISHED_OK
$STATE,20505,begin surface
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$HUMID,48.03
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$TCM_TEMP,23.10
$XPDR_PINGS,1
$SC_FREEKB,3881344
$PM_FREEKB,59537536
$TM_FREEKB,7020704
$24V_AH,13.38,33.016
$10V_AH,13.74,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,334728
$DATA_FILE_SIZE,33365,889
$CAP_FILE_SIZE,162065,0
$CFSIZE,1024409600,1003651072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9616.01,0x213b74,0,24
$CURRENT,0.037,148.55,1
$GPS,080916,193441,941.324,-12500.482,20,1.7,23,9.0,0.2,0.0,5,9.1