version: 66.13
glider: 220
mission: 6
dive: 511
start: 1 4 117 18 35 6
data:
$ID,220
$MISSION,6
$DIVE,511
$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,41
$R_STBD_OVSHOOT,18
$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
$GPS1,040117,182330,1013.1058,-12453.9541,32,0.7,32,9.0,0.7,139.5,11,4.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.54
$_SM_ANGLEo,-69.3
$GPS2,040117,183445,1013.1207,-12453.9121,2,0.7,3,9.0,0.6,74.1,12,5.1
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,297.6,15661,-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,-107.1,107,2770,1021,907,0.0,0.0,0,102,0.00,0.00,-84.03,0.000,16390,0.000,0.000,105,2769,3477,3466,3489,0,0,0,0,0,0,14.66,12.50,14.64
$GC,106,-0.93,-107.1,107,2769,3467,3490,2.1,-9.2,3,122,12.18,2.00,0.00,0.000,2308,0.389,0.092,2583,3827,3479,3470,3488,0,0,0,0,0,0,13.88,14.31,14.28
$GC,220,-0.77,-107.1,2584,3832,3472,3492,38.3,-15.9,20,226,0.22,1.83,0.00,0.000,3206,0.230,0.036,2645,2723,3479,3470,3488,0,0,0,0,0,0,14.02,14.45,14.19
$GC,550,-0.77,-107.1,2645,2724,3476,3489,73.8,-8.8,34,555,0.00,2.10,0.00,0.000,260,0.000,0.109,2637,3830,3481,3475,3488,0,0,0,0,0,0,14.85,14.25,14.85
$GC,598,-0.77,-107.1,2637,3831,3480,3489,78.0,-8.8,41,606,0.00,1.75,0.00,0.000,1030,0.000,0.039,2636,2779,3481,3475,3488,0,0,0,0,0,0,14.54,14.52,14.55
$GC,914,-0.77,-107.1,2637,2780,3475,3489,105.3,-9.1,52,919,0.00,2.38,0.00,0.000,516,0.000,0.042,2636,1387,3482,3477,3488,0,0,0,0,0,0,14.86,14.46,14.86
$GC,934,-0.77,-107.1,2636,1389,3477,3487,107.3,-9.3,55,940,0.00,2.53,0.00,0.000,1030,0.000,0.067,2626,2769,3482,3477,3488,0,0,0,0,0,0,14.41,14.32,14.45
$GC,1250,-0.77,-107.1,2626,2771,3478,3487,136.1,-9.2,65,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2770,3482,3477,3487,0,0,0,0,0,0,14.88,14.89,14.88
$GC,1586,-0.77,-107.1,2626,2771,3475,3484,169.2,-9.8,71,1591,0.00,2.38,0.00,0.000,516,0.000,0.041,2625,1391,3480,3476,3484,0,0,0,0,0,0,14.92,14.49,14.92
$GC,1634,-0.77,-107.1,2626,1392,3478,3483,173.8,-9.3,78,1641,0.10,2.50,0.00,0.000,3078,0.222,0.067,2645,2763,3479,3476,3482,0,0,0,0,0,0,14.12,14.31,14.29
$GC,1978,-0.77,-107.1,2646,2764,3477,3479,204.8,-9.1,85,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2763,3477,3476,3479,0,0,0,0,0,0,14.90,14.90,14.90
$GC,2314,-0.77,-107.1,2645,2764,3477,3475,236.8,-9.5,91,2319,0.00,2.00,0.00,0.000,260,0.000,0.113,2638,3828,3475,3476,3475,0,0,0,0,0,0,14.90,14.25,14.90
$GC,2362,-0.77,-107.1,2637,3829,3477,3474,241.5,-9.7,98,2369,0.00,1.80,0.00,0.000,1030,0.000,0.043,2640,2773,3474,3474,3474,0,0,0,0,0,0,14.57,14.54,14.57
$GC,2706,-0.77,-107.1,2637,2772,3477,3470,271.4,-8.5,105,2712,0.00,2.00,0.00,0.000,260,0.000,0.109,2629,3828,3472,3476,3469,0,0,0,0,0,0,14.90,14.26,14.90
$GC,2747,-0.77,-107.1,2629,3829,3477,3469,275.0,-8.6,111,2753,0.00,1.83,0.00,0.000,1030,0.000,0.042,2628,2750,3472,3476,3469,0,0,0,0,0,0,14.57,14.54,14.59
$GC,3098,-0.77,-107.1,2632,2753,3477,3465,304.0,-8.4,119,3103,0.00,2.33,0.00,0.000,516,0.000,0.041,2629,1394,3470,3475,3465,0,0,0,0,0,0,14.90,14.47,14.90
$GC,3139,-0.77,-107.1,2629,1388,3477,3465,307.7,-8.9,125,3146,0.10,2.47,0.00,0.000,3078,0.243,0.067,2649,2772,3470,3476,3464,0,0,0,0,0,0,14.17,14.33,14.42
$GC,3490,-0.77,-107.1,2648,2774,3478,3461,336.7,-8.4,133,3496,0.00,2.42,0.00,0.000,516,0.000,0.041,2648,1376,3468,3476,3461,0,0,0,0,0,0,14.92,14.47,14.92
$GC,3546,-0.77,-107.1,2648,1377,3476,3461,341.5,-8.5,141,3552,0.00,2.50,0.00,0.000,1030,0.000,0.067,2638,2765,3468,3476,3461,0,0,0,0,0,0,14.52,14.35,14.55
$GC,3882,-0.77,-107.1,2639,2765,3477,3458,369.6,-8.2,154,3887,0.00,2.00,0.00,0.000,260,0.000,0.112,2629,3831,3466,3476,3457,0,0,0,0,0,0,14.92,14.23,14.91
$GC,3930,-0.77,-107.1,2631,3829,3476,3458,373.6,-8.4,161,3938,0.00,1.80,0.00,0.000,1030,0.000,0.043,2630,2778,3466,3476,3456,0,0,0,0,0,0,14.50,14.52,14.56
$GC,4274,-0.77,-107.1,2630,2780,3477,3453,401.3,-8.1,168,4279,0.00,2.42,0.00,0.000,516,0.000,0.041,2634,1375,3464,3476,3452,0,0,0,0,0,0,14.91,14.47,14.92
$GC,4350,-0.77,-107.1,2630,1375,3477,3453,407.6,-8.2,179,4356,0.08,2.53,0.00,0.000,3078,0.227,0.067,2643,2761,3464,3476,3452,0,0,0,0,0,0,14.09,14.28,14.24
$GC,4666,-0.77,-107.1,2641,2762,3477,3450,432.8,-8.0,189,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2761,3463,3476,3450,0,0,0,0,0,0,14.89,14.90,14.89
$GC,5002,-0.77,-107.1,2644,2761,3476,3448,459.0,-7.7,195,5007,0.00,2.42,0.00,0.000,516,0.000,0.042,2643,1374,3461,3476,3447,0,0,0,0,0,0,14.89,14.44,14.89
$GC,5050,-0.77,-107.1,2643,1372,3476,3447,462.9,-8.0,202,5057,0.00,2.55,0.00,0.000,1030,0.000,0.066,2633,2757,3461,3476,3446,0,0,0,0,0,0,14.35,14.26,14.40
$GC,5394,-0.77,-107.1,2634,2764,3476,3445,489.9,-8.0,209,5400,0.00,2.03,0.00,0.000,260,0.000,0.113,2625,3829,3459,3475,3443,0,0,0,0,0,0,14.91,14.19,14.91
$GC,5450,-0.77,-107.1,2626,3828,3476,3444,494.7,-8.8,217,5456,0.00,1.83,0.00,0.000,1030,0.000,0.045,2625,2745,3459,3476,3443,0,0,0,0,0,0,14.57,14.50,14.59
$GC,5786,-0.77,-107.1,2625,2747,3477,3441,523.1,-8.5,230,5795,0.00,2.35,0.00,0.000,516,0.000,0.041,2625,1375,3457,3475,3439,0,0,0,0,0,0,14.88,14.42,14.88
$GC,5844,-0.77,-107.1,2626,1380,3475,3441,528.2,-8.7,238,5850,0.12,2.53,0.00,0.000,3078,0.235,0.067,2650,2765,3457,3475,3440,0,0,0,0,0,0,14.09,14.31,14.35
$GC,6180,-0.77,-107.1,2651,2765,3476,3438,553.7,-7.5,251,6185,0.00,2.42,0.00,0.000,548,0.000,0.043,2651,1380,3455,3476,3435,0,0,0,0,0,0,14.88,14.39,14.88
$GC,6215,-0.84,-107.1,2651,1386,3477,3437,556.3,-7.6,256,6220,0.00,2.50,0.00,0.000,1190,0.000,0.067,2643,2759,3455,3475,3436,0,0,0,0,0,0,14.47,14.29,14.51
$GC,6572,-0.84,-107.1,2643,2760,3473,3437,585.1,-8.3,265,6578,0.00,2.03,0.00,0.000,260,0.000,0.113,2634,3826,3454,3472,3437,0,0,0,0,0,0,14.90,14.14,14.90
$GC,6613,-0.84,-107.1,2634,3828,3473,3436,588.2,-8.0,271,6619,0.00,1.85,0.00,0.000,1030,0.000,0.046,2633,2763,3454,3472,3436,0,0,0,0,0,0,14.44,14.41,14.45
$GC,6964,-0.84,-107.1,2633,2764,3472,3436,614.8,-7.6,279,6969,0.00,2.42,0.00,0.000,548,0.000,0.043,2633,1368,3454,3471,3437,0,0,0,0,0,0,14.90,14.38,14.92
$GC,7013,-0.84,-107.1,2634,1367,3471,3438,618.7,-7.8,286,7019,0.00,2.58,0.00,0.000,1030,0.000,0.066,2623,2760,3453,3470,3436,0,0,0,0,0,0,14.28,14.18,14.33
$GC,7356,-0.84,-107.1,2628,2761,3471,3434,644.7,-7.6,293,7357,0.00,0.00,0.00,0.000,38,0.000,0.000,2624,2761,3449,3469,3429,0,0,0,0,0,0,14.88,14.84,14.88
$GC,7693,-0.84,-107.1,2625,2761,3470,3433,670.0,-7.6,299,7693,0.00,0.00,0.00,0.000,38,0.000,0.000,2624,2761,3451,3469,3433,0,0,0,0,0,0,14.90,14.90,14.90
$GC,8028,-0.84,-107.1,2625,2761,3468,3433,695.1,-7.5,305,8029,0.00,0.00,0.00,0.000,38,0.000,0.000,2622,2760,3450,3468,3432,0,0,0,0,0,0,14.90,14.90,14.90
$GC,8364,-0.84,-107.1,2624,2761,3469,3431,721.0,-7.8,311,8369,0.00,2.45,0.00,0.000,516,0.000,0.044,2623,1372,3449,3468,3431,0,0,0,0,0,0,14.87,14.34,14.87
$GC,8398,-0.84,-107.1,2622,1374,3468,3431,723.9,-8.3,316,8404,0.00,2.58,0.00,0.000,1030,0.000,0.068,2615,2752,3448,3467,3430,0,0,0,0,0,0,14.24,14.14,14.29
$GC,8756,-0.84,-107.1,2615,2752,3466,3432,754.8,-8.8,325,8762,0.00,2.45,0.00,0.000,516,0.000,0.043,2614,1368,3447,3464,3430,0,0,0,0,0,0,14.86,14.32,14.85
$GC,8783,-0.84,-107.1,2614,1368,3465,3431,757.3,-8.9,329,8790,0.00,2.60,0.00,0.000,1030,0.000,0.069,2605,2761,3446,3464,3429,0,0,0,0,0,0,14.25,14.14,14.29
$GC,9148,-0.84,-107.1,2605,2761,3465,3430,791.1,-9.3,339,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2761,3445,3463,3428,0,0,0,0,0,0,14.89,14.89,14.89
$STATE,9257,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9257,begin apogee
$GC,9265,-0.23,0.0,2606,2221,3463,3429,801.3,-9.2,341,9373,0.75,0.10,99.40,2.486,10244,0.186,0.165,2819,2281,3051,3084,3019,0,0,0,0,1,0,13.96,13.83,12.51
$STATE,9374,end apogee,CONTROL_FINISHED_OK
$STATE,9374,begin climb
$GC,9378,0.93,107.1,2819,2282,3086,3027,807.0,0.0,343,9500,1.12,2.58,107.88,2.736,10756,0.095,0.055,3182,878,2623,2678,2568,0,0,0,0,1,0,13.94,13.97,12.39
$GC,9598,0.86,151.8,3182,880,2680,2579,803.6,5.5,375,9659,0.00,2.42,54.50,1.841,9382,0.000,0.051,3182,2242,2440,2508,2372,0,0,0,0,0,0,14.30,14.19,13.02
$GC,9986,0.76,151.8,3183,2243,2508,2355,769.4,9.4,395,9991,0.10,2.62,0.00,0.000,4484,0.256,0.097,3150,3651,2430,2507,2354,0,0,0,0,0,0,14.14,14.28,14.32
$GC,10046,0.65,151.8,3150,3651,2508,2354,763.3,9.7,404,10052,0.15,2.42,0.00,0.000,5254,0.216,0.041,3110,2272,2430,2507,2354,0,0,0,0,0,0,14.14,14.42,14.42
$GC,10377,0.68,174.5,3111,2263,2507,2352,741.0,6.6,416,10408,0.00,2.58,24.12,1.872,8740,0.000,0.060,3119,853,2347,2429,2266,0,0,0,0,0,0,14.80,14.35,13.34
$GC,10438,0.70,193.4,3120,855,2430,2260,736.9,6.8,425,10466,0.00,2.50,21.50,1.877,9254,0.000,0.054,3119,2248,2276,2360,2192,0,0,0,0,0,0,14.38,14.31,13.28
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$STATE,19544,end climb,SURFACE_DEPTH_REACHED
$STATE,19544,begin surface coast
$FINISH,-2.0,1.021924
$STATE,19572,end surface coast,CONTROL_FINISHED_OK
$STATE,19572,begin surface
$SM_CCo,19595,34.00,0.155,0,0,1058,500.14
$SM_GC,-2.97,9.50,0.90,34.00,0.089,0.090,0.155,188,2762,1058,-8.39,-0.79,500.14,0,0,0,0,0,0,14.45,14.30,14.15
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$TT8_MAMPS,0.038199,0.313082
$HUMID,57.91
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.70
$XPDR_PINGS,0
$SC_FREEKB,3713504
$PM_FREEKB,53938368
$24V_AH,12.39,180.076
$10V_AH,12.43,0.000
$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
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.591,2.424,0.000,0.000
$MEM,334700
$DATA_FILE_SIZE,29986,811
$CAP_FILE_SIZE,148317,0
$CFSIZE,1024409600,930856960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,5786.44,0x233bae,0,24
$CURRENT,0.036,354.53,1
$GPS,050117,000325,1014.480,-12455.426,35,2.0,36,9.0,0.2,0.0,6,8.2