version: 66.13
glider: 220
mission: 6
dive: 802
start: 3 14 117 5 0 20
data:
$ID,220
$MISSION,6
$DIVE,802
$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,350
$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,100
$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,95
$R_STBD_OVSHOOT,20
$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,1
$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
$GPS1,140317,044808,947.2581,-12455.4277,16,1.0,16,9.0,0.7,186.3,6,8.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.47
$_SM_ANGLEo,-71.9
$GPS2,140317,045953,947.1425,-12455.4736,2,1.0,5,9.0,1.1,274.9,6,7.4
$SPEED_LIMITS,0.132,0.164
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,40.2,36082,-18.3,-7.619,-24.90,1901
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,14,-0.95,-97.3,122,2783,1105,1019,0.0,0.0,0,98,0.00,0.00,-78.38,0.000,16390,0.000,0.000,117,2784,3437,3424,3451,0,0,0,0,0,0,14.31,12.69,14.31
$GC,103,-0.95,-97.3,118,2784,3425,3457,2.4,-12.6,3,120,12.18,2.08,0.00,0.000,2308,0.379,0.136,2576,3821,3437,3425,3450,0,0,0,0,0,0,13.64,13.88,14.01
$GC,184,-0.65,-97.3,2576,3822,3427,3453,31.4,-24.2,15,189,0.43,1.75,0.00,0.000,3206,0.250,0.054,2681,2776,3439,3427,3452,0,0,0,0,0,0,13.52,14.03,13.85
$GC,520,-0.65,-97.3,2682,2778,3431,3452,64.1,-6.7,30,525,0.00,2.45,0.00,0.000,548,0.000,0.040,2682,1403,3440,3430,3451,0,0,0,0,0,0,14.59,14.02,14.59
$GC,734,-0.65,-97.3,2682,1402,3432,3452,80.6,-6.7,60,739,0.00,2.70,0.00,0.000,1062,0.000,0.107,2671,2759,3441,3431,3451,0,0,0,0,0,0,14.01,13.71,14.07
$GC,1054,-0.65,-97.3,2672,2759,3433,3451,101.2,-6.2,73,1061,0.00,2.47,0.00,0.000,548,0.000,0.041,2671,1391,3441,3432,3451,0,0,0,0,0,0,14.58,14.00,14.57
$GC,1160,-0.73,-97.3,2672,1387,3433,3450,109.6,-8.5,88,1166,0.00,2.75,0.00,0.000,1158,0.000,0.108,2663,2757,3440,3431,3450,0,0,0,0,0,0,14.01,13.69,14.05
$GC,1503,-0.73,-97.3,2663,2759,3433,3447,133.7,-7.5,95,1507,0.00,2.45,0.00,0.000,548,0.000,0.041,2662,1400,3439,3432,3447,0,0,0,0,0,0,14.65,13.98,14.64
$GC,1580,-0.81,-97.3,2663,1400,3433,3447,138.7,-5.0,106,1585,0.00,2.72,0.00,0.000,1190,0.000,0.110,2654,2759,3438,3430,3447,0,0,0,0,0,0,13.98,13.66,14.04
$GC,1895,-0.81,-97.3,2655,2759,3432,3445,160.7,-6.7,116,1899,0.00,2.25,0.00,0.000,292,0.000,0.177,2646,3823,3437,3431,3444,0,0,0,0,0,0,14.65,13.61,14.64
$GC,1929,-0.81,-97.3,2646,3823,3432,3444,164.8,-10.9,121,1935,0.00,1.83,0.00,0.000,1030,0.000,0.059,2646,2770,3437,3431,3443,0,0,0,0,0,0,14.22,14.16,14.23
$GC,2287,-0.81,-97.3,2646,2771,3432,3439,192.9,-8.1,130,2291,0.00,2.53,0.00,0.000,516,0.000,0.040,2646,1363,3434,3431,3438,0,0,0,0,0,0,14.59,13.99,14.60
$GC,2384,-0.81,-97.3,2647,1363,3432,3437,201.3,-8.0,144,2389,0.00,2.75,0.00,0.000,1030,0.000,0.097,2637,2753,3434,3431,3437,0,0,0,0,0,0,13.97,13.66,14.04
$GC,2735,-0.81,-97.3,2638,2752,3432,3433,228.6,-7.6,152,2739,0.00,2.53,0.00,0.000,548,0.000,0.041,2637,1367,3431,3431,3432,0,0,0,0,0,0,14.65,13.98,14.66
$GC,2805,-0.81,-97.3,2637,1366,3432,3433,235.2,-6.7,162,2809,0.00,2.72,0.00,0.000,1062,0.000,0.095,2627,2743,3431,3431,3432,0,0,0,0,0,0,13.99,13.74,14.04
$GC,3126,-0.81,-97.3,2628,2743,3432,3429,264.1,-9.1,173,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2743,3429,3431,3428,0,0,0,0,0,0,14.66,14.66,14.66
$GC,3462,-0.81,-97.3,2628,2743,3431,3425,292.9,-8.5,179,3467,0.00,2.53,0.00,0.000,516,0.000,0.041,2627,1363,3427,3431,3423,0,0,0,0,0,0,14.60,13.97,14.60
$GC,3504,-0.81,-97.3,2627,1363,3432,3423,296.7,-6.4,185,3510,0.00,2.75,0.00,0.000,1062,0.000,0.094,2617,2747,3427,3431,3423,0,0,0,0,0,0,13.98,13.69,14.03
$GC,3854,-0.81,-97.3,2617,2747,3432,3419,325.8,-8.0,193,3860,0.00,2.53,0.00,0.000,516,0.000,0.041,2616,1371,3425,3430,3420,0,0,0,0,0,0,14.60,13.97,14.60
$GC,3889,-0.81,-97.3,2617,1377,3432,3420,328.6,-6.9,198,3895,0.10,2.75,0.00,0.000,3110,0.247,0.096,2635,2750,3425,3431,3419,0,0,0,0,0,0,13.66,13.71,13.93
$GC,4247,-0.81,-97.3,2635,2750,3432,3418,353.6,-7.1,207,4251,0.00,2.53,0.00,0.000,548,0.000,0.041,2635,1371,3423,3431,3416,0,0,0,0,0,0,14.66,13.97,14.66
$GC,4316,-0.81,-97.3,2635,1370,3431,3416,360.1,-9.6,217,4322,0.00,2.72,0.00,0.000,1030,0.000,0.093,2625,2741,3422,3431,3414,0,0,0,0,0,0,13.97,13.69,14.02
$GC,4639,-0.81,-97.3,2625,2742,3432,3411,384.3,-8.0,228,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2741,3422,3431,3413,0,0,0,0,0,0,14.59,14.59,14.59
$GC,4974,-0.81,-97.3,2625,2742,3432,3410,412.6,-8.4,234,4979,0.00,2.53,0.00,0.000,516,0.000,0.041,2624,1372,3420,3431,3410,0,0,0,0,0,0,14.60,13.98,14.60
$GC,5009,-0.81,-97.3,2625,1370,3431,3410,416.4,-11.7,239,5014,0.00,2.72,0.00,0.000,1030,0.000,0.094,2615,2736,3420,3431,3409,0,0,0,0,0,0,13.97,13.66,14.03
$GC,5366,-0.81,-97.3,2615,2739,3431,3406,448.0,-8.9,248,5371,0.00,2.53,0.00,0.000,516,0.000,0.042,2614,1365,3418,3431,3405,0,0,0,0,0,0,14.66,13.98,14.66
$GC,5401,-0.81,-97.3,2615,1366,3432,3405,450.8,-9.7,253,5407,0.10,2.72,0.00,0.000,3078,0.243,0.096,2633,2737,3417,3430,3405,0,0,0,0,0,0,13.64,13.65,13.90
$GC,5759,-0.81,-97.3,2633,2737,3431,3403,480.8,-8.1,262,5764,0.00,2.28,0.00,0.000,260,0.000,0.166,2625,3825,3416,3430,3402,0,0,0,0,0,0,14.59,13.55,14.59
$GC,5800,-0.81,-97.3,2625,3826,3431,3403,485.7,-10.3,268,5805,0.00,1.92,0.00,0.000,1030,0.000,0.058,2623,2737,3415,3430,3401,0,0,0,0,0,0,14.16,14.12,14.18
$GC,6151,-0.81,-97.3,2624,2737,3432,3400,512.7,-7.5,276,6155,0.00,2.50,0.00,0.000,548,0.000,0.041,2624,1366,3414,3430,3399,0,0,0,0,0,0,14.65,13.95,14.66
$GC,6248,-0.81,-97.3,2624,1367,3432,3398,522.6,-7.0,290,6253,0.00,2.70,0.00,0.000,1062,0.000,0.090,2616,2730,3414,3430,3398,0,0,0,0,0,0,13.93,13.63,13.99
$GC,6598,-0.81,-97.3,2616,2732,3431,3397,549.8,-8.1,298,6599,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2732,3413,3430,3396,0,0,0,0,0,0,14.65,14.65,14.65
$GC,6934,-0.81,-97.3,2616,2733,3432,3394,576.6,-8.3,304,6939,0.00,2.53,0.00,0.000,516,0.000,0.042,2613,1366,3411,3430,3393,0,0,0,0,0,0,14.60,13.94,14.60
$GC,7004,-0.81,-97.3,2615,1367,3432,3392,582.6,-6.4,314,7010,0.10,2.72,0.00,0.000,3110,0.239,0.092,2633,2734,3411,3430,3393,0,0,0,0,0,0,13.61,13.61,13.87
$GC,7326,-0.81,-97.3,2634,2734,3431,3392,607.2,-7.8,325,7332,0.00,2.53,0.00,0.000,516,0.000,0.043,2633,1366,3410,3430,3390,0,0,0,0,0,0,14.65,13.98,14.65
$GC,7375,-0.89,-97.3,2633,1367,3432,3390,612.8,-8.0,332,7381,0.00,2.70,0.00,0.000,1158,0.000,0.092,2622,2724,3409,3429,3390,0,0,0,0,0,0,13.93,13.61,13.99
$GC,7718,-0.89,-97.3,2624,2725,3430,3389,644.2,-8.7,339,7723,0.00,2.30,0.00,0.000,260,0.000,0.160,2614,3826,3408,3428,3389,0,0,0,0,0,0,14.59,13.51,14.59
$GC,7746,-0.89,-97.3,2615,3826,3428,3390,647.2,-9.7,343,7751,0.00,1.98,0.00,0.000,1030,0.000,0.062,2614,2719,3408,3428,3389,0,0,0,0,0,0,14.14,14.07,14.16
$GC,8111,-0.89,-97.3,2615,2719,3426,3390,677.4,-7.7,353,8116,0.00,2.50,0.00,0.000,516,0.000,0.041,2614,1360,3407,3426,3389,0,0,0,0,0,0,14.66,13.92,14.66
$GC,8201,-0.89,-97.3,2615,1360,3426,3389,686.0,-13.2,366,8206,0.00,2.72,0.00,0.000,1030,0.000,0.091,2605,2722,3407,3425,3389,0,0,0,0,0,0,13.90,13.59,13.97
$GC,8559,-0.89,-97.3,2606,2723,3425,3390,710.9,-6.9,375,8559,0.00,0.00,0.00,0.000,38,0.000,0.000,2605,2722,3407,3423,3391,0,0,0,0,0,0,14.59,14.59,14.59
$GC,8895,-0.89,-97.3,2606,2723,3424,3388,733.5,-6.2,381,8900,0.00,2.55,0.00,0.000,548,0.000,0.042,2604,1356,3405,3423,3388,0,0,0,0,0,0,14.58,13.90,14.59
$GC,8922,-0.89,-97.3,2604,1355,3424,3389,736.3,-11.0,385,8928,0.00,2.75,0.00,0.000,1030,0.000,0.095,2596,2729,3405,3423,3388,0,0,0,0,0,0,13.91,13.59,13.97
$GC,9286,-0.89,-97.3,2597,2728,3423,3387,765.2,-9.0,395,9287,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2729,3404,3422,3386,0,0,0,0,0,0,14.59,14.58,14.59
$GC,9622,-0.89,-97.3,2598,2729,3421,3387,792.9,-8.5,401,9628,0.00,2.55,0.00,0.000,516,0.000,0.043,2595,1361,3402,3420,3385,0,0,0,0,0,0,14.62,13.89,14.59
$GC,9664,-0.89,-97.3,2595,1363,3422,3385,796.9,-9.6,407,9669,0.00,2.72,0.00,0.000,1030,0.000,0.093,2587,2715,3403,3421,3385,0,0,0,0,0,0,13.90,13.59,13.96
$STATE,9730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9730,begin apogee
$GC,9741,-0.23,0.0,2586,2228,3422,3385,803.1,-8.7,410,9851,0.85,0.10,107.10,1.828,10244,0.196,0.198,2818,2269,3049,3086,3013,0,0,0,0,0,0,13.63,13.31,12.58
$STATE,9852,end apogee,CONTROL_FINISHED_OK
$STATE,9852,begin climb
$GC,9857,0.95,97.3,2819,2269,3079,3003,808.3,0.0,412,9977,1.20,2.72,113.57,1.765,10756,0.090,0.051,3190,865,2661,2717,2605,0,0,0,0,0,0,13.37,13.41,11.98
$GC,10081,0.88,137.2,3190,866,2711,2580,804.9,5.5,445,10134,0.00,2.80,46.95,1.802,9382,0.000,0.063,3190,2242,2499,2570,2428,0,0,0,0,0,0,13.03,12.87,11.96
$GC,10470,0.77,137.2,3191,2243,2565,2406,774.3,8.3,465,10471,0.15,0.00,0.00,0.000,4230,0.215,0.000,3152,2242,2483,2563,2404,0,0,0,0,0,0,12.97,13.30,13.24
$GC,10801,0.77,142.7,3153,2242,2564,2403,750.7,7.3,471,10802,0.00,0.00,0.00,0.000,38,0.000,0.000,3152,2242,2482,2563,2402,0,0,0,0,0,0,14.16,14.16,14.16
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$STATE,19777,end climb,SURFACE_DEPTH_REACHED
$STATE,19777,begin surface coast
$FINISH,-2.2,1.021863
$STATE,19805,end surface coast,CONTROL_FINISHED_OK
$STATE,19806,begin surface
$SM_CCo,19832,58.00,0.152,0,0,1058,500.14
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$TT8_MAMPS,0.039697,0.438914
$HUMID,58.58
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,22.30
$XPDR_PINGS,0
$SC_FREEKB,3601728
$24V_AH,11.96,271.619
$10V_AH,11.73,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,3.588,0.000,0.000,0.000
$MEM,334732
$DATA_FILE_SIZE,30039,820
$CAP_FILE_SIZE,144771,0
$CFSIZE,1024409600,888143872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.075,272.67,1
$GPS,140317,103300,948.411,-12455.209,35,0.8,35,9.0,0.8,293.2,12,3.6