version: 66.13
glider: 220
mission: 6
dive: 808
start: 3 15 117 14 17 6
data:
$ID,220
$MISSION,6
$DIVE,808
$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,47
$R_STBD_OVSHOOT,12
$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
$GPS1,150317,140439,953.0316,-12450.5889,20,1.7,21,9.0,0.4,0.0,6,9.3
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.63
$_SM_ANGLEo,-65.3
$GPS2,150317,141644,953.0762,-12450.7031,3,1.6,8,9.0,1.0,284.4,6,9.4
$SPEED_LIMITS,0.132,0.164
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,63.9,22434,-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,-97.3,131,2781,1103,1012,0.0,0.0,0,98,0.00,0.00,-78.57,0.000,16390,0.000,0.000,127,2783,3438,3424,3452,0,0,0,0,0,0,13.21,11.90,13.22
$GC,103,-0.95,-97.3,129,2783,3424,3454,2.5,-12.3,3,119,14.12,0.00,0.00,0.000,2054,0.385,0.000,2582,2783,3441,3426,3456,0,0,0,0,0,0,12.67,13.03,12.99
$GC,408,-0.79,-97.3,2583,2783,3430,3453,61.1,-10.3,14,413,0.20,2.42,0.00,0.000,2436,0.245,0.180,2627,3830,3440,3429,3452,0,0,0,0,0,0,12.69,12.78,12.88
$GC,436,-0.68,-97.3,2626,3831,3431,3452,64.5,-12.2,18,441,0.17,2.00,0.00,0.000,3206,0.211,0.060,2671,2752,3441,3430,3452,0,0,0,0,0,0,12.80,13.16,13.04
$GC,772,-0.68,-97.3,2673,2751,3433,3453,85.2,-6.7,33,778,0.00,2.62,0.00,0.000,548,0.000,0.041,2672,1381,3442,3432,3452,0,0,0,0,0,0,13.63,13.11,13.63
$GC,877,-0.68,-97.3,2673,1381,3433,3453,91.6,-4.9,48,883,0.00,3.00,0.00,0.000,1062,0.000,0.113,2662,2763,3439,3428,3451,0,0,0,0,0,0,13.16,12.90,13.19
$GC,1220,-0.68,-97.3,2661,2763,3433,3452,118.7,-8.3,57,1225,0.00,2.42,0.00,0.000,260,0.000,0.184,2653,3828,3441,3432,3451,0,0,0,0,0,0,13.71,12.91,13.70
$GC,1303,-0.68,-97.3,2654,3828,3433,3452,125.9,-7.8,69,1309,0.00,1.98,0.00,0.000,1030,0.000,0.058,2654,2763,3441,3433,3450,0,0,0,0,0,0,13.31,13.23,13.32
$GC,1668,-0.68,-97.3,2654,2762,3433,3448,152.8,-7.7,79,1672,0.00,2.65,0.00,0.000,516,0.000,0.041,2653,1372,3439,3432,3446,0,0,0,0,0,0,13.74,13.20,13.74
$GC,1780,-0.68,-97.3,2654,1371,3433,3446,162.7,-8.7,95,1785,0.12,2.92,0.00,0.000,3078,0.210,0.091,2676,2759,3439,3433,3445,0,0,0,0,0,0,12.96,12.97,13.19
$GC,2116,-0.78,-97.3,2678,2759,3433,3442,187.1,-6.9,108,2121,0.00,2.70,0.00,0.000,676,0.000,0.041,2677,1370,3436,3432,3441,0,0,0,0,0,0,13.75,13.19,13.75
$GC,2158,-0.90,-97.3,2677,1372,3433,3440,190.0,-6.5,114,2163,0.12,2.90,0.00,0.000,5286,0.091,0.092,2589,2756,3436,3432,3440,0,0,0,0,0,0,13.26,12.99,13.33
$GC,2508,-0.90,-97.3,2590,2757,3433,3436,223.3,-9.8,122,2513,0.00,2.33,0.00,0.000,260,0.000,0.154,2581,3823,3434,3432,3437,0,0,0,0,0,0,13.76,12.96,13.75
$GC,2578,-0.82,-97.3,2581,3824,3433,3435,231.9,-13.7,132,2583,0.20,1.98,0.00,0.000,3206,0.210,0.053,2631,2752,3434,3432,3436,0,0,0,0,0,0,12.91,13.33,13.17
$GC,2900,-0.82,-97.3,2631,2753,3433,3432,260.0,-8.3,143,2905,0.00,2.65,0.00,0.000,516,0.000,0.039,2631,1371,3432,3432,3432,0,0,0,0,0,0,13.76,13.20,13.76
$GC,2949,-0.82,-97.3,2632,1371,3438,3432,264.0,-6.5,150,2955,0.00,2.88,0.00,0.000,1062,0.000,0.086,2622,2754,3431,3432,3431,0,0,0,0,0,0,13.24,12.99,13.29
$GC,3292,-0.82,-97.3,2622,2755,3433,3426,295.4,-9.6,157,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2754,3429,3432,3426,0,0,0,0,0,0,13.75,13.76,13.76
$GC,3628,-0.82,-97.3,2628,2755,3433,3423,329.8,-10.5,163,3632,0.00,2.70,0.00,0.000,516,0.000,0.041,2621,1372,3428,3432,3424,0,0,0,0,0,0,13.72,13.20,13.72
$GC,3697,-0.82,-97.3,2617,1373,3433,3422,338.1,-10.8,173,3703,0.00,2.90,0.00,0.000,1030,0.000,0.089,2612,2755,3426,3432,3421,0,0,0,0,0,0,13.25,12.98,13.29
$GC,4020,-0.82,-97.3,2612,2755,3431,3420,370.4,-9.9,184,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2755,3425,3432,3419,0,0,0,0,0,0,13.76,13.77,13.76
$GC,4356,-0.82,-97.3,2612,2756,3433,3417,401.5,-9.3,190,4361,0.00,2.72,0.00,0.000,516,0.000,0.041,2610,1366,3424,3432,3416,0,0,0,0,0,0,13.71,13.20,13.71
$GC,4412,-0.82,-97.3,2611,1365,3432,3417,407.7,-12.2,198,4417,0.12,2.90,0.00,0.000,3078,0.227,0.089,2632,2747,3423,3432,3415,0,0,0,0,0,0,12.93,13.00,13.18
$GC,4748,-0.82,-97.3,2633,2754,3432,3414,434.9,-7.8,211,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2747,3422,3432,3412,0,0,0,0,0,0,13.71,13.72,13.71
$GC,5084,-0.82,-97.3,2633,2745,3432,3412,463.3,-8.1,217,5089,0.00,2.70,0.00,0.000,516,0.000,0.041,2632,1370,3421,3432,3410,0,0,0,0,0,0,13.76,13.21,13.76
$GC,5140,-0.82,-97.3,2633,1371,3433,3409,470.1,-9.5,225,5146,0.00,2.92,0.00,0.000,1030,0.000,0.092,2622,2752,3420,3431,3409,0,0,0,0,0,0,13.25,12.97,13.29
$GC,5476,-0.82,-97.3,2624,2751,3432,3406,495.1,-7.0,238,5481,0.00,2.72,0.00,0.000,548,0.000,0.041,2622,1364,3418,3431,3405,0,0,0,0,0,0,13.76,13.20,13.76
$GC,5532,-0.82,-97.3,2623,1364,3432,3405,500.0,-5.9,246,5537,0.00,2.92,0.00,0.000,1062,0.000,0.090,2611,2741,3418,3431,3405,0,0,0,0,0,0,13.24,12.99,13.30
$GC,5868,-0.82,-97.3,2613,2741,3432,3403,529.6,-9.0,259,5869,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2741,3416,3431,3402,0,0,0,0,0,0,13.71,13.71,13.71
$GC,6204,-0.82,-97.3,2613,2743,3433,3400,555.5,-7.6,265,6209,0.00,2.65,0.00,0.000,516,0.000,0.041,2612,1366,3416,3432,3400,0,0,0,0,0,0,13.76,13.20,13.77
$GC,6280,-0.82,-97.3,2612,1368,3432,3400,562.8,-9.0,276,6286,0.10,2.92,0.00,0.000,3078,0.236,0.092,2629,2744,3415,3431,3399,0,0,0,0,0,0,12.92,12.96,13.18
$GC,6596,-0.82,-97.3,2628,2745,3432,3397,584.1,-7.1,286,6597,0.00,0.00,0.00,0.000,38,0.000,0.000,2628,2743,3414,3432,3397,0,0,0,0,0,0,13.76,13.76,13.76
$GC,6932,-0.82,-97.3,2629,2745,3433,3395,608.0,-7.1,292,6937,0.00,2.72,0.00,0.000,548,0.000,0.043,2629,1364,3413,3431,3395,0,0,0,0,0,0,13.71,13.14,13.71
$GC,6974,-0.82,-97.3,2629,1365,3432,3394,611.6,-5.3,298,6979,0.00,2.92,0.00,0.000,1062,0.000,0.095,2619,2747,3412,3431,3394,0,0,0,0,0,0,13.25,12.94,13.30
$GC,7324,-0.82,-97.3,2620,2747,3432,3393,639.9,-8.1,306,7329,0.00,2.72,0.00,0.000,516,0.000,0.042,2618,1366,3411,3431,3391,0,0,0,0,0,0,13.76,13.19,13.76
$GC,7372,-0.82,-97.3,2618,1367,3432,3391,645.0,-8.0,313,7379,0.00,2.92,0.00,0.000,1030,0.000,0.094,2609,2744,3411,3431,3391,0,0,0,0,0,0,13.24,12.95,13.28
$GC,7716,-0.82,-97.3,2610,2745,3430,3392,674.1,-8.7,320,7721,0.00,2.70,0.00,0.000,516,0.000,0.042,2608,1370,3410,3429,3391,0,0,0,0,0,0,13.71,13.20,13.71
$GC,7792,-0.82,-97.3,2609,1371,3429,3392,681.4,-9.4,331,7798,0.12,2.92,0.00,0.000,3078,0.226,0.096,2629,2738,3408,3428,3388,0,0,0,0,0,0,12.91,12.95,13.16
$GC,8108,-0.82,-97.3,2630,2739,3428,3390,705.3,-7.2,341,8109,0.00,0.00,0.00,0.000,38,0.000,0.000,2629,2739,3408,3426,3390,0,0,0,0,0,0,13.76,13.76,13.76
$GC,8444,-0.82,-97.3,2634,2739,3425,3391,730.9,-7.7,347,8448,0.00,2.70,0.00,0.000,516,0.000,0.043,2630,1371,3407,3424,3390,0,0,0,0,0,0,13.76,13.20,13.75
$GC,8486,-0.90,-97.3,2631,1371,3425,3391,734.6,-8.8,353,8492,0.00,2.88,0.00,0.000,1158,0.000,0.099,2620,2736,3407,3424,3390,0,0,0,0,0,0,13.25,12.96,13.30
$GC,8836,-0.90,-97.3,2620,2736,3425,3389,761.0,-7.7,361,8842,0.00,2.70,0.00,0.000,516,0.000,0.042,2620,1368,3406,3424,3388,0,0,0,0,0,0,13.76,13.17,13.76
$GC,8885,-0.90,-97.3,2620,1368,3424,3390,765.5,-4.9,368,8891,0.00,2.92,0.00,0.000,1062,0.000,0.096,2611,2731,3406,3424,3388,0,0,0,0,0,0,13.22,12.93,13.27
$GC,9228,-0.90,-97.3,2611,2732,3423,3388,790.3,-7.7,375,9232,0.00,2.70,0.00,0.000,516,0.000,0.042,2609,1364,3405,3423,3387,0,0,0,0,0,0,13.71,13.18,13.71
$GC,9270,-0.90,-97.3,2610,1364,3424,3389,793.9,-4.8,381,9275,0.00,2.92,0.00,0.000,1062,0.000,0.097,2601,2731,3406,3424,3388,0,0,0,0,0,0,13.21,12.95,13.26
$STATE,9391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9391,begin apogee
$GC,9402,-0.23,0.0,2600,2236,3424,3387,802.8,-6.5,385,9513,0.85,0.00,108.68,1.923,10244,0.183,0.000,2822,2235,3049,3086,3012,0,0,0,0,0,0,12.95,12.52,11.69
$STATE,9514,end apogee,CONTROL_FINISHED_OK
$STATE,9514,begin climb
$GC,9519,0.95,97.3,2823,2236,3082,3003,806.6,0.0,387,9650,1.27,2.85,117.40,1.838,10756,0.087,0.050,3188,860,2657,2714,2600,0,0,0,0,0,0,12.51,12.53,11.37
$GC,9741,0.91,159.7,3189,859,2712,2583,804.1,4.2,420,9824,0.00,3.00,76.93,1.816,9382,0.000,0.066,3188,2255,2414,2489,2339,0,0,0,0,0,0,12.48,12.32,11.34
$GC,10180,0.80,159.7,3189,2256,2481,2309,767.7,8.9,440,10185,0.00,2.90,0.00,0.000,644,0.000,0.053,3199,871,2394,2480,2309,0,0,0,0,0,0,12.79,12.44,12.79
$GC,10214,0.70,159.7,3199,876,2481,2308,765.0,8.4,445,10220,0.30,2.95,0.00,0.000,5254,0.194,0.070,3129,2248,2393,2479,2308,0,0,0,0,0,0,12.28,12.37,12.52
$GC,10571,0.71,169.4,3128,2247,2481,2306,739.2,7.1,454,10582,0.00,3.28,3.20,1.036,8484,0.000,0.146,3126,3661,2376,2460,2292,0,0,0,0,0,0,12.97,12.55,11.62
$GC,10613,0.72,177.4,3127,3661,2461,2302,736.0,7.2,460,10639,0.00,2.80,16.67,1.854,9254,0.000,0.050,3137,2249,2336,2425,2247,0,0,0,0,1,0,12.72,12.66,11.75
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$STATE,19653,end climb,SURFACE_DEPTH_REACHED
$STATE,19653,begin surface coast
$FINISH,0.0,1.021830
$STATE,19681,end surface coast,CONTROL_FINISHED_OK
$STATE,19681,begin surface
$SM_CCo,19709,43.80,0.155,0,0,1058,500.39
$SM_GC,-5.04,10.40,1.17,43.80,0.079,0.132,0.155,198,2770,1058,-8.39,-0.25,500.39,0,0,0,0,0,0,12.95,12.67,12.82
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$TT8_MAMPS,0.039697,0.259903
$HUMID,61.41
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,21.50
$XPDR_PINGS,1
$SC_FREEKB,3599424
$24V_AH,10.31,273.646
$10V_AH,11.25,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,334700
$DATA_FILE_SIZE,30034,808
$CAP_FILE_SIZE,148383,0
$CFSIZE,1024409600,887439360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.046,229.54,1
$GPS,150317,194726,953.368,-12449.482,31,1.2,32,9.0,0.2,0.0,8,7.8