version: 66.13
glider: 220
mission: 6
dive: 573
start: 1 19 117 2 52 47
data:
$ID,220
$MISSION,6
$DIVE,573
$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,51
$R_STBD_OVSHOOT,17
$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
$GPS1,190117,024030,1004.0978,-12514.9805,30,0.8,30,9.0,0.5,61.6,10,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.19
$_SM_ANGLEo,-69.4
$GPS2,190117,025226,1004.1426,-12514.9316,2,0.6,3,9.0,0.7,67.1,12,5.2
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,207.1,11179,-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,-107.1,134,2775,1102,1012,0.0,0.0,0,102,0.00,0.00,-80.32,0.000,16390,0.000,0.000,131,2774,3475,3470,3481,0,0,0,0,0,0,14.66,13.05,14.63
$GC,106,-0.93,-107.1,132,2774,3470,3487,3.7,-11.8,3,123,11.90,2.40,0.00,0.000,2564,0.390,0.032,2592,1360,3478,3471,3486,0,0,0,0,0,0,13.98,14.41,14.36
$GC,214,-0.73,-107.1,2592,1361,3474,3486,37.6,-19.8,19,219,0.28,2.55,0.00,0.000,3206,0.249,0.069,2656,2770,3479,3473,3486,0,0,0,0,0,0,14.01,14.33,14.31
$GC,543,-0.73,-107.1,2656,2773,3472,3486,72.0,-9.2,33,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2772,3479,3477,3482,0,0,0,0,0,0,14.82,14.81,14.81
$GC,852,-0.73,-107.1,2657,2771,3479,3486,94.1,-7.4,44,852,0.00,0.00,0.00,0.000,38,0.000,0.000,2657,2772,3483,3477,3490,0,0,0,0,0,0,14.85,14.85,14.85
$GC,1159,-0.73,-107.1,2658,2772,3478,3487,120.3,-8.8,51,1164,0.00,2.00,0.00,0.000,260,0.000,0.109,2648,3835,3481,3478,3485,0,0,0,0,0,0,14.87,14.22,14.87
$GC,1221,-0.73,-107.1,2648,3835,3477,3486,126.3,-9.6,60,1227,0.00,1.83,0.00,0.000,1030,0.000,0.037,2648,2724,3481,3478,3485,0,0,0,0,0,0,14.53,14.51,14.55
$GC,1551,-0.73,-107.1,2648,2725,3479,3481,152.6,-7.7,72,1556,0.00,2.25,0.00,0.000,548,0.000,0.041,2648,1405,3479,3478,3481,0,0,0,0,0,0,14.88,14.44,14.88
$GC,1600,-0.73,-107.1,2649,1404,3478,3482,156.5,-7.5,79,1606,0.00,2.45,0.00,0.000,1062,0.000,0.067,2639,2763,3478,3478,3479,0,0,0,0,0,0,14.48,14.31,14.52
$GC,1944,-0.73,-107.1,2639,2764,3480,3475,187.0,-9.1,86,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2763,3477,3478,3476,0,0,0,0,0,0,14.88,14.88,14.88
$GC,2280,-0.73,-107.1,2640,2763,3478,3472,218.9,-9.6,92,2284,0.00,2.00,0.00,0.000,260,0.000,0.108,2631,3820,3474,3477,3471,0,0,0,0,0,0,14.88,14.19,14.88
$GC,2336,-0.73,-107.1,2632,3820,3478,3471,224.4,-10.0,100,2340,0.10,1.75,0.00,0.000,3078,0.226,0.042,2660,2771,3474,3478,3470,0,0,0,0,0,0,14.19,14.54,14.41
$GC,2671,-0.73,-107.1,2664,2770,3478,3468,251.3,-7.8,113,2676,0.00,2.40,0.00,0.000,516,0.000,0.043,2661,1383,3470,3474,3466,0,0,0,0,0,0,14.90,14.40,14.90
$GC,2755,-0.81,-107.1,2661,1381,3478,3466,257.7,-7.7,125,2760,0.00,2.47,0.00,0.000,1190,0.000,0.066,2651,2755,3471,3477,3465,0,0,0,0,0,0,14.48,14.31,14.51
$GC,3120,-0.81,-107.1,2652,2755,3478,3462,285.1,-7.5,135,3120,0.00,0.00,0.00,0.000,38,0.000,0.000,2651,2755,3469,3477,3461,0,0,0,0,0,0,14.88,14.88,14.87
$GC,3456,-0.81,-107.1,2651,2756,3478,3457,312.8,-8.4,141,3460,0.00,2.42,0.00,0.000,516,0.000,0.044,2650,1375,3466,3477,3456,0,0,0,0,0,0,14.88,14.39,14.88
$GC,3511,-0.81,-107.1,2651,1376,3478,3456,317.9,-8.9,149,3516,0.00,2.50,0.00,0.000,1030,0.000,0.067,2643,2758,3466,3477,3456,0,0,0,0,0,0,14.47,14.31,14.51
$GC,3847,-0.81,-107.1,2644,2758,3479,3453,350.3,-9.7,162,3853,0.00,2.03,0.00,0.000,260,0.000,0.110,2635,3830,3464,3477,3452,0,0,0,0,0,0,14.88,14.14,14.88
$GC,3888,-0.81,-107.1,2635,3830,3478,3452,354.4,-9.8,168,3894,0.00,1.85,0.00,0.000,1030,0.000,0.041,2634,2746,3463,3476,3451,0,0,0,0,0,0,14.40,14.40,14.44
$GC,4239,-0.81,-107.1,2634,2747,3478,3449,384.9,-8.4,176,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2745,3463,3477,3449,0,0,0,0,0,0,14.90,14.90,14.90
$GC,4575,-0.81,-107.1,2634,2747,3478,3445,410.5,-7.6,182,4581,0.00,2.38,0.00,0.000,548,0.000,0.042,2633,1380,3461,3477,3445,0,0,0,0,0,0,14.88,14.37,14.88
$GC,4609,-0.81,-107.1,2635,1380,3478,3446,413.3,-8.1,187,4615,0.00,2.50,0.00,0.000,1030,0.000,0.066,2625,2765,3461,3477,3445,0,0,0,0,0,0,14.45,14.27,14.48
$GC,4968,-0.81,-107.1,2625,2766,3478,3442,442.7,-8.3,196,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2765,3459,3477,3442,0,0,0,0,0,0,14.90,14.90,14.89
$GC,5303,-0.81,-107.1,2624,2766,3479,3439,471.2,-8.6,202,5309,0.00,2.42,0.00,0.000,516,0.000,0.044,2624,1386,3457,3477,3438,0,0,0,0,0,0,14.90,14.36,14.90
$GC,5351,-0.81,-107.1,2624,1388,3478,3438,475.7,-8.9,209,5358,0.00,2.55,0.00,0.000,1030,0.000,0.069,2615,2751,3457,3477,3438,0,0,0,0,0,0,14.25,14.14,14.30
$GC,5695,-0.81,-107.1,2616,2752,3478,3436,508.6,-9.5,216,5700,0.00,2.08,0.00,0.000,260,0.000,0.111,2608,3835,3456,3477,3436,0,0,0,0,0,0,14.87,14.09,14.87
$GC,5736,-0.81,-107.1,2607,3835,3478,3436,512.4,-8.9,222,5743,0.08,1.85,0.00,0.000,3078,0.211,0.043,2629,2772,3456,3477,3436,0,0,0,0,0,0,14.04,14.40,14.18
$GC,6088,-0.81,-107.1,2629,2772,3478,3432,538.8,-7.4,230,6093,0.00,2.45,0.00,0.000,548,0.000,0.044,2629,1367,3454,3477,3432,0,0,0,0,0,0,14.86,14.33,14.87
$GC,6178,-0.81,-107.1,2631,1367,3477,3433,545.4,-7.2,243,6183,0.00,2.55,0.00,0.000,1062,0.000,0.067,2620,2766,3454,3477,3432,0,0,0,0,0,0,14.40,14.22,14.43
$GC,6535,-0.81,-107.1,2628,2766,3482,3431,574.2,-8.3,252,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2766,3453,3477,3429,0,0,0,0,0,0,14.89,14.90,14.89
$GC,6871,-0.81,-107.1,2620,2766,3477,3428,603.3,-8.7,258,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2766,3451,3475,3428,0,0,0,0,0,0,14.89,14.90,14.89
$GC,7208,-0.81,-107.1,2620,2766,3472,3429,633.5,-9.0,264,7212,0.00,2.50,0.00,0.000,516,0.000,0.044,2619,1364,3450,3472,3428,0,0,0,0,0,0,14.88,14.22,14.89
$GC,7241,-0.81,-107.1,2619,1364,3472,3429,636.7,-9.5,269,7247,0.00,2.58,0.00,0.000,1030,0.000,0.069,2611,2750,3450,3472,3428,0,0,0,0,0,0,14.35,14.16,14.39
$GC,7599,-0.81,-107.1,2611,2750,3471,3429,672.7,-10.2,278,7605,0.00,2.08,0.00,0.000,260,0.000,0.112,2602,3830,3448,3470,3427,0,0,0,0,0,0,14.85,14.00,14.85
$GC,7627,-0.81,-107.1,2599,3830,3471,3429,675.7,-10.7,282,7633,0.10,1.90,0.00,0.000,3078,0.213,0.044,2630,2753,3448,3470,3427,0,0,0,0,0,0,13.91,14.35,14.08
$GC,7991,-0.81,-107.1,2631,2749,3470,3421,709.5,-9.1,292,7996,0.00,2.45,0.00,0.000,516,0.000,0.045,2631,1357,3447,3469,3425,0,0,0,0,0,0,14.85,14.27,14.85
$GC,8032,-0.81,-107.1,2631,1358,3471,3423,713.3,-9.1,298,8039,0.00,2.55,0.00,0.000,1030,0.000,0.067,2622,2751,3447,3470,3425,0,0,0,0,0,0,14.32,14.12,14.36
$GC,8383,-0.81,-107.1,2622,2752,3471,3423,744.1,-8.8,306,8389,0.00,2.05,0.00,0.000,260,0.000,0.112,2614,3824,3446,3470,3423,0,0,0,0,0,0,14.88,13.97,14.88
$GC,8452,-0.81,-107.1,2614,3825,3470,3423,750.4,-8.8,316,8458,0.00,1.90,0.00,0.000,1030,0.000,0.045,2613,2744,3451,3479,3423,0,0,0,0,0,0,14.38,14.33,14.37
$GC,8775,-0.81,-107.1,2614,2744,3468,3424,778.0,-8.5,327,8780,0.00,2.42,0.00,0.000,516,0.000,0.043,2613,1364,3445,3467,3423,0,0,0,0,0,0,14.84,14.26,14.84
$GC,8802,-0.81,-107.1,2614,1364,3468,3424,780.3,-8.4,331,8809,0.12,2.60,0.00,0.000,3078,0.243,0.069,2638,2749,3444,3467,3422,0,0,0,0,0,0,13.85,13.99,14.13
$STATE,9108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9108,begin apogee
$GC,9117,-0.23,0.0,2640,2228,3468,3419,802.2,-7.0,340,9233,0.62,0.08,114.18,1.833,10244,0.175,0.177,2819,2264,3049,3090,3008,0,0,0,0,0,0,13.88,13.94,12.97
$STATE,9235,end apogee,CONTROL_FINISHED_OK
$STATE,9235,begin climb
$GC,9239,0.93,107.1,2820,2265,3085,3000,804.3,0.0,342,9365,1.12,2.53,116.38,1.804,10756,0.106,0.056,3179,873,2623,2683,2563,0,0,0,0,0,0,14.02,14.07,12.95
$GC,9407,0.84,133.9,3179,874,2678,2543,800.2,6.4,368,9440,0.00,2.47,28.80,1.855,9382,0.000,0.051,3179,2259,2515,2587,2443,0,0,0,0,0,0,14.26,14.15,13.07
$GC,9786,0.72,133.9,3180,2258,2581,2422,766.4,9.3,380,9791,0.12,2.60,0.00,0.000,4484,0.243,0.097,3139,3652,2500,2581,2420,0,0,0,0,0,0,14.07,14.21,14.24
$GC,9862,0.62,133.9,3140,3652,2581,2421,759.6,8.8,391,9868,0.17,2.38,0.00,0.000,5254,0.235,0.041,3102,2269,2500,2581,2420,0,0,0,0,0,0,14.07,14.44,14.36
$GC,10177,0.66,163.5,3102,2269,2583,2418,739.5,6.2,401,10211,0.00,0.00,32.72,1.838,8230,0.000,0.000,3102,2269,2397,2478,2317,0,0,0,0,0,0,14.78,14.27,13.28
$GC,10514,0.68,176.2,3102,2271,2471,2295,716.1,7.1,407,10532,0.00,2.65,11.18,1.961,8484,0.000,0.101,3101,3652,2345,2432,2258,0,0,0,0,0,0,14.73,14.31,13.26
$GC,10597,0.68,176.2,3101,3650,2431,2255,709.0,8.8,419,10603,0.00,2.40,0.00,0.000,1030,0.000,0.041,3110,2254,2341,2429,2253,0,0,0,0,0,0,14.51,14.45,14.52
$GC,10961,0.68,176.2,3110,2252,2431,2249,677.4,8.9,429,10966,0.00,2.67,0.00,0.000,260,0.000,0.103,3109,3652,2339,2429,2249,0,0,0,0,0,0,14.80,14.18,14.80
$GC,11009,0.68,176.2,3111,3652,2430,2250,672.5,10.1,436,11016,0.00,2.45,0.00,0.000,1030,0.000,0.041,3120,2256,2339,2429,2249,0,0,0,0,0,0,14.42,14.38,14.45
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$STATE,19582,end climb,SURFACE_DEPTH_REACHED
$STATE,19582,begin surface coast
$FINISH,-0.7,1.021998
$STATE,19610,end surface coast,CONTROL_FINISHED_OK
$STATE,19610,begin surface
$SM_CCo,19634,40.67,0.157,0,0,1056,500.14
$SM_GC,-3.55,9.20,0.93,40.67,0.072,0.085,0.157,167,2766,1056,-8.40,-0.68,500.14,0,0,0,0,0,0,14.50,14.24,14.13
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$TT8_MAMPS,0.035203,0.285369
$HUMID,56.81
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.00
$XPDR_PINGS,1
$SC_FREEKB,3689696
$PM_FREEKB,53255104
$24V_AH,11.59,199.743
$10V_AH,12.56,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,3.664,2.435,0.000,0.000
$MEM,334744
$DATA_FILE_SIZE,30039,784
$CAP_FILE_SIZE,148160,0
$CFSIZE,1024409600,921763840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057,288.16,1
$GPS,190117,082138,1002.800,-12516.454,21,1.0,21,9.0,1.0,347.9,7,6.5