version: 66.13
glider: 220
mission: 6
dive: 657
start: 2 7 117 18 56 12
data:
$ID,220
$MISSION,6
$DIVE,657
$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,56
$R_STBD_OVSHOOT,15
$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
$GPS1,070217,184300,1009.7805,-12451.9697,31,0.9,31,9.0,0.9,305.7,9,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-8.06
$_SM_ANGLEo,-66.4
$GPS2,070217,185550,1009.8403,-12451.9873,2,0.7,4,9.0,0.2,0.0,12,5.3
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,317.6,22508,-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,-107.1,107,2776,1102,1019,0.0,0.0,0,102,0.00,0.00,-80.95,0.000,16390,0.000,0.000,106,2777,3477,3464,3490,0,0,0,0,0,0,14.62,12.64,14.56
$GC,106,-0.93,-107.1,107,2778,3465,3491,-3.4,-8.9,3,123,11.90,1.98,0.00,0.000,2308,0.378,0.096,2585,3831,3479,3468,3490,0,0,0,0,0,0,13.93,14.24,14.31
$GC,355,-0.73,-107.1,2585,3831,3471,3490,56.4,-11.8,39,360,0.28,1.80,0.00,0.000,3206,0.222,0.047,2660,2744,3480,3469,3491,0,0,0,0,0,0,13.91,14.42,14.19
$GC,691,-0.73,-107.1,2660,2744,3472,3494,83.6,-8.2,54,696,0.00,2.35,0.00,0.000,516,0.000,0.043,2660,1386,3480,3473,3488,0,0,0,0,0,0,14.83,14.26,14.81
$GC,732,-0.73,-107.1,2660,1386,3475,3488,86.4,-4.8,60,737,0.00,2.58,0.00,0.000,1062,0.000,0.083,2650,2770,3480,3473,3488,0,0,0,0,0,0,14.21,14.02,14.25
$GC,1083,-0.73,-107.1,2651,2771,3474,3488,111.4,-6.6,71,1088,0.00,2.08,0.00,0.000,292,0.000,0.134,2643,3830,3480,3473,3488,0,0,0,0,0,0,14.81,13.88,14.81
$GC,1173,-0.73,-107.1,2642,3831,3475,3487,124.6,-13.2,84,1178,0.00,1.83,0.00,0.000,1030,0.000,0.049,2642,2762,3480,3473,3487,0,0,0,0,0,0,14.34,14.31,14.34
$GC,1531,-0.73,-107.1,2643,2763,3474,3485,164.3,-8.9,93,1537,0.00,2.40,0.00,0.000,516,0.000,0.043,2642,1381,3479,3473,3485,0,0,0,0,0,0,14.81,14.23,14.82
$GC,1628,-0.73,-107.1,2642,1383,3474,3483,172.4,-7.9,107,1633,0.10,2.58,0.00,0.000,3078,0.236,0.083,2661,2759,3478,3473,3483,0,0,0,0,0,0,13.90,13.95,14.15
$GC,1979,-0.73,-107.1,2661,2760,3473,3480,198.2,-7.4,115,1984,0.00,2.42,0.00,0.000,548,0.000,0.043,2661,1384,3475,3473,3478,0,0,0,0,0,0,14.85,14.21,14.85
$GC,2006,-0.73,-107.1,2661,1385,3474,3479,200.4,-8.0,119,2011,0.00,2.60,0.00,0.000,1030,0.000,0.086,2653,2757,3475,3473,3478,0,0,0,0,0,0,14.20,13.93,14.25
$GC,2371,-0.73,-107.1,2653,2758,3474,3473,230.0,-8.2,129,2376,0.00,2.12,0.00,0.000,260,0.000,0.139,2644,3834,3469,3466,3473,0,0,0,0,0,0,14.85,13.86,14.85
$GC,2433,-0.73,-107.1,2645,3835,3474,3471,235.3,-8.6,138,2438,0.00,1.88,0.00,0.000,1030,0.000,0.050,2645,2766,3472,3473,3471,0,0,0,0,0,0,14.30,14.27,14.32
$GC,2763,-0.73,-107.1,2645,2764,3474,3468,262.3,-8.2,150,2768,0.00,2.45,0.00,0.000,516,0.000,0.044,2645,1373,3470,3473,3468,0,0,0,0,0,0,14.81,14.19,14.82
$GC,2853,-0.73,-107.1,2645,1373,3473,3468,270.0,-8.3,163,2858,0.00,2.60,0.00,0.000,1030,0.000,0.082,2637,2754,3469,3473,3466,0,0,0,0,0,0,14.20,13.93,14.28
$GC,3211,-0.73,-107.1,2637,2757,3474,3468,299.9,-8.3,172,3216,0.00,2.47,0.00,0.000,516,0.000,0.044,2636,1366,3467,3473,3462,0,0,0,0,0,0,14.80,14.18,14.82
$GC,3252,-0.73,-107.1,2635,1367,3478,3462,303.4,-8.3,178,3257,0.12,2.62,0.00,0.000,3078,0.225,0.083,2662,2752,3467,3473,3462,0,0,0,0,0,0,13.81,13.91,14.07
$GC,3603,-0.81,-107.1,2662,2754,3472,3458,328.3,-7.1,186,3608,0.00,2.47,0.00,0.000,676,0.000,0.044,2662,1366,3465,3473,3458,0,0,0,0,0,0,14.81,14.16,14.81
$GC,3651,-0.90,-107.1,2662,1365,3475,3457,331.9,-7.4,193,3659,0.08,2.65,0.00,0.000,5286,0.142,0.083,2582,2754,3465,3473,3457,0,0,0,0,0,0,14.09,13.88,14.21
$GC,3995,-0.90,-107.1,2582,2755,3474,3461,369.6,-11.3,200,4000,0.00,2.12,0.00,0.000,260,0.000,0.132,2574,3831,3463,3473,3453,0,0,0,0,0,0,14.81,13.79,14.81
$GC,4085,-0.81,-107.1,2574,3833,3470,3452,380.6,-12.2,213,4091,0.22,1.85,0.00,0.000,3206,0.206,0.050,2636,2744,3463,3473,3453,0,0,0,0,0,0,13.77,14.30,14.05
$GC,4443,-0.81,-107.1,2636,2745,3474,3450,415.0,-9.6,222,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2744,3461,3473,3450,0,0,0,0,0,0,14.84,14.85,14.85
$GC,4779,-0.81,-107.1,2635,2745,3474,3446,442.6,-8.0,228,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2744,3459,3473,3446,0,0,0,0,0,0,14.83,14.84,14.83
$GC,5115,-0.81,-107.1,2636,2745,3473,3445,468.5,-7.8,234,5120,0.00,2.42,0.00,0.000,516,0.000,0.044,2636,1382,3458,3473,3443,0,0,0,0,0,0,14.84,14.12,14.88
$GC,5184,-0.81,-107.1,2636,1382,3473,3444,474.1,-7.7,244,5189,0.00,2.62,0.00,0.000,1062,0.000,0.080,2626,2758,3458,3473,3443,0,0,0,0,0,0,14.10,13.84,14.16
$GC,5507,-0.81,-107.1,2627,2758,3473,3441,500.8,-8.5,255,5512,0.00,2.47,0.00,0.000,516,0.000,0.044,2625,1380,3457,3473,3441,0,0,0,0,0,0,14.80,14.02,14.80
$GC,5541,-0.81,-107.1,2626,1381,3474,3438,503.9,-8.8,260,5546,0.00,2.62,0.00,0.000,1030,0.000,0.081,2616,2755,3456,3474,3439,0,0,0,0,0,0,14.10,13.83,14.15
$GC,5899,-0.81,-107.1,2616,2756,3472,3436,536.7,-9.3,269,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2753,3454,3473,3436,0,0,0,0,0,0,14.81,14.80,14.80
$GC,6235,-0.81,-107.1,2617,2756,3471,3435,567.3,-9.1,275,6240,0.00,2.47,0.00,0.000,516,0.000,0.044,2616,1382,3453,3472,3434,0,0,0,0,0,0,14.84,14.09,14.84
$GC,6283,-0.81,-107.1,2617,1382,3473,3434,571.8,-9.1,282,6290,0.10,2.62,0.00,0.000,3078,0.242,0.082,2634,2745,3452,3472,3433,0,0,0,0,0,0,13.70,13.78,13.95
$GC,6627,-0.81,-107.1,2634,2746,3473,3432,599.8,-8.1,289,6633,0.00,2.15,0.00,0.000,260,0.000,0.133,2626,3821,3452,3472,3432,0,0,0,0,0,0,14.79,13.66,14.79
$GC,6661,-0.81,-107.1,2626,3824,3474,3432,602.8,-8.8,294,6666,0.00,1.90,0.00,0.000,1030,0.000,0.052,2625,2758,3451,3472,3431,0,0,0,0,0,0,14.17,14.14,14.19
$GC,7019,-0.81,-107.1,2626,2758,3471,3432,632.0,-8.1,303,7023,0.00,2.50,0.00,0.000,516,0.000,0.043,2625,1358,3450,3470,3431,0,0,0,0,0,0,14.78,14.05,14.78
$GC,7131,-0.81,-107.1,2626,1358,3471,3432,641.0,-7.8,319,7136,0.00,2.65,0.00,0.000,1030,0.000,0.079,2616,2741,3451,3472,3431,0,0,0,0,0,0,14.01,13.76,14.08
$GC,7467,-0.81,-107.1,2616,2741,3469,3432,667.0,-7.6,332,7472,0.00,2.17,0.00,0.000,292,0.000,0.129,2608,3827,3449,3469,3430,0,0,0,0,0,0,14.78,13.64,14.81
$GC,7523,-0.81,-107.1,2608,3827,3468,3430,671.4,-8.0,340,7528,0.10,1.90,0.00,0.000,3078,0.226,0.051,2634,2741,3448,3467,3430,0,0,0,0,0,0,13.79,14.18,14.00
$GC,7859,-0.81,-107.1,2636,2741,3467,3428,693.7,-6.6,353,7865,0.00,2.45,0.00,0.000,548,0.000,0.044,2636,1369,3447,3467,3428,0,0,0,0,0,0,14.76,14.03,14.77
$GC,7928,-0.81,-107.1,2637,1369,3468,3428,698.7,-7.2,363,7933,0.00,2.62,0.00,0.000,1062,0.000,0.079,2626,2744,3446,3465,3427,0,0,0,0,0,0,14.09,13.83,14.14
$GC,8251,-0.81,-107.1,2627,2743,3468,3427,722.5,-7.5,374,8256,0.00,2.17,0.00,0.000,292,0.000,0.132,2618,3829,3446,3467,3425,0,0,0,0,0,0,14.77,13.64,14.77
$GC,8292,-0.81,-107.1,2618,3829,3467,3425,725.8,-8.1,380,8297,0.00,1.95,0.00,0.000,1030,0.000,0.051,2615,2741,3445,3466,3425,0,0,0,0,0,0,14.12,14.09,14.14
$GC,8643,-0.81,-107.1,2617,2740,3465,3427,752.8,-7.7,388,8648,0.00,2.47,0.00,0.000,548,0.000,0.044,2617,1361,3444,3463,3425,0,0,0,0,0,0,14.77,13.98,14.77
$GC,8684,-0.81,-107.1,2618,1361,3465,3426,756.2,-8.2,394,8689,0.00,2.65,0.00,0.000,1030,0.000,0.077,2609,2747,3444,3464,3425,0,0,0,0,0,0,14.00,13.74,14.06
$GC,9035,-0.81,-107.1,2609,2748,3465,3426,784.0,-8.0,402,9040,0.00,2.15,0.00,0.000,260,0.000,0.129,2600,3826,3443,3464,3423,0,0,0,0,0,0,14.77,13.61,14.77
$GC,9062,-0.81,-107.1,2601,3826,3464,3424,786.4,-9.0,406,9067,0.12,1.90,0.00,0.000,3078,0.220,0.051,2634,2741,3443,3464,3423,0,0,0,0,0,0,13.69,14.16,13.94
$STATE,9255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9255,begin apogee
$GC,9264,-0.23,0.0,2635,2218,3464,3422,800.7,-7.2,413,9382,0.65,0.10,115.72,1.802,10244,0.164,0.174,2822,2273,3048,3087,3009,0,0,0,0,0,0,13.66,13.88,13.02
$STATE,9384,end apogee,CONTROL_FINISHED_OK
$STATE,9384,begin climb
$GC,9388,0.93,107.1,2823,2272,3082,3004,803.6,0.0,415,9519,1.12,2.60,118.65,1.760,10756,0.092,0.055,3187,845,2618,2677,2559,0,0,0,0,0,0,13.93,13.99,12.97
$GC,9568,0.84,144.8,3187,846,2675,2542,801.6,5.8,443,9616,0.00,2.50,41.42,1.777,9382,0.000,0.056,3187,2242,2467,2539,2395,0,0,0,0,0,0,14.26,14.13,13.00
$GC,9936,0.72,144.8,3188,2242,2535,2376,770.5,9.0,460,9941,0.15,2.72,0.00,0.000,4484,0.223,0.115,3140,3657,2454,2534,2374,0,0,0,0,0,0,13.94,14.03,14.12
$GC,9991,0.62,144.8,3139,3658,2535,2375,765.5,8.5,468,9996,0.17,2.47,0.00,0.000,5254,0.223,0.045,3107,2228,2455,2535,2375,0,0,0,0,0,0,13.88,14.28,14.18
$GC,10327,0.65,168.9,3104,2223,2536,2372,743.6,6.5,481,10360,0.00,2.83,25.30,1.827,8484,0.000,0.118,3102,3654,2368,2449,2288,0,0,0,0,0,0,14.73,14.17,13.26
$GC,10403,0.65,168.9,3102,3658,2448,2281,737.8,8.4,492,10408,0.00,2.42,0.00,0.000,1030,0.000,0.044,3111,2244,2363,2447,2280,0,0,0,0,0,0,14.46,14.39,14.47
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$STATE,19901,end climb,SURFACE_DEPTH_REACHED
$STATE,19901,begin surface coast
$FINISH,-1.6,1.022164
$STATE,19929,end surface coast,CONTROL_FINISHED_OK
$STATE,19929,begin surface
$SM_CCo,19955,33.45,0.152,0,0,1058,500.14
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$TT8_MAMPS,0.038948,0.425432
$HUMID,58.78
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,20.80
$XPDR_PINGS,3
$SC_FREEKB,3657440
$PM_FREEKB,52309952
$24V_AH,12.64,225.363
$10V_AH,12.44,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.100,207.550,493.875,33.450,0.000,0.000,0.000,385.725,0.750,0.000,5.994,0.000,16747.490,784.229,2537.131,668.513,0.000,1975.906,0.000,1597.810,0.000,0.840,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.590,2.439,0.000,0.000
$MEM,334696
$DATA_FILE_SIZE,33359,906
$CAP_FILE_SIZE,159596,0
$CFSIZE,1024409600,909361152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030,297.93,1
$GPS,080217,003030,1011.297,-12453.435,34,0.9,34,9.0,0.5,50.2,8,6.8