version: 66.13
glider: 220
mission: 6
dive: 665
start: 2 9 117 15 53 42
data:
$ID,220
$MISSION,6
$DIVE,665
$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,45
$R_STBD_OVSHOOT,13
$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
$GPS1,090217,153000,1015.7389,-12502.9912,21,1.0,21,9.0,0.5,131.0,9,4.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.65
$_SM_ANGLEo,-66.1
$GPS2,090217,155320,1015.8659,-12503.0293,2,0.9,3,9.0,0.8,250.9,10,6.9
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,203.4,41878,-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,-107.1,106,2780,1109,1018,0.0,0.0,0,101,0.00,0.00,-80.65,0.000,16390,0.000,0.000,105,2779,3480,3469,3491,0,0,0,0,0,0,14.66,12.67,14.59
$GC,106,-0.93,-107.1,106,2779,3470,3492,0.9,-9.8,3,123,11.95,2.45,0.00,0.000,2564,0.381,0.034,2593,1352,3481,3471,3491,0,0,0,0,0,0,13.95,14.42,14.33
$GC,221,-0.71,-107.1,2594,1350,3472,3492,36.0,-20.0,20,226,0.30,2.72,0.00,0.000,3206,0.246,0.098,2664,2772,3481,3472,3490,0,0,0,0,0,0,13.93,14.08,14.23
$GC,551,-0.71,-107.1,2664,2772,3475,3492,68.9,-5.9,34,552,0.00,0.00,0.00,0.000,38,0.000,0.000,2663,2776,3482,3475,3490,0,0,0,0,0,0,14.78,14.78,14.78
$GC,859,-0.71,-107.1,2664,2772,3476,3490,89.9,-7.2,45,864,0.00,2.47,0.00,0.000,548,0.000,0.043,2663,1362,3482,3475,3490,0,0,0,0,0,0,14.80,14.28,14.80
$GC,935,-0.71,-107.1,2663,1366,3477,3490,95.3,-6.8,56,941,0.00,2.67,0.00,0.000,1062,0.000,0.095,2653,2768,3482,3475,3490,0,0,0,0,0,0,14.23,13.95,14.29
$GC,1251,-0.71,-107.1,2653,2768,3477,3489,121.2,-8.6,64,1256,0.00,2.47,0.00,0.000,516,0.000,0.044,2653,1358,3481,3475,3487,0,0,0,0,0,0,14.85,14.23,14.85
$GC,1313,-0.71,-107.1,2653,1357,3476,3488,127.3,-9.4,73,1319,0.00,2.70,0.00,0.000,1030,0.000,0.096,2643,2765,3481,3475,3487,0,0,0,0,0,0,14.21,13.90,14.26
$GC,1643,-0.71,-107.1,2644,2766,3476,3483,153.4,-7.6,85,1649,0.00,2.47,0.00,0.000,548,0.000,0.044,2644,1358,3479,3475,3483,0,0,0,0,0,0,14.82,14.23,14.81
$GC,1712,-0.71,-107.1,2644,1358,3476,3482,158.4,-7.0,95,1717,0.12,2.67,0.00,0.000,3110,0.224,0.096,2670,2767,3478,3475,3481,0,0,0,0,0,0,13.81,13.82,14.08
$GC,2036,-0.78,-107.1,2670,2767,3476,3478,180.1,-7.1,106,2040,0.00,2.47,0.00,0.000,676,0.000,0.044,2670,1363,3476,3475,3477,0,0,0,0,0,0,14.81,14.22,14.80
$GC,2125,-0.87,-107.1,2671,1364,3477,3476,185.0,-0.7,119,2130,0.08,2.65,0.00,0.000,5286,0.141,0.097,2595,2753,3475,3475,3476,0,0,0,0,0,0,14.17,13.92,14.29
$GC,2483,-0.87,-107.1,2592,2753,3476,3471,222.8,-10.4,128,2488,0.00,2.47,0.00,0.000,516,0.000,0.044,2591,1357,3468,3467,3469,0,0,0,0,0,0,14.85,14.19,14.85
$GC,2559,-0.87,-107.1,2591,1356,3475,3470,233.3,-15.9,139,2564,0.12,2.70,0.00,0.000,3078,0.226,0.093,2615,2758,3472,3475,3469,0,0,0,0,0,0,13.81,13.86,14.11
$GC,2875,-0.87,-107.1,2616,2759,3476,3465,255.6,-6.5,149,2881,0.00,2.47,0.00,0.000,548,0.000,0.044,2615,1362,3469,3475,3464,0,0,0,0,0,0,14.85,14.23,14.85
$GC,2931,-0.87,-107.1,2616,1362,3476,3465,259.2,-5.4,157,2937,0.00,2.67,0.00,0.000,1062,0.000,0.094,2606,2752,3469,3475,3463,0,0,0,0,0,0,14.15,13.85,14.21
$GC,3267,-0.87,-107.1,2606,2753,3476,3460,284.6,-9.1,170,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2751,3467,3475,3460,0,0,0,0,0,0,14.85,14.85,14.85
$GC,3603,-0.87,-107.1,2606,2753,3477,3455,318.7,-10.5,176,3608,0.00,2.47,0.00,0.000,516,0.000,0.043,2605,1360,3465,3475,3455,0,0,0,0,0,0,14.85,14.19,14.85
$GC,3686,-0.87,-107.1,2605,1361,3476,3454,327.1,-9.0,188,3691,0.00,2.67,0.00,0.000,1030,0.000,0.092,2595,2749,3463,3474,3453,0,0,0,0,0,0,14.12,13.81,14.17
$GC,4051,-0.87,-107.1,2597,2749,3476,3452,364.7,-11.1,198,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2749,3462,3475,3450,0,0,0,0,0,0,14.82,14.82,14.82
$GC,4387,-0.87,-107.1,2596,2749,3475,3448,399.0,-9.8,204,4392,0.00,2.47,0.00,0.000,516,0.000,0.044,2595,1356,3462,3474,3450,0,0,0,0,0,0,14.85,14.19,14.83
$GC,4491,-0.87,-107.1,2593,1357,3476,3443,408.9,-7.7,219,4498,0.12,2.70,0.00,0.000,3110,0.228,0.092,2619,2746,3460,3475,3445,0,0,0,0,0,0,13.73,13.77,14.00
$GC,4835,-0.87,-107.1,2619,2746,3475,3442,435.8,-7.0,226,4836,0.00,0.00,0.00,0.000,38,0.000,0.000,2619,2746,3458,3474,3442,0,0,0,0,0,0,14.81,14.81,14.81
$GC,5171,-0.87,-107.1,2620,2745,3475,3440,460.7,-7.1,232,5176,0.00,2.47,0.00,0.000,548,0.000,0.044,2619,1361,3455,3473,3438,0,0,0,0,0,0,14.81,14.14,14.81
$GC,5240,-0.87,-107.1,2620,1361,3475,3439,464.7,-6.5,242,5245,0.00,2.70,0.00,0.000,1062,0.000,0.093,2609,2749,3456,3475,3437,0,0,0,0,0,0,14.13,13.83,14.19
$GC,5563,-0.87,-107.1,2611,2748,3475,3437,490.3,-7.9,253,5569,0.00,2.47,0.00,0.000,516,0.000,0.043,2608,1367,3455,3474,3436,0,0,0,0,0,0,14.79,14.12,14.79
$GC,5597,-0.87,-107.1,2609,1366,3475,3436,492.4,-5.3,258,5602,0.00,2.67,0.00,0.000,1062,0.000,0.093,2600,2743,3454,3474,3434,0,0,0,0,0,0,14.06,13.75,14.12
$GC,5955,-0.87,-107.1,2600,2746,3475,3433,524.3,-8.8,267,5960,0.00,2.47,0.00,0.000,516,0.000,0.043,2599,1361,3453,3474,3432,0,0,0,0,0,0,14.79,14.11,14.79
$GC,6017,-0.87,-107.1,2599,1363,3475,3432,529.9,-16.0,276,6022,0.00,2.67,0.00,0.000,1030,0.000,0.092,2590,2737,3452,3474,3431,0,0,0,0,0,0,14.05,13.74,14.12
$GC,6347,-0.87,-107.1,2590,2739,3473,3430,561.3,-9.3,288,6352,0.00,2.47,0.00,0.000,516,0.000,0.043,2589,1356,3450,3471,3430,0,0,0,0,0,0,14.79,14.12,14.79
$GC,6374,-0.87,-107.1,2589,1358,3473,3430,562.1,-0.7,292,6379,0.12,2.67,0.00,0.000,3110,0.226,0.093,2613,2734,3450,3471,3430,0,0,0,0,0,0,13.78,13.83,14.05
$GC,6739,-0.87,-107.1,2614,2735,3471,3430,593.0,-7.8,302,6744,0.00,2.45,0.00,0.000,516,0.000,0.044,2613,1367,3449,3470,3429,0,0,0,0,0,0,14.83,14.08,14.83
$GC,6822,-0.87,-107.1,2614,1367,3471,3430,596.0,-4.1,314,6827,0.00,2.70,0.00,0.000,1062,0.000,0.093,2604,2740,3449,3470,3429,0,0,0,0,0,0,14.00,13.69,14.07
$GC,7187,-0.87,-107.1,2605,2740,3468,3429,631.3,-8.2,324,7192,0.00,2.47,0.00,0.000,516,0.000,0.044,2603,1360,3446,3467,3426,0,0,0,0,0,0,14.83,14.09,14.83
$GC,7214,-0.87,-107.1,2602,1360,3468,3429,630.4,2.1,328,7219,0.00,2.67,0.00,0.000,1062,0.000,0.092,2595,2728,3447,3467,3428,0,0,0,0,0,0,13.75,13.72,13.91
$GC,7579,-0.87,-107.1,2595,2729,3467,3426,657.5,-7.9,338,7584,0.00,2.45,0.00,0.000,516,0.000,0.043,2593,1367,3448,3463,3434,0,0,0,0,0,0,14.78,14.03,14.78
$GC,7627,-0.87,-107.1,2594,1367,3467,3427,665.9,-6.2,345,7635,0.10,2.70,0.00,0.000,3110,0.245,0.093,2619,2733,3445,3465,3425,0,0,0,0,0,0,13.64,13.68,13.91
$GC,7971,-0.87,-107.1,2612,2732,3465,3425,687.8,-9.9,352,7972,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2731,3445,3465,3426,0,0,0,0,0,0,14.82,14.82,14.82
$GC,8307,-0.87,-107.1,2613,2732,3464,3424,711.9,-8.0,358,8312,0.00,2.47,0.00,0.000,516,0.000,0.044,2611,1340,3442,3463,3422,0,0,0,0,0,0,14.81,13.90,14.82
$GC,8341,-0.87,-107.1,2612,1340,3464,3423,722.2,-14.0,363,8346,0.00,2.72,0.00,0.000,1030,0.000,0.092,2607,2728,3443,3464,3422,0,0,0,0,0,0,13.97,13.67,14.04
$GC,8699,-0.87,-107.1,2604,2727,3464,3422,751.0,-8.0,372,8704,0.00,2.47,0.00,0.000,516,0.000,0.044,2602,1356,3440,3463,3417,0,0,0,0,0,0,14.77,14.00,14.77
$GC,8747,-0.87,-107.1,2602,1360,3463,3420,754.1,-7.0,379,8754,0.00,2.72,0.00,0.000,1062,0.000,0.093,2587,2735,3441,3463,3420,0,0,0,0,0,0,13.97,13.68,14.04
$GC,9091,-0.87,-107.1,2594,2735,3461,3421,784.1,-9.0,386,9095,0.00,2.28,0.00,0.000,260,0.000,0.155,2585,3827,3440,3461,3420,0,0,0,0,0,0,14.76,13.69,14.76
$GC,9125,-0.87,-107.1,2586,3828,3461,3421,786.8,-10.5,391,9130,0.12,2.00,0.00,0.000,3078,0.233,0.054,2618,2694,3440,3461,3420,0,0,0,0,0,0,13.66,14.10,13.93
$STATE,9311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9311,begin apogee
$GC,9320,-0.23,0.0,2619,2219,3462,3419,802.5,-7.4,397,9426,0.73,0.10,96.55,2.735,10244,0.175,0.190,2822,2270,3051,3086,3016,0,0,0,0,1,0,13.61,13.73,12.59
$STATE,9428,end apogee,CONTROL_FINISHED_OK
$STATE,9428,begin climb
$GC,9432,0.93,107.1,2823,2270,3088,3025,809.7,0.0,399,9569,1.12,2.60,127.07,1.834,10756,0.090,0.054,3184,856,2622,2681,2564,0,0,0,0,0,0,13.85,13.91,12.98
$GC,9632,0.83,139.2,3183,857,2675,2544,812.8,6.1,428,9673,0.00,2.53,35.45,1.858,9382,0.000,0.065,3184,2247,2492,2562,2423,0,0,0,0,0,0,14.26,14.12,13.04
$GC,9983,0.71,139.2,3184,2248,2558,2401,788.2,8.3,443,9988,0.15,2.80,0.00,0.000,4484,0.229,0.138,3136,3658,2478,2556,2401,0,0,0,0,0,0,13.95,13.98,14.13
$GC,10080,0.60,139.2,3136,3656,2557,2402,780.4,8.2,457,10087,0.17,2.42,0.00,0.000,5254,0.233,0.047,3100,2248,2479,2557,2401,0,0,0,0,0,0,13.95,14.36,14.26
$GC,10431,0.65,180.0,3100,2247,2558,2397,761.1,5.7,465,10486,0.00,2.88,45.62,1.810,8484,0.000,0.139,3099,3657,2323,2404,2243,0,0,0,0,0,0,14.78,14.06,13.21
$GC,10549,0.68,203.7,3100,3656,2403,2238,746.5,6.5,482,10582,0.00,2.42,26.33,1.841,9254,0.000,0.047,3108,2261,2233,2318,2148,0,0,0,0,0,0,14.40,14.33,13.18
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$STATE,19184,end climb,SURFACE_DEPTH_REACHED
$STATE,19184,begin surface coast
$FINISH,-1.9,1.022231
$STATE,19212,end surface coast,CONTROL_FINISHED_OK
$STATE,19212,begin surface
$SM_CCo,19238,40.78,0.151,0,0,1057,500.14
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$TT8_MAMPS,0.038199,0.283871
$HUMID,58.26
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,20.90
$XPDR_PINGS,6
$SC_FREEKB,3654368
$PM_FREEKB,52220352
$24V_AH,12.59,227.929
$10V_AH,12.30,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,3.612,2.451,0.000,0.000
$MEM,334772
$DATA_FILE_SIZE,30074,844
$CAP_FILE_SIZE,157426,0
$CFSIZE,1024409600,908197888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.062,244.74,1
$GPS,090217,211600,1013.932,-12504.277,21,1.6,21,9.0,0.2,0.0,6,9.2