version: 66.13
glider: 220
mission: 6
dive: 724
start: 2 23 117 18 44 13
data:
$ID,220
$MISSION,6
$DIVE,724
$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,52
$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
$GPS1,230217,182830,958.9581,-12515.7852,18,0.8,18,9.0,0.5,244.1,10,5.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.34
$_SM_ANGLEo,-71.6
$GPS2,230217,184351,959.0775,-12515.9492,2,0.8,4,9.0,0.3,271.3,10,6.1
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,129.9,44496,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.93,-107.1,105,2786,1103,1012,0.0,0.0,0,102,0.00,0.00,-80.38,0.000,16390,0.000,0.000,105,2785,3482,3470,3494,0,0,0,0,0,0,14.54,12.66,14.47
$GC,107,-0.93,-107.1,105,2785,3470,3490,3.6,-10.1,3,124,12.10,2.47,0.00,0.000,2564,0.378,0.034,2589,1364,3480,3471,3489,0,0,0,0,0,0,13.82,14.32,14.22
$GC,208,-0.71,-107.1,2584,1363,3472,3488,34.6,-20.6,18,215,0.32,2.78,0.00,0.000,3206,0.245,0.113,2666,2770,3480,3473,3488,0,0,0,0,0,0,13.84,13.95,14.14
$GC,525,-0.71,-107.1,2665,2771,3474,3488,71.3,-7.0,30,529,0.00,2.17,0.00,0.000,292,0.000,0.168,2657,3822,3481,3475,3488,0,0,0,0,0,0,14.66,13.82,14.67
$GC,684,-0.71,-107.1,2658,3825,3477,3489,86.3,-8.0,53,691,0.00,1.88,0.00,0.000,1030,0.000,0.057,2657,2754,3482,3476,3489,0,0,0,0,0,0,14.17,14.14,14.19
$GC,1000,-0.71,-107.1,2657,2756,3478,3487,110.5,-7.7,63,1005,0.00,2.42,0.00,0.000,548,0.000,0.042,2655,1377,3482,3477,3488,0,0,0,0,0,0,14.76,14.01,14.77
$GC,1104,-0.71,-107.1,2658,1377,3478,3494,118.1,-6.9,78,1111,0.00,2.78,0.00,0.000,1062,0.000,0.106,2648,2772,3482,3477,3488,0,0,0,0,0,0,14.14,13.86,14.19
$GC,1448,-0.71,-107.1,2648,2772,3478,3487,145.9,-8.4,85,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2772,3481,3477,3486,0,0,0,0,0,0,14.73,14.72,14.73
$GC,1784,-0.71,-107.1,2648,2772,3477,3483,174.2,-8.3,91,1789,0.00,2.53,0.00,0.000,516,0.000,0.044,2647,1379,3479,3477,3481,0,0,0,0,0,0,14.71,13.95,14.71
$GC,1840,-0.71,-107.1,2648,1379,3477,3482,178.9,-7.9,99,1845,0.10,2.75,0.00,0.000,3078,0.228,0.109,2667,2759,3478,3477,3479,0,0,0,0,0,0,13.85,13.85,14.10
$GC,2176,-0.71,-107.1,2668,2762,3478,3476,206.0,-8.1,112,2181,0.00,2.50,0.00,0.000,516,0.000,0.044,2668,1384,3477,3478,3476,0,0,0,0,0,0,14.71,13.93,14.71
$GC,2238,-0.80,-107.1,2668,1384,3477,3476,211.5,-8.6,121,2244,0.00,2.75,0.00,0.000,1158,0.000,0.109,2658,2764,3475,3477,3474,0,0,0,0,0,0,14.13,13.84,14.19
$GC,2568,-0.80,-107.1,2658,2765,3478,3469,239.1,-8.3,133,2569,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2764,3473,3477,3469,0,0,0,0,0,0,14.71,14.71,14.72
$GC,2904,-0.80,-107.1,2658,2763,3477,3466,264.5,-7.4,139,2909,0.00,2.53,0.00,0.000,548,0.000,0.044,2658,1378,3471,3477,3465,0,0,0,0,0,0,14.76,13.90,14.76
$GC,2960,-0.88,-107.1,2658,1378,3477,3464,268.5,-7.0,147,2965,0.00,2.72,0.00,0.000,1190,0.000,0.108,2649,2748,3470,3477,3463,0,0,0,0,0,0,14.12,13.83,14.17
$GC,3296,-0.88,-107.1,2648,2750,3478,3460,292.9,-7.3,160,3301,0.00,2.22,0.00,0.000,292,0.000,0.168,2640,3834,3468,3476,3460,0,0,0,0,0,0,14.77,13.88,14.77
$GC,3352,-0.88,-107.1,2641,3832,3477,3461,297.3,-7.9,168,3357,0.00,1.88,0.00,0.000,1030,0.000,0.062,2639,2767,3468,3477,3459,0,0,0,0,0,0,14.22,14.16,14.24
$GC,3688,-0.88,-107.1,2640,2768,3478,3455,322.7,-7.5,181,3694,0.00,2.50,0.00,0.000,548,0.000,0.042,2640,1374,3465,3475,3455,0,0,0,0,0,0,14.76,13.89,14.76
$GC,3736,-0.88,-107.1,2641,1373,3477,3455,326.4,-6.9,188,3742,0.00,2.75,0.00,0.000,1062,0.000,0.102,2630,2758,3465,3476,3454,0,0,0,0,0,0,14.12,13.85,14.16
$GC,4080,-0.88,-107.1,2631,2759,3478,3451,352.5,-7.6,195,4085,0.00,2.20,0.00,0.000,292,0.000,0.159,2622,3823,3463,3476,3451,0,0,0,0,0,0,14.76,13.80,14.76
$GC,4114,-0.88,-107.1,2622,3827,3478,3450,355.3,-8.1,200,4119,0.00,1.90,0.00,0.000,1030,0.000,0.062,2621,2750,3463,3476,3451,0,0,0,0,0,0,14.23,14.18,14.25
$GC,4472,-0.88,-107.1,2622,2750,3478,3446,383.8,-8.1,209,4478,0.00,2.50,0.00,0.000,516,0.000,0.042,2622,1362,3461,3476,3446,0,0,0,0,0,0,14.71,13.82,14.71
$GC,4499,-0.88,-107.1,2622,1364,3478,3446,386.2,-8.9,213,4505,0.00,2.78,0.00,0.000,1030,0.000,0.103,2613,2761,3462,3479,3446,0,0,0,0,0,0,14.13,13.84,14.17
$GC,4864,-0.88,-107.1,2613,2761,3477,3444,419.0,-9.1,223,4865,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2760,3459,3476,3443,0,0,0,0,0,0,14.69,14.69,14.69
$GC,5200,-0.88,-107.1,2613,2763,3477,3440,450.4,-9.4,229,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2761,3458,3476,3440,0,0,0,0,0,0,14.70,14.70,14.70
$GC,5536,-0.88,-107.1,2613,2761,3477,3438,481.8,-9.4,235,5541,0.00,2.20,0.00,0.000,260,0.000,0.156,2604,3826,3456,3476,3437,0,0,0,0,0,0,14.75,13.76,14.75
$GC,5592,-0.88,-107.1,2605,3826,3477,3438,487.6,-9.7,243,5597,0.00,1.92,0.00,0.000,1030,0.000,0.061,2603,2748,3456,3476,3436,0,0,0,0,0,0,14.18,14.12,14.19
$GC,5928,-0.88,-107.1,2604,2749,3476,3433,520.3,-9.8,256,5933,0.00,2.25,0.00,0.000,260,0.000,0.153,2596,3829,3454,3475,3433,0,0,0,0,0,0,14.75,13.79,14.74
$GC,5962,-0.88,-107.1,2596,3830,3477,3433,524.2,-10.2,261,5968,0.00,1.95,0.00,0.000,1030,0.000,0.060,2595,2762,3454,3476,3433,0,0,0,0,0,0,14.04,14.01,14.12
$GC,6320,-0.88,-107.1,2595,2762,3477,3433,561.3,-10.4,270,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2762,3453,3476,3431,0,0,0,0,0,0,14.74,14.74,14.75
$GC,6656,-0.88,-107.1,2595,2763,3474,3430,597.1,-10.6,276,6657,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2762,3451,3473,3430,0,0,0,0,0,0,14.74,14.74,14.74
$GC,6992,-0.88,-107.1,2595,2763,3472,3430,630.5,-9.9,282,6997,0.00,2.55,0.00,0.000,516,0.000,0.042,2595,1361,3450,3470,3430,0,0,0,0,0,0,14.68,13.82,14.68
$GC,7026,-0.88,-107.1,2595,1361,3471,3431,633.8,-9.5,287,7031,0.10,2.78,0.00,0.000,3078,0.233,0.099,2619,2767,3450,3470,3430,0,0,0,0,0,0,13.79,13.83,14.07
$GC,7384,-0.88,-107.1,2613,2767,3470,3431,664.8,-8.6,296,7389,0.00,2.17,0.00,0.000,260,0.000,0.158,2605,3824,3449,3469,3429,0,0,0,0,0,0,14.71,13.83,14.72
$GC,7460,-0.88,-107.1,2606,3824,3468,3430,671.6,-8.2,307,7465,0.00,1.92,0.00,0.000,1030,0.000,0.063,2603,2756,3449,3469,3429,0,0,0,0,0,0,14.16,14.09,14.18
$GC,7776,-0.88,-107.1,2604,2756,3469,3428,697.5,-8.0,317,7777,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2756,3447,3468,3427,0,0,0,0,0,0,14.71,14.72,14.72
$GC,8112,-0.88,-107.1,2604,2757,3470,3425,723.8,-7.7,323,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2756,3446,3468,3425,0,0,0,0,0,0,14.66,14.66,14.66
$GC,8448,-0.88,-107.1,2604,2756,3466,3426,749.1,-7.6,329,8449,0.00,0.00,0.00,0.000,38,0.000,0.000,2602,2756,3445,3465,3425,0,0,0,0,0,0,14.66,14.66,14.66
$GC,8784,-0.88,-107.1,2604,2756,3465,3424,775.4,-8.1,335,8785,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2756,3443,3465,3422,0,0,0,0,0,0,14.65,14.65,14.65
$STATE,9116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9116,begin apogee
$GC,9126,-0.23,0.0,2605,2213,3465,3425,803.7,-8.5,341,9243,0.80,0.12,113.53,1.803,10244,0.181,0.180,2825,2278,3051,3090,3012,0,0,0,0,0,0,13.73,13.91,13.12
$STATE,9244,end apogee,CONTROL_FINISHED_OK
$STATE,9244,begin climb
$GC,9249,0.93,107.1,2826,2276,3085,3004,807.6,0.0,343,9380,1.12,2.58,118.65,1.728,10756,0.086,0.051,3187,880,2616,2679,2554,0,0,0,0,0,0,13.83,13.90,13.05
$GC,9465,0.85,147.0,3187,882,2677,2537,804.3,5.7,376,9513,0.00,2.50,43.67,1.766,9382,0.000,0.071,3187,2238,2462,2536,2388,0,0,0,0,0,0,14.18,14.02,13.14
$GC,9851,0.72,147.0,3187,2239,2529,2364,773.3,8.3,389,9857,0.15,2.83,0.00,0.000,4484,0.236,0.138,3140,3660,2445,2528,2363,0,0,0,0,0,0,13.89,13.99,14.08
$GC,9907,0.62,147.0,3141,3660,2529,2372,768.8,8.1,397,9913,0.17,2.42,0.00,0.000,5254,0.227,0.053,3104,2268,2443,2523,2363,0,0,0,0,0,0,13.95,14.33,14.25
$GC,10243,0.67,189.8,3105,2265,2528,2360,750.1,5.6,410,10298,0.00,2.83,46.70,1.747,8484,0.000,0.143,3104,3661,2284,2370,2199,0,0,0,0,0,0,14.68,14.04,13.31
$GC,10326,0.68,194.9,3104,3661,2368,2194,745.1,7.5,422,10331,0.00,2.50,0.00,0.000,1062,0.000,0.051,3112,2246,2279,2367,2192,0,0,0,0,0,0,14.29,14.20,14.32
$GC,10692,0.70,211.2,3113,2242,2368,2185,720.1,6.9,432,10716,0.00,0.00,23.38,1.815,8230,0.000,0.000,3112,2242,2209,2300,2118,0,0,0,0,0,0,14.65,14.21,13.39
$GC,11028,0.70,213.1,3114,2238,2290,2093,694.8,7.6,438,11032,0.00,2.88,0.00,0.000,292,0.000,0.145,3113,3660,2191,2291,2092,0,0,0,0,0,0,14.64,13.95,14.64
$GC,11089,0.70,213.1,3113,3659,2290,2093,689.4,8.4,447,11094,0.00,2.45,0.00,0.000,1030,0.000,0.051,3122,2261,2190,2289,2092,0,0,0,0,0,0,14.39,14.31,14.41
$GC,11419,0.70,213.1,3120,2258,2290,2091,661.0,8.7,459,11420,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2258,2189,2289,2090,0,0,0,0,0,0,14.71,14.71,14.71
$GC,11755,0.70,213.1,3122,2259,2290,2088,630.7,9.0,465,11761,0.00,2.85,0.00,0.000,260,0.000,0.143,3122,3653,2188,2289,2088,0,0,0,0,0,0,14.71,13.87,14.71
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$STATE,19697,end climb,SURFACE_DEPTH_REACHED
$STATE,19697,begin surface coast
$FINISH,-0.7,1.022220
$STATE,19725,end surface coast,CONTROL_FINISHED_OK
$STATE,19725,begin surface
$SM_CCo,19755,55.72,0.148,0,0,1056,500.14
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$TT8_MAMPS,0.035203,0.370755
$HUMID,55.59
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,21.90
$XPDR_PINGS,5
$SC_FREEKB,3631712
$PM_FREEKB,51550016
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$10V_AH,12.26,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.500,174.575,477.300,55.725,0.000,0.000,0.000,445.950,1.250,0.000,6.160,0.000,16840.234,763.662,2416.047,690.124,0.000,1932.019,0.000,1457.886,0.000,0.840,0.000
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$MEM,334728
$DATA_FILE_SIZE,30046,808
$CAP_FILE_SIZE,145808,0
$CFSIZE,1024409600,899514368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054,308.57,1
$GPS,240217,001530,958.179,-12515.167,27,1.2,27,9.0,1.0,164.7,9,9.2