version: 66.13
glider: 220
mission: 6
dive: 730
start: 2 25 117 5 17 12
data:
$ID,220
$MISSION,6
$DIVE,730
$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,60
$R_STBD_OVSHOOT,33
$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
$GPS1,250217,050330,953.7484,-12510.2988,18,0.8,18,9.0,0.7,287.2,10,3.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.16
$_SM_ANGLEo,-70.9
$GPS2,250217,051650,953.7668,-12510.3643,2,0.9,3,9.0,0.0,0.0,10,4.3
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,131.8,30413,-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,-107.1,111,2811,1107,1012,0.0,0.0,0,103,0.00,0.00,-81.97,0.000,16390,0.000,0.000,109,2810,3478,3470,3487,0,0,0,0,0,0,14.53,12.65,14.45
$GC,107,-0.93,-107.1,110,2809,3471,3488,2.8,-8.7,3,124,11.95,2.53,0.00,0.000,2564,0.374,0.035,2590,1368,3479,3472,3487,0,0,0,0,0,0,13.83,14.31,14.22
$GC,188,-0.71,-107.1,2590,1369,3474,3486,29.9,-20.2,15,193,0.32,2.72,0.00,0.000,3206,0.236,0.111,2667,2748,3478,3469,3487,0,0,0,0,0,0,13.79,13.88,14.09
$GC,524,-0.71,-107.1,2667,2748,3475,3488,79.0,-11.5,30,529,0.00,2.20,0.00,0.000,260,0.000,0.159,2658,3828,3480,3475,3485,0,0,0,0,0,0,14.66,13.85,14.66
$GC,600,-0.71,-107.1,2659,3828,3484,3488,86.1,-8.9,41,607,0.00,1.88,0.00,0.000,1030,0.000,0.059,2659,2776,3481,3476,3486,0,0,0,0,0,0,14.14,14.11,14.16
$GC,916,-0.71,-107.1,2659,2777,3479,3486,109.2,-7.4,51,921,0.00,2.50,0.00,0.000,548,0.000,0.041,2658,1358,3482,3478,3486,0,0,0,0,0,0,14.75,14.02,14.75
$GC,950,-0.71,-107.1,2659,1359,3479,3486,111.9,-7.8,56,955,0.00,2.78,0.00,0.000,1030,0.000,0.101,2649,2777,3482,3478,3486,0,0,0,0,0,0,14.12,13.84,14.15
$GC,1308,-0.71,-107.1,2649,2777,3479,3486,140.1,-8.3,65,1314,0.00,2.55,0.00,0.000,516,0.000,0.042,2649,1365,3481,3477,3485,0,0,0,0,0,0,14.76,13.93,14.76
$GC,1365,-0.71,-107.1,2649,1366,3479,3485,144.8,-7.7,73,1371,0.10,2.78,0.00,0.000,3110,0.225,0.105,2669,2772,3481,3478,3485,0,0,0,0,0,0,13.86,13.85,14.09
$GC,1701,-0.71,-107.1,2669,2773,3472,3480,167.5,-6.6,86,1706,0.00,2.50,0.00,0.000,548,0.000,0.044,2669,1366,3478,3477,3480,0,0,0,0,0,0,14.69,13.90,14.69
$GC,1763,-0.79,-107.1,2669,1366,3478,3481,171.9,-6.9,95,1768,0.00,2.75,0.00,0.000,1190,0.000,0.106,2659,2762,3478,3477,3479,0,0,0,0,0,0,14.13,13.85,14.19
$GC,2093,-0.79,-107.1,2659,2762,3479,3476,196.6,-7.6,107,2098,0.00,2.55,0.00,0.000,548,0.000,0.044,2659,1359,3476,3479,3474,0,0,0,0,0,0,14.69,13.95,14.69
$GC,2127,-0.79,-107.1,2659,1359,3478,3474,199.5,-8.0,112,2132,0.00,2.80,0.00,0.000,1030,0.000,0.107,2659,2766,3475,3477,3474,0,0,0,0,0,0,14.08,13.80,14.13
$GC,2485,-0.79,-107.1,2651,2765,3478,3470,227.9,-7.9,121,2491,0.00,2.55,0.00,0.000,516,0.000,0.044,2651,1366,3473,3477,3469,0,0,0,0,0,0,14.74,13.90,14.74
$GC,2541,-0.79,-107.1,2651,1368,3478,3468,232.6,-8.4,129,2547,0.00,2.78,0.00,0.000,1030,0.000,0.109,2644,2762,3472,3477,3468,0,0,0,0,0,0,14.14,13.86,14.19
$GC,2877,-0.79,-107.1,2644,2761,3478,3464,262.8,-9.2,142,2882,0.00,2.20,0.00,0.000,260,0.000,0.164,2635,3828,3469,3477,3462,0,0,0,0,0,0,14.69,13.83,14.69
$GC,2925,-0.79,-107.1,2636,3828,3478,3463,267.7,-10.1,149,2932,0.00,1.92,0.00,0.000,1030,0.000,0.060,2635,2746,3469,3476,3462,0,0,0,0,0,0,14.16,14.07,14.18
$GC,3269,-0.79,-107.1,2635,2746,3478,3459,300.9,-9.7,156,3274,0.00,2.47,0.00,0.000,516,0.000,0.041,2635,1371,3467,3477,3457,0,0,0,0,0,0,14.70,13.88,14.69
$GC,3338,-0.79,-107.1,2635,1373,3479,3457,307.6,-9.4,166,3343,0.00,2.75,0.00,0.000,1030,0.000,0.104,2625,2755,3467,3477,3457,0,0,0,0,0,0,14.19,13.93,14.23
$GC,3661,-0.79,-107.1,2626,2756,3478,3452,338.0,-9.4,177,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2755,3464,3476,3453,0,0,0,0,0,0,14.69,14.69,14.69
$GC,3997,-0.79,-107.1,2626,2756,3478,3450,367.7,-8.8,183,4002,0.00,2.55,0.00,0.000,516,0.000,0.043,2625,1367,3463,3477,3449,0,0,0,0,0,0,14.69,13.85,14.69
$GC,4038,-0.79,-107.1,2626,1368,3478,3450,371.5,-8.9,189,4044,0.00,2.78,0.00,0.000,1030,0.000,0.106,2617,2754,3462,3476,3449,0,0,0,0,0,0,14.16,13.88,14.20
$GC,4389,-0.79,-107.1,2618,2754,3478,3446,401.3,-8.5,197,4395,0.00,2.22,0.00,0.000,260,0.000,0.161,2608,3833,3461,3477,3445,0,0,0,0,0,0,14.68,13.83,14.68
$GC,4437,-0.79,-107.1,2609,3833,3477,3448,405.9,-9.4,204,4443,0.10,1.92,0.00,0.000,3078,0.230,0.058,2638,2751,3460,3477,3444,0,0,0,0,0,0,13.69,14.05,13.95
$GC,4781,-0.79,-107.1,2638,2751,3478,3443,433.6,-8.0,211,4786,0.00,2.50,0.00,0.000,516,0.000,0.041,2638,1369,3460,3479,3442,0,0,0,0,0,0,14.68,13.88,14.68
$GC,4850,-0.79,-107.1,2638,1367,3477,3440,439.2,-7.7,221,4856,0.00,2.75,0.00,0.000,1062,0.000,0.100,2628,2754,3458,3476,3440,0,0,0,0,0,0,14.12,13.85,14.17
$GC,5173,-0.79,-107.1,2629,2754,3477,3439,465.5,-8.1,232,5174,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2754,3457,3477,3437,0,0,0,0,0,0,14.72,14.72,14.72
$GC,5509,-0.79,-107.1,2629,2753,3478,3436,491.7,-7.9,238,5514,0.00,2.22,0.00,0.000,260,0.000,0.158,2620,3831,3456,3477,3436,0,0,0,0,0,0,14.72,13.80,14.72
$GC,5536,-0.79,-107.1,2620,3831,3478,3436,494.2,-9.1,242,5541,0.00,1.92,0.00,0.000,1030,0.000,0.063,2619,2759,3456,3477,3436,0,0,0,0,0,0,14.14,14.05,14.17
$GC,5901,-0.79,-107.1,2620,2759,3478,3434,525.5,-8.9,252,5906,0.00,2.55,0.00,0.000,516,0.000,0.041,2619,1357,3454,3477,3432,0,0,0,0,0,0,14.66,13.83,14.66
$GC,5970,-0.79,-107.1,2619,1358,3478,3432,531.7,-8.4,262,5975,0.10,2.78,0.00,0.000,3078,0.240,0.099,2637,2753,3454,3477,3432,0,0,0,0,0,0,13.81,13.84,14.06
$GC,6293,-0.79,-107.1,2637,2753,3477,3428,558.2,-8.2,273,6294,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2752,3453,3477,3430,0,0,0,0,0,0,14.65,14.66,14.66
$GC,6629,-0.79,-107.1,2638,2754,3478,3427,585.4,-8.1,279,6634,0.00,2.58,0.00,0.000,516,0.000,0.042,2636,1361,3452,3477,3427,0,0,0,0,0,0,14.74,13.81,14.72
$GC,6685,-0.79,-107.1,2637,1363,3477,3426,589.8,-7.7,287,6690,0.00,2.78,0.00,0.000,1062,0.000,0.099,2627,2751,3450,3475,3426,0,0,0,0,0,0,14.12,13.85,14.17
$GC,7021,-0.79,-107.1,2629,2750,3473,3428,617.6,-8.2,300,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2750,3452,3477,3427,0,0,0,0,0,0,14.65,14.66,14.66
$GC,7357,-0.79,-107.1,2629,2750,3471,3427,644.9,-8.2,306,7358,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2750,3449,3471,3427,0,0,0,0,0,0,14.64,14.66,14.65
$GC,7693,-0.79,-107.1,2628,2750,3470,3425,672.2,-8.1,312,7698,0.00,2.60,0.00,0.000,516,0.000,0.043,2627,1355,3448,3470,3426,0,0,0,0,0,0,14.64,13.83,14.64
$GC,7762,-0.79,-107.1,2628,1355,3477,3427,677.7,-7.4,322,7767,0.00,2.80,0.00,0.000,1062,0.000,0.102,2618,2755,3451,3470,3433,0,0,0,0,0,0,14.12,13.85,14.17
$GC,8085,-0.79,-107.1,2619,2755,3471,3425,703.3,-8.0,333,8086,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2755,3446,3470,3423,0,0,0,0,0,0,14.64,14.64,14.64
$GC,8421,-0.79,-107.1,2620,2755,3468,3425,728.9,-7.6,339,8422,0.00,0.00,0.00,0.000,38,0.000,0.000,2619,2755,3445,3467,3423,0,0,0,0,0,0,14.62,14.62,14.62
$GC,8757,-0.79,-107.1,2619,2756,3467,3421,754.4,-7.6,345,8758,0.00,0.00,0.00,0.000,38,0.000,0.000,2618,2755,3444,3466,3422,0,0,0,0,0,0,14.62,14.62,14.63
$GC,9093,-0.79,-107.1,2619,2756,3467,3420,781.4,-8.1,351,9098,0.00,2.60,0.00,0.000,516,0.000,0.043,2618,1360,3443,3466,3420,0,0,0,0,0,0,14.69,13.82,14.69
$GC,9127,-0.79,-107.1,2618,1361,3467,3420,784.3,-8.2,356,9132,0.12,2.78,0.00,0.000,3078,0.223,0.103,2643,2748,3443,3466,3420,0,0,0,0,0,0,13.78,13.81,14.02
$STATE,9368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9369,begin apogee
$GC,9379,-0.23,0.0,2645,2216,3465,3420,802.4,-7.3,363,9487,0.62,0.10,100.62,2.514,10244,0.162,0.212,2821,2265,3050,3090,3010,0,0,0,0,1,0,13.71,13.69,12.64
$STATE,9489,end apogee,CONTROL_FINISHED_OK
$STATE,9489,begin climb
$GC,9493,0.93,107.1,2821,2266,3091,3023,806.9,0.0,365,9633,1.15,2.60,126.03,1.796,10756,0.081,0.052,3188,879,2616,2680,2553,0,0,0,0,0,0,13.65,13.71,13.03
$GC,9717,0.83,142.7,3188,880,2678,2538,804.0,5.9,398,9766,0.00,2.53,39.05,1.793,9382,0.000,0.074,3189,2241,2474,2550,2398,0,0,0,0,0,0,14.16,13.98,13.14
$GC,10104,0.70,142.7,3189,2242,2548,2382,770.8,9.1,411,10109,0.17,2.83,0.00,0.000,4484,0.228,0.142,3133,3661,2464,2546,2382,0,0,0,0,0,0,13.90,13.99,14.08
$GC,10179,0.61,142.7,3135,3661,2547,2384,764.3,8.4,422,10185,0.17,2.42,0.00,0.000,5254,0.217,0.050,3096,2273,2464,2546,2382,0,0,0,0,0,0,13.95,14.31,14.23
$GC,10495,0.65,175.8,3097,2270,2547,2380,745.0,6.1,432,10533,0.00,0.00,36.90,1.778,8230,0.000,0.000,3097,2269,2350,2435,2266,0,0,0,0,0,0,14.68,14.16,13.34
$GC,10832,0.67,193.8,3098,2269,2426,2242,722.3,6.8,438,10857,0.00,2.78,18.73,1.865,8484,0.000,0.144,3094,3654,2271,2362,2181,0,0,0,0,0,0,14.63,14.04,13.38
$GC,10914,0.67,193.8,3096,3657,2360,2174,715.7,8.5,450,10920,0.00,2.47,0.00,0.000,1030,0.000,0.050,3105,2242,2266,2359,2173,0,0,0,0,0,0,14.37,14.29,14.38
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$STATE,19909,end climb,SURFACE_DEPTH_REACHED
$STATE,19909,begin surface coast
$FINISH,-1.9,1.022251
$STATE,19937,end surface coast,CONTROL_FINISHED_OK
$STATE,19938,begin surface
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$TT8_MAMPS,0.038948,0.36701
$HUMID,56.97
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,21.60
$XPDR_PINGS,2
$SC_FREEKB,3629408
$PM_FREEKB,51480128
$24V_AH,11.86,248.534
$10V_AH,12.06,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.544,2.421,0.000,0.000
$MEM,334724
$DATA_FILE_SIZE,30019,830
$CAP_FILE_SIZE,151809,0
$CFSIZE,1024409600,898613248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.025,327.19,1
$GPS,250217,105154,952.727,-12509.310,36,1.1,36,9.0,0.6,239.5,10,4.8