version: 66.13
glider: 220
mission: 6
dive: 738
start: 2 27 117 3 22 59
data:
$ID,220
$MISSION,6
$DIVE,738
$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,54
$R_STBD_OVSHOOT,16
$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
$GPS1,270217,030830,946.0371,-12503.5049,29,1.0,29,9.0,0.4,84.4,9,4.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.00
$_SM_ANGLEo,-68.2
$GPS2,270217,032233,946.0202,-12503.5869,3,0.7,4,9.0,0.7,324.6,12,4.9
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,141.9,11509,-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,-107.1,126,2791,1103,1014,0.0,0.0,0,103,0.00,0.00,-81.30,0.000,16390,0.000,0.000,123,2789,3479,3468,3491,0,0,0,0,0,0,14.52,12.64,14.43
$GC,107,-0.93,-107.1,124,2790,3470,3492,3.4,-9.7,3,124,11.95,2.50,0.00,0.000,2564,0.378,0.035,2592,1358,3480,3471,3490,0,0,0,0,0,0,13.83,14.28,14.22
$GC,208,-0.70,-107.1,2590,1357,3470,3490,35.6,-20.0,18,215,0.32,2.80,0.00,0.000,3206,0.241,0.109,2666,2768,3480,3472,3489,0,0,0,0,0,0,13.79,13.89,14.09
$GC,525,-0.70,-107.1,2667,2769,3476,3488,72.4,-7.1,30,529,0.00,2.50,0.00,0.000,548,0.000,0.043,2666,1371,3481,3474,3488,0,0,0,0,0,0,14.64,14.04,14.64
$GC,608,-0.70,-107.1,2667,1373,3477,3488,80.6,-9.8,42,613,0.00,2.78,0.00,0.000,1030,0.000,0.113,2655,2761,3484,3476,3493,0,0,0,0,0,0,14.15,13.86,14.20
$GC,944,-0.70,-107.1,2656,2762,3478,3488,109.4,-8.2,55,949,0.00,2.22,0.00,0.000,260,0.000,0.178,2648,3824,3482,3477,3488,0,0,0,0,0,0,14.73,13.85,14.73
$GC,985,-0.70,-107.1,2648,3825,3478,3488,113.3,-9.4,61,991,0.00,1.88,0.00,0.000,1030,0.000,0.063,2645,2754,3483,3478,3488,0,0,0,0,0,0,14.24,14.19,14.26
$GC,1336,-0.70,-107.1,2648,2755,3478,3487,144.5,-9.1,69,1342,0.00,2.47,0.00,0.000,516,0.000,0.042,2649,1363,3482,3477,3487,0,0,0,0,0,0,14.69,13.94,14.69
$GC,1398,-0.70,-107.1,2648,1364,3478,3486,150.0,-7.8,78,1403,0.10,2.78,0.00,0.000,3078,0.232,0.110,2668,2762,3481,3477,3486,0,0,0,0,0,0,13.90,13.89,14.13
$GC,1728,-0.70,-107.1,2670,2763,3478,3482,172.1,-6.6,90,1729,0.00,0.00,0.00,0.000,38,0.000,0.000,2668,2762,3480,3477,3483,0,0,0,0,0,0,14.69,14.68,14.68
$GC,2064,-0.70,-107.1,2669,2761,3477,3478,195.8,-7.0,96,2069,0.00,2.55,0.00,0.000,548,0.000,0.046,2667,1364,3477,3477,3478,0,0,0,0,0,0,14.69,13.90,14.69
$GC,2127,-0.79,-107.1,2668,1363,3477,3478,200.5,-7.7,105,2133,0.00,2.80,0.00,0.000,1190,0.000,0.113,2658,2760,3477,3477,3477,0,0,0,0,0,0,14.16,13.88,14.21
$GC,2456,-0.79,-107.1,2659,2759,3477,3472,225.6,-7.8,117,2462,0.00,2.25,0.00,0.000,260,0.000,0.178,2651,3828,3474,3477,3471,0,0,0,0,0,0,14.74,13.83,14.74
$GC,2497,-0.79,-107.1,2652,3828,3478,3472,229.4,-8.7,123,2502,0.00,1.90,0.00,0.000,1030,0.000,0.065,2650,2758,3474,3477,3471,0,0,0,0,0,0,14.21,14.14,14.22
$GC,2849,-0.79,-107.1,2651,2759,3478,3468,256.9,-7.7,131,2853,0.00,2.53,0.00,0.000,548,0.000,0.043,2650,1359,3472,3477,3467,0,0,0,0,0,0,14.73,13.89,14.71
$GC,2917,-0.79,-107.1,2651,1359,3477,3466,262.3,-6.9,141,2923,0.00,2.80,0.00,0.000,1062,0.000,0.109,2642,2763,3471,3477,3465,0,0,0,0,0,0,14.16,13.87,14.21
$GC,3240,-0.79,-107.1,2642,2764,3478,3460,286.3,-7.5,152,3245,0.00,2.55,0.00,0.000,548,0.000,0.044,2641,1364,3469,3477,3461,0,0,0,0,0,0,14.68,13.88,14.66
$GC,3274,-0.79,-107.1,2642,1365,3478,3461,289.1,-7.9,157,3280,0.00,2.78,0.00,0.000,1030,0.000,0.110,2633,2754,3469,3477,3461,0,0,0,0,0,0,14.18,13.90,14.23
$GC,3632,-0.79,-107.1,2633,2754,3485,3455,318.5,-8.2,166,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2754,3466,3477,3456,0,0,0,0,0,0,14.69,14.69,14.68
$GC,3968,-0.79,-107.1,2633,2755,3478,3453,345.8,-8.1,172,3973,0.00,2.55,0.00,0.000,516,0.000,0.043,2633,1362,3464,3477,3452,0,0,0,0,0,0,14.68,13.90,14.68
$GC,4009,-0.79,-107.1,2633,1362,3477,3453,349.4,-7.8,178,4014,0.00,2.80,0.00,0.000,1030,0.000,0.111,2624,2753,3466,3477,3455,0,0,0,0,0,0,14.21,13.93,14.25
$GC,4360,-0.79,-107.1,2623,2754,3478,3449,379.0,-8.6,186,4365,0.00,2.25,0.00,0.000,260,0.000,0.173,2615,3827,3463,3477,3449,0,0,0,0,0,0,14.72,13.85,14.72
$GC,4422,-0.79,-107.1,2616,3827,3477,3450,384.6,-9.3,195,4427,0.10,1.92,0.00,0.000,3078,0.227,0.063,2644,2739,3462,3476,3448,0,0,0,0,0,0,13.74,14.14,13.97
$GC,4752,-0.79,-107.1,2643,2741,3478,3445,410.6,-7.8,207,4757,0.00,2.47,0.00,0.000,516,0.000,0.044,2644,1371,3459,3474,3445,0,0,0,0,0,0,14.73,13.84,14.73
$GC,4808,-0.79,-107.1,2642,1372,3477,3446,415.1,-8.3,215,4813,0.00,2.78,0.00,0.000,1030,0.000,0.111,2634,2754,3460,3476,3444,0,0,0,0,0,0,14.17,13.89,14.22
$GC,5144,-0.79,-107.1,2633,2755,3479,3442,444.1,-8.7,228,5149,0.00,2.25,0.00,0.000,260,0.000,0.175,2626,3828,3458,3476,3441,0,0,0,0,0,0,14.71,13.82,14.71
$GC,5171,-0.79,-107.1,2626,3828,3477,3442,446.7,-9.6,232,5176,0.00,1.92,0.00,0.000,1030,0.000,0.062,2625,2747,3458,3476,3441,0,0,0,0,0,0,14.20,14.14,14.21
$GC,5537,-0.79,-107.1,2626,2748,3477,3439,479.6,-9.1,242,5541,0.00,2.50,0.00,0.000,516,0.000,0.043,2625,1366,3457,3476,3438,0,0,0,0,0,0,14.66,13.85,14.66
$GC,5570,-0.79,-107.1,2630,1368,3477,3438,483.1,-10.4,247,5575,0.00,2.75,0.00,0.000,1030,0.000,0.108,2616,2753,3456,3476,3437,0,0,0,0,0,0,14.14,13.87,14.20
$GC,5928,-0.79,-107.1,2617,2753,3477,3437,515.7,-9.2,256,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2750,3456,3476,3436,0,0,0,0,0,0,14.65,14.65,14.65
$GC,6264,-0.79,-107.1,2617,2750,3477,3432,546.4,-9.2,262,6269,0.00,2.25,0.00,0.000,260,0.000,0.171,2608,3825,3454,3476,3432,0,0,0,0,0,0,14.65,13.79,14.65
$GC,6305,-0.79,-107.1,2609,3825,3476,3432,550.8,-9.9,268,6310,0.12,1.92,0.00,0.000,3078,0.219,0.063,2643,2741,3454,3476,3432,0,0,0,0,0,0,13.70,14.13,13.95
$GC,6656,-0.79,-107.1,2644,2742,3474,3432,581.2,-8.7,276,6661,0.00,2.50,0.00,0.000,516,0.000,0.044,2643,1369,3452,3472,3432,0,0,0,0,0,0,14.71,13.84,14.71
$GC,6713,-0.87,-107.1,2644,1369,3471,3434,586.4,-8.7,284,6717,0.00,2.78,0.00,0.000,1158,0.000,0.108,2634,2749,3450,3468,3432,0,0,0,0,0,0,14.14,13.86,14.19
$GC,7048,-0.87,-107.1,2634,2747,3471,3434,616.9,-9.2,297,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2749,3451,3470,3432,0,0,0,0,0,0,14.71,14.71,14.71
$GC,7384,-0.87,-107.1,2634,2750,3473,3431,645.1,-8.4,303,7389,0.00,2.55,0.00,0.000,516,0.000,0.044,2633,1371,3450,3470,3430,0,0,0,0,0,0,14.71,13.84,14.68
$GC,7418,-0.87,-107.1,2634,1370,3471,3431,648.4,-9.0,308,7423,0.00,2.78,0.00,0.000,1030,0.000,0.109,2624,2747,3450,3470,3430,0,0,0,0,0,0,14.16,13.88,14.21
$GC,7776,-0.87,-107.1,2623,2747,3469,3431,677.4,-8.0,317,7782,0.00,2.25,0.00,0.000,260,0.000,0.169,2616,3829,3449,3469,3429,0,0,0,0,0,0,14.64,13.83,14.64
$GC,7817,-0.87,-107.1,2616,3831,3470,3429,681.0,-8.7,323,7822,0.00,1.95,0.00,0.000,1030,0.000,0.064,2615,2743,3448,3468,3429,0,0,0,0,0,0,14.19,14.12,14.20
$GC,8168,-0.87,-107.1,2615,2744,3469,3426,709.1,-8.0,331,8173,0.00,2.53,0.00,0.000,516,0.000,0.043,2615,1363,3447,3468,3426,0,0,0,0,0,0,14.63,13.95,14.63
$GC,8230,-0.87,-107.1,2615,1364,3470,3426,714.5,-8.0,340,8235,0.00,2.78,0.00,0.000,1030,0.000,0.106,2606,2743,3448,3469,3427,0,0,0,0,0,0,14.14,13.85,14.18
$GC,8560,-0.87,-107.1,2608,2743,3469,3426,742.6,-8.7,352,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2743,3446,3468,3425,0,0,0,0,0,0,14.63,14.63,14.63
$GC,8896,-0.87,-107.1,2607,2743,3466,3421,771.3,-8.5,358,8897,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2743,3445,3465,3425,0,0,0,0,0,0,14.62,14.60,14.62
$STATE,9228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9228,begin apogee
$GC,9238,-0.23,0.0,2606,2221,3466,3422,801.0,-9.0,364,9355,0.77,0.10,113.65,1.793,10244,0.174,0.213,2819,2271,3048,3085,3011,0,0,0,0,0,0,13.76,13.85,13.14
$STATE,9356,end apogee,CONTROL_FINISHED_OK
$STATE,9356,begin climb
$GC,9361,0.93,107.1,2823,2273,3084,3001,805.1,0.0,366,9492,1.15,2.60,117.78,1.699,10756,0.086,0.054,3192,875,2616,2678,2555,0,0,0,0,0,0,13.79,13.85,13.09
$GC,9535,0.84,153.6,3193,874,2677,2543,803.4,5.4,393,9596,0.00,2.60,52.10,1.705,9382,0.000,0.080,3193,2252,2429,2505,2353,0,0,0,0,0,0,14.04,13.85,13.13
$GC,9910,0.71,153.6,3193,2254,2503,2333,770.5,9.4,411,9915,0.20,2.83,0.00,0.000,4484,0.224,0.151,3132,3658,2416,2498,2334,0,0,0,0,0,0,13.90,13.98,14.08
$GC,9950,0.71,153.6,3132,3660,2503,2334,766.4,9.0,417,9957,0.00,2.45,0.00,0.000,1030,0.000,0.054,3143,2263,2417,2501,2333,0,0,0,0,0,0,14.37,14.27,14.39
$GC,10302,0.71,153.6,3144,2256,2507,2332,738.7,7.8,425,10308,0.00,2.53,0.00,0.000,516,0.000,0.058,3154,852,2416,2502,2330,0,0,0,0,0,0,14.66,14.14,14.66
$GC,10336,0.72,166.8,3154,852,2503,2331,736.1,7.1,430,10348,0.00,2.60,4.55,1.515,9254,0.000,0.081,3154,2248,2389,2469,2310,0,0,0,0,0,0,14.29,14.09,13.20
$GC,10694,0.72,166.8,3154,2249,2471,2327,706.7,8.2,439,10704,0.00,2.95,2.40,0.633,8452,0.000,0.157,3154,3666,2386,2464,2309,0,0,0,0,0,0,14.70,13.91,13.10
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$STATE,19762,end climb,SURFACE_DEPTH_REACHED
$STATE,19762,begin surface coast
$FINISH,-2.7,1.022275
$STATE,19790,end surface coast,CONTROL_FINISHED_OK
$STATE,19790,begin surface
$SM_CCo,19816,39.88,0.148,0,0,1058,500.14
$SM_GC,-1.83,9.02,1.02,39.88,0.043,0.117,0.148,177,2776,1058,-8.43,-0.40,500.14,0,0,0,0,0,0,14.23,13.90,14.07
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$TT8_MAMPS,0.038199,0.286118
$HUMID,56.93
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,21.90
$XPDR_PINGS,2
$SC_FREEKB,3626336
$PM_FREEKB,51388480
$24V_AH,12.64,251.092
$10V_AH,12.18,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.850,207.825,510.675,39.875,0.000,0.000,0.000,428.700,0.500,0.000,5.700,0.000,16681.271,798.433,2465.139,734.672,0.000,1992.000,0.000,1504.091,0.000,0.840,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.593,2.427,0.000,0.000
$MEM,334772
$DATA_FILE_SIZE,30059,840
$CAP_FILE_SIZE,154992,0
$CFSIZE,1024409600,897433600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.020,252.93,1
$GPS,270217,085500,944.530,-12502.743,27,0.9,27,9.0,0.2,222.9,9,3.3