version: 66.13
glider: 220
mission: 6
dive: 781
start: 3 9 117 7 39 57
data:
$ID,220
$MISSION,6
$DIVE,781
$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,49
$R_STBD_OVSHOOT,17
$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
$GPS1,090317,072554,959.1897,-12518.2520,31,0.9,31,9.0,0.9,302.8,10,3.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.82
$_SM_ANGLEo,-68.1
$GPS2,090317,073935,959.2054,-12518.4170,2,0.9,3,9.0,0.2,268.5,11,6.5
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,120.4,47734,-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,19,-0.93,-107.1,107,2782,1105,1015,0.0,0.0,0,103,0.00,0.00,-80.07,0.000,16390,0.000,0.000,106,2785,3478,3470,3486,0,0,0,0,0,0,14.47,12.43,14.42
$GC,107,-0.93,-107.1,107,2786,3471,3486,3.1,-10.2,3,124,12.10,2.50,0.00,0.000,2564,0.383,0.033,2591,1357,3478,3471,3486,0,0,0,0,0,0,13.90,14.26,14.26
$GC,181,-0.70,-107.1,2591,1358,3468,3486,28.3,-20.3,14,187,0.32,2.80,0.00,0.000,3206,0.250,0.106,2666,2766,3479,3472,3486,0,0,0,0,0,0,13.70,13.87,14.03
$GC,497,-0.70,-107.1,2666,2767,3475,3486,74.5,-9.6,26,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2764,3479,3473,3486,0,0,0,0,0,0,14.63,14.63,14.63
$GC,804,-0.70,-107.1,2667,2766,3477,3487,95.2,-6.5,37,805,0.00,0.00,0.00,0.000,38,0.000,0.000,2666,2766,3481,3476,3486,0,0,0,0,0,0,14.64,14.64,14.64
$GC,1112,-0.70,-107.1,2667,2767,3477,3486,115.5,-6.3,44,1117,0.00,2.17,0.00,0.000,292,0.000,0.169,2658,3826,3481,3476,3486,0,0,0,0,0,0,14.67,13.88,14.67
$GC,1168,-0.70,-107.1,2657,3827,3477,3486,120.7,-7.0,52,1173,0.00,1.83,0.00,0.000,1062,0.000,0.051,2658,2741,3481,3476,3486,0,0,0,0,0,0,14.25,14.19,14.26
$GC,1505,-0.70,-107.1,2658,2741,3477,3481,147.3,-7.7,65,1510,0.00,2.42,0.00,0.000,548,0.000,0.040,2658,1385,3479,3476,3483,0,0,0,0,0,0,14.71,14.02,14.69
$GC,1574,-0.70,-107.1,2658,1384,3477,3483,154.8,-9.7,75,1578,0.00,2.70,0.00,0.000,1030,0.000,0.091,2648,2763,3478,3474,3482,0,0,0,0,0,0,14.08,13.82,14.13
$GC,1897,-0.70,-107.1,2648,2766,3477,3480,180.7,-7.8,86,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2766,3477,3476,3478,0,0,0,0,0,0,14.71,14.71,14.71
$GC,2233,-0.70,-107.1,2649,2765,3477,3474,205.0,-7.2,92,2237,0.00,2.53,0.00,0.000,548,0.000,0.042,2648,1378,3474,3476,3473,0,0,0,0,0,0,14.67,13.95,14.67
$GC,2309,-0.70,-107.1,2646,1378,3478,3471,210.8,-7.3,103,2314,0.10,2.72,0.00,0.000,3110,0.233,0.093,2668,2767,3473,3476,3471,0,0,0,0,0,0,13.86,13.91,14.11
$GC,2625,-0.70,-107.1,2668,2766,3476,3469,232.5,-7.1,113,2630,0.00,2.53,0.00,0.000,548,0.000,0.040,2668,1382,3471,3476,3467,0,0,0,0,0,0,14.66,13.99,14.66
$GC,2659,-0.78,-107.1,2669,1381,3472,3469,235.3,-7.6,118,2664,0.00,2.70,0.00,0.000,1190,0.000,0.093,2657,2761,3471,3476,3467,0,0,0,0,0,0,14.09,13.85,14.14
$GC,3017,-0.78,-107.1,2657,2761,3477,3463,261.5,-7.3,127,3021,0.00,2.50,0.00,0.000,548,0.000,0.041,2658,1385,3468,3476,3460,0,0,0,0,0,0,14.66,13.95,14.66
$GC,3051,-0.78,-107.1,2658,1386,3477,3461,264.4,-7.9,132,3055,0.00,2.70,0.00,0.000,1030,0.000,0.093,2650,2756,3468,3476,3461,0,0,0,0,0,0,14.06,13.76,14.12
$GC,3409,-0.78,-107.1,2650,2754,3476,3458,294.1,-8.5,141,3414,0.00,2.50,0.00,0.000,516,0.000,0.041,2649,1386,3465,3476,3454,0,0,0,0,0,0,14.66,13.97,14.66
$GC,3457,-0.78,-107.1,2649,1386,3477,3454,298.6,-8.4,148,3463,0.00,2.70,0.00,0.000,1030,0.000,0.093,2641,2748,3465,3476,3455,0,0,0,0,0,0,14.04,13.76,14.10
$GC,3801,-0.78,-107.1,2641,2749,3477,3452,329.6,-9.0,155,3806,0.00,2.53,0.00,0.000,516,0.000,0.041,2640,1378,3464,3476,3452,0,0,0,0,0,0,14.66,13.93,14.66
$GC,3870,-0.78,-107.1,2640,1379,3477,3452,335.8,-9.1,165,3876,0.00,2.72,0.00,0.000,1030,0.000,0.095,2631,2755,3463,3475,3452,0,0,0,0,0,0,14.06,13.78,14.12
$GC,4193,-0.78,-107.1,2631,2754,3476,3447,363.6,-8.7,176,4197,0.00,2.50,0.00,0.000,516,0.000,0.041,2631,1386,3461,3476,3447,0,0,0,0,0,0,14.66,13.95,14.66
$GC,4227,-0.78,-107.1,2630,1387,3476,3447,366.9,-8.9,181,4232,0.00,2.67,0.00,0.000,1030,0.000,0.093,2622,2743,3461,3475,3447,0,0,0,0,0,0,14.05,13.78,14.11
$GC,4585,-0.78,-107.1,2621,2743,3474,3445,400.1,-9.5,190,4589,0.00,2.20,0.00,0.000,260,0.000,0.145,2613,3832,3460,3476,3444,0,0,0,0,0,0,14.71,13.66,14.71
$GC,4626,-0.78,-107.1,2614,3832,3476,3445,404.7,-10.5,196,4631,0.10,1.85,0.00,0.000,3078,0.227,0.049,2641,2752,3459,3475,3444,0,0,0,0,0,0,13.73,14.16,13.95
$GC,4977,-0.78,-107.1,2642,2753,3477,3440,436.8,-9.2,204,4981,0.00,2.50,0.00,0.000,516,0.000,0.040,2641,1369,3457,3475,3440,0,0,0,0,0,0,14.67,13.92,14.69
$GC,5033,-0.78,-107.1,2639,1369,3477,3439,442.2,-9.3,212,5037,0.00,2.70,0.00,0.000,1030,0.000,0.083,2631,2743,3457,3475,3439,0,0,0,0,0,0,14.00,13.72,14.06
$GC,5369,-0.78,-107.1,2631,2744,3479,3436,471.2,-8.4,225,5370,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2739,3456,3475,3437,0,0,0,0,0,0,14.71,14.71,14.71
$GC,5705,-0.78,-107.1,2631,2742,3476,3436,498.3,-8.1,231,5709,0.00,2.53,0.00,0.000,516,0.000,0.041,2631,1369,3454,3475,3433,0,0,0,0,0,0,14.70,13.91,14.71
$GC,5761,-0.78,-107.1,2632,1369,3475,3432,503.0,-7.1,239,5765,0.00,2.72,0.00,0.000,1062,0.000,0.086,2622,2745,3454,3475,3433,0,0,0,0,0,0,13.98,13.71,14.06
$GC,6097,-0.78,-107.1,2622,2746,3476,3431,532.2,-8.7,252,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2745,3453,3474,3432,0,0,0,0,0,0,14.65,14.65,14.66
$GC,6433,-0.78,-107.1,2622,2746,3475,3429,561.9,-8.9,258,6438,0.00,2.55,0.00,0.000,516,0.000,0.041,2621,1362,3451,3473,3429,0,0,0,0,0,0,14.65,13.88,14.65
$GC,6489,-0.78,-107.1,2621,1363,3474,3429,566.9,-9.0,266,6494,0.10,2.72,0.00,0.000,3078,0.241,0.089,2640,2740,3451,3473,3429,0,0,0,0,0,0,13.69,13.73,13.96
$GC,6825,-0.78,-107.1,2641,2741,3472,3430,594.6,-8.3,279,6829,0.00,2.53,0.00,0.000,516,0.000,0.042,2640,1371,3450,3471,3429,0,0,0,0,0,0,14.64,13.92,14.64
$GC,6866,-0.78,-107.1,2641,1372,3473,3429,598.2,-8.3,285,6871,0.00,2.70,0.00,0.000,1030,0.000,0.090,2631,2738,3450,3471,3429,0,0,0,0,0,0,14.01,13.71,14.07
$GC,7217,-0.78,-107.1,2632,2738,3469,3429,627.7,-8.4,293,7218,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2745,3449,3470,3429,0,0,0,0,0,0,14.64,14.63,14.64
$GC,7553,-0.78,-107.1,2631,2738,3470,3426,654.4,-8.0,299,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2738,3448,3470,3426,0,0,0,0,0,0,14.64,14.64,14.64
$GC,7889,-0.78,-107.1,2632,2739,3468,3427,680.2,-7.7,305,7889,0.00,0.00,0.00,0.000,38,0.000,0.000,2631,2738,3446,3467,3426,0,0,0,0,0,0,14.69,14.69,14.69
$GC,8225,-0.78,-107.1,2631,2738,3467,3425,705.1,-7.4,311,8230,0.00,2.55,0.00,0.000,548,0.000,0.041,2630,1362,3445,3466,3424,0,0,0,0,0,0,14.69,13.87,14.69
$GC,8308,-0.78,-107.1,2631,1361,3467,3432,712.1,-7.4,323,8312,0.00,2.75,0.00,0.000,1062,0.000,0.094,2621,2739,3444,3466,3423,0,0,0,0,0,0,13.97,13.67,14.04
$GC,8673,-0.78,-107.1,2621,2740,3461,3422,740.7,-7.8,333,8678,0.00,2.55,0.00,0.000,516,0.000,0.041,2623,1363,3443,3464,3422,0,0,0,0,0,0,14.69,13.73,14.69
$GC,8700,-0.78,-107.1,2621,1363,3465,3424,743.3,-9.5,337,8706,0.12,2.75,0.00,0.000,3078,0.230,0.093,2645,2733,3443,3465,3422,0,0,0,0,0,0,13.70,13.74,13.97
$GC,9065,-0.86,-107.1,2646,2733,3465,3422,770.1,-7.4,347,9070,0.00,2.55,0.00,0.000,676,0.000,0.043,2646,1365,3442,3464,3420,0,0,0,0,0,0,14.63,13.88,14.63
$GC,9127,-0.96,-107.1,2646,1365,3465,3420,775.5,-8.3,356,9132,0.08,2.72,0.00,0.000,5254,0.143,0.095,2580,2730,3442,3464,3420,0,0,0,0,0,0,14.00,13.74,14.12
$STATE,9396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9396,begin apogee
$GC,9407,-0.23,0.0,2580,2245,3464,3421,803.2,-10.4,367,9511,0.90,0.00,95.90,2.704,10244,0.191,0.000,2823,2244,3051,3088,3014,0,0,0,0,1,0,13.64,13.59,12.52
$STATE,9513,end apogee,CONTROL_FINISHED_OK
$STATE,9513,begin climb
$GC,9518,0.93,107.1,2824,2246,3090,3023,807.8,0.0,369,9647,1.15,2.62,109.65,2.730,10756,0.088,0.050,3182,861,2625,2682,2569,0,0,0,0,1,0,13.49,13.55,11.86
$GC,9710,0.84,145.9,3183,861,2684,2583,807.1,5.8,397,9770,0.00,2.80,51.85,1.830,9382,0.000,0.063,3183,2251,2462,2534,2390,0,0,0,0,0,0,13.13,12.93,12.31
$GC,10135,0.72,145.9,3183,2253,2534,2376,773.9,8.4,415,10137,0.17,0.00,0.00,0.000,4230,0.217,0.000,3135,2252,2453,2532,2374,0,0,0,0,0,0,13.78,14.12,14.06
$GC,10467,0.73,159.2,3135,2254,2534,2371,750.2,7.1,421,10485,0.00,2.47,12.93,1.966,8740,0.000,0.052,3146,861,2410,2491,2329,0,0,0,0,0,0,14.60,14.22,13.55
$GC,10523,0.74,166.3,3145,861,2490,2322,746.3,7.4,429,10534,0.00,2.60,2.62,0.848,9254,0.000,0.070,3146,2252,2391,2469,2313,0,0,0,0,0,0,14.19,13.97,13.02
$GC,10859,0.75,171.8,3146,2249,2470,2327,721.3,7.5,442,10877,0.00,2.78,10.88,2.009,8484,0.000,0.141,3145,3657,2363,2442,2284,0,0,0,0,0,0,14.61,14.11,13.58
$GC,10915,0.66,171.8,3146,3657,2442,2282,716.7,9.1,450,10921,0.15,2.47,0.00,0.000,5254,0.227,0.044,3115,2235,2359,2441,2278,0,0,0,0,0,0,13.81,14.21,14.08
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$STATE,20105,end climb,SURFACE_DEPTH_REACHED
$STATE,20105,begin surface coast
$FINISH,1.3,1.021985
$STATE,20112,end surface coast,CONTROL_FINISHED_OK
$STATE,20112,begin surface
$SM_CCo,20143,57.25,0.153,0,0,1056,500.14
$SM_GC,-2.33,9.57,3.70,57.25,0.086,0.091,0.153,183,2765,1056,-8.40,-0.42,500.14,0,0,0,0,0,0,14.27,13.82,14.16
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$TT8_MAMPS,0.038948,0.444157
$HUMID,56.69
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.70
$XPDR_PINGS,1
$SC_FREEKB,3609792
$PM_FREEKB,50898368
$24V_AH,11.86,264.566
$10V_AH,11.59,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,3.616,2.443,0.000,0.000
$MEM,334740
$DATA_FILE_SIZE,30027,819
$CAP_FILE_SIZE,150789,0
$CFSIZE,1024409600,891092992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.036,252.24,1
$GPS,090317,131801,958.096,-12517.275,31,0.8,44,9.0,0.6,276.2,11,3.0