version: 66.13
glider: 221
mission: 7
dive: 705
start: 12 19 118 23 6 24
data:
$ID,221
$MISSION,7
$DIVE,705
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,110
$T_BOOST,0
$D_FINISH,280
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,25
$SURFACE_URGENCY_TRY,25
$SURFACE_URGENCY_FORCE,50
$T_DIVE,350
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,20
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53510
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0042300001
$HD_B,0.0085000005
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,399.91037
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,4
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,120
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3910
$C_PITCH,2775
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,230
$ROLL_MAX,3910
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,1900
$VBD_MAX,3960
$C_VBD,3492
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,200
$VBD_MAXERRORS,5
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,1
$LOITER_DBDW,200
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,2
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-160.68855
$PRESSURE_SLOPE,0.000108275
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,883
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,7
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,6
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.80000001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044198656
$SEABIRD_T_H,0.00064431952
$SEABIRD_T_I,2.6320724e-05
$SEABIRD_T_J,3.2746798e-06
$SEABIRD_C_G,-9.9022408
$SEABIRD_C_H,1.1403944
$SEABIRD_C_I,-0.0013212307
$SEABIRD_C_J,0.00017705678
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,191218,211544,-7429.6362,-11235.4736,0,4111.7,0,53.4,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,389.86
$_SM_ANGLEo,3.9
$GPS2,191218,211544,-7429.6362,-11235.4736,0,4111.7,0,53.4,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.239
$TGT_NAME,inside2
$TGT_LATLONG,-7430.000,-11230.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,50.5,2792,-33.9,-9.429,-35.35,550
$D_GRID,990
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,13,-1.58,-33.8,2788,2812,3527,3521,0.0,0.0,0,15,0.00,0.00,-0.55,0.163,16390,0.000,0.000,2786,2812,3646,3645,3648,0,0,0,0,0,0,14.84,12.69,14.73
$GC,18,-1.58,-33.8,2788,2812,3651,3652,0.0,0.0,0,25,1.65,1.95,0.00,0.000,4356,0.126,0.087,2263,3914,3650,3650,3651,0,0,0,0,0,0,14.25,14.34,14.38
$GC,215,-1.58,-33.8,2264,3917,3660,3653,406.0,-9.1,39,221,0.00,1.88,0.00,0.000,1030,0.000,0.043,2263,2793,3655,3659,3652,0,0,0,0,0,0,14.59,14.52,14.62
$GC,521,-1.58,-33.8,2264,2794,3661,3654,430.9,-7.8,70,525,0.00,2.42,0.00,0.000,516,0.000,0.046,2263,1398,3657,3661,3653,0,0,0,0,0,0,15.00,14.37,15.00
$GC,596,-1.58,-33.8,2263,1400,3661,3654,436.9,-8.0,85,603,0.00,2.53,0.00,0.000,1030,0.000,0.060,2262,2813,3656,3660,3652,0,0,0,0,0,0,14.47,14.35,14.52
$GC,901,-1.58,-33.8,2263,2813,3662,3653,461.0,-7.8,116,906,0.00,2.45,0.00,0.000,516,0.000,0.044,2262,1401,3657,3661,3653,0,0,0,0,0,0,15.00,14.35,15.00
$GC,942,-1.58,-33.8,2262,1402,3661,3654,464.1,-7.8,124,947,0.00,2.50,0.00,0.000,1030,0.000,0.060,2260,2808,3656,3660,3653,0,0,0,0,0,0,14.46,14.33,14.51
$GC,1253,-1.58,-33.8,2262,2808,3663,3653,488.7,-8.0,156,1258,0.00,2.00,0.00,0.000,260,0.000,0.082,2260,3920,3657,3661,3653,0,0,0,0,0,0,14.99,14.22,14.99
$GC,1298,-1.58,-33.8,2260,3921,3661,3653,492.6,-8.6,165,1305,0.00,1.90,0.00,0.000,1030,0.000,0.043,2260,2791,3656,3661,3652,0,0,0,0,0,0,14.54,14.47,14.57
$GC,1604,-1.58,-33.8,2261,2790,3662,3653,516.2,-7.4,196,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2791,3657,3661,3653,0,0,0,0,0,0,14.77,14.77,14.77
$GC,1904,-1.60,-45.4,2259,2790,3660,3654,538.4,-7.3,226,1909,0.00,2.42,0.00,0.000,548,0.000,0.044,2260,1390,3655,3658,3652,0,0,0,0,0,0,14.99,14.31,14.99
$GC,1955,-1.61,-57.8,2260,1391,3661,3654,542.1,-7.1,236,1961,0.00,2.50,0.00,0.000,1062,0.000,0.058,2257,2802,3657,3661,3653,0,0,0,0,0,0,14.30,14.23,14.33
$GC,2267,-1.63,-70.1,2255,2803,3662,3653,564.3,-7.1,268,2272,0.00,2.47,0.00,0.000,548,0.000,0.044,2258,1390,3656,3661,3652,0,0,0,0,0,0,14.99,14.30,14.99
$GC,2293,-1.63,-70.1,2258,1390,3662,3653,566.2,-7.5,273,2300,0.00,2.53,0.00,0.000,1030,0.000,0.058,2250,2807,3657,3661,3653,0,0,0,0,0,0,14.42,14.28,14.45
$GC,2598,-1.64,-82.9,2250,2807,3662,3652,588.0,-7.0,304,2599,0.00,0.00,0.00,0.000,38,0.000,0.000,2250,2807,3656,3661,3652,0,0,0,0,0,0,14.98,14.97,14.98
$GC,2898,-1.66,-98.1,2250,2807,3661,3652,608.3,-6.6,334,2903,0.00,2.47,0.00,0.000,548,0.000,0.044,2249,1396,3656,3660,3652,0,0,0,0,0,0,14.98,14.28,14.99
$GC,2984,-1.67,-107.1,2250,1396,3662,3651,614.0,-6.4,351,2990,0.00,2.53,0.00,0.000,1062,0.000,0.060,2248,2807,3656,3661,3651,0,0,0,0,0,0,14.39,14.26,14.43
$GC,3289,-1.67,-107.1,2248,2807,3662,3650,633.5,-6.4,382,3290,0.00,0.00,0.00,0.000,38,0.000,0.000,2248,2807,3655,3660,3650,0,0,0,0,0,0,14.95,14.95,14.95
$GC,3589,-1.67,-107.1,2248,2807,3662,3650,651.8,-5.9,412,3594,0.00,2.00,0.00,0.000,292,0.000,0.082,2247,3910,3654,3659,3649,0,0,0,0,0,0,14.99,14.15,14.99
$GC,3620,-1.67,-107.1,2247,3911,3660,3651,653.8,-6.6,418,3625,0.00,1.90,0.00,0.000,1062,0.000,0.044,2247,2796,3655,3661,3649,0,0,0,0,0,0,14.45,14.39,14.49
$GC,3931,-1.67,-107.1,2247,2797,3661,3650,671.3,-5.5,450,3936,0.00,2.42,0.00,0.000,548,0.000,0.045,2247,1399,3655,3661,3649,0,0,0,0,0,0,14.99,14.28,14.99
$GC,3983,-1.67,-107.1,2247,1400,3661,3650,674.1,-5.4,460,3988,0.00,2.55,0.00,0.000,1062,0.000,0.060,2244,2815,3654,3660,3649,0,0,0,0,0,0,14.38,14.25,14.42
$GC,4294,-1.67,-107.1,2245,2815,3662,3649,690.7,-5.2,492,4295,0.00,0.00,0.00,0.000,38,0.000,0.000,2245,2814,3654,3660,3649,0,0,0,0,0,0,15.00,15.00,15.00
$GC,4608,-1.67,-107.1,2244,2816,3661,3650,706.0,-4.8,515,4613,0.00,2.50,0.00,0.000,548,0.000,0.044,2244,1387,3654,3661,3648,0,0,0,0,0,0,14.73,14.24,14.73
$GC,4659,-1.67,-107.1,2245,1388,3661,3649,708.6,-4.8,525,4664,0.00,2.55,0.00,0.000,1062,0.000,0.058,2238,2813,3654,3660,3649,0,0,0,0,0,0,14.35,14.23,14.40
$GC,5034,-1.67,-107.1,2239,2813,3662,3648,726.3,-4.6,539,5035,0.00,0.00,0.00,0.000,38,0.000,0.000,2238,2813,3654,3660,3648,0,0,0,0,0,0,14.73,14.72,14.73
$GC,5391,-1.67,-107.1,2238,2814,3661,3650,742.8,-4.6,551,5396,0.00,2.50,0.00,0.000,548,0.000,0.044,2238,1388,3654,3661,3648,0,0,0,0,0,0,15.00,14.21,15.00
$GC,5461,-1.67,-107.1,2238,1389,3661,3649,746.0,-4.6,565,5468,0.00,2.53,0.00,0.000,1062,0.000,0.058,2234,2800,3654,3661,3648,0,0,0,0,0,0,14.19,14.12,14.22
$GC,5847,-1.67,-107.1,2234,2801,3661,3649,762.3,-4.3,581,5852,0.00,2.03,0.00,0.000,292,0.000,0.080,2234,3911,3654,3660,3648,0,0,0,0,0,0,14.97,14.07,14.97
$GC,5988,-1.67,-107.1,2235,3912,3662,3648,768.7,-4.5,609,5994,0.00,1.92,0.00,0.000,1062,0.000,0.043,2234,2785,3654,3661,3648,0,0,0,0,0,0,14.40,14.33,14.43
$GC,6361,-1.67,-107.1,2235,2785,3662,3648,783.6,-4.0,623,6366,0.00,2.42,0.00,0.000,548,0.000,0.044,2234,1389,3654,3660,3648,0,0,0,0,0,0,15.00,14.19,15.00
$GC,6506,-1.67,-107.1,2234,1390,3661,3649,789.3,-3.7,652,6513,0.00,2.55,0.00,0.000,1062,0.000,0.059,2233,2808,3654,3660,3648,0,0,0,0,0,0,14.31,14.18,14.35
$GC,6872,-1.67,-107.1,2234,2808,3662,3648,801.9,-3.4,665,6877,0.00,2.47,0.00,0.000,548,0.000,0.044,2233,1394,3654,3660,3648,0,0,0,0,0,0,15.00,14.20,15.00
$GC,6903,-1.67,-107.1,2233,1395,3661,3649,802.9,-3.6,671,6908,0.00,2.55,0.00,0.000,1062,0.000,0.059,2232,2814,3654,3661,3648,0,0,0,0,0,0,14.29,14.16,14.34
$GC,7297,-1.67,-107.1,2232,2815,3662,3648,815.8,-3.3,689,7303,0.00,2.00,0.00,0.000,292,0.000,0.078,2223,3909,3654,3660,3648,0,0,0,0,0,0,14.98,14.04,14.98
$GC,7529,-1.67,-107.1,2224,3908,3662,3648,823.9,-3.4,735,7534,0.00,1.90,0.00,0.000,1062,0.000,0.044,2223,2798,3654,3661,3648,0,0,0,0,0,0,14.38,14.31,14.41
$GC,7900,-1.67,-107.1,2223,2799,3661,3650,834.5,-2.9,749,7906,0.00,2.47,0.00,0.000,548,0.000,0.044,2223,1386,3654,3660,3649,0,0,0,0,0,0,15.00,14.18,15.00
$GC,8062,-1.67,-107.1,2223,1386,3662,3649,839.8,-3.0,781,8068,0.00,2.55,0.00,0.000,1062,0.000,0.058,2221,2807,3654,3660,3648,0,0,0,0,0,0,14.31,14.18,14.35
$GC,8444,-1.67,-107.1,2221,2806,3662,3649,849.6,-2.6,797,8450,0.00,2.50,0.00,0.000,548,0.000,0.044,2221,1390,3655,3661,3649,0,0,0,0,0,0,15.00,14.18,15.00
$GC,8651,-1.67,-107.1,2221,1391,3661,3650,855.4,-2.4,838,8657,0.00,2.55,0.00,0.000,1062,0.000,0.058,2220,2808,3655,3661,3649,0,0,0,0,0,0,14.30,14.17,14.34
$GC,9016,-1.67,-107.1,2220,2808,3662,3649,863.1,-2.2,851,9016,0.00,0.00,0.00,0.000,38,0.000,0.000,2219,2808,3655,3661,3649,0,0,0,0,0,0,15.00,15.00,15.00
$GC,9376,-1.67,-107.1,2220,2808,3662,3649,870.4,-1.9,863,9376,0.00,0.00,0.00,0.000,38,0.000,0.000,2219,2808,3654,3660,3649,0,0,0,0,0,0,15.00,15.00,15.00
$GC,9736,-1.67,-107.1,2220,2808,3662,3650,877.3,-1.9,875,9741,0.00,2.03,0.00,0.000,292,0.000,0.081,2219,3916,3655,3661,3650,0,0,0,0,0,0,15.00,13.98,15.00
$GC,9787,-1.67,-107.1,2220,3917,3661,3650,879.0,-2.0,885,9792,0.00,1.92,0.00,0.000,1062,0.000,0.044,2220,2785,3655,3661,3649,0,0,0,0,0,0,14.38,14.31,14.39
$GC,10159,-1.67,-107.1,2220,2786,3662,3651,884.6,-1.6,899,10164,0.00,2.42,0.00,0.000,548,0.000,0.043,2220,1393,3655,3660,3650,0,0,0,0,0,0,15.00,14.15,15.00
$GC,10305,-1.67,-107.1,2220,1395,3661,3651,887.4,-1.4,928,10311,0.00,2.58,0.00,0.000,1062,0.000,0.058,2219,2816,3655,3660,3650,0,0,0,0,0,0,14.27,14.14,14.32
$GC,10671,-1.67,-107.1,2220,2816,3662,3650,892.0,-1.5,941,10672,0.00,0.00,0.00,0.000,38,0.000,0.000,2219,2816,3655,3661,3650,0,0,0,0,0,0,14.71,14.71,14.71
$GC,11030,-1.67,-107.1,2220,2816,3662,3650,897.3,-1.4,953,11031,0.00,0.00,0.00,0.000,38,0.000,0.000,2219,2816,3655,3660,3650,0,0,0,0,0,0,15.00,15.00,15.00
$GC,11390,-1.67,-107.1,2219,2816,3661,3652,901.9,-1.2,965,11395,0.00,2.50,0.00,0.000,548,0.000,0.042,2219,1389,3655,3661,3650,0,0,0,0,0,0,15.00,14.16,15.00
$GC,11466,-1.67,-107.1,2219,1390,3661,3651,903.5,-1.2,980,11472,0.00,2.58,0.00,0.000,1062,0.000,0.058,2218,2813,3655,3660,3650,0,0,0,0,0,0,14.25,14.12,14.29
$STATE,11719,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11719,begin apogee
$GC,11727,-0.23,0.0,2218,2543,3661,3651,905.7,-1.1,991,11783,2.00,0.00,49.42,3.033,10246,0.288,0.000,2699,2542,3491,3497,3485,0,0,0,0,0,0,13.85,13.97,12.62
$STATE,11784,end apogee,CONTROL_FINISHED_OK
$STATE,11784,begin climb
$PING,896.1,29.4,9000.0,0.00,0.00
$GC,11787,1.67,107.1,2700,2543,3497,3486,905.8,0.0,993,11918,1.95,0.00,127.97,3.093,10246,0.109,0.000,3311,2542,3065,3086,3044,0,0,0,0,0,0,14.01,12.84,11.57
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