version: 66.13
glider: 219
mission: 11
dive: 120
start: 8 22 118 14 12 34
data:
$ID,219
$MISSION,11
$DIVE,120
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,5
$T_BOOST,0
$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,400
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55668
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,250
$PITCH_MAX,3914
$C_PITCH,2155
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,45
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,251
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2970
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0013
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-148.58136
$PRESSURE_SLOPE,0.0001078618
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.25
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,147
$LOGGERDEVICE3,131
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043946085
$SEABIRD_T_H,0.00063626852
$SEABIRD_T_I,2.5989737e-05
$SEABIRD_T_J,3.1806876e-06
$SEABIRD_C_G,-9.6980124
$SEABIRD_C_H,1.1068786
$SEABIRD_C_I,-0.0019018035
$SEABIRD_C_J,0.00022417276
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$ES_RECORDABOVE,2000.0
$ES_PROFILE,3.0
$ES_XMITPROFILE,0.0
$ES_UPLOADMAX,100000.0
$ES_STARTS,244.0
$ES_NDIVE,1.0
$ES_DL_HEADERSKIP,105044.0
$ES_DL_RECORDLENGTH,10086.0
$ES_DL_NRECORD,100.0
$ES_DL_RECORDCOUNT,3.0
$CP_RECORDABOVE,2000.0
$CP_PROFILE,0.0
$CP_XMITPROFILE,0.0
$CP_UPLOADMAX,0.0
$CP_STARTS,0.0
$CP_NDIVE,1.0
$GPS1,220818,140030,5022.8687,-14504.9229,36,0.8,36,15.6,0.4,242.0,9,4.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-70.5
$GPS2,220818,141139,5022.8188,-14504.8779,3,0.6,4,15.6,0.4,68.2,12,5.1
$SPEED_LIMITS,0.143,0.240
$TGT_NAME,SG219_TGT
$TGT_LATLONG,5022.700,-14502.661
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,70.4,2627,-26.9,-8.250,-30.00,884
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.66,-47.8,137,2276,1362,1365,0.0,0.0,0,117,0.00,0.00,-92.43,0.004,16390,0.000,0.000,135,2280,3161,3180,3143,0,0,0,0,0,0,14.68,13.59,14.71
$GC,120,-0.66,-47.8,135,2280,3179,3143,5.3,-15.2,16,134,8.25,2.53,0.00,0.000,2308,0.382,0.063,1925,3656,3162,3180,3144,0,0,0,0,0,0,14.31,14.54,14.52
$GC,294,-0.66,-47.8,1925,3653,3184,3142,52.3,-15.8,49,302,0.00,2.47,0.00,0.000,1030,0.000,0.052,1925,2248,3163,3187,3140,0,0,0,0,0,0,14.67,14.59,14.68
$GC,485,-0.66,-47.8,1925,2247,3192,3139,87.0,-20.4,86,493,0.00,2.47,0.00,0.000,516,0.000,0.066,1929,829,3163,3187,3140,0,0,0,0,0,0,14.81,14.58,14.83
$GC,719,-0.66,-47.8,1929,829,3189,3139,126.7,-14.7,131,726,0.00,2.50,0.00,0.000,1030,0.000,0.070,1921,2239,3164,3189,3139,0,0,0,0,0,0,14.73,14.64,14.74
$GC,924,-0.66,-47.8,1921,2239,3189,3138,158.9,-16.3,152,930,0.00,2.55,0.00,0.000,260,0.000,0.081,1911,3669,3164,3189,3139,0,0,0,0,0,0,14.84,14.66,14.87
$GC,998,-0.66,-47.8,1910,3669,3189,3138,170.9,-16.2,166,1005,0.12,2.47,0.00,0.000,3078,0.307,0.055,1933,2256,3161,3185,3138,0,0,0,0,0,0,14.53,14.66,14.71
$GC,1215,-0.66,-47.8,1932,2248,3189,3137,206.5,-16.8,188,1221,0.00,2.47,0.00,0.000,516,0.000,0.062,1939,828,3164,3189,3139,0,0,0,0,0,0,14.87,14.64,14.90
$GC,1314,-0.66,-47.8,1938,826,3189,3137,222.5,-16.3,207,1321,0.00,2.53,0.00,0.000,1030,0.000,0.072,1931,2252,3163,3189,3137,0,0,0,0,0,0,14.78,14.71,14.82
$GC,1530,-0.66,-47.8,1931,2252,3189,3136,257.3,-16.3,227,1536,0.00,2.53,0.00,0.000,260,0.000,0.082,1920,3663,3162,3189,3136,0,0,0,0,0,0,14.90,14.70,14.92
$GC,1574,-0.66,-47.8,1920,3664,3189,3136,264.8,-16.9,235,1580,0.00,2.50,0.00,0.000,1030,0.000,0.057,1920,2229,3162,3189,3136,0,0,0,0,0,0,14.80,14.73,14.82
$GC,1798,-0.66,-47.8,1919,2228,3191,3140,303.3,-17.1,249,1804,0.00,2.40,0.00,0.000,516,0.000,0.062,1921,839,3162,3191,3133,0,0,0,0,0,0,14.90,14.71,14.92
$GC,1963,-0.66,-47.8,1920,839,3192,3131,329.7,-16.2,281,1969,0.00,2.53,0.00,0.000,1030,0.000,0.075,1913,2260,3162,3192,3132,0,0,0,0,0,0,14.81,14.71,14.81
$GC,2187,-0.66,-47.8,1912,2261,3192,3131,365.9,-16.2,295,2193,0.00,2.50,0.00,0.000,516,0.000,0.066,1913,840,3161,3191,3131,0,0,0,0,0,0,14.93,14.73,14.95
$GC,2240,-0.66,-47.8,1912,836,3191,3131,374.6,-15.4,305,2247,0.17,2.50,0.00,0.000,3078,0.308,0.067,1938,2255,3161,3191,3131,0,0,0,0,0,0,14.58,14.71,14.78
$GC,2455,-0.66,-47.8,1938,2256,3191,3130,404.0,-13.6,317,2461,0.00,2.50,0.00,0.000,516,0.000,0.067,1942,832,3159,3190,3129,0,0,0,0,0,0,14.91,14.74,14.94
$GC,2499,-0.66,-47.8,1942,832,3191,3130,409.5,-12.7,325,2504,0.00,2.47,0.00,0.000,1030,0.000,0.061,1934,2250,3160,3191,3129,0,0,0,0,0,0,14.82,14.73,14.83
$GC,2723,-0.66,-47.8,1933,2250,3191,3128,439.0,-13.3,339,2729,0.00,2.47,0.00,0.000,516,0.000,0.073,1934,839,3160,3191,3130,0,0,0,0,0,0,14.92,14.74,14.95
$GC,2756,-0.66,-47.8,1935,839,3191,3135,443.7,-13.5,345,2762,0.00,2.47,0.00,0.000,1030,0.000,0.060,1924,2255,3159,3191,3127,0,0,0,0,0,0,14.80,14.71,14.81
$GC,2970,-0.66,-47.8,1923,2256,3189,3126,474.2,-14.7,357,2976,0.00,2.53,0.00,0.000,260,0.000,0.079,1913,3668,3158,3191,3126,0,0,0,0,0,0,14.92,14.71,14.95
$GC,2994,-0.66,-47.8,1913,3669,3191,3126,478.1,-16.0,361,3000,0.00,2.42,0.00,0.000,1030,0.000,0.048,1913,2245,3158,3191,3125,0,0,0,0,0,0,14.82,14.76,14.84
$GC,3218,-0.66,-47.8,1913,2245,3191,3125,512.4,-15.2,375,3224,0.00,2.42,0.00,0.000,516,0.000,0.062,1913,834,3158,3191,3126,0,0,0,0,0,0,14.92,14.74,14.95
$GC,3343,-0.66,-47.8,1913,830,3191,3125,530.8,-14.1,399,3349,0.17,2.55,0.00,0.000,3078,0.311,0.078,1938,2252,3161,3191,3132,0,0,0,0,0,0,14.57,14.72,14.79
$GC,3568,-0.66,-47.8,1938,2250,3191,3124,560.6,-13.3,413,3573,0.00,2.45,0.00,0.000,516,0.000,0.062,1942,843,3157,3191,3124,0,0,0,0,0,0,14.93,14.75,14.95
$GC,3611,-0.66,-47.8,1942,843,3191,3124,566.3,-12.2,421,3617,0.00,2.47,0.00,0.000,1030,0.000,0.059,1935,2261,3157,3190,3124,0,0,0,0,0,0,14.83,14.75,14.84
$GC,3836,-0.66,-47.8,1934,2262,3191,3123,594.6,-12.5,435,3841,0.00,2.50,0.00,0.000,260,0.000,0.081,1924,3665,3157,3191,3123,0,0,0,0,0,0,14.92,14.72,14.95
$GC,3860,-0.66,-47.8,1923,3665,3191,3123,597.7,-13.1,439,3866,0.00,2.45,0.00,0.000,1030,0.000,0.050,1924,2245,3157,3191,3123,0,0,0,0,0,0,14.83,14.76,14.85
$GC,4084,-0.66,-47.8,1923,2244,3190,3121,626.8,-13.0,453,4090,0.00,2.42,0.00,0.000,516,0.000,0.063,1925,835,3156,3191,3121,0,0,0,0,0,0,14.93,14.75,14.96
$GC,4214,-0.66,-47.8,1925,835,3191,3121,642.8,-12.0,478,4221,0.00,2.47,0.00,0.000,1030,0.000,0.060,1917,2250,3155,3191,3120,0,0,0,0,0,0,14.85,14.74,14.85
$GC,4434,-0.66,-47.8,1917,2252,3191,3119,671.0,-12.8,491,4440,0.00,2.50,0.00,0.000,516,0.000,0.073,1912,834,3159,3191,3127,0,0,0,0,0,0,14.93,14.76,14.95
$GC,4479,-0.66,-47.8,1917,833,3191,3114,676.7,-12.5,499,4485,0.15,2.47,0.00,0.000,3078,0.303,0.059,1936,2254,3155,3191,3119,0,0,0,0,0,0,14.59,14.75,14.79
$GC,4703,-0.66,-47.8,1936,2255,3191,3119,704.0,-12.4,513,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2255,3155,3191,3119,0,0,0,0,0,0,14.93,14.97,14.96
$GC,4904,-0.66,-47.8,1936,2255,3191,3117,729.0,-12.6,523,4910,0.00,2.50,0.00,0.000,260,0.000,0.080,1928,3665,3154,3190,3119,0,0,0,0,0,0,14.93,14.73,14.95
$GC,4922,-0.66,-47.8,1927,3665,3191,3119,731.7,-13.0,526,4930,0.00,2.45,0.00,0.000,1030,0.000,0.048,1928,2240,3155,3191,3119,0,0,0,0,0,0,14.83,14.76,14.85
$GC,5128,-0.66,-47.8,1930,2238,3191,3118,759.1,-13.6,537,5133,0.00,2.42,0.00,0.000,516,0.000,0.062,1928,834,3158,3191,3125,0,0,0,0,0,0,14.93,14.76,14.96
$GC,5192,-0.66,-47.8,1927,834,3191,3118,767.8,-13.2,549,5198,0.00,2.50,0.00,0.000,1030,0.000,0.060,1918,2256,3154,3191,3118,0,0,0,0,0,0,14.83,14.74,14.85
$GC,5417,-0.66,-47.8,1918,2258,3191,3117,798.1,-13.7,563,5422,0.00,2.47,0.00,0.000,516,0.000,0.062,1918,840,3154,3191,3117,0,0,0,0,0,0,14.93,14.73,14.96
$GC,5461,-0.66,-47.8,1918,840,3191,3116,804.2,-13.8,571,5468,0.15,2.47,0.00,0.000,3078,0.299,0.059,1937,2260,3152,3188,3117,0,0,0,0,0,0,14.60,14.74,14.79
$GC,5686,-0.66,-47.8,1937,2261,3191,3116,832.0,-12.3,585,5691,0.00,2.50,0.00,0.000,260,0.000,0.079,1928,3662,3153,3191,3116,0,0,0,0,0,0,14.93,14.73,14.96
$GC,5719,-0.66,-47.8,1928,3662,3191,3116,836.6,-14.9,591,5725,0.00,2.42,0.00,0.000,1030,0.000,0.047,1928,2247,3151,3186,3116,0,0,0,0,0,0,14.83,14.76,14.85
$GC,5934,-0.66,-47.8,1928,2247,3189,3116,862.7,-12.3,603,5940,0.00,2.42,0.00,0.000,516,0.000,0.063,1928,844,3153,3191,3115,0,0,0,0,0,0,14.95,14.74,14.97
$GC,6088,-0.66,-47.8,1928,844,3191,3115,881.6,-11.9,633,6094,0.00,2.47,0.00,0.000,1030,0.000,0.063,1919,2257,3151,3188,3115,0,0,0,0,0,0,14.83,14.74,14.85
$GC,6302,-0.66,-47.8,1919,2254,3191,3114,908.3,-12.2,645,6307,0.00,2.47,0.00,0.000,516,0.000,0.063,1919,842,3152,3191,3114,0,0,0,0,0,0,14.92,14.75,14.95
$GC,6419,-0.66,-47.8,1919,841,3191,3111,922.6,-11.9,668,6427,0.15,2.47,0.00,0.000,3078,0.302,0.059,1937,2250,3152,3191,3114,0,0,0,0,0,0,14.58,14.73,14.77
$GC,6626,-0.66,-47.8,1938,2250,3191,3113,945.3,-11.0,679,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,2250,3149,3191,3108,0,0,0,0,0,0,14.92,14.95,14.95
$GC,6826,-0.66,-47.8,1941,2251,3191,3113,967.5,-11.0,689,6832,0.00,2.50,0.00,0.000,516,0.000,0.065,1938,832,3148,3184,3113,0,0,0,0,0,0,14.92,14.74,14.95
$GC,6854,-0.66,-47.8,1944,832,3191,3113,970.6,-9.2,694,6861,0.00,2.47,0.00,0.000,1030,0.000,0.059,1931,2250,3152,3191,3113,0,0,0,0,0,0,14.82,14.73,14.84
$STATE,7031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7031,begin apogee
$GC,7038,-0.11,0.0,1930,2119,3191,3112,991.1,-11.6,705,7081,0.70,0.00,40.05,2.604,10246,0.249,0.000,2112,2117,2970,3030,2911,0,0,0,0,0,0,14.57,14.32,13.45
$STATE,7085,end apogee,CONTROL_FINISHED_OK
$STATE,7085,begin climb
$GC,7088,0.66,47.8,2113,2117,3031,2909,994.0,0.0,707,7139,0.82,2.53,42.75,2.597,10756,0.132,0.072,2372,763,2782,2836,2728,0,0,0,0,0,0,14.29,13.89,13.19
$GC,7269,0.71,83.6,2370,763,2828,2723,988.7,4.1,739,7310,0.00,2.58,32.50,2.572,9254,0.000,0.082,2373,2148,2635,2688,2583,0,0,0,0,0,0,14.42,14.33,13.26
$GC,7508,0.71,83.6,2373,2147,2694,2569,973.3,7.8,757,7514,0.00,2.65,0.00,0.000,260,0.000,0.097,2373,3569,2633,2694,2572,0,0,0,0,0,0,14.55,14.38,14.58
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$STATE,19011,end climb,SURFACE_DEPTH_REACHED
$STATE,19011,begin surface coast
$FINISH,0.0,1.024122
$STATE,19028,end surface coast,CONTROL_FINISHED_OK
$STATE,19028,begin surface
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$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.700,280.300,242.175,75.925,0.000,0.000,0.000,372.025,66.000,0.000,14.362,4628.129,10628.780,696.803,3408.001,461.860,0.000,2649.726,0.000,2857.035,0.000,0.542,0.000
$DEVICE_MAMPS,381.735,97.920,2604.060,200.430,0.000,0.000,0.000,198.900,420.000,0.000,8.990,12.460,2.190,11.710,30.440,45.420,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,echo,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19056.000,19047.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.892,5.000,0.000,0.000
$MEM,323012
$DATA_FILE_SIZE,73135,2001
$CAP_FILE_SIZE,227877,0
$CFSIZE,1024409600,991461376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10070.59,0x2355a8,1,24
$CURRENT,0.031,18.25,1
$GPS,220818,193238,5023.406,-14502.702,26,0.8,26,15.7,0.7,274.2,10,6.8