version: 66.13
glider: 219
mission: 11
dive: 450
start: 11 1 118 0 55 38
data:
$ID,219
$MISSION,11
$DIVE,450
$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,390
$T_MISSION,430
$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,2
$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,29
$R_STBD_OVSHOOT,41
$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,1
$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,11160.0
$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
$GPS1,011118,004301,4951.7891,-14342.0469,39,0.9,46,15.8,0.9,206.8,8,3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-76.3
$GPS2,011118,005446,4951.7690,-14342.0488,3,0.9,4,15.8,1.1,192.6,9,5.2
$SPEED_LIMITS,0.147,0.242
$TGT_NAME,SG219_TGT
$TGT_LATLONG,4952.888,-14342.650
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,317.4,2194,-27.0,-8.462,-30.00,895
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.66,-49.6,122,2275,1374,1351,0.0,0.0,0,114,0.00,0.00,-92.62,0.005,16386,0.000,0.000,122,2275,3027,3044,3011,0,0,0,0,0,0,14.64,28.83,14.67
$GC,117,-0.66,-49.6,122,2275,3045,3011,3.8,-9.8,13,135,8.70,2.60,-2.95,0.041,18948,0.373,0.070,1932,834,3169,3201,3137,0,0,0,0,0,0,13.88,12.95,14.15
$GC,378,-0.66,-49.6,1932,833,3204,3137,58.4,-13.0,60,386,0.00,2.58,0.00,0.000,1030,0.000,0.063,1924,2234,3170,3203,3137,0,0,0,0,0,0,14.38,14.31,14.43
$GC,579,-0.66,-49.6,1924,2234,3204,3137,92.1,-18.8,97,587,0.00,2.55,0.00,0.000,516,0.000,0.060,1924,837,3170,3204,3137,0,0,0,0,0,0,14.71,14.33,14.73
$GC,833,-0.66,-49.6,1923,836,3205,3137,131.9,-14.2,143,840,0.00,2.60,0.00,0.000,1030,0.000,0.067,1914,2248,3171,3205,3137,0,0,0,0,0,0,14.39,14.31,14.44
$GC,1050,-0.66,-49.6,1914,2249,3201,3136,164.8,-15.5,165,1056,0.00,2.58,0.00,0.000,516,0.000,0.064,1914,848,3168,3204,3133,0,0,0,0,0,0,14.69,14.25,14.71
$GC,1301,-0.66,-49.6,1914,852,3204,3137,199.4,-15.1,211,1308,0.10,2.60,0.00,0.000,3078,0.250,0.071,1929,2245,3170,3204,3136,0,0,0,0,0,0,14.00,14.28,14.18
$GC,1519,-0.66,-49.6,1929,2246,3204,3137,228.8,-13.6,233,1526,0.00,2.60,0.00,0.000,516,0.000,0.067,1930,838,3170,3204,3136,0,0,0,0,0,0,14.86,14.23,14.92
$GC,1769,-0.66,-49.6,1930,838,3204,3135,259.1,-11.1,279,1776,0.00,2.62,0.00,0.000,1030,0.000,0.070,1923,2251,3169,3204,3134,0,0,0,0,0,0,14.29,14.24,14.36
$GC,1986,-0.66,-49.6,1922,2252,3204,3134,287.2,-13.1,291,1992,0.00,2.60,0.00,0.000,516,0.000,0.063,1923,832,3168,3204,3133,0,0,0,0,0,0,14.83,14.35,14.85
$GC,2231,-0.66,-49.6,1922,832,3204,3133,317.5,-12.8,337,2238,0.00,2.62,0.00,0.000,1030,0.000,0.062,1920,2258,3168,3204,3132,0,0,0,0,0,0,14.38,14.31,14.43
$GC,2447,-0.66,-49.6,1913,2259,3204,3131,347.1,-13.7,349,2454,0.00,2.60,0.00,0.000,516,0.000,0.060,1913,836,3167,3204,3131,0,0,0,0,0,0,14.83,14.39,14.86
$GC,2693,-0.66,-49.6,1919,836,3204,3131,380.5,-13.0,395,2700,0.00,2.60,0.00,0.000,1030,0.000,0.059,1902,2253,3167,3205,3130,0,0,0,0,0,0,14.36,14.30,14.42
$GC,2909,-0.66,-49.6,1902,2253,3205,3129,412.0,-15.1,407,2917,0.12,2.58,0.00,0.000,2564,0.314,0.054,1930,836,3167,3204,3130,0,0,0,0,0,0,13.97,14.23,14.14
$GC,3162,-0.66,-49.6,1929,836,3201,3128,443.6,-12.1,453,3168,0.00,2.60,0.00,0.000,1030,0.000,0.059,1922,2254,3165,3204,3127,0,0,0,0,0,0,14.38,14.31,14.42
$GC,3378,-0.66,-49.6,1921,2255,3205,3126,472.6,-13.3,465,3385,0.00,2.60,0.00,0.000,516,0.000,0.064,1922,838,3169,3213,3126,0,0,0,0,0,0,14.83,14.33,14.85
$GC,3623,-0.66,-49.6,1921,837,3204,3126,503.2,-11.9,511,3630,0.00,2.60,0.00,0.000,1030,0.000,0.063,1912,2246,3164,3204,3125,0,0,0,0,0,0,14.35,14.26,14.41
$GC,3840,-0.66,-49.6,1911,2247,3204,3126,531.4,-13.3,523,3846,0.00,2.58,0.00,0.000,516,0.000,0.060,1912,845,3164,3204,3125,0,0,0,0,0,0,14.83,14.32,14.85
$GC,4084,-0.66,-49.6,1910,843,3205,3125,562.2,-12.3,569,4092,0.12,2.60,0.00,0.000,3078,0.243,0.063,1932,2254,3167,3212,3123,0,0,0,0,0,0,13.94,14.28,14.12
$GC,4301,-0.66,-49.6,1932,2249,3204,3124,586.3,-11.0,581,4308,0.00,2.58,0.00,0.000,516,0.000,0.059,1932,842,3163,3204,3123,0,0,0,0,0,0,14.83,14.29,14.88
$GC,4546,-0.66,-49.6,1932,842,3204,3123,612.0,-10.0,627,4553,0.00,2.60,0.00,0.000,1030,0.000,0.063,1924,2249,3164,3205,3124,0,0,0,0,0,0,14.38,14.26,14.40
$GC,4763,-0.66,-49.6,1924,2251,3204,3121,636.6,-11.6,639,4769,0.00,2.58,0.00,0.000,516,0.000,0.060,1925,834,3162,3204,3121,0,0,0,0,0,0,14.81,14.31,14.85
$GC,5008,-0.66,-49.6,1924,833,3203,3120,664.8,-11.5,685,5015,0.00,2.62,0.00,0.000,1030,0.000,0.061,1914,2249,3162,3204,3120,0,0,0,0,0,0,14.31,14.23,14.38
$GC,5224,-0.66,-49.6,1914,2244,3204,3119,692.1,-13.0,697,5231,0.00,2.60,0.00,0.000,516,0.000,0.058,1914,835,3161,3204,3119,0,0,0,0,0,0,14.82,14.30,14.85
$GC,5470,-0.66,-49.6,1914,836,3204,3119,724.1,-12.7,743,5477,0.00,2.62,0.00,0.000,1030,0.000,0.063,1904,2247,3161,3204,3119,0,0,0,0,0,0,14.32,14.20,14.34
$GC,5687,-0.66,-49.6,1903,2248,3204,3116,754.8,-14.4,755,5694,0.12,2.60,0.00,0.000,2564,0.304,0.055,1931,835,3158,3204,3113,0,0,0,0,0,0,14.01,14.28,14.17
$GC,5939,-0.66,-49.6,1932,834,3204,3121,785.8,-12.3,801,5945,0.00,2.62,0.00,0.000,1030,0.000,0.060,1924,2253,3161,3204,3118,0,0,0,0,0,0,14.32,14.24,14.36
$GC,6155,-0.66,-49.6,1923,2254,3204,3118,813.8,-12.7,813,6162,0.00,2.60,0.00,0.000,516,0.000,0.057,1929,840,3161,3204,3118,0,0,0,0,0,0,14.81,14.26,14.83
$GC,6398,-0.66,-49.6,1923,840,3204,3118,842.3,-11.8,859,6405,0.00,2.62,0.00,0.000,1030,0.000,0.060,1913,2258,3160,3204,3117,0,0,0,0,0,0,14.30,14.23,14.36
$GC,6615,-0.66,-49.6,1909,2259,3197,3117,868.7,-12.3,871,6622,0.00,2.60,0.00,0.000,516,0.000,0.057,1913,842,3160,3204,3117,0,0,0,0,0,0,14.77,14.26,14.80
$GC,6859,-0.66,-49.6,1913,842,3204,3117,898.1,-11.7,917,6866,0.10,2.60,0.00,0.000,3078,0.239,0.060,1928,2247,3160,3204,3116,0,0,0,0,0,0,13.90,14.23,14.04
$GC,7076,-0.66,-49.6,1928,2248,3204,3116,921.6,-10.7,929,7083,0.00,2.60,0.00,0.000,516,0.000,0.058,1928,837,3159,3204,3114,0,0,0,0,0,0,14.78,14.23,14.82
$GC,7320,-0.66,-49.6,1927,832,3204,3116,946.3,-9.5,975,7327,0.00,2.62,0.00,0.000,1030,0.000,0.060,1920,2251,3159,3204,3115,0,0,0,0,0,0,14.28,14.22,14.35
$GC,7536,-0.66,-49.6,1920,2252,3204,3115,968.4,-10.1,987,7543,0.00,2.62,0.00,0.000,516,0.000,0.058,1920,834,3159,3204,3114,0,0,0,0,0,0,14.85,14.24,14.88
$STATE,7759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7759,begin apogee
$GC,7770,-0.11,0.0,1911,2162,3204,3114,990.8,-12.3,1029,7821,0.80,0.00,43.80,2.564,10246,0.227,0.000,2113,2164,2971,3035,2907,0,0,0,0,0,0,13.88,13.88,12.89
$STATE,7823,end apogee,CONTROL_FINISHED_OK
$STATE,7823,begin climb
$GC,7826,0.66,49.6,2113,2164,3034,2906,992.9,0.0,1032,7884,0.82,2.72,47.83,2.570,10500,0.106,0.092,2371,3563,2773,2828,2718,0,0,0,0,0,0,14.26,13.95,12.69
$GC,8128,0.71,87.8,2370,3564,2826,2709,984.9,4.1,1084,8174,0.00,2.58,35.78,2.560,9254,0.000,0.061,2383,2151,2620,2678,2562,0,0,0,0,0,0,14.42,14.36,12.94
$GC,8383,0.71,87.8,2381,2151,2684,2554,968.0,8.1,1102,8390,0.00,2.72,0.00,0.000,260,0.000,0.100,2382,3557,2618,2683,2554,0,0,0,0,0,0,14.73,14.25,14.76
$GC,8630,0.74,106.0,2381,3559,2677,2552,946.1,6.4,1148,8656,0.00,2.55,17.73,2.407,9254,0.000,0.060,2392,2148,2548,2609,2487,0,0,0,0,0,0,14.47,14.42,13.14
$GC,8873,0.74,106.0,2392,2148,2609,2479,924.1,9.4,1164,8880,0.00,2.72,0.00,0.000,260,0.000,0.109,2392,3552,2544,2609,2479,0,0,0,0,0,0,14.80,14.28,14.83
$GC,9120,0.74,106.0,2393,3553,2610,2477,901.1,10.2,1210,9127,0.00,2.55,0.00,0.000,1030,0.000,0.057,2403,2143,2545,2609,2482,0,0,0,0,0,0,14.47,14.43,14.52
$GC,9337,0.74,106.0,2403,2143,2609,2475,882.0,8.8,1222,9344,0.00,2.70,0.00,0.000,260,0.000,0.101,2403,3554,2542,2609,2475,0,0,0,0,0,0,14.80,14.32,14.82
$GC,9584,0.74,106.0,2404,3555,2609,2475,858.7,8.9,1268,9591,0.00,2.55,0.00,0.000,1030,0.000,0.061,2415,2147,2541,2609,2474,0,0,0,0,0,0,14.48,14.42,14.53
$GC,9801,0.74,106.0,2413,2146,2609,2473,839.1,9.3,1280,9808,0.00,2.72,0.00,0.000,260,0.000,0.106,2413,3555,2540,2609,2472,0,0,0,0,0,0,14.83,14.22,14.85
$GC,10047,0.74,106.0,2413,3555,2609,2479,815.6,9.8,1326,10055,0.12,2.55,0.00,0.000,5126,0.334,0.060,2398,2144,2541,2611,2472,0,0,0,0,0,0,13.88,14.40,14.12
$GC,10265,0.74,106.0,2397,2145,2609,2471,797.2,8.4,1338,10271,0.00,2.70,0.00,0.000,260,0.000,0.087,2398,3562,2540,2608,2472,0,0,0,0,0,0,14.81,14.30,14.83
$GC,10515,0.74,106.0,2397,3562,2609,2471,774.2,9.1,1384,10522,0.00,2.60,0.00,0.000,1030,0.000,0.071,2407,2144,2540,2609,2472,0,0,0,0,0,0,14.44,14.39,14.49
$GC,10732,0.74,106.0,2406,2144,2609,2470,755.3,8.6,1396,10738,0.00,2.72,0.00,0.000,260,0.000,0.104,2406,3553,2539,2609,2470,0,0,0,0,0,0,14.83,14.26,14.86
$GC,10981,0.74,106.0,2406,3553,2609,2470,731.3,9.5,1442,10988,0.00,2.53,0.00,0.000,1030,0.000,0.057,2417,2152,2538,2609,2468,0,0,0,0,0,0,14.44,14.38,14.47
$GC,11198,0.74,106.0,2417,2152,2609,2469,712.3,8.5,1454,11205,0.00,2.65,0.00,0.000,260,0.000,0.081,2417,3555,2541,2613,2469,0,0,0,0,0,0,14.83,14.23,14.86
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$STATE,20085,end climb,SURFACE_DEPTH_REACHED
$STATE,20085,begin surface coast
$FINISH,-0.0,1.024382
$STATE,20092,end surface coast,CONTROL_FINISHED_OK
$STATE,20092,begin surface
$SM_CCo,20113,61.38,0.197,0,0,1376,400.16
$SM_GC,0.33,7.22,0.22,61.38,0.075,0.099,0.197,225,2247,1376,-5.93,-0.62,400.16,0,0,0,0,0,0,14.50,14.40,14.18
$IRIDIUM_FIX,4949.06,-14350.51,311018,185818
$TT8_MAMPS,0.021721,0.54677
$HUMID,49.88
$INTERNAL_PRESSURE,10.0727
$TCM_TEMP,17.80
$XPDR_PINGS,586
$SC_FREEKB,3646464
$24V_AH,12.69,174.996
$10V_AH,12.62,0.000
$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,18.575,224.625,276.425,61.375,0.000,0.000,0.000,401.000,146.500,0.000,14.403,5344.903,6133.261,518.706,7789.688,1068.632,0.000,3017.751,0.000,7327.251,0.000,0.543,0.000
$DEVICE_MAMPS,372.555,108.630,2570.400,196.605,0.000,0.000,0.000,206.550,420.000,0.000,8.990,12.460,2.190,11.710,30.440,45.420,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,echo,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20146.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.410,0.000,0.000,0.000
$MEM,322704
$DATA_FILE_SIZE,83013,2670
$CAP_FILE_SIZE,650772,0
$CFSIZE,1024409600,916750336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2670
$CURRENT,0.036,149.86,1
$GPS,011118,063300,4951.425,-14341.740,22,1.2,22,15.8,0.5,122.7,6,5.2