version: 66.13
glider: 219
mission: 11
dive: 510
start: 11 15 118 12 46 30
data:
$ID,219
$MISSION,11
$DIVE,510
$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,22
$R_STBD_OVSHOOT,35
$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,2052
$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
$GPS1,151118,123308,5027.9595,-14314.6230,27,0.9,27,16.0,0.9,26.2,9,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-81.2
$GPS2,151118,124540,5028.0112,-14314.4746,2,0.7,3,16.0,0.7,5.8,12,9.4
$SPEED_LIMITS,0.147,0.242
$TGT_NAME,MLF2_92_TGT
$TGT_LATLONG,5029.813,-14314.248
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,340.7,3347,-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,15,begin dive
$GC,19,-0.66,-49.6,124,2254,1367,1363,0.0,0.0,0,119,0.00,0.00,-97.28,0.004,16386,0.000,0.000,124,2255,3164,3196,3132,0,0,0,0,0,0,14.61,28.83,14.63
$GC,123,-0.66,-49.6,123,2255,3195,3133,4.7,-12.1,17,137,8.50,2.60,0.00,0.000,2308,0.359,0.069,1917,3654,3165,3201,3130,0,0,0,0,0,0,13.90,14.35,14.28
$GC,325,-0.66,-49.6,1921,3654,3208,3126,55.7,-20.3,55,332,0.00,2.50,0.00,0.000,1030,0.000,0.054,1921,2239,3162,3204,3121,0,0,0,0,0,0,14.23,14.14,14.26
$GC,522,-0.66,-49.6,1921,2239,3206,3126,90.7,-19.2,92,529,0.00,2.53,0.00,0.000,516,0.000,0.061,1921,838,3165,3206,3125,0,0,0,0,0,0,14.76,14.33,14.78
$GC,635,-0.66,-49.6,1921,838,3202,3125,110.9,-18.4,113,643,0.00,2.60,0.00,0.000,1030,0.000,0.069,1912,2245,3165,3206,3125,0,0,0,0,0,0,14.13,13.97,14.16
$GC,845,-0.66,-49.6,1912,2247,3207,3123,146.4,-15.9,134,850,0.00,2.62,0.00,0.000,260,0.000,0.086,1902,3663,3166,3207,3125,0,0,0,0,0,0,14.80,14.02,14.83
$GC,915,-0.66,-49.6,1901,3662,3207,3125,158.3,-17.1,147,923,0.17,2.50,0.00,0.000,3078,0.249,0.051,1937,2248,3166,3207,3125,0,0,0,0,0,0,13.80,14.05,14.04
$GC,1127,-0.66,-49.6,1938,2248,3207,3125,186.7,-14.1,168,1132,0.00,2.58,0.00,0.000,516,0.000,0.060,1938,832,3166,3208,3124,0,0,0,0,0,0,14.79,14.14,14.81
$GC,1270,-0.66,-49.6,1937,831,3208,3125,205.7,-12.9,194,1275,0.00,2.65,0.00,0.000,1030,0.000,0.074,1930,2258,3165,3208,3123,0,0,0,0,0,0,14.40,14.23,14.43
$GC,1486,-0.66,-49.6,1929,2258,3208,3124,234.9,-13.7,216,1491,0.00,2.62,0.00,0.000,260,0.000,0.086,1919,3670,3166,3208,3124,0,0,0,0,0,0,14.83,14.02,14.85
$GC,1546,-0.66,-49.6,1919,3670,3208,3123,243.0,-10.0,227,1553,0.00,2.55,0.00,0.000,1030,0.000,0.054,1919,2248,3165,3208,3122,0,0,0,0,0,0,14.23,14.14,14.28
$GC,1764,-0.66,-49.6,1919,2247,3208,3123,272.2,-13.6,241,1770,0.00,2.55,0.00,0.000,516,0.000,0.060,1919,826,3164,3206,3122,0,0,0,0,0,0,14.81,14.31,14.81
$GC,1928,-0.66,-49.6,1918,826,3208,3121,294.2,-12.0,272,1936,0.12,2.62,0.00,0.000,3078,0.269,0.060,1932,2263,3164,3209,3120,0,0,0,0,0,0,13.96,14.26,14.23
$GC,2135,-0.66,-49.6,1932,2262,3208,3119,319.2,-12.4,283,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2262,3166,3213,3119,0,0,0,0,0,0,14.83,14.89,14.85
$GC,2335,-0.66,-49.6,1932,2262,3208,3115,344.4,-12.4,293,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2262,3167,3215,3119,0,0,0,0,0,0,14.81,14.84,14.83
$GC,2535,-0.66,-49.6,1932,2262,3208,3119,369.9,-12.6,303,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2263,3163,3208,3119,0,0,0,0,0,0,14.83,14.85,14.85
$GC,2735,-0.66,-49.6,1932,2262,3208,3118,396.5,-13.4,313,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2262,3163,3208,3119,0,0,0,0,0,0,14.78,14.81,14.81
$GC,2935,-0.66,-49.6,1932,2262,3208,3118,423.0,-13.0,323,2940,0.00,2.65,0.00,0.000,516,0.000,0.070,1932,832,3162,3208,3117,0,0,0,0,0,0,14.81,14.12,14.83
$GC,3030,-0.66,-49.6,1932,832,3208,3117,435.9,-13.3,341,3036,0.00,2.60,0.00,0.000,1030,0.000,0.060,1924,2251,3162,3208,3117,0,0,0,0,0,0,14.38,14.23,14.42
$GC,3247,-0.66,-49.6,1924,2251,3208,3116,465.5,-13.6,353,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2252,3161,3208,3115,0,0,0,0,0,0,14.81,14.84,14.84
$GC,3447,-0.66,-49.6,1924,2252,3208,3115,493.0,-13.7,363,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2251,3165,3215,3115,0,0,0,0,0,0,14.81,14.84,14.83
$GC,3647,-0.66,-49.6,1924,2251,3208,3114,519.1,-13.3,373,3653,0.00,2.60,0.00,0.000,516,0.000,0.060,1931,831,3161,3208,3114,0,0,0,0,0,0,14.82,14.24,14.84
$GC,3738,-0.66,-49.6,1924,831,3208,3114,530.9,-12.7,390,3743,0.00,2.62,0.00,0.000,1030,0.000,0.060,1914,2260,3161,3208,3114,0,0,0,0,0,0,14.33,14.21,14.40
$GC,3959,-0.66,-49.6,1914,2261,3208,3113,560.2,-13.5,403,3964,0.00,2.60,0.00,0.000,260,0.000,0.085,1903,3658,3160,3208,3113,0,0,0,0,0,0,14.77,14.13,14.80
$GC,4068,-0.66,-49.6,1903,3658,3208,3113,575.1,-13.2,424,4075,0.15,2.47,0.00,0.000,3078,0.259,0.046,1940,2244,3160,3208,3113,0,0,0,0,0,0,13.90,14.31,14.17
$GC,4290,-0.66,-49.6,1933,2244,3208,3113,600.7,-11.3,437,4297,0.00,2.55,0.00,0.000,516,0.000,0.060,1934,832,3159,3208,3111,0,0,0,0,0,0,14.82,14.23,14.84
$GC,4429,-0.66,-49.6,1933,828,3208,3112,616.2,-11.0,463,4434,0.00,2.60,0.00,0.000,1030,0.000,0.059,1926,2250,3160,3208,3112,0,0,0,0,0,0,14.33,14.19,14.38
$GC,4645,-0.66,-49.6,1925,2250,3208,3112,641.0,-11.6,475,4650,0.00,2.62,0.00,0.000,260,0.000,0.086,1915,3661,3156,3201,3112,0,0,0,0,0,0,14.81,14.10,14.83
$GC,4700,-0.66,-49.6,1914,3661,3208,3113,647.8,-12.5,485,4706,0.00,2.47,0.00,0.000,1030,0.000,0.048,1915,2248,3160,3208,3112,0,0,0,0,0,0,14.39,14.29,14.43
$GC,4917,-0.66,-49.6,1915,2249,3208,3110,675.0,-12.5,497,4923,0.00,2.55,0.00,0.000,516,0.000,0.058,1914,837,3159,3208,3111,0,0,0,0,0,0,14.76,14.21,14.78
$GC,5087,-0.66,-49.6,1911,832,3207,3110,695.5,-12.0,529,5094,0.15,2.62,0.00,0.000,3078,0.262,0.060,1934,2257,3159,3208,3110,0,0,0,0,0,0,13.83,14.17,14.12
$GC,5314,-0.66,-49.6,1933,2258,3207,3108,719.7,-10.7,543,5320,0.00,2.60,0.00,0.000,260,0.000,0.086,1925,3665,3159,3210,3109,0,0,0,0,0,0,14.81,13.99,14.83
$GC,5389,-0.66,-49.6,1925,3665,3208,3103,727.9,-10.3,557,5395,0.00,2.50,0.00,0.000,1030,0.000,0.048,1925,2242,3158,3208,3109,0,0,0,0,0,0,14.38,14.27,14.41
$GC,5607,-0.66,-49.6,1925,2242,3208,3109,751.6,-11.3,569,5613,0.00,2.55,0.00,0.000,516,0.000,0.060,1925,832,3158,3209,3108,0,0,0,0,0,0,14.80,14.23,14.83
$GC,5777,-0.66,-49.6,1925,829,3208,3103,770.9,-11.1,601,5783,0.00,2.62,0.00,0.000,1030,0.000,0.060,1915,2257,3158,3208,3108,0,0,0,0,0,0,14.31,14.16,14.35
$GC,6004,-0.66,-49.6,1915,2257,3208,3108,796.4,-11.5,615,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,2257,3158,3208,3108,0,0,0,0,0,0,14.80,14.83,14.83
$GC,6204,-0.66,-49.6,1915,2257,3208,3107,819.2,-11.5,625,6210,0.00,2.58,0.00,0.000,516,0.000,0.057,1915,836,3157,3208,3107,0,0,0,0,0,0,14.80,14.18,14.81
$GC,6259,-0.66,-49.6,1915,835,3208,3108,825.8,-11.5,635,6265,0.15,2.60,0.00,0.000,3078,0.257,0.059,1935,2251,3157,3208,3107,0,0,0,0,0,0,13.83,14.16,14.10
$GC,6476,-0.66,-49.6,1934,2252,3208,3105,847.8,-10.2,647,6481,0.00,2.60,0.00,0.000,260,0.000,0.086,1925,3659,3157,3208,3106,0,0,0,0,0,0,14.79,14.06,14.81
$GC,6556,-0.66,-49.6,1925,3658,3208,3107,856.5,-10.9,662,6563,0.00,2.50,0.00,0.000,1030,0.000,0.048,1926,2244,3157,3208,3107,0,0,0,0,0,0,14.35,14.25,14.39
$GC,6762,-0.66,-49.6,1925,2241,3208,3107,877.9,-10.6,673,6768,0.00,2.55,0.00,0.000,516,0.000,0.060,1926,833,3157,3208,3106,0,0,0,0,0,0,14.77,14.17,14.80
$GC,6976,-0.66,-49.6,1925,834,3203,3106,900.3,-11.3,714,6981,0.00,2.62,0.00,0.000,1030,0.000,0.059,1922,2255,3157,3208,3106,0,0,0,0,0,0,14.28,14.14,14.33
$GC,7197,-0.66,-49.6,1916,2256,3214,3106,922.7,-10.5,727,7203,0.00,2.62,0.00,0.000,260,0.000,0.084,1905,3658,3157,3208,3106,0,0,0,0,0,0,14.78,14.04,14.81
$GC,7216,-0.66,-49.6,1910,3658,3208,3106,924.9,-10.9,730,7224,0.15,2.50,0.00,0.000,3078,0.254,0.049,1935,2244,3156,3208,3105,0,0,0,0,0,0,13.83,14.24,14.11
$GC,7424,-0.66,-49.6,1935,2244,3208,3105,945.0,-9.6,741,7430,0.00,2.55,0.00,0.000,516,0.000,0.060,1935,839,3156,3208,3105,0,0,0,0,0,0,14.78,14.15,14.81
$GC,7519,-0.66,-49.6,1935,839,3207,3110,954.1,-9.6,759,7525,0.00,2.60,0.00,0.000,1030,0.000,0.060,1928,2250,3159,3208,3110,0,0,0,0,0,0,14.28,14.13,14.33
$GC,7735,-0.66,-49.6,1927,2250,3207,3104,974.8,-9.9,771,7740,0.00,2.65,0.00,0.000,260,0.000,0.086,1916,3668,3156,3208,3104,0,0,0,0,0,0,14.78,14.03,14.80
$GC,7754,-0.66,-49.6,1916,3668,3208,3104,977.8,-11.3,774,7761,0.00,2.53,0.00,0.000,1030,0.000,0.049,1916,2237,3156,3208,3104,0,0,0,0,0,0,14.33,14.23,14.37
$STATE,7878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7878,begin apogee
$GC,7886,-0.11,0.0,1916,2108,3208,3102,990.3,-10.6,781,7939,0.77,0.08,43.97,2.621,10246,0.213,0.090,2114,2165,2970,3048,2892,0,0,0,0,0,0,13.76,13.79,12.78
$STATE,7941,end apogee,CONTROL_FINISHED_OK
$STATE,7941,begin climb
$GC,7944,0.66,49.6,2115,2165,3048,2892,993.6,0.0,784,8003,0.80,2.70,47.95,2.564,10500,0.103,0.090,2365,3544,2777,2850,2704,0,0,0,0,0,0,14.25,13.93,12.64
$GC,8031,0.72,94.1,2366,3542,2843,2702,992.0,3.4,796,8082,0.00,2.47,44.08,2.531,9254,0.000,0.068,2377,2195,2595,2668,2523,0,0,0,0,0,0,14.23,14.13,12.59
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$STATE,19201,end climb,SURFACE_DEPTH_REACHED
$STATE,19201,begin surface coast
$FINISH,0.4,1.024566
$STATE,19212,end surface coast,CONTROL_FINISHED_OK
$STATE,19212,begin surface
$SM_CCo,19234,71.93,0.204,0,0,1375,400.16
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$IRIDIUM_FIX,5019.19,-14319.94,151118,063252
$TT8_MAMPS,0.02247,0.462882
$HUMID,49.60
$INTERNAL_PRESSURE,10.0727
$TCM_TEMP,0.00
$XPDR_PINGS,253
$SC_FREEKB,3614976
$24V_AH,12.59,198.909
$10V_AH,12.32,0.000
$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,18.850,246.875,269.550,71.925,0.000,0.000,0.000,454.500,63.250,0.000,12.918,4423.076,10334.504,710.090,3965.574,618.090,0.000,2581.922,0.000,0.000,0.000,0.542,0.000
$DEVICE_MAMPS,358.785,209.610,2620.890,204.255,0.000,0.000,0.000,207.315,420.000,0.000,8.990,12.460,2.190,11.710,30.440,45.420,0.000,16.000,0.000,0.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,echo,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19302.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.273,0.000,0.000,0.000
$MEM,322704
$DATA_FILE_SIZE,63276,1813
$CAP_FILE_SIZE,217093,0
$CFSIZE,1024409600,905723904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,27.12,1
$GPS,151118,180939,5029.520,-14314.455,28,0.9,37,16.0,0.4,334.0,12,4.9