version: 66.13
glider: 219
mission: 8
dive: 107
start: 9 19 117 8 36 38
data:
$ID,219
$MISSION,8
$DIVE,107
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,840
$D_ABORT,950
$D_NO_BLEED,50
$D_BOOST,100
$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,280
$T_MISSION,380
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54258
$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,525
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3914
$C_PITCH,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,251
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2870
$C_ROLL_CLIMB,2640
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,107
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2968
$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,50
$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,-149.39949
$PRESSURE_SLOPE,0.0001078618
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$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
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043199207
$SEABIRD_T_H,0.00062990503
$SEABIRD_T_I,2.3814182e-05
$SEABIRD_T_J,2.5407201e-06
$SEABIRD_C_G,-9.8638144
$SEABIRD_C_H,1.1196728
$SEABIRD_C_I,-0.0018518606
$SEABIRD_C_J,0.0002092591
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,0.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,500.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,190917,082908,958.2275,-12517.7500,21,0.9,21,9.0,0.2,0.0,8,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-69.5
$GPS2,190917,083618,958.1923,-12517.6982,3,0.9,4,9.0,0.8,105.1,8,9.8
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,131.9,45479,-17.6,-10.000,-21.24,2209
$D_GRID,840
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.91,-146.0,182,2868,910,856,0.0,0.0,0,102,0.00,0.00,-86.30,0.000,16386,0.000,0.000,183,2869,3454,3479,3429,0,0,0,0,0,0,14.73,28.83,14.75
$GC,104,-0.91,-146.0,184,2869,3480,3430,6.2,-9.0,3,123,10.70,2.47,-1.38,0.000,18948,0.361,2.071,2544,1516,3556,3594,3519,0,0,0,0,0,0,14.21,13.35,14.42
$GC,260,-0.59,-146.0,2544,1516,3592,3520,57.5,-26.2,26,270,0.43,2.38,0.00,0.000,3206,0.236,0.049,2650,2882,3555,3592,3519,0,0,0,0,0,0,14.34,14.54,14.49
$GC,576,-0.62,-146.0,2650,2884,3597,3521,95.0,-8.3,38,585,0.00,1.60,0.00,0.000,420,0.000,0.074,2652,3817,3557,3596,3519,0,0,0,0,0,0,14.88,14.61,14.91
$GC,814,-0.68,-146.0,2645,3818,3598,3521,111.8,-7.3,72,821,0.00,1.48,0.00,0.000,1190,0.000,0.028,2645,2817,3558,3598,3519,0,0,0,0,0,0,14.81,14.78,14.83
$GC,1137,-0.78,-146.0,2645,2818,3609,3521,134.6,-7.2,83,1144,0.15,1.77,0.00,0.000,4516,0.111,0.074,2566,3829,3558,3598,3519,0,0,0,0,0,0,14.77,14.66,14.82
$GC,1205,-0.70,-146.0,2567,3830,3600,3520,141.7,-10.7,93,1214,0.22,1.48,0.00,0.000,3206,0.220,0.028,2623,2846,3559,3599,3519,0,0,0,0,0,0,14.52,14.82,14.73
$GC,1528,-0.78,-146.0,2624,2847,3599,3519,167.1,-7.7,104,1536,0.00,2.12,0.00,0.000,676,0.000,0.028,2624,1529,3557,3598,3517,0,0,0,0,0,0,14.98,14.76,15.02
$GC,1641,-0.89,-146.0,2625,1529,3600,3516,175.6,-7.6,120,1648,0.12,2.30,0.00,0.000,5286,0.056,0.044,2541,2872,3557,3598,3516,0,0,0,0,0,0,14.74,14.69,14.78
$GC,1977,-0.81,-146.0,2539,2874,3598,3514,215.0,-12.2,133,1979,0.17,0.00,0.00,0.000,2182,0.232,0.000,2583,2873,3555,3598,3512,0,0,0,0,0,0,14.54,14.81,14.75
$GC,2312,-0.81,-146.0,2584,2874,3599,3508,248.8,-9.8,139,2320,0.00,2.20,0.00,0.000,548,0.000,0.028,2583,1534,3553,3598,3508,0,0,0,0,0,0,15.02,14.74,15.05
$GC,2375,-0.85,-146.0,2583,1533,3598,3508,255.0,-9.6,148,2383,0.00,2.30,0.00,0.000,1190,0.000,0.047,2575,2868,3552,3598,3507,0,0,0,0,0,0,14.78,14.70,14.79
$GC,2704,-0.85,-146.0,2572,2869,3600,3502,286.9,-9.6,160,2707,0.00,0.00,0.00,0.000,38,0.000,0.000,2574,2868,3550,3598,3502,0,0,0,0,0,0,15.02,15.06,15.06
$GC,3040,-0.85,-146.0,2575,2870,3599,3498,318.2,-9.3,166,3048,0.00,2.20,0.00,0.000,548,0.000,0.029,2574,1536,3547,3598,3497,0,0,0,0,0,0,15.00,14.76,15.03
$GC,3081,-0.85,-146.0,2575,1536,3599,3496,322.2,-9.3,172,3090,0.00,2.33,0.00,0.000,1062,0.000,0.048,2565,2880,3547,3598,3496,0,0,0,0,0,0,14.83,14.73,14.87
$GC,3433,-0.85,-146.0,2565,2881,3599,3493,357.1,-10.1,180,3440,0.00,2.17,0.00,0.000,516,0.000,0.028,2565,1531,3545,3598,3493,0,0,0,0,0,0,14.97,14.80,15.00
$GC,3480,-0.85,-146.0,2565,1532,3594,3492,362.3,-10.6,187,3490,0.00,2.35,0.00,0.000,1030,0.000,0.048,2555,2879,3544,3598,3490,0,0,0,0,0,0,14.83,14.73,14.86
$GC,3825,-0.85,-146.0,2555,2880,3596,3490,399.6,-10.9,194,3832,0.00,2.22,0.00,0.000,516,0.000,0.028,2555,1531,3542,3596,3489,0,0,0,0,0,0,15.00,14.75,15.04
$GC,3880,-0.85,-146.0,2555,1532,3595,3490,405.5,-10.3,202,3888,0.00,2.33,0.00,0.000,1030,0.000,0.048,2546,2870,3541,3594,3489,0,0,0,0,0,0,14.73,14.68,14.78
$GC,4216,-0.82,-146.0,2546,2870,3593,3489,440.6,-10.4,215,4219,0.15,0.00,0.00,0.000,2182,0.244,0.000,2580,2870,3540,3593,3488,0,0,0,0,0,0,14.51,14.79,14.73
$GC,4552,-0.86,-146.0,2580,2871,3593,3484,470.8,-9.0,221,4561,0.00,2.22,0.00,0.000,676,0.000,0.030,2580,1530,3538,3592,3485,0,0,0,0,0,0,15.01,14.74,15.04
$GC,4622,-0.90,-146.0,2580,1531,3591,3485,477.3,-9.2,231,4630,0.00,2.35,0.00,0.000,1190,0.000,0.049,2572,2875,3537,3590,3484,0,0,0,0,0,0,14.74,14.68,14.78
$GC,4944,-0.90,-146.0,2572,2875,3588,3483,509.1,-10.0,242,4952,0.00,2.22,0.00,0.000,548,0.000,0.031,2572,1536,3535,3589,3481,0,0,0,0,0,0,15.00,14.73,15.04
$GC,5000,-0.94,-146.0,2572,1536,3588,3478,514.8,-10.0,250,5008,0.00,2.33,0.00,0.000,1158,0.000,0.050,2563,2869,3534,3588,3481,0,0,0,0,0,0,14.71,14.66,14.75
$GC,5336,-0.94,-146.0,2563,2869,3589,3480,548.1,-9.8,263,5344,0.00,2.20,0.00,0.000,548,0.000,0.030,2562,1542,3534,3588,3480,0,0,0,0,0,0,15.01,14.72,15.04
$GC,5378,-0.94,-146.0,2562,1540,3588,3480,552.1,-9.7,269,5387,0.00,2.33,0.00,0.000,1062,0.000,0.049,2553,2873,3533,3587,3480,0,0,0,0,0,0,14.73,14.67,14.81
$GC,5728,-0.94,-146.0,2553,2874,3587,3479,587.6,-10.1,277,5737,0.00,1.67,0.00,0.000,260,0.000,0.079,2546,3823,3532,3586,3478,0,0,0,0,0,0,14.95,14.64,14.99
$GC,5805,-0.94,-146.0,2546,3824,3586,3479,595.7,-10.5,288,5812,0.00,1.45,0.00,0.000,1030,0.000,0.031,2546,2900,3532,3586,3478,0,0,0,0,0,0,14.87,14.83,14.88
$GC,6120,-0.94,-146.0,2547,2900,3585,3479,626.6,-9.7,298,6128,0.00,2.30,0.00,0.000,548,0.000,0.027,2546,1498,3530,3585,3475,0,0,0,0,0,0,14.98,14.73,15.04
$GC,6196,-0.94,-146.0,2546,1498,3593,3474,634.2,-9.8,309,6206,0.00,2.40,0.00,0.000,1062,0.000,0.044,2530,2877,3530,3584,3476,0,0,0,0,0,0,14.73,14.69,14.76
$GC,6512,-0.91,-146.0,2536,2878,3584,3475,666.7,-10.3,319,6515,0.00,0.00,0.00,0.000,134,0.000,0.000,2536,2878,3528,3583,3474,0,0,0,0,0,0,15.00,15.04,15.04
$GC,6848,-0.91,-146.0,2537,2877,3583,3472,702.5,-10.6,325,6856,0.00,2.28,0.00,0.000,516,0.000,0.027,2536,1506,3526,3582,3471,0,0,0,0,0,0,14.92,14.69,14.95
$GC,6910,-0.91,-146.0,2542,1507,3591,3473,709.3,-10.6,334,6919,0.12,2.40,0.00,0.000,3078,0.256,0.046,2553,2872,3526,3581,3471,0,0,0,0,0,0,14.46,14.69,14.66
$GC,7240,-0.91,-146.0,2554,2872,3582,3469,740.5,-9.5,346,7248,0.00,1.67,0.00,0.000,292,0.000,0.078,2547,3818,3522,3576,3469,0,0,0,0,0,0,15.00,14.60,15.03
$GC,7274,-0.91,-146.0,2548,3819,3580,3470,744.2,-10.1,351,7282,0.00,1.50,0.00,0.000,1030,0.000,0.030,2547,2826,3524,3580,3469,0,0,0,0,0,0,14.86,14.83,14.88
$GC,7632,-0.91,-146.0,2548,2827,3580,3468,777.6,-9.3,360,7640,0.00,2.12,0.00,0.000,548,0.000,0.029,2547,1540,3523,3579,3467,0,0,0,0,0,0,15.01,14.69,15.04
$GC,7709,-0.91,-146.0,2548,1540,3579,3468,784.4,-9.2,371,7717,0.00,2.33,0.00,0.000,1062,0.000,0.049,2538,2864,3523,3578,3468,0,0,0,0,0,0,14.67,14.62,14.71
$GC,8024,-0.91,-146.0,2538,2865,3577,3467,813.3,-9.1,381,8027,0.00,0.00,0.00,0.000,38,0.000,0.000,2538,2865,3521,3577,3466,0,0,0,0,0,0,14.99,15.03,15.02
$STATE,8359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8359,begin apogee
$GC,8363,-0.21,0.0,2539,2689,3577,3464,843.5,-8.9,387,8572,0.85,0.00,204.52,1.536,10246,0.197,0.000,2775,2689,2967,3040,2895,0,0,0,0,0,0,14.47,14.07,13.44
$STATE,8573,end apogee,CONTROL_FINISHED_OK
$STATE,8573,begin climb
$GC,8575,0.91,146.0,2776,2690,3035,2891,847.7,0.0,390,8756,1.15,2.55,159.25,1.704,11012,0.109,0.037,3148,1274,2375,2455,2296,0,0,0,0,0,0,14.08,13.95,13.32
$GC,8816,0.76,146.0,3148,1276,2445,2288,828.4,13.0,431,8825,0.17,2.47,0.00,0.000,5254,0.231,0.044,3102,2647,2365,2446,2285,0,0,0,0,0,0,14.01,14.18,14.14
$GC,9146,0.66,146.0,3102,2647,2444,2277,790.4,11.5,443,9153,0.15,2.35,0.00,0.000,4740,0.250,0.035,3075,1280,2360,2443,2278,0,0,0,0,0,0,14.31,14.50,14.51
$GC,9203,0.66,146.0,3075,1280,2442,2277,784.5,11.0,451,9209,0.00,2.38,0.00,0.000,1030,0.000,0.044,3075,2650,2359,2441,2277,0,0,0,0,0,0,14.59,14.52,14.62
$GC,9538,0.61,146.0,3074,2651,2440,2275,750.0,10.3,464,9545,0.00,2.35,0.00,0.000,644,0.000,0.037,3085,1277,2357,2441,2274,0,0,0,0,0,0,14.80,14.59,14.83
$GC,9621,0.57,146.0,3085,1278,2440,2275,741.4,10.0,476,9630,0.15,2.40,0.00,0.000,5254,0.207,0.045,3042,2644,2356,2439,2274,0,0,0,0,0,0,14.37,14.60,14.51
$GC,9986,0.61,178.8,3043,2647,2440,2273,709.8,8.5,486,10023,0.00,2.40,31.85,1.642,8740,0.000,0.038,3052,1272,2253,2336,2170,0,0,0,0,0,0,14.90,14.53,13.91
$GC,10049,0.71,227.9,3053,1272,2328,2161,704.7,7.7,495,10113,0.00,2.40,58.10,1.604,9382,0.000,0.044,3052,2636,2058,2142,1975,0,0,0,0,0,0,14.55,14.50,13.63
$GC,10428,0.78,248.1,3052,2635,2122,1948,670.5,9.1,514,10457,0.15,2.40,18.15,1.724,10916,0.107,0.040,3124,1273,1972,2055,1889,0,0,0,0,0,0,14.53,14.44,13.81
$GC,10511,0.73,248.1,3124,1274,2045,1886,660.8,12.0,526,10519,0.10,2.42,0.00,0.000,5254,0.194,0.045,3094,2642,1964,2044,1885,0,0,0,0,0,0,14.33,14.45,14.42
$GC,10875,0.73,248.1,3095,2642,2045,1877,616.5,12.3,536,10883,0.00,2.35,0.00,0.000,516,0.000,0.038,3103,1278,1960,2044,1877,0,0,0,0,0,0,14.77,14.58,14.81
$GC,10944,0.73,248.1,3103,1278,2043,1877,608.1,12.0,546,10953,0.00,2.42,0.00,0.000,1030,0.000,0.044,3103,2665,1959,2041,1877,0,0,0,0,0,0,14.68,14.59,14.71
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$STATE,16461,end climb,SURFACE_DEPTH_REACHED
$STATE,16461,begin surface coast
$FINISH,1.4,1.021366
$STATE,16468,end surface coast,CONTROL_FINISHED_OK
$STATE,16469,begin surface
$SM_CCo,16494,43.50,0.165,0,0,877,525.26
$SM_GC,1.09,8.75,2.72,43.50,0.060,0.045,0.165,190,2858,877,-8.26,-1.05,525.26,0,0,0,0,0,0,14.68,14.62,14.50
$IRIDIUM_FIX,957.84,-12519.79,190917,034415
$TT8_MAMPS,0.039697,0.35203
$HUMID,47.32
$INTERNAL_PRESSURE,8.68589
$TCM_TEMP,21.90
$XPDR_PINGS,35
$SC_FREEKB,3869440
$PM_FREEKB,50599872
$24V_AH,13.32,51.866
$10V_AH,12.93,0.000
$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,24.150,157.000,568.050,43.500,0.000,0.000,0.000,292.025,8.750,0.000,6.978,0.000,13563.074,905.051,2335.089,162.075,0.000,2055.372,0.000,1440.148,0.000,0.548,0.000
$DEVICE_MAMPS,361.080,2070.855,1723.545,165.240,0.000,0.000,0.000,195.840,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16470.000,16483.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.160,4.840,0.000,0.000
$MEM,326304
$DATA_FILE_SIZE,29992,825
$CAP_FILE_SIZE,133969,0
$CFSIZE,1024409600,1001193472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,578.25,0x23411a,0,24
$CURRENT,0.083,138.17,1
$GPS,190917,131300,955.914,-12516.125,14,1.9,14,9.0,0.7,166.4,4,7.7