version: 66.13
glider: 219
mission: 8
dive: 158
start: 9 29 117 14 24 45
data:
$ID,219
$MISSION,8
$DIVE,158
$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,115
$R_STBD_OVSHOOT,18
$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
$GPS1,290917,141700,958.9264,-12517.7686,34,0.7,34,9.0,0.4,226.9,12,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-69.1
$GPS2,290917,142425,958.8826,-12517.7500,2,0.7,3,9.0,0.5,87.5,12,5.4
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,128.7,46454,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.91,-146.0,180,2873,913,857,0.0,0.0,0,112,0.00,0.00,-86.10,0.000,16386,0.000,0.000,179,2873,3516,3541,3492,0,0,0,0,0,0,14.71,28.83,14.73
$GC,114,-0.91,-146.0,179,2874,3543,3494,7.2,-10.7,3,132,10.98,1.83,-0.45,0.000,18692,0.368,2.090,2539,3832,3552,3585,3520,0,0,0,0,0,0,14.13,13.50,14.35
$GC,291,-0.54,-146.0,2539,3834,3589,3521,67.5,-28.0,29,301,0.43,1.48,0.00,0.000,3206,0.217,0.030,2669,2865,3553,3588,3519,0,0,0,0,0,0,14.31,14.61,14.53
$GC,614,-0.65,-146.0,2669,2865,3594,3520,96.0,-7.0,42,622,0.00,2.20,0.00,0.000,676,0.000,0.031,2672,1517,3555,3593,3518,0,0,0,0,0,0,14.88,14.62,14.92
$GC,803,-0.78,-146.0,2669,1515,3597,3518,108.0,-6.1,69,811,0.15,2.35,0.00,0.000,5286,0.063,0.048,2574,2887,3557,3596,3518,0,0,0,0,0,0,14.66,14.60,14.75
$GC,1119,-0.74,-146.0,2575,2888,3597,3516,140.8,-10.9,79,1122,0.15,0.00,0.00,0.000,2182,0.235,0.000,2609,2887,3557,3596,3518,0,0,0,0,0,0,14.47,14.74,14.68
$GC,1454,-0.80,-146.0,2609,2887,3595,3517,170.3,-8.6,85,1462,0.00,2.28,0.00,0.000,676,0.000,0.031,2609,1516,3556,3596,3517,0,0,0,0,0,0,14.97,14.69,15.00
$GC,1552,-0.88,-146.0,2610,1517,3596,3516,178.7,-8.5,99,1560,0.08,2.35,0.00,0.000,5286,0.076,0.048,2546,2875,3555,3595,3516,0,0,0,0,0,0,14.64,14.64,14.70
$GC,1902,-0.83,-146.0,2547,2875,3597,3511,217.9,-11.5,107,1911,0.15,2.25,0.00,0.000,2692,0.235,0.031,2580,1518,3553,3595,3511,0,0,0,0,0,0,14.48,14.69,14.67
$GC,1964,-0.87,-146.0,2581,1519,3597,3511,224.3,-9.9,116,1973,0.00,2.35,0.00,0.000,1190,0.000,0.048,2572,2871,3553,3596,3511,0,0,0,0,0,0,14.69,14.63,14.73
$GC,2294,-0.87,-146.0,2572,2872,3595,3507,258.5,-10.5,128,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2871,3550,3595,3506,0,0,0,0,0,0,15.00,15.04,15.03
$GC,2630,-0.87,-146.0,2573,2871,3596,3501,293.0,-10.3,134,2637,0.00,2.22,0.00,0.000,516,0.000,0.031,2572,1514,3548,3595,3501,0,0,0,0,0,0,15.00,14.74,15.02
$GC,2664,-0.87,-146.0,2573,1513,3597,3499,296.6,-10.2,139,2672,0.00,2.38,0.00,0.000,1030,0.000,0.049,2562,2869,3548,3596,3501,0,0,0,0,0,0,14.71,14.65,14.74
$GC,3023,-0.87,-146.0,2563,2869,3596,3495,332.9,-10.2,148,3030,0.00,2.22,0.00,0.000,516,0.000,0.031,2562,1513,3545,3595,3495,0,0,0,0,0,0,14.94,14.75,14.97
$GC,3098,-0.87,-146.0,2563,1514,3596,3494,340.4,-9.6,159,3106,0.00,2.35,0.00,0.000,1062,0.000,0.049,2553,2869,3544,3595,3494,0,0,0,0,0,0,14.69,14.63,14.73
$GC,3414,-0.87,-146.0,2553,2870,3596,3489,371.7,-9.9,169,3417,0.00,0.00,0.00,0.000,38,0.000,0.000,2553,2870,3541,3595,3488,0,0,0,0,0,0,14.94,14.97,14.97
$GC,3750,-0.87,-146.0,2553,2871,3592,3491,405.4,-10.1,175,3757,0.00,2.25,0.00,0.000,516,0.000,0.031,2553,1520,3540,3591,3489,0,0,0,0,0,0,14.98,14.69,15.01
$GC,3806,-0.87,-146.0,2553,1520,3592,3488,411.3,-10.5,183,3813,0.00,2.38,0.00,0.000,1030,0.000,0.050,2543,2869,3539,3590,3488,0,0,0,0,0,0,14.66,14.60,14.71
$GC,4142,-0.84,-146.0,2543,2870,3589,3486,448.5,-11.2,196,4145,0.15,0.00,0.00,0.000,2182,0.243,0.000,2577,2870,3537,3588,3486,0,0,0,0,0,0,14.43,14.73,14.66
$GC,4478,-0.88,-146.0,2578,2870,3589,3482,482.3,-10.1,202,4485,0.00,2.22,0.00,0.000,644,0.000,0.032,2577,1518,3535,3588,3483,0,0,0,0,0,0,14.95,14.71,14.96
$GC,4561,-0.94,-146.0,2577,1519,3588,3484,490.8,-10.2,214,4569,0.00,2.38,0.00,0.000,1158,0.000,0.050,2569,2867,3534,3587,3482,0,0,0,0,0,0,14.66,14.59,14.70
$GC,4926,-0.94,-146.0,2569,2868,3587,3481,527.7,-10.1,224,4933,0.00,2.25,0.00,0.000,516,0.000,0.032,2569,1527,3533,3586,3480,0,0,0,0,0,0,15.02,14.66,15.01
$GC,4982,-0.98,-146.0,2570,1527,3587,3479,533.2,-9.7,232,4989,0.00,2.38,0.00,0.000,1190,0.000,0.051,2560,2865,3532,3586,3479,0,0,0,0,0,0,14.64,14.58,14.68
$GC,5318,-0.98,-146.0,2560,2866,3585,3479,564.5,-9.1,245,5326,0.00,2.25,0.00,0.000,548,0.000,0.032,2560,1526,3531,3584,3478,0,0,0,0,0,0,14.98,14.65,15.01
$GC,5415,-0.98,-146.0,2560,1526,3585,3479,573.4,-8.9,259,5423,0.00,2.38,0.00,0.000,1062,0.000,0.050,2550,2869,3530,3583,3478,0,0,0,0,0,0,14.66,14.59,14.69
$GC,5766,-0.98,-146.0,2550,2870,3584,3476,606.3,-9.5,267,5768,0.00,0.00,0.00,0.000,38,0.000,0.000,2550,2869,3529,3583,3475,0,0,0,0,0,0,14.98,15.02,15.01
$GC,6102,-0.98,-146.0,2550,2869,3583,3474,639.7,-10.0,273,6110,0.00,2.28,0.00,0.000,516,0.000,0.031,2550,1522,3527,3581,3473,0,0,0,0,0,0,14.92,14.66,14.95
$GC,6158,-0.98,-146.0,2550,1523,3582,3473,645.6,-10.2,281,6166,0.00,2.40,0.00,0.000,1030,0.000,0.050,2540,2870,3527,3581,3473,0,0,0,0,0,0,14.64,14.57,14.68
$GC,6494,-0.98,-146.0,2541,2870,3581,3471,681.9,-10.9,294,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2870,3525,3579,3471,0,0,0,0,0,0,15.00,15.04,15.03
$GC,6830,-0.98,-146.0,2541,2871,3577,3471,715.6,-9.8,300,6838,0.00,2.25,0.00,0.000,548,0.000,0.032,2541,1518,3523,3578,3469,0,0,0,0,0,0,14.99,14.67,15.02
$GC,6892,-0.98,-146.0,2541,1520,3579,3469,721.6,-9.5,309,6901,0.00,2.40,0.00,0.000,1062,0.000,0.051,2531,2870,3522,3577,3467,0,0,0,0,0,0,14.63,14.56,14.66
$GC,7222,-0.98,-146.0,2532,2870,3577,3467,752.8,-9.4,321,7224,0.00,0.00,0.00,0.000,38,0.000,0.000,2531,2870,3522,3576,3468,0,0,0,0,0,0,14.97,15.01,15.00
$GC,7558,-0.98,-146.0,2532,2871,3576,3466,784.4,-9.4,327,7565,0.00,2.28,0.00,0.000,548,0.000,0.033,2531,1528,3520,3575,3465,0,0,0,0,0,0,14.99,14.61,15.02
$GC,7634,-0.98,-146.0,2530,1528,3575,3466,791.7,-9.7,338,7642,0.00,2.40,0.00,0.000,1062,0.000,0.050,2521,2872,3520,3575,3465,0,0,0,0,0,0,14.60,14.52,14.64
$GC,7950,-0.94,-146.0,2521,2873,3574,3465,824.6,-10.6,348,7953,0.00,0.00,0.00,0.000,134,0.000,0.000,2521,2872,3519,3574,3464,0,0,0,0,0,0,14.89,14.92,14.92
$STATE,8116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8116,begin apogee
$GC,8121,-0.21,0.0,2522,2664,3574,3465,843.1,-11.0,351,8332,0.95,0.00,205.70,1.536,10246,0.207,0.000,2780,2663,2968,3041,2895,0,0,0,0,0,0,14.35,14.04,13.43
$STATE,8333,end apogee,CONTROL_FINISHED_OK
$STATE,8333,begin climb
$GC,8335,0.91,146.0,2781,2662,3035,2889,850.1,0.0,354,8515,1.15,2.50,159.00,1.709,10756,0.110,0.039,3152,1280,2373,2453,2293,0,0,0,0,0,0,14.07,13.91,13.27
$GC,8626,0.73,146.0,3152,1281,2441,2281,831.7,11.2,402,8633,0.28,2.45,0.00,0.000,5254,0.249,0.045,3089,2658,2360,2440,2280,0,0,0,0,0,0,14.05,14.24,14.28
$GC,8962,0.66,150.6,3089,2659,2440,2271,799.0,9.8,415,8968,0.00,2.35,0.00,0.000,676,0.000,0.037,3098,1277,2355,2439,2271,0,0,0,0,0,0,14.72,14.51,14.75
$GC,9003,0.59,156.1,3098,1276,2439,2279,794.9,9.7,421,9011,0.17,2.42,0.00,0.000,5286,0.205,0.045,3049,2642,2354,2437,2271,0,0,0,0,0,0,14.26,14.49,14.41
$GC,9353,0.62,180.1,3049,2643,2438,2270,763.8,8.9,429,9396,0.00,2.40,33.65,1.643,8740,0.000,0.038,3058,1271,2240,2324,2157,0,0,0,0,0,0,14.84,14.46,13.81
$GC,9450,0.63,184.0,3058,1271,2315,2149,754.4,9.8,443,9458,0.00,2.45,0.00,0.000,1062,0.000,0.045,3058,2636,2230,2313,2148,0,0,0,0,0,0,14.47,14.42,14.51
$GC,9801,0.63,184.0,3058,2638,2313,2143,718.5,10.2,451,9808,0.00,2.35,0.00,0.000,516,0.000,0.038,3067,1281,2227,2313,2141,0,0,0,0,0,0,14.80,14.53,14.83
$GC,9849,0.63,184.4,3068,1281,2312,2141,713.6,10.0,458,9859,0.00,2.42,0.00,0.000,1062,0.000,0.046,3067,2648,2226,2311,2141,0,0,0,0,0,0,14.57,14.53,14.61
$GC,10193,0.64,198.4,3069,2648,2310,2138,680.8,9.4,465,10215,0.00,2.33,15.10,1.727,8740,0.000,0.037,3077,1278,2174,2258,2090,0,0,0,0,0,0,14.87,14.47,13.92
$GC,10290,0.68,229.1,3078,1279,2247,2085,672.2,8.6,479,10334,0.00,2.42,37.55,1.609,9254,0.000,0.045,3078,2645,2054,2137,1972,0,0,0,0,0,0,14.59,14.54,13.73
$GC,10641,0.68,229.1,3078,2642,2119,1946,636.5,10.5,494,10643,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2645,2032,2118,1946,0,0,0,0,0,0,14.71,14.75,14.73
$GC,10977,0.68,229.1,3077,2646,2118,1943,597.7,11.7,500,10984,0.00,2.38,0.00,0.000,516,0.000,0.038,3087,1270,2030,2118,1942,0,0,0,0,0,0,14.83,14.55,14.86
$GC,11089,0.68,229.1,3088,1270,2116,1944,584.5,11.6,516,11096,0.00,2.42,0.00,0.000,1030,0.000,0.046,3084,2636,2029,2115,1944,0,0,0,0,0,0,14.60,14.55,14.66
$GC,11425,0.68,229.1,3092,2636,2116,1942,543.1,12.3,529,11433,0.00,2.35,0.00,0.000,516,0.000,0.039,3097,1273,2028,2114,1942,0,0,0,0,0,0,14.89,14.57,14.92
$GC,11529,0.68,229.1,3097,1272,2114,1943,530.6,11.7,544,11539,0.00,2.40,0.00,0.000,1030,0.000,0.044,3097,2648,2028,2113,1943,0,0,0,0,0,0,14.62,14.57,14.66
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$STATE,16571,end climb,SURFACE_DEPTH_REACHED
$STATE,16571,begin surface coast
$FINISH,-0.0,1.020769
$STATE,16599,end surface coast,CONTROL_FINISHED_OK
$STATE,16599,begin surface
$SM_CCo,16623,10.73,0.168,0,0,877,525.01
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$IRIDIUM_FIX,957.84,-12519.79,290917,092804
$TT8_MAMPS,0.040446,0.289863
$HUMID,50.00
$INTERNAL_PRESSURE,8.67612
$TCM_TEMP,21.40
$XPDR_PINGS,33
$SC_FREEKB,3849856
$PM_FREEKB,41806464
$24V_AH,13.27,68.822
$10V_AH,12.87,0.000
$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
$DEVICE_SECS,24.000,145.175,597.750,10.725,0.000,0.000,0.000,284.925,8.250,0.000,6.404,0.000,13724.267,837.970,2309.961,201.266,0.000,1969.825,0.000,1427.060,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.185,5.358,0.000,0.000
$MEM,326292
$DATA_FILE_SIZE,30082,800
$CAP_FILE_SIZE,126395,0
$CFSIZE,1024409600,993689600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027,77.88,1
$GPS,290917,190300,957.297,-12516.354,31,0.7,31,9.0,1.0,97.1,12,4.9