version: 66.13
glider: 219
mission: 8
dive: 162
start: 9 30 117 9 29 29
data:
$ID,219
$MISSION,8
$DIVE,162
$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,93
$R_STBD_OVSHOOT,34
$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
$GPS1,300917,092139,951.9056,-12512.2363,18,1.6,19,9.0,0.1,0.0,5,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-70.8
$GPS2,300917,092909,951.8425,-12512.2568,4,1.4,7,9.0,0.4,0.0,5,8.7
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,120.7,30177,-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,14,-0.91,-146.0,180,2886,917,862,0.0,0.0,0,102,0.00,0.00,-85.62,0.000,16386,0.000,0.000,178,2886,3528,3554,3503,0,0,0,0,0,0,14.71,28.83,14.75
$GC,104,-0.91,-146.0,179,2886,3555,3503,7.5,-11.4,3,121,10.82,2.50,-0.30,0.000,18948,0.360,2.056,2545,1508,3553,3586,3520,0,0,0,0,0,0,14.17,13.53,14.39
$GC,156,-0.54,-146.0,2545,1507,3589,3519,31.8,-29.8,11,163,0.47,2.40,0.00,0.000,3206,0.233,0.052,2671,2862,3553,3589,3518,0,0,0,0,0,0,14.26,14.46,14.50
$GC,491,-0.54,-146.0,2671,2863,3593,3518,84.1,-10.2,26,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2862,3554,3591,3518,0,0,0,0,0,0,14.85,14.89,14.88
$GC,828,-0.66,-146.0,2672,2863,3598,3518,107.7,-6.6,36,836,0.12,2.25,0.00,0.000,4772,0.129,0.029,2616,1474,3557,3596,3518,0,0,0,0,0,0,14.71,14.70,14.77
$GC,1017,-0.72,-146.0,2616,1470,3606,3519,123.8,-7.7,63,1024,0.00,2.40,0.00,0.000,1190,0.000,0.047,2606,2871,3559,3601,3518,0,0,0,0,0,0,14.68,14.63,14.71
$GC,1332,-0.77,-146.0,2606,2873,3599,3519,148.9,-8.1,73,1338,0.00,1.65,0.00,0.000,420,0.000,0.076,2599,3818,3557,3597,3518,0,0,0,0,0,0,14.95,14.62,15.02
$GC,1387,-0.77,-146.0,2599,3820,3597,3520,154.1,-9.1,81,1395,0.00,1.48,0.00,0.000,1062,0.000,0.030,2599,2828,3557,3597,3518,0,0,0,0,0,0,14.75,14.73,14.76
$GC,1724,-0.81,-146.0,2599,2829,3598,3517,184.8,-9.1,94,1730,0.00,2.05,0.00,0.000,676,0.000,0.031,2599,1544,3556,3597,3515,0,0,0,0,0,0,14.99,14.73,15.00
$GC,1793,-0.88,-146.0,2599,1545,3598,3515,191.3,-9.3,104,1801,0.00,2.30,0.00,0.000,1190,0.000,0.049,2589,2868,3555,3597,3514,0,0,0,0,0,0,14.69,14.65,14.76
$GC,2116,-0.91,-146.0,2589,2868,3598,3510,222.0,-9.6,115,2123,0.00,2.15,0.00,0.000,676,0.000,0.030,2595,1545,3553,3597,3510,0,0,0,0,0,0,14.97,14.75,15.00
$GC,2157,-0.97,-146.0,2590,1542,3598,3510,225.8,-9.0,121,2165,0.08,2.30,0.00,0.000,5286,0.080,0.048,2528,2875,3553,3597,3509,0,0,0,0,0,0,14.65,14.65,14.71
$GC,2508,-0.88,-146.0,2530,2876,3598,3505,267.1,-11.9,129,2515,0.15,1.65,0.00,0.000,2436,0.241,0.078,2556,3821,3551,3598,3504,0,0,0,0,0,0,14.47,14.62,14.69
$GC,2542,-0.85,-146.0,2557,3822,3598,3503,271.0,-11.1,134,2549,0.00,1.42,0.00,0.000,1158,0.000,0.031,2556,2896,3550,3597,3503,0,0,0,0,0,0,14.85,14.83,14.87
$GC,2899,-0.85,-146.0,2556,2897,3598,3500,307.8,-10.2,143,2907,0.00,2.28,0.00,0.000,516,0.000,0.031,2556,1517,3547,3597,3498,0,0,0,0,0,0,14.98,14.71,15.02
$GC,2975,-0.85,-146.0,2556,1523,3598,3498,315.8,-10.4,154,2984,0.08,2.38,0.00,0.000,3078,0.210,0.050,2569,2874,3547,3597,3497,0,0,0,0,0,0,14.39,14.62,14.54
$GC,3291,-0.85,-146.0,2569,2875,3598,3494,347.8,-10.2,164,3299,0.00,2.25,0.00,0.000,516,0.000,0.031,2569,1522,3544,3597,3492,0,0,0,0,0,0,14.95,14.71,14.97
$GC,3348,-0.88,-146.0,2569,1522,3598,3493,353.7,-10.5,172,3355,0.00,2.38,0.00,0.000,1158,0.000,0.050,2561,2873,3544,3597,3491,0,0,0,0,0,0,14.68,14.62,14.80
$GC,3683,-0.88,-146.0,2561,2874,3595,3490,389.4,-10.5,185,3690,0.00,2.25,0.00,0.000,516,0.000,0.031,2561,1522,3541,3594,3488,0,0,0,0,0,0,14.95,14.70,14.97
$GC,3710,-0.88,-146.0,2562,1523,3595,3489,392.3,-10.3,189,3719,0.00,2.38,0.00,0.000,1030,0.000,0.050,2551,2872,3540,3593,3488,0,0,0,0,0,0,14.69,14.63,14.73
$GC,4075,-0.88,-146.0,2552,2873,3592,3488,428.6,-9.9,199,4082,0.00,2.28,0.00,0.000,548,0.000,0.031,2551,1515,3539,3591,3488,0,0,0,0,0,0,15.01,14.68,15.03
$GC,4165,-0.88,-146.0,2550,1515,3591,3489,437.3,-9.5,212,4175,0.00,2.40,0.00,0.000,1062,0.000,0.050,2541,2872,3538,3590,3487,0,0,0,0,0,0,14.67,14.61,14.71
$GC,4524,-0.84,-146.0,2542,2875,3589,3486,472.3,-9.7,221,4531,0.15,2.22,0.00,0.000,2724,0.245,0.031,2576,1522,3536,3588,3484,0,0,0,0,0,0,14.42,14.71,14.65
$GC,4551,-0.84,-146.0,2576,1522,3589,3485,474.8,-9.0,225,4559,0.00,2.40,0.00,0.000,1062,0.000,0.050,2568,2880,3536,3588,3484,0,0,0,0,0,0,14.66,14.60,14.69
$GC,4916,-0.84,-146.0,2568,2882,3587,3481,507.6,-9.2,235,4923,0.00,2.28,0.00,0.000,548,0.000,0.031,2568,1525,3537,3587,3487,0,0,0,0,0,0,14.99,14.66,15.02
$GC,5056,-0.89,-146.0,2569,1525,3587,3481,521.2,-9.7,255,5063,0.00,2.35,0.00,0.000,1190,0.000,0.052,2558,2878,3533,3586,3481,0,0,0,0,0,0,14.74,14.63,14.78
$GC,5419,-0.89,-146.0,2558,2878,3586,3480,559.4,-10.8,265,5427,0.00,1.67,0.00,0.000,260,0.000,0.080,2551,3821,3531,3585,3478,0,0,0,0,0,0,14.93,14.57,14.96
$GC,5453,-0.89,-146.0,2552,3821,3586,3478,563.4,-11.7,270,5461,0.00,1.48,0.00,0.000,1030,0.000,0.031,2551,2851,3530,3583,3478,0,0,0,0,0,0,14.84,14.81,14.85
$GC,5811,-0.89,-146.0,2551,2851,3584,3476,603.3,-11.1,279,5818,0.00,2.17,0.00,0.000,516,0.000,0.030,2551,1537,3530,3584,3476,0,0,0,0,0,0,15.00,14.66,15.02
$GC,5867,-0.89,-146.0,2552,1536,3578,3476,609.4,-10.6,287,5875,0.00,2.33,0.00,0.000,1030,0.000,0.050,2542,2868,3529,3583,3476,0,0,0,0,0,0,14.64,14.58,14.69
$GC,6203,-0.89,-146.0,2542,2868,3583,3474,644.5,-10.3,300,6211,0.00,2.22,0.00,0.000,516,0.000,0.030,2542,1541,3528,3582,3474,0,0,0,0,0,0,15.01,14.65,15.04
$GC,6259,-0.89,-146.0,2542,1542,3582,3475,650.2,-10.2,308,6267,0.08,2.35,0.00,0.000,3078,0.211,0.050,2553,2871,3527,3581,3473,0,0,0,0,0,0,14.35,14.57,14.50
$GC,6595,-0.89,-146.0,2553,2871,3582,3473,681.2,-9.2,321,6602,0.00,2.25,0.00,0.000,548,0.000,0.031,2553,1539,3526,3581,3472,0,0,0,0,0,0,14.99,14.64,15.02
$GC,6644,-0.92,-146.0,2554,1538,3581,3472,685.6,-8.9,328,6654,0.00,2.38,0.00,0.000,1190,0.000,0.050,2545,2873,3525,3580,3471,0,0,0,0,0,0,14.63,14.57,14.67
$GC,6988,-0.92,-146.0,2546,2875,3580,3470,716.8,-9.0,335,6995,0.00,2.25,0.00,0.000,548,0.000,0.031,2545,1541,3524,3579,3469,0,0,0,0,0,0,14.97,14.63,15.01
$GC,7035,-0.92,-146.0,2553,1541,3579,3469,721.3,-9.2,342,7045,0.00,2.38,0.00,0.000,1062,0.000,0.051,2536,2877,3523,3578,3469,0,0,0,0,0,0,14.63,14.57,14.67
$GC,7379,-0.92,-146.0,2536,2878,3578,3470,751.9,-8.9,349,7386,0.00,2.25,0.00,0.000,548,0.000,0.031,2536,1542,3523,3577,3469,0,0,0,0,0,0,14.97,14.63,15.01
$GC,7420,-0.92,-146.0,2537,1547,3578,3468,755.8,-9.0,355,7429,0.00,2.38,0.00,0.000,1062,0.000,0.051,2526,2875,3522,3576,3468,0,0,0,0,0,0,14.63,14.57,14.71
$GC,7772,-0.89,-146.0,2526,2875,3576,3466,789.4,-9.7,363,7779,0.15,2.25,0.00,0.000,2724,0.255,0.031,2559,1546,3520,3574,3466,0,0,0,0,0,0,14.38,14.62,14.58
$GC,7834,-0.94,-146.0,2560,1546,3576,3466,794.9,-8.3,372,7843,0.00,2.38,0.00,0.000,1190,0.000,0.050,2551,2874,3520,3575,3465,0,0,0,0,0,0,14.59,14.53,14.64
$GC,8163,-0.94,-146.0,2552,2875,3575,3465,824.4,-9.1,384,8172,0.00,2.28,0.00,0.000,548,0.000,0.032,2551,1535,3518,3573,3464,0,0,0,0,0,0,14.99,14.57,15.02
$GC,8220,-0.98,-146.0,2552,1530,3575,3464,829.8,-9.5,392,8228,0.00,2.38,0.00,0.000,1190,0.000,0.051,2542,2863,3519,3574,3464,0,0,0,0,0,0,14.59,14.52,14.63
$STATE,8330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8330,begin apogee
$GC,8334,-0.21,0.0,2543,2674,3575,3465,840.8,-10.0,401,8697,0.85,0.00,358.70,1.245,10246,0.196,0.000,2778,2673,2970,3043,2898,0,0,0,0,0,0,14.38,14.06,13.52
$STATE,8699,end apogee,CONTROL_FINISHED_OK
$STATE,8699,begin climb
$GC,8701,0.91,146.0,2778,2673,3040,2896,854.7,0.0,407,8881,1.15,2.45,163.23,1.665,10756,0.112,0.035,3150,1282,2376,2456,2297,0,0,0,0,0,0,14.09,13.78,13.25
$GC,8927,0.74,146.0,3150,1284,2444,2282,841.9,11.8,437,8936,0.20,2.50,0.00,0.000,5254,0.244,0.044,3105,2653,2361,2442,2281,0,0,0,0,0,0,13.93,14.10,14.07
$GC,9285,0.64,146.0,3100,2653,2439,2269,804.2,10.5,446,9293,0.17,2.33,0.00,0.000,4740,0.243,0.036,3067,1280,2354,2439,2269,0,0,0,0,0,0,14.28,14.51,14.52
$GC,9382,0.67,170.3,3067,1281,2437,2270,795.1,8.9,460,9412,0.00,2.42,21.33,1.689,9254,0.000,0.044,3067,2649,2284,2368,2200,0,0,0,0,0,0,14.58,14.50,13.78
$GC,9733,0.67,170.3,3068,2650,2357,2180,760.4,10.0,475,9740,0.00,2.38,0.00,0.000,516,0.000,0.037,3077,1280,2267,2354,2180,0,0,0,0,0,0,14.78,14.53,14.81
$GC,9823,0.67,170.3,3077,1278,2354,2181,751.1,10.2,488,9832,0.00,2.40,0.00,0.000,1030,0.000,0.044,3077,2637,2266,2352,2180,0,0,0,0,0,0,14.60,14.54,14.63
$GC,10181,0.63,170.3,3077,2637,2354,2179,712.8,10.8,497,10189,0.00,2.35,0.00,0.000,644,0.000,0.037,3087,1277,2265,2353,2178,0,0,0,0,0,0,14.86,14.58,14.90
$GC,10250,0.64,174.7,3087,1278,2352,2179,705.9,9.8,507,10259,0.10,2.40,0.00,0.000,5158,0.184,0.044,3058,2644,2264,2351,2178,0,0,0,0,0,0,14.39,14.58,14.52
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$STATE,16867,end climb,SURFACE_DEPTH_REACHED
$STATE,16867,begin surface coast
$FINISH,0.0,1.013661
$STATE,16895,end surface coast,CONTROL_FINISHED_OK
$STATE,16895,begin surface
$SM_CCo,16920,28.55,0.163,0,0,876,525.51
$SM_GC,0.94,8.93,0.38,28.55,0.060,0.070,0.163,184,2872,876,-8.24,-1.10,525.51,0,0,0,0,0,0,14.69,14.64,14.44
$IRIDIUM_FIX,953.60,-12511.90,300917,043554
$TT8_MAMPS,0.041195,0.364014
$HUMID,47.95
$INTERNAL_PRESSURE,8.67612
$TCM_TEMP,21.90
$XPDR_PINGS,39
$SC_FREEKB,3848320
$PM_FREEKB,41112896
$24V_AH,13.25,70.201
$10V_AH,12.86,0.000
$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,24.625,177.375,749.150,28.550,0.000,0.000,0.000,288.150,9.750,0.000,9.717,0.000,13733.067,1072.786,2373.834,214.665,0.000,2249.385,0.000,1458.123,0.000,0.549,0.000
$DEVICE_MAMPS,360.315,2055.555,1689.120,162.945,0.000,0.000,0.000,196.605,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16900.000,16911.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.162,5.208,0.000,0.000
$MEM,326240
$DATA_FILE_SIZE,30012,836
$CAP_FILE_SIZE,141692,0
$CFSIZE,1024409600,993083392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.020,197.30,1
$GPS,300917,141300,950.138,-12510.840,32,0.8,32,9.0,0.2,201.0,9,3.9