version: 66.13
glider: 219
mission: 8
dive: 198
start: 10 7 117 14 59 25
data:
$ID,219
$MISSION,8
$DIVE,198
$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,114
$R_STBD_OVSHOOT,33
$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
$GPS1,071017,145138,1018.2225,-12457.6855,18,1.3,18,9.0,0.4,91.0,5,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-70.2
$GPS2,071017,145904,1018.2265,-12457.6367,3,1.2,6,9.0,1.1,60.0,5,9.8
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,274.8,4594,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.91,-146.0,167,2884,917,854,0.0,0.0,0,111,0.00,0.00,-85.62,0.000,16386,0.000,0.000,161,2886,3521,3547,3496,0,0,0,0,0,0,14.71,28.83,14.75
$GC,113,-0.91,-146.0,162,2886,3549,3496,7.7,-11.6,3,131,10.90,1.80,-0.38,0.000,19204,0.358,2.075,2539,3824,3552,3586,3519,0,0,0,0,0,0,14.09,13.41,14.32
$GC,361,-0.61,-146.0,2540,3825,3590,3519,77.9,-17.3,39,368,0.40,1.48,0.00,0.000,3206,0.230,0.030,2646,2862,3554,3589,3519,0,0,0,0,0,0,14.27,14.65,14.40
$GC,725,-0.69,-146.0,2647,2864,3596,3517,108.8,-7.0,53,733,0.00,1.67,0.00,0.000,420,0.000,0.074,2641,3811,3556,3595,3518,0,0,0,0,0,0,14.90,14.56,14.93
$GC,962,-0.78,-146.0,2642,3811,3597,3519,126.7,-7.3,87,971,0.15,1.45,0.00,0.000,5286,0.110,0.030,2570,2854,3557,3596,3519,0,0,0,0,0,0,14.69,14.76,14.75
$GC,1285,-0.75,-146.0,2570,2855,3597,3519,158.8,-10.1,98,1288,0.15,0.00,0.00,0.000,2182,0.234,0.000,2605,2854,3557,3596,3518,0,0,0,0,0,0,14.45,14.73,14.66
$GC,1621,-0.82,-146.0,2605,2850,3597,3515,188.0,-8.6,104,1628,0.00,2.12,0.00,0.000,676,0.000,0.031,2605,1536,3555,3596,3515,0,0,0,0,0,0,14.96,14.73,14.99
$GC,1669,-0.90,-146.0,2604,1536,3596,3516,192.2,-8.7,111,1679,0.08,2.33,0.00,0.000,5286,0.074,0.048,2542,2867,3555,3596,3514,0,0,0,0,0,0,14.62,14.62,14.69
$GC,2013,-0.85,-146.0,2542,2867,3597,3511,232.6,-12.1,118,2016,0.15,0.00,0.00,0.000,2182,0.231,0.000,2576,2868,3552,3594,3510,0,0,0,0,0,0,14.46,14.74,14.67
$GC,2349,-0.85,-146.0,2576,2868,3597,3505,268.1,-10.5,124,2356,0.00,2.22,0.00,0.000,516,0.000,0.031,2576,1539,3547,3596,3499,0,0,0,0,0,0,14.94,14.70,14.97
$GC,2397,-0.89,-146.0,2577,1539,3597,3504,273.2,-10.5,131,2406,0.00,2.35,0.00,0.000,1158,0.000,0.049,2568,2872,3550,3596,3504,0,0,0,0,0,0,14.65,14.59,14.69
$GC,2741,-0.89,-146.0,2569,2872,3596,3500,308.1,-9.9,138,2748,0.00,1.67,0.00,0.000,292,0.000,0.079,2561,3818,3547,3595,3499,0,0,0,0,0,0,14.93,14.59,14.97
$GC,2789,-0.89,-146.0,2562,3819,3596,3499,312.9,-9.9,145,2799,0.00,1.45,0.00,0.000,1062,0.000,0.032,2562,2886,3547,3596,3498,0,0,0,0,0,0,14.85,14.81,14.85
$GC,3133,-0.89,-146.0,2569,2886,3596,3495,344.4,-9.1,152,3141,0.00,2.28,0.00,0.000,548,0.000,0.031,2561,1518,3544,3595,3494,0,0,0,0,0,0,15.01,14.66,15.04
$GC,3181,-0.89,-146.0,2562,1519,3596,3494,348.9,-9.2,159,3190,0.00,2.40,0.00,0.000,1062,0.000,0.050,2551,2875,3544,3595,3493,0,0,0,0,0,0,14.66,14.60,14.70
$GC,3525,-0.89,-146.0,2552,2877,3596,3490,382.9,-10.0,166,3532,0.00,2.25,0.00,0.000,548,0.000,0.031,2551,1513,3542,3595,3489,0,0,0,0,0,0,14.98,14.65,15.01
$GC,3601,-0.89,-146.0,2552,1512,3595,3488,390.6,-9.9,177,3610,0.00,2.40,0.00,0.000,1062,0.000,0.050,2542,2873,3540,3592,3488,0,0,0,0,0,0,14.65,14.59,14.69
$GC,3917,-0.86,-146.0,2542,2873,3592,3487,423.9,-10.7,187,3921,0.12,0.00,0.00,0.000,2182,0.253,0.000,2568,2875,3539,3591,3487,0,0,0,0,0,0,14.39,14.66,14.59
$GC,4253,-0.86,-146.0,2568,2873,3592,3484,456.0,-9.5,193,4261,0.00,2.25,0.00,0.000,548,0.000,0.032,2569,1512,3537,3591,3483,0,0,0,0,0,0,14.96,14.70,14.99
$GC,4309,-0.90,-146.0,2570,1512,3592,3483,461.5,-9.9,201,4317,0.00,2.35,0.00,0.000,1190,0.000,0.051,2561,2870,3537,3592,3483,0,0,0,0,0,0,14.73,14.62,14.76
$GC,4645,-0.90,-146.0,2561,2871,3589,3482,495.1,-10.0,214,4652,0.00,2.25,0.00,0.000,548,0.000,0.031,2561,1506,3534,3588,3481,0,0,0,0,0,0,14.96,14.70,15.00
$GC,4693,-0.93,-146.0,2561,1509,3589,3482,500.1,-10.1,221,4703,0.00,2.42,0.00,0.000,1158,0.000,0.050,2550,2873,3534,3588,3481,0,0,0,0,0,0,14.61,14.55,14.65
$GC,5037,-0.93,-146.0,2551,2873,3588,3479,535.2,-10.3,228,5044,0.00,1.70,0.00,0.000,260,0.000,0.082,2544,3824,3533,3587,3479,0,0,0,0,0,0,14.95,14.53,14.97
$GC,5093,-0.93,-146.0,2544,3824,3586,3478,541.1,-10.5,236,5100,0.00,1.48,0.00,0.000,1030,0.000,0.033,2543,2875,3532,3586,3479,0,0,0,0,0,0,14.73,14.71,14.74
$GC,5429,-0.93,-146.0,2545,2876,3587,3477,575.8,-10.4,249,5437,0.00,2.28,0.00,0.000,516,0.000,0.031,2543,1513,3531,3585,3477,0,0,0,0,0,0,15.00,14.63,15.03
$GC,5505,-0.93,-146.0,2543,1513,3586,3479,583.8,-10.1,260,5513,0.00,2.42,0.00,0.000,1030,0.000,0.051,2533,2877,3531,3585,3478,0,0,0,0,0,0,14.61,14.54,14.65
$GC,5821,-0.90,-146.0,2534,2878,3585,3475,617.4,-10.8,270,5823,0.00,0.00,0.00,0.000,134,0.000,0.000,2533,2877,3529,3584,3474,0,0,0,0,0,0,14.98,15.01,15.01
$GC,6157,-0.90,-146.0,2534,2877,3585,3473,652.4,-10.4,276,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2877,3528,3583,3473,0,0,0,0,0,0,14.95,15.02,15.01
$GC,6493,-0.90,-146.0,2534,2877,3583,3470,686.6,-10.1,282,6500,0.00,2.33,0.00,0.000,516,0.000,0.032,2534,1509,3525,3581,3470,0,0,0,0,0,0,14.98,14.61,15.01
$GC,6534,-0.90,-146.0,2533,1510,3582,3470,690.9,-10.3,288,6542,0.10,2.42,0.00,0.000,3078,0.213,0.050,2552,2871,3525,3581,3470,0,0,0,0,0,0,14.28,14.53,14.43
$GC,6885,-0.90,-146.0,2552,2873,3581,3470,722.0,-8.8,296,6892,0.00,2.25,0.00,0.000,548,0.000,0.032,2552,1512,3524,3580,3469,0,0,0,0,0,0,14.97,14.65,15.00
$GC,6919,-0.93,-146.0,2558,1513,3580,3468,725.1,-9.3,301,6928,0.00,2.42,0.00,0.000,1190,0.000,0.052,2545,2874,3523,3579,3468,0,0,0,0,0,0,14.59,14.52,14.64
$GC,7277,-0.93,-146.0,2544,2876,3577,3468,756.7,-8.8,310,7284,0.00,2.30,0.00,0.000,548,0.000,0.032,2545,1500,3523,3578,3469,0,0,0,0,0,0,14.97,14.47,15.00
$GC,7333,-0.93,-146.0,2545,1500,3578,3468,761.8,-8.9,318,7340,0.00,2.45,0.00,0.000,1062,0.000,0.051,2535,2873,3521,3577,3466,0,0,0,0,0,0,14.69,14.50,14.70
$GC,7669,-0.93,-146.0,2535,2875,3578,3466,793.9,-9.8,331,7671,0.00,0.00,0.00,0.000,38,0.000,0.000,2535,2874,3520,3576,3465,0,0,0,0,0,0,14.89,14.92,14.92
$GC,8005,-0.93,-146.0,2535,2874,3575,3464,827.7,-10.1,337,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2873,3519,3575,3464,0,0,0,0,0,0,14.97,15.00,15.00
$STATE,8171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8171,begin apogee
$GC,8176,-0.21,0.0,2536,2648,3575,3463,844.7,-10.1,340,8544,0.88,0.00,363.52,1.226,10246,0.191,0.000,2777,2649,2970,3043,2897,0,0,0,0,0,0,14.30,14.04,13.48
$STATE,8545,end apogee,CONTROL_FINISHED_OK
$STATE,8545,begin climb
$GC,8547,0.91,146.0,2778,2648,3040,2894,858.9,0.0,346,8728,1.15,2.35,163.55,1.686,10756,0.101,0.037,3154,1277,2372,2454,2291,0,0,0,0,0,0,14.05,13.74,13.21
$GC,8914,0.73,146.0,3155,1276,2437,2277,829.7,12.3,404,8923,0.25,2.47,0.00,0.000,5254,0.237,0.046,3088,2654,2357,2437,2277,0,0,0,0,0,0,14.13,14.32,14.27
$GC,9238,0.64,146.0,3089,2654,2436,2270,796.2,10.4,415,9245,0.12,2.35,0.00,0.000,4740,0.254,0.037,3069,1272,2349,2429,2269,0,0,0,0,0,0,14.33,14.56,14.57
$GC,9306,0.66,168.3,3069,1272,2436,2270,789.7,9.0,425,9330,0.00,2.38,17.98,1.737,9254,0.000,0.044,3069,2630,2299,2383,2216,0,0,0,0,0,0,14.54,14.50,13.78
$GC,9678,0.62,168.3,3069,2630,2370,2192,752.8,10.2,436,9685,0.00,2.35,0.00,0.000,644,0.000,0.038,3079,1247,2280,2369,2192,0,0,0,0,0,0,14.82,14.57,14.85
$GC,9748,0.62,168.3,3079,1247,2363,2192,745.8,10.2,446,9755,0.00,2.45,0.00,0.000,1030,0.000,0.044,3079,2640,2279,2367,2192,0,0,0,0,0,0,14.57,14.55,14.62
$GC,10070,0.56,168.3,3079,2641,2367,2193,711.3,10.7,457,10079,0.17,2.30,0.00,0.000,4740,0.224,0.037,3046,1279,2282,2366,2198,0,0,0,0,0,0,14.35,14.63,14.59
$GC,10127,0.64,190.9,3047,1280,2367,2190,706.1,8.9,465,10155,0.00,2.35,23.40,1.657,9382,0.000,0.044,3047,2656,2209,2295,2123,0,0,0,0,0,0,14.70,14.60,13.85
$GC,10462,0.65,204.2,3047,2656,2278,2098,674.6,9.4,478,10476,0.00,2.40,4.43,1.410,8740,0.000,0.039,3057,1275,2160,2242,2079,0,0,0,0,0,0,14.78,14.60,13.45
$GC,10553,0.73,229.2,3057,1276,2248,2092,666.4,8.8,491,10604,0.00,2.40,42.20,1.578,9382,0.000,0.044,3057,2641,2051,2135,1968,0,0,0,0,0,0,14.59,14.54,13.74
$GC,10911,0.74,242.9,3057,2640,2126,1950,632.7,9.4,507,10924,0.00,2.40,4.45,1.382,8740,0.000,0.040,3067,1271,2007,2089,1926,0,0,0,0,0,0,14.72,14.54,13.42
$GC,10973,0.83,272.3,3069,1271,2096,1939,627.3,8.6,516,11030,0.10,2.42,48.15,1.561,11430,0.069,0.045,3123,2638,1877,1959,1796,0,0,0,0,0,0,14.50,14.50,13.64
$GC,11360,0.73,272.3,3123,2639,1946,1775,578.6,13.0,536,11366,0.12,2.33,0.00,0.000,4740,0.232,0.036,3099,1272,1860,1945,1775,0,0,0,0,0,0,14.31,14.51,14.43
$GC,11427,0.73,272.3,3100,1273,1942,1778,570.9,10.3,546,11435,0.00,2.42,0.00,0.000,1030,0.000,0.045,3099,2638,1858,1941,1775,0,0,0,0,0,0,14.55,14.50,14.58
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$STATE,16586,end climb,SURFACE_DEPTH_REACHED
$STATE,16586,begin surface coast
$FINISH,-0.1,1.008865
$STATE,16615,end surface coast,CONTROL_FINISHED_OK
$STATE,16615,begin surface
$SM_CCo,16639,13.77,0.171,0,0,876,525.01
$SM_GC,0.65,8.65,0.43,13.77,0.044,0.070,0.171,188,2869,876,-8.25,-0.90,525.01,0,0,0,0,0,0,14.64,14.57,14.38
$IRIDIUM_FIX,1015.57,-12455.57,071017,100542
$TT8_MAMPS,0.041944,0.343791
$HUMID,50.98
$INTERNAL_PRESSURE,8.66636
$TCM_TEMP,20.90
$XPDR_PINGS,35
$SC_FREEKB,3834496
$PM_FREEKB,35002304
$24V_AH,13.21,82.814
$10V_AH,12.80,0.000
$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,24.325,144.450,788.350,13.775,0.000,0.000,0.000,267.800,8.750,0.000,8.340,0.000,13518.599,1019.650,2319.114,236.826,0.000,2150.201,0.000,1450.605,0.000,0.548,0.000
$DEVICE_MAMPS,358.020,2075.445,1736.550,170.595,0.000,0.000,0.000,203.490,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16623.000,16634.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.136,5.438,0.000,0.000
$MEM,326292
$DATA_FILE_SIZE,30135,820
$CAP_FILE_SIZE,130224,0
$CFSIZE,1024409600,987791360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040,129.47,1
$GPS,071017,193800,1019.032,-12458.948,30,0.8,30,9.0,0.3,177.0,10,6.0