version: 66.13
glider: 219
mission: 8
dive: 253
start: 10 18 117 15 47 47
data:
$ID,219
$MISSION,8
$DIVE,253
$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,91
$R_STBD_OVSHOOT,44
$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
$GPS1,181017,153930,1015.7101,-12453.7295,17,1.6,17,9.0,0.3,278.6,4,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-70.4
$GPS2,181017,154726,1015.8137,-12453.7363,2,1.5,4,9.0,0.5,34.3,4,8.3
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,285.8,12925,-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,-146.0,179,2888,913,859,0.0,0.0,0,102,0.00,0.00,-85.12,0.000,16390,0.000,0.000,178,2887,3552,3581,3524,0,0,0,0,0,0,14.72,12.85,14.76
$GC,104,-0.91,-146.0,178,2888,3582,3526,8.3,-12.6,3,122,11.02,1.60,0.00,0.000,2308,0.368,0.063,2540,3817,3559,3594,3524,0,0,0,0,0,0,14.11,14.45,14.34
$GC,352,-0.71,-146.0,2541,3817,3591,3522,78.7,-11.4,39,359,0.28,1.50,0.00,0.000,3206,0.224,0.030,2615,2848,3556,3590,3522,0,0,0,0,0,0,14.23,14.64,14.39
$GC,717,-0.74,-146.0,2615,2849,3598,3522,108.8,-7.8,53,725,0.00,2.15,0.00,0.000,676,0.000,0.031,2615,1513,3559,3597,3521,0,0,0,0,0,0,14.92,14.63,14.95
$GC,737,-0.79,-146.0,2615,1513,3598,3521,110.4,-7.6,56,744,0.00,2.33,0.00,0.000,1190,0.000,0.047,2607,2861,3558,3597,3520,0,0,0,0,0,0,14.63,14.56,14.66
$GC,1053,-0.84,-146.0,2607,2861,3598,3522,134.8,-7.9,66,1059,0.00,1.67,0.00,0.000,420,0.000,0.076,2600,3817,3559,3597,3521,0,0,0,0,0,0,14.94,14.53,14.97
$GC,1087,-0.88,-146.0,2600,3818,3597,3522,137.8,-8.8,71,1094,0.00,1.45,0.00,0.000,1190,0.000,0.031,2600,2847,3559,3597,3521,0,0,0,0,0,0,14.70,14.67,14.70
$GC,1445,-0.95,-146.0,2600,2845,3599,3518,170.3,-9.1,80,1453,0.17,2.10,0.00,0.000,4772,0.096,0.031,2519,1540,3557,3597,3518,0,0,0,0,0,0,14.71,14.70,14.76
$GC,1493,-0.87,-146.0,2520,1540,3598,3518,176.0,-12.1,87,1502,0.17,2.30,0.00,0.000,3206,0.203,0.049,2561,2869,3557,3597,3517,0,0,0,0,0,0,14.35,14.59,14.48
$GC,1837,-0.87,-146.0,2560,2870,3597,3514,212.1,-10.4,94,1843,0.00,2.17,0.00,0.000,516,0.000,0.031,2560,1539,3555,3597,3513,0,0,0,0,0,0,14.99,14.63,15.02
$GC,1892,-0.87,-146.0,2561,1538,3598,3512,217.9,-10.3,102,1900,0.00,2.33,0.00,0.000,1030,0.000,0.050,2553,2893,3553,3596,3511,0,0,0,0,0,0,14.69,14.57,14.73
$GC,2228,-0.87,-146.0,2552,2895,3597,3509,253.5,-10.6,115,2236,0.00,2.22,0.00,0.000,516,0.000,0.030,2552,1540,3552,3597,3508,0,0,0,0,0,0,14.96,14.66,14.99
$GC,2298,-0.87,-146.0,2553,1541,3592,3508,260.7,-10.2,125,2306,0.00,2.33,0.00,0.000,1030,0.000,0.050,2543,2871,3551,3596,3506,0,0,0,0,0,0,14.66,14.59,14.69
$GC,2621,-0.84,-146.0,2544,2867,3598,3501,295.3,-10.7,136,2624,0.12,0.00,0.00,0.000,2182,0.249,0.000,2572,2867,3548,3596,3501,0,0,0,0,0,0,14.39,14.67,14.60
$GC,2957,-0.88,-146.0,2572,2867,3597,3497,326.6,-9.3,142,2964,0.00,2.20,0.00,0.000,676,0.000,0.031,2571,1532,3546,3597,3496,0,0,0,0,0,0,14.95,14.70,14.98
$GC,3040,-0.94,-146.0,2571,1534,3593,3496,334.4,-9.5,154,3048,0.00,2.30,0.00,0.000,1190,0.000,0.050,2564,2866,3546,3597,3495,0,0,0,0,0,0,14.73,14.61,14.77
$GC,3406,-0.94,-146.0,2564,2867,3597,3491,370.1,-9.8,164,3412,0.00,2.20,0.00,0.000,548,0.000,0.031,2564,1534,3543,3597,3490,0,0,0,0,0,0,14.92,14.71,14.95
$GC,3461,-0.98,-146.0,2564,1534,3597,3491,375.7,-10.0,172,3468,0.00,2.33,0.00,0.000,1190,0.000,0.051,2553,2876,3542,3596,3489,0,0,0,0,0,0,14.71,14.61,14.75
$GC,3797,-0.98,-146.0,2555,2877,3593,3490,409.1,-9.9,185,3804,0.00,2.20,0.00,0.000,548,0.000,0.031,2555,1542,3540,3593,3488,0,0,0,0,0,0,14.92,14.71,14.95
$GC,3873,-0.98,-146.0,2555,1543,3593,3490,416.8,-9.7,196,3883,0.00,2.35,0.00,0.000,1062,0.000,0.051,2546,2870,3540,3592,3488,0,0,0,0,0,0,14.58,14.52,14.63
$GC,4190,-0.98,-146.0,2546,2872,3591,3488,449.0,-10.2,206,4196,0.00,2.20,0.00,0.000,516,0.000,0.031,2546,1540,3538,3590,3487,0,0,0,0,0,0,14.94,14.69,14.97
$GC,4223,-0.98,-146.0,2547,1540,3591,3487,452.6,-10.4,211,4231,0.00,2.35,0.00,0.000,1030,0.000,0.050,2537,2869,3538,3590,3487,0,0,0,0,0,0,14.60,14.54,14.64
$GC,4581,-0.98,-146.0,2537,2871,3590,3485,492.0,-11.1,220,4588,0.00,2.25,0.00,0.000,516,0.000,0.031,2537,1536,3536,3589,3483,0,0,0,0,0,0,14.95,14.62,14.98
$GC,4615,-0.98,-146.0,2537,1537,3589,3484,495.9,-11.2,225,4624,0.00,2.35,0.00,0.000,1030,0.000,0.050,2526,2868,3535,3588,3483,0,0,0,0,0,0,14.59,14.53,14.67
$GC,4974,-0.95,-146.0,2527,2869,3588,3481,536.5,-11.4,234,4980,0.00,2.20,0.00,0.000,644,0.000,0.031,2527,1539,3534,3587,3481,0,0,0,0,0,0,14.97,14.68,15.00
$GC,5063,-0.95,-146.0,2527,1538,3588,3481,546.8,-11.1,247,5071,0.00,2.38,0.00,0.000,1030,0.000,0.050,2517,2883,3533,3586,3481,0,0,0,0,0,0,14.59,14.53,14.64
$GC,5421,-0.90,-146.0,2517,2884,3586,3480,589.8,-12.1,256,5424,0.17,0.00,0.00,0.000,2182,0.240,0.000,2557,2884,3532,3585,3480,0,0,0,0,0,0,14.35,14.65,14.57
$GC,5758,-0.94,-146.0,2558,2884,3586,3477,624.2,-10.2,262,5764,0.00,2.22,0.00,0.000,644,0.000,0.031,2557,1541,3531,3585,3477,0,0,0,0,0,0,14.97,14.67,15.00
$GC,5848,-0.99,-146.0,2557,1543,3585,3478,633.3,-9.8,275,5855,0.00,2.35,0.00,0.000,1190,0.000,0.051,2550,2866,3530,3584,3477,0,0,0,0,0,0,14.57,14.51,14.63
$GC,6205,-0.99,-146.0,2557,2866,3585,3478,668.7,-9.8,284,6212,0.00,2.20,0.00,0.000,548,0.000,0.031,2550,1540,3528,3583,3473,0,0,0,0,0,0,15.00,14.64,15.00
$GC,6247,-1.03,-146.0,2550,1541,3583,3475,672.7,-9.5,290,6254,0.00,2.35,0.00,0.000,1190,0.000,0.051,2541,2870,3528,3582,3474,0,0,0,0,0,0,14.55,14.52,14.60
$GC,6597,-1.03,-146.0,2541,2870,3583,3472,704.7,-9.0,298,6600,0.00,0.00,0.00,0.000,38,0.000,0.000,2540,2870,3526,3581,3472,0,0,0,0,0,0,14.97,15.00,15.00
$GC,6934,-1.03,-146.0,2541,2870,3581,3469,732.7,-8.2,304,6940,0.00,2.20,0.00,0.000,548,0.000,0.031,2541,1536,3525,3580,3470,0,0,0,0,0,0,14.90,14.66,14.92
$GC,6990,-1.06,-146.0,2541,1537,3580,3470,737.6,-8.9,312,6996,0.00,2.33,0.00,0.000,1190,0.000,0.052,2531,2870,3524,3579,3469,0,0,0,0,0,0,14.67,14.54,14.71
$GC,7326,-1.06,-146.0,2532,2870,3579,3469,767.3,-9.0,325,7333,0.00,2.20,0.00,0.000,548,0.000,0.031,2531,1543,3523,3578,3468,0,0,0,0,0,0,14.88,14.65,14.91
$GC,7366,-1.06,-146.0,2532,1543,3579,3468,771.2,-9.9,331,7374,0.00,2.35,0.00,0.000,1062,0.000,0.050,2521,2874,3522,3577,3468,0,0,0,0,0,0,14.54,14.47,14.59
$GC,7717,-1.06,-146.0,2522,2873,3577,3467,805.0,-9.9,339,7724,0.00,2.22,0.00,0.000,548,0.000,0.031,2521,1543,3521,3576,3466,0,0,0,0,0,0,14.96,14.46,14.99
$GC,7758,-1.06,-146.0,2522,1545,3577,3467,809.0,-9.0,345,7767,0.00,2.38,0.00,0.000,1062,0.000,0.051,2511,2871,3521,3576,3466,0,0,0,0,0,0,14.52,14.45,14.58
$STATE,8051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8051,begin apogee
$GC,8056,-0.21,0.0,2512,2686,3576,3465,840.6,-10.8,352,8426,0.98,0.00,364.45,1.242,10246,0.199,0.000,2778,2684,2971,3044,2898,0,0,0,0,0,0,14.23,14.04,13.43
$STATE,8427,end apogee,CONTROL_FINISHED_OK
$STATE,8427,begin climb
$GC,8430,0.91,146.0,2779,2686,3041,2896,854.8,0.0,358,8610,1.12,2.58,163.45,1.675,10756,0.099,0.037,3150,1269,2375,2455,2296,0,0,0,0,0,0,14.07,13.89,13.16
$GC,8671,0.74,146.0,3150,1268,2444,2281,842.4,11.6,398,8679,0.20,2.50,0.00,0.000,5254,0.224,0.044,3097,2646,2361,2442,2280,0,0,0,0,0,0,13.96,14.14,14.10
$GC,9001,0.64,146.0,3098,2649,2441,2271,808.1,10.5,410,9008,0.17,2.33,0.00,0.000,4740,0.239,0.036,3064,1275,2355,2441,2269,0,0,0,0,0,0,14.30,14.53,14.54
$GC,9077,0.67,173.6,3065,1276,2440,2271,801.0,8.7,421,9108,0.00,2.40,25.77,1.688,9254,0.000,0.043,3064,2636,2276,2361,2192,0,0,0,0,0,0,14.55,14.50,13.63
$GC,9442,0.68,181.7,3065,2638,2343,2166,766.1,9.6,431,9449,0.00,2.30,0.00,0.000,548,0.000,0.037,3075,1277,2253,2342,2165,0,0,0,0,0,0,14.78,14.56,14.81
$GC,9518,0.70,193.2,3075,1278,2341,2166,758.7,9.5,442,9542,0.00,2.42,18.27,1.752,9254,0.000,0.044,3075,2655,2199,2285,2114,0,0,0,0,0,0,14.62,14.53,13.70
$GC,9884,0.67,193.2,3075,2654,2270,2090,719.5,10.9,452,9890,0.00,2.35,0.00,0.000,644,0.000,0.037,3085,1270,2179,2269,2090,0,0,0,0,0,0,14.81,14.57,14.84
$GC,9966,0.67,193.2,3085,1270,2266,2092,710.5,10.9,464,9974,0.00,2.42,0.00,0.000,1030,0.000,0.044,3085,2648,2178,2266,2091,0,0,0,0,0,0,14.59,14.54,14.63
$GC,10332,0.62,193.2,3086,2648,2267,2089,668.9,11.5,474,10339,0.15,2.33,0.00,0.000,4740,0.225,0.037,3060,1266,2177,2266,2089,0,0,0,0,0,0,14.38,14.62,14.62
$GC,10394,0.66,198.3,3060,1266,2265,2094,662.7,9.8,483,10402,0.00,2.40,0.00,0.000,1190,0.000,0.043,3060,2638,2176,2264,2089,0,0,0,0,0,0,14.62,14.55,14.64
$GC,10724,0.67,209.3,3060,2639,2265,2090,631.2,9.5,495,10746,0.00,2.35,13.43,1.725,8740,0.000,0.038,3070,1274,2130,2215,2046,0,0,0,0,0,0,14.90,14.64,13.80
$GC,10807,0.70,226.1,3071,1274,2208,2042,623.5,9.2,507,10836,0.00,2.38,19.50,1.649,9254,0.000,0.043,3070,2635,2060,2143,1978,0,0,0,0,0,0,14.59,14.55,13.71
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$STATE,16729,end climb,SURFACE_DEPTH_REACHED
$STATE,16729,begin surface coast
$FINISH,-0.0,1.016683
$STATE,16757,end surface coast,CONTROL_FINISHED_OK
$STATE,16757,begin surface
$SM_CCo,16783,10.80,0.171,0,0,875,525.01
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$IRIDIUM_FIX,1013.34,-12452.52,181017,105553
$TT8_MAMPS,0.041195,0.291361
$HUMID,50.23
$INTERNAL_PRESSURE,8.68589
$TCM_TEMP,21.30
$XPDR_PINGS,42
$SC_FREEKB,3813376
$PM_FREEKB,25514112
$24V_AH,12.85,102.054
$10V_AH,12.69,0.000
$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,24.250,164.900,767.775,10.800,0.000,0.000,0.000,281.625,10.500,0.000,6.278,0.000,13578.891,1013.629,2384.894,285.590,0.000,2177.554,0.000,1503.745,0.000,0.549,0.000
$DEVICE_MAMPS,367.965,76.500,1751.850,171.360,0.000,0.000,0.000,199.665,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.161,5.833,0.000,0.000
$MEM,326268
$DATA_FILE_SIZE,30047,837
$CAP_FILE_SIZE,134716,0
$CFSIZE,1024409600,979681280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,88.36,1
$GPS,181017,202855,1017.057,-12454.806,35,1.8,42,9.0,1.0,49.5,5,8.0