version: 66.13
glider: 219
mission: 8
dive: 270
start: 10 22 117 1 30 16
data:
$ID,219
$MISSION,8
$DIVE,270
$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,105
$R_STBD_OVSHOOT,26
$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
$GPS1,221017,012200,1007.2331,-12513.0713,14,1.2,14,9.0,0.6,109.5,5,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-72.7
$GPS2,221017,012955,1007.3000,-12513.0225,2,1.2,3,9.0,0.7,334.2,5,7.9
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,227.5,17822,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.91,-146.0,155,2874,909,855,0.0,0.0,0,103,0.00,0.00,-84.93,0.000,16390,0.000,0.000,152,2876,3552,3581,3524,0,0,0,0,0,0,14.72,12.83,14.76
$GC,105,-0.91,-146.0,153,2877,3581,3525,8.4,-12.7,3,123,10.88,2.17,0.00,0.000,2564,0.355,0.020,2543,1466,3554,3585,3523,0,0,0,0,0,0,14.12,14.46,14.34
$GC,233,-0.69,-146.0,2544,1466,3592,3520,50.2,-22.0,22,242,0.30,2.45,0.00,0.000,3206,0.216,0.048,2617,2876,3555,3591,3520,0,0,0,0,0,0,14.21,14.47,14.36
$GC,549,-0.69,-146.0,2617,2877,3595,3521,88.8,-9.9,34,556,0.00,1.65,0.00,0.000,292,0.000,0.074,2611,3817,3554,3588,3520,0,0,0,0,0,0,14.91,14.46,14.93
$GC,639,-0.69,-146.0,2612,3818,3596,3521,97.8,-9.3,47,647,0.00,1.48,0.00,0.000,1062,0.000,0.028,2611,2829,3557,3595,3520,0,0,0,0,0,0,14.70,14.66,14.71
$GC,969,-0.74,-146.0,2612,2828,3599,3520,122.0,-7.0,56,976,0.00,1.75,0.00,0.000,420,0.000,0.075,2604,3830,3558,3597,3520,0,0,0,0,0,0,14.96,14.55,14.99
$GC,1081,-0.80,-146.0,2604,3829,3598,3520,131.3,-8.5,72,1088,0.00,1.42,0.00,0.000,1190,0.000,0.031,2604,2878,3558,3597,3520,0,0,0,0,0,0,14.74,14.72,14.76
$GC,1417,-0.88,-146.0,2605,2877,3598,3519,159.1,-8.4,85,1425,0.12,2.15,0.00,0.000,4772,0.129,0.030,2540,1534,3557,3597,3518,0,0,0,0,0,0,14.73,14.67,14.77
$GC,1500,-0.84,-146.0,2540,1535,3598,3519,168.6,-11.6,97,1509,0.15,2.33,0.00,0.000,3206,0.197,0.048,2573,2875,3557,3597,3517,0,0,0,0,0,0,14.38,14.61,14.51
$GC,1865,-0.84,-146.0,2574,2875,3598,3513,205.1,-9.8,107,1874,0.00,2.17,0.00,0.000,548,0.000,0.031,2573,1539,3555,3597,3513,0,0,0,0,0,0,15.00,14.71,15.03
$GC,1907,-0.88,-146.0,2573,1539,3603,3514,208.9,-9.2,113,1915,0.00,2.33,0.00,0.000,1190,0.000,0.050,2565,2873,3558,3597,3519,0,0,0,0,0,0,14.66,14.59,14.69
$GC,2258,-0.88,-146.0,2566,2872,3599,3508,241.6,-9.4,121,2266,0.00,2.20,0.00,0.000,548,0.000,0.030,2565,1532,3551,3597,3506,0,0,0,0,0,0,14.98,14.64,15.01
$GC,2327,-0.92,-146.0,2565,1532,3598,3507,248.4,-9.8,131,2335,0.00,2.35,0.00,0.000,1190,0.000,0.050,2556,2870,3551,3597,3505,0,0,0,0,0,0,14.66,14.59,14.70
$GC,2650,-0.92,-146.0,2556,2872,3598,3503,281.5,-10.4,142,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2870,3549,3597,3501,0,0,0,0,0,0,14.97,15.01,15.00
$GC,2987,-0.92,-146.0,2556,2868,3598,3497,316.4,-10.4,148,2993,0.00,2.20,0.00,0.000,516,0.000,0.031,2555,1534,3546,3597,3496,0,0,0,0,0,0,14.93,14.73,14.97
$GC,3055,-0.92,-146.0,2556,1534,3598,3495,323.8,-10.4,158,3062,0.00,2.35,0.00,0.000,1030,0.000,0.050,2548,2865,3545,3597,3494,0,0,0,0,0,0,14.64,14.59,14.69
$GC,3378,-0.92,-146.0,2548,2866,3598,3491,359.1,-11.1,169,3385,0.00,2.17,0.00,0.000,516,0.000,0.031,2548,1544,3543,3597,3490,0,0,0,0,0,0,14.97,14.71,15.00
$GC,3437,-0.92,-146.0,2548,1545,3598,3491,365.4,-11.0,177,3444,0.00,2.28,0.00,0.000,1030,0.000,0.051,2539,2868,3542,3596,3489,0,0,0,0,0,0,14.60,14.54,14.64
$GC,3772,-0.92,-146.0,2539,2869,3595,3490,402.3,-10.8,190,3778,0.00,2.17,0.00,0.000,516,0.000,0.031,2538,1544,3541,3594,3489,0,0,0,0,0,0,14.95,14.71,15.00
$GC,3806,-0.92,-146.0,2539,1545,3594,3489,406.0,-10.7,195,3813,0.00,2.33,0.00,0.000,1030,0.000,0.050,2529,2875,3540,3593,3488,0,0,0,0,0,0,14.62,14.56,14.66
$GC,4164,-0.88,-146.0,2528,2876,3592,3488,444.2,-10.6,204,4171,0.15,2.20,0.00,0.000,2692,0.239,0.030,2563,1530,3538,3591,3486,0,0,0,0,0,0,14.40,14.70,14.62
$GC,4205,-0.94,-146.0,2563,1534,3591,3487,448.1,-8.9,210,4214,0.00,2.38,0.00,0.000,1190,0.000,0.050,2554,2872,3538,3591,3486,0,0,0,0,0,0,14.59,14.53,14.63
$GC,4556,-0.94,-146.0,2555,2872,3590,3483,479.7,-9.0,218,4562,0.00,2.20,0.00,0.000,548,0.000,0.031,2555,1537,3536,3589,3483,0,0,0,0,0,0,14.97,14.69,15.00
$GC,4590,-0.97,-146.0,2555,1537,3589,3484,482.8,-9.1,223,4597,0.00,2.33,0.00,0.000,1190,0.000,0.050,2546,2868,3536,3589,3483,0,0,0,0,0,0,14.61,14.54,14.65
$GC,4948,-0.97,-146.0,2547,2869,3589,3481,515.6,-9.2,232,4954,0.00,2.20,0.00,0.000,548,0.000,0.030,2546,1531,3534,3587,3481,0,0,0,0,0,0,15.00,14.68,15.02
$GC,4996,-0.97,-146.0,2547,1532,3587,3482,520.2,-9.2,239,5005,0.00,2.38,0.00,0.000,1062,0.000,0.050,2536,2869,3534,3587,3481,0,0,0,0,0,0,14.59,14.53,14.67
$GC,5340,-0.97,-146.0,2537,2871,3586,3479,554.8,-10.3,246,5347,0.00,2.25,0.00,0.000,516,0.000,0.031,2536,1538,3531,3584,3479,0,0,0,0,0,0,15.00,14.62,15.03
$GC,5409,-0.97,-146.0,2536,1537,3585,3479,562.4,-10.6,256,5417,0.00,2.38,0.00,0.000,1030,0.000,0.050,2523,2869,3531,3584,3479,0,0,0,0,0,0,14.54,14.45,14.57
$GC,5732,-0.97,-146.0,2528,2869,3587,3477,599.5,-11.7,267,5738,0.00,2.20,0.00,0.000,516,0.000,0.030,2526,1535,3530,3584,3476,0,0,0,0,0,0,14.97,14.67,15.00
$GC,5766,-0.97,-146.0,2527,1534,3585,3476,603.7,-12.2,272,5773,0.00,2.38,0.00,0.000,1030,0.000,0.050,2517,2871,3529,3584,3475,0,0,0,0,0,0,14.57,14.51,14.62
$GC,6124,-0.93,-146.0,2517,2871,3585,3473,646.4,-11.9,281,6127,0.12,0.00,0.00,0.000,2182,0.259,0.000,2544,2871,3528,3584,3473,0,0,0,0,0,0,14.38,14.66,14.59
$GC,6460,-0.93,-146.0,2544,2870,3582,3471,679.4,-9.6,287,6467,0.00,2.22,0.00,0.000,548,0.000,0.031,2544,1538,3527,3583,3471,0,0,0,0,0,0,14.97,14.59,15.00
$GC,6550,-0.98,-146.0,2544,1539,3583,3471,688.0,-9.3,300,6558,0.00,2.38,0.00,0.000,1190,0.000,0.050,2536,2873,3526,3582,3471,0,0,0,0,0,0,14.55,14.50,14.62
$GC,6908,-0.98,-146.0,2536,2873,3580,3469,721.8,-9.6,309,6915,0.00,2.22,0.00,0.000,548,0.000,0.031,2536,1539,3524,3579,3469,0,0,0,0,0,0,14.97,14.57,15.00
$GC,6942,-0.98,-146.0,2535,1540,3581,3470,725.2,-10.1,314,6949,0.00,2.35,0.00,0.000,1030,0.000,0.050,2526,2872,3524,3579,3469,0,0,0,0,0,0,14.59,14.50,14.62
$GC,7300,-0.98,-146.0,2527,2873,3579,3468,761.2,-10.2,323,7302,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2872,3522,3578,3467,0,0,0,0,0,0,14.97,15.00,15.00
$GC,7635,-0.98,-146.0,2526,2873,3577,3466,795.1,-10.1,329,7643,0.00,2.20,0.00,0.000,516,0.000,0.031,2526,1542,3521,3577,3465,0,0,0,0,0,0,14.97,14.59,15.00
$GC,7712,-0.98,-146.0,2526,1543,3577,3466,802.4,-9.7,340,7719,0.00,2.38,0.00,0.000,1062,0.000,0.051,2516,2871,3520,3576,3465,0,0,0,0,0,0,14.52,14.45,14.58
$GC,8028,-0.98,-146.0,2520,2872,3576,3465,833.7,-9.8,350,8030,0.00,0.00,0.00,0.000,38,0.000,0.000,2516,2871,3519,3575,3464,0,0,0,0,0,0,14.95,14.99,14.99
$STATE,8137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8137,begin apogee
$GC,8143,-0.21,0.0,2517,2681,3576,3462,844.7,-9.9,352,8511,0.95,0.00,363.50,1.230,10246,0.199,0.000,2776,2681,2971,3044,2898,0,0,0,0,0,0,14.23,14.06,13.43
$STATE,8513,end apogee,CONTROL_FINISHED_OK
$STATE,8513,begin climb
$GC,8515,0.91,146.0,2777,2681,3042,2895,856.6,0.0,358,8694,1.15,2.17,162.40,1.697,10500,0.103,0.077,3141,3831,2378,2458,2298,0,0,0,0,0,0,14.07,13.75,13.16
$GC,8734,0.65,146.0,3142,3831,2448,2281,845.0,13.4,395,8742,0.32,2.00,0.00,0.000,5254,0.242,0.028,3067,2639,2363,2447,2280,0,0,0,0,0,0,13.90,14.17,14.05
$GC,9092,0.62,154.2,3068,2639,2445,2269,810.2,9.6,404,9099,0.00,2.28,0.00,0.000,676,0.000,0.037,3076,1280,2356,2444,2269,0,0,0,0,0,0,14.76,14.54,14.78
$GC,9175,0.61,170.7,3076,1281,2442,2269,802.2,9.2,416,9205,0.00,2.42,21.77,1.721,9382,0.000,0.043,3075,2648,2283,2369,2198,0,0,0,0,0,0,14.57,14.52,13.67
$GC,9541,0.57,171.1,3076,2649,2359,2180,765.9,10.0,426,9547,0.15,2.33,0.00,0.000,4772,0.226,0.034,3046,1275,2268,2359,2178,0,0,0,0,0,0,14.34,14.54,14.47
$GC,9609,0.67,207.9,3046,1276,2356,2179,760.0,8.3,436,9659,0.00,2.38,42.42,1.654,9382,0.000,0.042,3046,2641,2140,2231,2050,0,0,0,0,0,0,14.59,14.55,13.58
$GC,9990,0.73,229.0,3045,2641,2205,2028,726.1,9.0,455,10017,0.12,2.33,20.85,1.735,10916,0.123,0.036,3112,1282,2050,2136,1965,0,0,0,0,0,0,14.55,14.28,13.66
$GC,10057,0.69,229.0,3107,1283,2123,1958,718.3,11.7,465,10066,0.12,2.42,0.00,0.000,5254,0.173,0.044,3075,2643,2038,2121,1956,0,0,0,0,0,0,14.28,14.44,14.40
$GC,10380,0.69,229.0,3075,2644,2121,1950,683.3,10.9,476,10387,0.00,2.33,0.00,0.000,516,0.000,0.037,3083,1270,2034,2120,1949,0,0,0,0,0,0,14.83,14.56,14.85
$GC,10428,0.69,229.0,3084,1269,2120,1949,678.1,10.6,483,10437,0.00,2.42,0.00,0.000,1030,0.000,0.044,3083,2643,2033,2118,1949,0,0,0,0,0,0,14.58,14.52,14.61
$GC,10772,0.69,229.0,3084,2643,2120,1947,639.0,11.5,490,10779,0.00,2.30,0.00,0.000,516,0.000,0.037,3090,1283,2032,2118,1947,0,0,0,0,0,0,14.88,14.62,14.91
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$STATE,16924,end climb,SURFACE_DEPTH_REACHED
$STATE,16925,begin surface coast
$FINISH,1.0,1.021037
$STATE,16931,end surface coast,CONTROL_FINISHED_OK
$STATE,16931,begin surface
$SM_CCo,16958,36.12,0.164,0,0,877,525.01
$SM_GC,0.81,8.88,2.83,36.12,0.057,0.059,0.164,183,2859,877,-8.27,-0.96,525.01,0,0,0,0,0,0,14.62,14.49,14.37
$IRIDIUM_FIX,1006.74,-12513.16,211017,204700
$TT8_MAMPS,0.040446,0.273385
$HUMID,50.51
$INTERNAL_PRESSURE,8.68589
$TCM_TEMP,22.40
$XPDR_PINGS,30
$SC_FREEKB,3806816
$PM_FREEKB,22615872
$24V_AH,12.83,108.015
$10V_AH,12.70,0.000
$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,24.375,167.950,740.375,36.125,0.000,0.000,0.000,275.925,7.500,0.000,5.353,0.000,13741.631,1012.712,2408.171,301.291,0.000,2190.614,0.000,1508.599,0.000,0.549,0.000
$DEVICE_MAMPS,354.960,77.265,1735.020,164.475,0.000,0.000,0.000,201.960,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16940.000,16947.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.137,6.041,0.000,0.000
$MEM,326268
$DATA_FILE_SIZE,30065,836
$CAP_FILE_SIZE,137093,0
$CFSIZE,1024409600,977174528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034,121.48,1
$GPS,221017,061430,1006.159,-12514.594,27,1.2,27,9.0,0.6,17.3,7,5.0