version: 66.13
glider: 219
mission: 8
dive: 271
start: 10 22 117 6 23 11
data:
$ID,219
$MISSION,8
$DIVE,271
$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,90
$R_STBD_OVSHOOT,20
$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
$GPS1,221017,061430,1006.1592,-12514.5938,27,1.2,27,9.0,0.6,17.3,7,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-69.5
$GPS2,221017,062249,1006.2290,-12514.5078,2,0.9,3,9.0,0.7,67.5,9,6.9
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,216.2,14572,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.91,-146.0,164,2873,913,859,0.0,0.0,0,101,0.00,0.00,-85.07,0.000,16386,0.000,0.000,161,2873,3520,3546,3494,0,0,0,0,0,0,14.73,28.83,14.76
$GC,104,-0.91,-146.0,162,2873,3547,3494,7.5,-11.4,3,122,11.07,2.55,-0.38,0.000,18948,0.363,2.023,2545,1465,3553,3587,3519,0,0,0,0,0,0,14.08,13.16,14.32
$GC,226,-0.65,-146.0,2551,1462,3593,3518,47.7,-22.6,21,234,0.40,2.42,0.00,0.000,3206,0.234,0.050,2636,2886,3555,3591,3520,0,0,0,0,0,0,14.24,14.47,14.49
$GC,548,-0.68,-146.0,2636,2887,3595,3519,86.1,-8.9,34,555,0.00,1.60,0.00,0.000,420,0.000,0.076,2631,3821,3556,3594,3518,0,0,0,0,0,0,14.87,14.52,14.90
$GC,624,-0.74,-146.0,2632,3821,3596,3518,92.6,-8.5,45,634,0.00,1.50,0.00,0.000,1190,0.000,0.030,2631,2815,3556,3595,3518,0,0,0,0,0,0,14.74,14.71,14.75
$GC,968,-0.82,-146.0,2632,2812,3599,3518,119.2,-7.7,54,975,0.12,1.77,0.00,0.000,4516,0.131,0.073,2558,3830,3558,3598,3518,0,0,0,0,0,0,14.64,14.57,14.67
$GC,1072,-0.76,-146.0,2558,3831,3598,3519,130.4,-11.4,69,1082,0.12,1.52,0.00,0.000,3206,0.203,0.028,2595,2829,3557,3597,3517,0,0,0,0,0,0,14.38,14.78,14.52
$GC,1416,-0.82,-146.0,2595,2829,3598,3519,159.2,-8.2,76,1419,0.00,0.00,0.00,0.000,166,0.000,0.000,2595,2829,3558,3599,3518,0,0,0,0,0,0,14.97,15.00,15.00
$GC,1755,-0.88,-146.0,2595,2829,3598,3515,186.6,-8.3,82,1757,0.00,0.00,0.00,0.000,166,0.000,0.000,2595,2828,3555,3597,3513,0,0,0,0,0,0,14.94,14.98,14.97
$GC,2088,-0.96,-146.0,2596,2828,3598,3509,215.4,-8.4,88,2095,0.17,2.08,0.00,0.000,4772,0.096,0.031,2517,1536,3552,3597,3508,0,0,0,0,0,0,14.75,14.73,14.81
$GC,2129,-0.89,-146.0,2518,1537,3598,3509,220.0,-11.6,94,2137,0.17,2.33,0.00,0.000,3206,0.202,0.050,2558,2868,3552,3597,3508,0,0,0,0,0,0,14.35,14.59,14.50
$GC,2480,-0.89,-146.0,2558,2868,3598,3502,254.5,-9.9,102,2486,0.00,2.20,0.00,0.000,548,0.000,0.031,2552,1528,3549,3597,3502,0,0,0,0,0,0,14.96,14.72,15.00
$GC,2541,-0.89,-146.0,2558,1527,3598,3502,260.8,-10.1,111,2549,0.00,2.33,0.00,0.000,1030,0.000,0.050,2550,2869,3547,3593,3501,0,0,0,0,0,0,14.62,14.54,14.65
$GC,2871,-0.89,-146.0,2550,2871,3598,3498,295.4,-10.6,123,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2869,3547,3597,3497,0,0,0,0,0,0,14.97,15.00,15.00
$GC,3207,-0.89,-146.0,2550,2869,3598,3492,330.1,-10.2,129,3215,0.00,2.22,0.00,0.000,516,0.000,0.031,2555,1543,3544,3597,3491,0,0,0,0,0,0,14.99,14.65,15.01
$GC,3263,-0.89,-146.0,2550,1544,3597,3491,335.6,-9.8,137,3271,0.00,2.30,0.00,0.000,1062,0.000,0.051,2541,2871,3543,3597,3490,0,0,0,0,0,0,14.73,14.62,14.76
$GC,3599,-0.89,-146.0,2540,2872,3597,3489,370.6,-10.5,150,3606,0.00,2.20,0.00,0.000,516,0.000,0.031,2541,1544,3542,3596,3488,0,0,0,0,0,0,14.98,14.69,15.02
$GC,3641,-0.89,-146.0,2541,1538,3596,3488,375.0,-10.4,156,3648,0.10,2.35,0.00,0.000,3078,0.203,0.051,2559,2867,3541,3595,3488,0,0,0,0,0,0,14.35,14.57,14.48
$GC,3992,-0.89,-146.0,2560,2868,3593,3488,408.4,-9.5,164,3998,0.00,2.17,0.00,0.000,548,0.000,0.031,2560,1536,3538,3590,3486,0,0,0,0,0,0,14.93,14.68,14.96
$GC,4048,-0.93,-146.0,2560,1536,3593,3486,413.9,-9.6,172,4054,0.00,2.33,0.00,0.000,1190,0.000,0.051,2551,2878,3538,3591,3486,0,0,0,0,0,0,14.71,14.60,14.75
$GC,4383,-0.93,-146.0,2551,2884,3590,3484,448.0,-10.2,185,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2883,3536,3589,3483,0,0,0,0,0,0,15.00,15.03,15.02
$GC,4719,-0.93,-146.0,2551,2884,3586,3481,484.5,-11.0,191,4727,0.00,2.25,0.00,0.000,516,0.000,0.031,2551,1529,3534,3588,3481,0,0,0,0,0,0,14.96,14.69,14.99
$GC,4760,-0.93,-146.0,2551,1530,3589,3482,489.1,-11.2,197,4769,0.00,2.38,0.00,0.000,1030,0.000,0.050,2542,2873,3534,3588,3481,0,0,0,0,0,0,14.61,14.54,14.66
$GC,5112,-0.93,-146.0,2543,2874,3587,3479,527.8,-11.0,205,5119,0.00,2.20,0.00,0.000,516,0.000,0.031,2542,1538,3532,3587,3478,0,0,0,0,0,0,14.97,14.68,15.01
$GC,5168,-0.93,-146.0,2543,1540,3588,3479,533.7,-10.4,213,5175,0.00,2.33,0.00,0.000,1030,0.000,0.051,2533,2877,3532,3586,3478,0,0,0,0,0,0,14.71,14.59,14.74
$GC,5505,-0.93,-146.0,2533,2876,3586,3476,569.4,-10.5,226,5511,0.00,2.22,0.00,0.000,516,0.000,0.031,2533,1536,3530,3585,3476,0,0,0,0,0,0,14.95,14.68,14.97
$GC,5560,-0.93,-146.0,2533,1537,3585,3477,575.3,-10.6,234,5566,0.00,2.33,0.00,0.000,1030,0.000,0.050,2523,2869,3530,3585,3476,0,0,0,0,0,0,14.69,14.57,14.73
$GC,5896,-0.90,-146.0,2523,2878,3585,3473,613.0,-11.3,247,5899,0.15,0.00,0.00,0.000,2182,0.246,0.000,2556,2872,3528,3584,3473,0,0,0,0,0,0,14.36,14.66,14.58
$GC,6232,-0.95,-146.0,2556,2873,3584,3472,645.6,-9.6,253,6239,0.00,2.22,0.00,0.000,676,0.000,0.031,2557,1531,3531,3583,3480,0,0,0,0,0,0,14.97,14.61,15.00
$GC,6329,-1.01,-146.0,2557,1531,3581,3470,654.9,-9.5,267,6336,0.00,2.35,0.00,0.000,1190,0.000,0.050,2549,2876,3525,3581,3470,0,0,0,0,0,0,14.56,14.50,14.59
$GC,6680,-1.04,-146.0,2549,2869,3582,3469,687.3,-9.2,275,6686,0.00,2.20,0.00,0.000,676,0.000,0.031,2549,1538,3525,3581,3469,0,0,0,0,0,0,14.90,14.66,14.93
$GC,6728,-1.09,-146.0,2549,1537,3581,3469,691.8,-9.5,282,6737,0.10,2.35,0.00,0.000,5286,0.072,0.051,2485,2859,3524,3579,3469,0,0,0,0,0,0,14.49,14.48,14.57
$GC,7072,-1.00,-146.0,2486,2858,3579,3468,731.4,-11.6,289,7080,0.17,2.20,0.00,0.000,2692,0.256,0.031,2526,1539,3523,3578,3468,0,0,0,0,0,0,14.24,14.57,14.51
$GC,7098,-1.00,-146.0,2526,1540,3579,3467,734.4,-10.7,293,7107,0.00,2.38,0.00,0.000,1030,0.000,0.051,2520,2872,3522,3578,3467,0,0,0,0,0,0,14.55,14.49,14.60
$GC,7464,-1.00,-146.0,2518,2872,3578,3464,770.5,-9.8,303,7466,0.00,0.00,0.00,0.000,38,0.000,0.000,2518,2872,3521,3577,3465,0,0,0,0,0,0,14.95,14.99,14.98
$GC,7800,-1.00,-146.0,2518,2872,3578,3464,802.1,-9.3,309,7807,0.00,2.28,0.00,0.000,548,0.000,0.032,2517,1538,3519,3576,3463,0,0,0,0,0,0,14.96,14.57,15.00
$GC,7890,-1.00,-146.0,2518,1539,3575,3465,810.4,-9.3,322,7897,0.00,2.38,0.00,0.000,1062,0.000,0.051,2508,2871,3519,3575,3463,0,0,0,0,0,0,14.52,14.45,14.57
$STATE,8189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8189,begin apogee
$GC,8195,-0.21,0.0,2509,2666,3575,3463,841.1,-10.3,330,8407,1.00,0.00,208.23,1.498,10246,0.200,0.000,2779,2664,2970,3043,2897,0,0,0,0,0,0,14.17,14.04,13.31
$STATE,8409,end apogee,CONTROL_FINISHED_OK
$STATE,8409,begin climb
$GC,8411,0.91,146.0,2780,2664,3038,2890,847.0,0.0,333,8591,1.15,2.45,163.23,1.692,10756,0.104,0.037,3154,1281,2376,2457,2295,0,0,0,0,0,0,14.06,13.92,13.15
$GC,8653,0.73,146.0,3153,1282,2446,2282,834.2,11.4,375,8660,0.22,2.47,0.00,0.000,5254,0.230,0.044,3094,2649,2360,2439,2281,0,0,0,0,0,0,13.98,14.18,14.13
$GC,8976,0.64,151.9,3095,2649,2444,2270,802.8,9.7,386,8978,0.15,0.00,0.00,0.000,4262,0.247,0.000,3060,2649,2356,2443,2270,0,0,0,0,0,0,14.31,14.58,14.52
$GC,9311,0.70,195.2,3060,2651,2443,2268,775.6,8.0,392,9373,0.00,2.42,52.65,1.649,8740,0.000,0.037,3067,1285,2180,2266,2095,0,0,0,0,0,0,14.85,14.34,13.54
$GC,9473,0.73,222.1,3068,1286,2254,2086,761.7,8.7,415,9508,0.00,2.38,29.25,1.720,9254,0.000,0.044,3068,2636,2083,2167,1999,0,0,0,0,0,0,14.50,14.40,13.49
$GC,9865,0.73,222.3,3069,2637,2148,1971,722.6,10.0,429,9871,0.00,2.30,0.00,0.000,548,0.000,0.037,3078,1287,2059,2147,1971,0,0,0,0,0,0,14.78,14.54,14.82
$GC,9899,0.76,247.6,3079,1286,2147,1972,719.3,8.8,434,9936,0.00,2.40,26.25,1.711,9254,0.000,0.044,3078,2639,1975,2059,1891,0,0,0,0,0,0,14.55,14.50,13.63
$GC,10257,0.76,247.6,3079,2642,2051,1875,681.2,10.7,450,10264,0.00,2.30,0.00,0.000,516,0.000,0.037,3088,1287,1962,2051,1874,0,0,0,0,0,0,14.79,14.55,14.83
$GC,10326,0.76,247.6,3089,1287,2050,1875,673.9,10.5,460,10334,0.00,2.40,0.00,0.000,1030,0.000,0.044,3089,2648,1958,2048,1869,0,0,0,0,0,0,14.57,14.52,14.61
$GC,10649,0.76,247.6,3089,2648,2049,1872,637.2,11.5,471,10656,0.00,2.30,0.00,0.000,516,0.000,0.037,3098,1288,1960,2048,1873,0,0,0,0,0,0,14.83,14.62,14.86
$GC,10705,0.76,247.6,3099,1288,2048,1873,630.9,11.2,479,10712,0.00,2.35,0.00,0.000,1030,0.000,0.044,3098,2648,1959,2046,1873,0,0,0,0,0,0,14.68,14.59,14.71
$GC,11041,0.72,247.6,3099,2648,2047,1871,590.0,12.3,492,11048,0.00,2.33,0.00,0.000,644,0.000,0.037,3108,1276,1959,2046,1872,0,0,0,0,0,0,14.85,14.63,14.89
$GC,11097,0.72,247.6,3108,1277,2046,1873,583.3,11.8,500,11104,0.00,2.35,0.00,0.000,1030,0.000,0.044,3108,2641,1959,2045,1873,0,0,0,0,0,0,14.69,14.59,14.70
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$STATE,16642,end climb,SURFACE_DEPTH_REACHED
$STATE,16642,begin surface coast
$FINISH,-0.1,1.021012
$STATE,16670,end surface coast,CONTROL_FINISHED_OK
$STATE,16670,begin surface
$SM_CCo,16695,16.88,0.168,0,0,877,525.01
$SM_GC,1.00,8.85,0.40,16.88,0.054,0.090,0.168,190,2866,877,-8.24,-0.93,525.01,0,0,0,0,0,0,14.63,14.52,14.35
$IRIDIUM_FIX,1008.88,-12513.16,221017,012522
$TT8_MAMPS,0.041944,0.432922
$HUMID,49.92
$INTERNAL_PRESSURE,8.67612
$TCM_TEMP,21.40
$XPDR_PINGS,26
$SC_FREEKB,3806432
$PM_FREEKB,22439360
$24V_AH,13.15,108.361
$10V_AH,12.46,0.000
$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,25.350,155.325,628.325,16.875,0.000,0.000,0.000,298.975,6.500,0.000,6.533,0.000,13672.464,864.575,2368.359,299.872,0.000,2030.907,0.000,1477.586,0.000,0.548,0.000
$DEVICE_MAMPS,363.375,2022.660,1719.720,168.300,0.000,0.000,0.000,195.840,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16680.000,16686.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.209,6.121,0.000,0.000
$MEM,326316
$DATA_FILE_SIZE,30042,804
$CAP_FILE_SIZE,133501,0
$CFSIZE,1024409600,977027072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032,110.93,1
$GPS,221017,110239,1004.984,-12515.722,21,1.3,22,9.0,0.7,53.9,7,8.9