version: 66.13
glider: 219
mission: 8
dive: 296
start: 10 27 117 5 16 39
data:
$ID,219
$MISSION,8
$DIVE,296
$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,101
$R_STBD_OVSHOOT,37
$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
$GPS1,271017,050538,951.8224,-12447.2061,21,1.0,21,9.0,1.1,80.0,7,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-72.0
$GPS2,271017,051619,951.8645,-12446.9766,2,1.0,4,9.0,1.0,70.3,7,9.5
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,30.6,19022,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.91,-146.0,167,2890,911,861,0.0,0.0,0,109,0.00,0.00,-84.60,0.000,16390,0.000,0.000,162,2890,3552,3581,3523,0,0,0,0,0,0,14.71,12.82,14.74
$GC,111,-0.91,-146.0,162,2890,3583,3524,8.0,-12.0,3,129,11.05,2.28,0.00,0.000,2564,0.363,0.028,2544,1505,3554,3584,3524,0,0,0,0,0,0,14.08,14.42,14.30
$GC,197,-0.64,-146.0,2545,1504,3590,3520,43.3,-26.0,16,206,0.43,2.38,0.00,0.000,3206,0.242,0.056,2640,2859,3554,3589,3520,0,0,0,0,0,0,14.21,14.46,14.45
$GC,527,-0.71,-146.0,2641,2860,3594,3520,88.8,-7.8,30,535,0.00,1.67,0.00,0.000,420,0.000,0.076,2635,3833,3556,3592,3520,0,0,0,0,0,0,14.85,14.50,14.88
$GC,736,-0.81,-146.0,2633,3833,3596,3521,105.2,-8.5,60,746,0.15,1.50,0.00,0.000,5286,0.121,0.030,2566,2793,3557,3595,3520,0,0,0,0,0,0,14.58,14.67,14.66
$GC,1088,-0.81,-146.0,2567,2793,3598,3520,140.9,-10.3,68,1093,0.00,2.08,0.00,0.000,516,0.000,0.031,2567,1505,3558,3596,3520,0,0,0,0,0,0,14.93,14.70,14.96
$GC,1192,-0.81,-146.0,2567,1502,3596,3521,152.2,-10.7,83,1201,0.10,2.38,0.00,0.000,3078,0.197,0.049,2585,2874,3557,3596,3519,0,0,0,0,0,0,14.30,14.50,14.43
$GC,1536,-0.86,-146.0,2585,2874,3597,3517,184.1,-9.2,90,1539,0.00,0.00,0.00,0.000,166,0.000,0.000,2585,2874,3556,3596,3516,0,0,0,0,0,0,14.92,14.95,14.95
$GC,1872,-0.92,-146.0,2585,2875,3597,3512,211.9,-8.3,96,1880,0.00,1.65,0.00,0.000,420,0.000,0.078,2580,3814,3553,3596,3511,0,0,0,0,0,0,14.95,14.54,14.98
$GC,1907,-0.98,-146.0,2580,3814,3597,3510,215.0,-9.4,101,1917,0.15,1.48,0.00,0.000,5286,0.113,0.031,2513,2838,3553,3596,3511,0,0,0,0,0,0,14.64,14.68,14.71
$GC,2266,-0.90,-146.0,2513,2838,3597,3505,258.4,-12.3,110,2276,0.15,2.12,0.00,0.000,2692,0.230,0.029,2553,1538,3550,3596,3505,0,0,0,0,0,0,14.39,14.57,14.48
$GC,2353,-0.90,-146.0,2554,1533,3597,3503,267.4,-9.7,122,2360,0.00,2.35,0.00,0.000,1062,0.000,0.050,2546,2867,3549,3596,3503,0,0,0,0,0,0,14.64,14.58,14.68
$GC,2718,-0.90,-146.0,2546,2868,3597,3506,303.7,-9.9,132,2724,0.00,2.20,0.00,0.000,548,0.000,0.031,2546,1530,3547,3597,3497,0,0,0,0,0,0,15.00,14.72,15.02
$GC,2752,-0.90,-146.0,2546,1530,3598,3497,307.3,-10.4,137,2760,0.00,2.38,0.00,0.000,1030,0.000,0.050,2535,2876,3546,3596,3497,0,0,0,0,0,0,14.58,14.55,14.62
$GC,3110,-0.90,-146.0,2536,2877,3596,3493,346.8,-11.2,146,3116,0.00,2.20,0.00,0.000,516,0.000,0.031,2536,1536,3543,3596,3491,0,0,0,0,0,0,15.00,14.72,15.03
$GC,3144,-0.90,-146.0,2536,1536,3597,3491,350.7,-11.4,151,3152,0.10,2.35,0.00,0.000,3078,0.200,0.050,2555,2868,3543,3596,3490,0,0,0,0,0,0,14.41,14.58,14.50
$GC,3502,-0.90,-146.0,2555,2871,3597,3489,387.8,-10.4,160,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2870,3541,3596,3487,0,0,0,0,0,0,14.99,15.02,15.02
$GC,3838,-0.90,-146.0,2555,2871,3594,3484,422.3,-10.2,166,3845,0.00,2.25,0.00,0.000,516,0.000,0.031,2555,1532,3538,3593,3484,0,0,0,0,0,0,15.00,14.67,15.04
$GC,3900,-0.94,-146.0,2555,1533,3593,3485,428.6,-10.0,175,3908,0.00,2.38,0.00,0.000,1190,0.000,0.050,2547,2872,3538,3592,3484,0,0,0,0,0,0,14.64,14.57,14.68
$GC,4230,-0.94,-146.0,2548,2872,3592,3481,462.2,-10.1,187,4236,0.00,2.20,0.00,0.000,516,0.000,0.031,2547,1539,3536,3591,3481,0,0,0,0,0,0,15.01,14.71,15.04
$GC,4257,-0.94,-146.0,2547,1539,3591,3482,465.1,-10.3,191,4264,0.00,2.35,0.00,0.000,1030,0.000,0.050,2538,2869,3535,3590,3481,0,0,0,0,0,0,14.63,14.57,14.67
$GC,4622,-0.94,-146.0,2538,2869,3588,3480,503.4,-10.6,201,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2869,3534,3588,3480,0,0,0,0,0,0,15.01,15.04,15.04
$GC,4958,-0.94,-146.0,2539,2869,3588,3478,538.3,-10.3,207,4964,0.00,2.20,0.00,0.000,516,0.000,0.031,2538,1539,3531,3586,3477,0,0,0,0,0,0,15.01,14.70,15.04
$GC,5014,-0.98,-146.0,2538,1541,3587,3479,544.2,-10.3,215,5020,0.00,2.33,0.00,0.000,1158,0.000,0.051,2529,2875,3531,3586,3477,0,0,0,0,0,0,14.71,14.60,14.75
$GC,5350,-0.98,-146.0,2529,2877,3585,3476,579.7,-10.5,228,5356,0.00,2.22,0.00,0.000,516,0.000,0.031,2529,1534,3529,3584,3475,0,0,0,0,0,0,15.00,14.69,15.04
$GC,5419,-0.98,-146.0,2527,1536,3584,3476,586.8,-10.3,238,5426,0.00,2.38,0.00,0.000,1030,0.000,0.050,2519,2872,3529,3584,3475,0,0,0,0,0,0,14.60,14.53,14.64
$GC,5742,-0.98,-146.0,2519,2872,3585,3473,620.2,-10.4,249,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2872,3528,3584,3473,0,0,0,0,0,0,14.98,15.02,15.02
$GC,6078,-0.98,-146.0,2519,2873,3582,3472,656.3,-10.9,255,6085,0.00,2.28,0.00,0.000,516,0.000,0.031,2518,1533,3526,3582,3470,0,0,0,0,0,0,14.98,14.62,15.01
$GC,6119,-0.98,-146.0,2519,1534,3582,3470,661.0,-11.1,261,6127,0.00,2.38,0.00,0.000,1030,0.000,0.050,2509,2861,3525,3581,3470,0,0,0,0,0,0,14.58,14.51,14.63
$GC,6470,-0.94,-146.0,2509,2863,3581,3469,701.7,-11.6,269,6473,0.15,0.00,0.00,0.000,2182,0.246,0.000,2543,2863,3524,3580,3469,0,0,0,0,0,0,14.37,14.66,14.58
$GC,6806,-0.98,-146.0,2544,2863,3579,3467,733.3,-9.3,275,6812,0.00,2.20,0.00,0.000,676,0.000,0.031,2542,1537,3522,3578,3467,0,0,0,0,0,0,14.97,14.66,15.00
$GC,6868,-1.03,-146.0,2544,1539,3579,3468,739.2,-9.4,284,6875,0.00,2.40,0.00,0.000,1190,0.000,0.050,2534,2876,3521,3575,3467,0,0,0,0,0,0,14.55,14.48,14.60
$GC,7198,-1.03,-146.0,2536,2876,3578,3474,768.5,-8.8,296,7204,0.00,2.22,0.00,0.000,548,0.000,0.031,2535,1539,3520,3577,3464,0,0,0,0,0,0,14.97,14.65,15.00
$GC,7254,-1.07,-146.0,2533,1539,3577,3465,773.5,-8.8,304,7261,0.00,2.35,0.00,0.000,1190,0.000,0.050,2526,2876,3519,3576,3463,0,0,0,0,0,0,14.66,14.54,14.70
$GC,7590,-1.07,-146.0,2526,2877,3576,3463,804.6,-9.3,317,7597,0.00,1.70,0.00,0.000,292,0.000,0.083,2518,3819,3519,3575,3464,0,0,0,0,0,0,14.96,14.42,14.99
$GC,7617,-1.07,-146.0,2519,3817,3574,3463,807.3,-10.0,321,7625,0.00,1.48,0.00,0.000,1062,0.000,0.031,2520,2844,3519,3575,3464,0,0,0,0,0,0,14.76,14.73,14.76
$STATE,7980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7980,begin apogee
$GC,7985,-0.21,0.0,2519,2693,3575,3462,843.2,-9.9,331,8355,0.95,0.00,365.17,1.233,10246,0.191,0.000,2780,2692,2970,3043,2897,0,0,0,0,0,0,14.21,14.06,13.43
$STATE,8357,end apogee,CONTROL_FINISHED_OK
$STATE,8357,begin climb
$GC,8359,0.91,146.0,2781,2694,3042,2896,856.0,0.0,337,8545,1.15,2.45,163.88,1.684,10756,0.099,0.035,3152,1335,2373,2453,2293,0,0,0,0,0,0,14.09,13.94,13.16
$GC,8614,0.74,146.0,3152,1336,2445,2280,841.9,11.6,372,8621,0.22,2.38,0.00,0.000,5254,0.222,0.044,3092,2653,2361,2443,2280,0,0,0,0,0,0,14.03,14.23,14.18
$GC,8937,0.66,152.0,3092,2653,2441,2270,810.3,9.7,383,8943,0.00,2.22,0.00,0.000,676,0.000,0.034,3100,1327,2355,2441,2270,0,0,0,0,0,0,14.76,14.54,14.79
$GC,8984,0.59,152.0,3101,1332,2441,2270,805.4,10.2,390,8996,0.22,2.28,0.00,0.000,5254,0.209,0.044,3045,2646,2354,2439,2270,0,0,0,0,0,0,14.30,14.51,14.53
$GC,9329,0.67,212.6,3045,2647,2440,2268,780.1,7.2,397,9412,0.00,2.33,75.03,1.598,8740,0.000,0.037,3053,1332,2113,2199,2027,0,0,0,0,0,0,14.85,14.24,13.47
$GC,9476,0.77,247.7,3052,1333,2186,2017,768.9,8.4,418,9524,0.15,2.30,38.58,1.671,11430,0.106,0.044,3113,2647,1973,2054,1892,0,0,0,0,0,0,14.36,14.35,13.39
$GC,9834,0.70,247.7,3114,2646,2044,1869,724.9,12.6,434,9841,0.12,2.22,0.00,0.000,4740,0.236,0.034,3089,1326,1956,2043,1870,0,0,0,0,0,0,14.31,14.50,14.43
$GC,9930,0.70,247.7,3089,1327,2040,1870,714.0,10.7,448,9938,0.00,2.33,0.00,0.000,1030,0.000,0.045,3089,2642,1954,2039,1869,0,0,0,0,0,0,14.55,14.50,14.58
$GC,10281,0.70,247.7,3090,2646,2040,1865,672.8,11.9,456,10288,0.00,2.22,0.00,0.000,516,0.000,0.037,3098,1323,1952,2039,1865,0,0,0,0,0,0,14.86,14.60,14.89
$GC,10341,0.70,247.7,3099,1324,2040,1865,666.3,11.6,464,10347,0.00,2.28,0.00,0.000,1030,0.000,0.044,3099,2644,1951,2038,1865,0,0,0,0,0,0,14.64,14.56,14.67
$GC,10675,0.67,247.7,3099,2645,2039,1865,624.4,12.5,477,10682,0.12,2.20,0.00,0.000,4740,0.230,0.036,3078,1333,1950,2038,1863,0,0,0,0,0,0,14.42,14.62,14.67
$GC,10752,0.71,247.7,3077,1333,2038,1865,615.8,10.8,488,10759,0.00,2.30,0.00,0.000,1158,0.000,0.045,3078,2646,1951,2038,1864,0,0,0,0,0,0,14.62,14.57,14.66
$GC,11067,0.71,247.7,3078,2646,2038,1864,578.2,12.1,498,11075,0.00,2.20,0.00,0.000,516,0.000,0.037,3087,1333,1950,2037,1863,0,0,0,0,0,0,14.93,14.62,14.96
$GC,11143,0.71,247.7,3088,1335,2037,1865,569.2,11.7,509,11151,0.00,2.28,0.00,0.000,1030,0.000,0.044,3088,2636,1949,2036,1863,0,0,0,0,0,0,14.61,14.56,14.65
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$STATE,16490,end climb,SURFACE_DEPTH_REACHED
$STATE,16490,begin surface coast
$FINISH,-0.1,1.001416
$STATE,16518,end surface coast,CONTROL_FINISHED_OK
$STATE,16518,begin surface
$SM_CCo,16545,20.40,0.167,0,0,875,525.01
$SM_GC,1.27,8.75,0.38,20.40,0.044,0.073,0.167,187,2870,875,-8.25,-1.07,525.01,0,0,0,0,0,0,14.62,14.58,14.33
$IRIDIUM_FIX,946.97,-12446.97,271017,002109
$TT8_MAMPS,0.039697,0.429177
$HUMID,50.47
$INTERNAL_PRESSURE,8.69566
$TCM_TEMP,21.50
$XPDR_PINGS,21
$SC_FREEKB,3796832
$PM_FREEKB,11022784
$24V_AH,12.82,117.302
$10V_AH,12.72,0.000
$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,24.800,150.925,768.500,20.400,0.000,0.000,0.000,408.900,5.250,0.000,6.109,0.000,13282.003,996.986,2580.603,338.825,0.000,2307.151,0.000,1543.466,0.000,0.549,0.000
$DEVICE_MAMPS,362.610,82.620,1683.765,166.770,0.000,0.000,0.000,202.725,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16526.000,16550.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.161,8.372,0.000,0.000
$MEM,326224
$DATA_FILE_SIZE,30063,823
$CAP_FILE_SIZE,130475,0
$CFSIZE,1024409600,973373440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027,65.52,1
$GPS,271017,095355,953.293,-12445.175,30,1.3,37,9.0,0.7,115.1,6,3.5