version: 66.13
glider: 219
mission: 8
dive: 323
start: 11 1 117 17 52 13
data:
$ID,219
$MISSION,8
$DIVE,323
$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,115
$R_STBD_OVSHOOT,21
$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,48
$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,1.0
$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
$GPS1,011117,174300,1010.6253,-12510.9570,31,0.8,31,9.0,0.3,188.1,11,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-71.5
$GPS2,011117,175151,1010.6473,-12510.9668,2,0.8,4,9.0,0.7,131.3,11,4.5
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,204.5,24997,-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,36,end surface,CONTROL_FINISHED_OK
$STATE,36,begin dive
$GC,39,-0.91,-146.0,165,2879,909,857,0.0,0.0,0,130,0.00,0.00,-79.80,0.000,16386,0.000,0.000,162,2880,3250,3277,3223,0,0,0,0,0,0,14.74,28.83,14.78
$GC,133,-0.91,-146.0,162,2881,3277,3226,5.6,-7.9,3,164,10.98,2.50,-3.85,0.000,18948,0.357,2.017,2547,1529,3550,3589,3512,0,0,0,0,0,0,14.04,13.28,14.44
$GC,227,-0.69,-146.0,2548,1528,3592,3512,41.7,-21.6,16,241,0.32,2.35,0.00,0.000,3206,0.241,0.054,2618,2885,3551,3591,3512,0,0,0,0,0,0,14.25,14.52,14.50
$GC,564,-0.73,-146.0,2619,2885,3598,3512,83.2,-8.9,30,577,0.00,1.62,0.00,0.000,420,0.000,0.076,2613,3832,3554,3597,3512,0,0,0,0,0,0,14.88,14.57,14.92
$GC,745,-0.78,-146.0,2613,3833,3598,3513,98.2,-7.8,55,759,0.00,1.48,0.00,0.000,1190,0.000,0.029,2613,2829,3555,3598,3512,0,0,0,0,0,0,14.73,14.73,14.73
$GC,1108,-0.87,-146.0,2613,2828,3599,3512,128.4,-8.5,64,1122,0.15,0.00,0.00,0.000,4262,0.112,0.000,2539,2827,3554,3596,3512,0,0,0,0,0,0,14.75,14.81,14.81
$GC,1444,-0.83,-146.0,2539,2827,3599,3511,165.2,-11.1,70,1458,0.15,2.05,0.00,0.000,2692,0.223,0.028,2578,1557,3552,3598,3506,0,0,0,0,0,0,14.45,14.66,14.58
$GC,1477,-0.83,-146.0,2579,1557,3599,3510,168.4,-9.8,74,1491,0.00,2.25,0.00,0.000,1062,0.000,0.051,2571,2874,3554,3598,3510,0,0,0,0,0,0,14.77,14.66,14.80
$GC,1846,-0.86,-146.0,2571,2875,3599,3507,203.9,-9.8,84,1860,0.00,2.17,0.00,0.000,676,0.000,0.031,2571,1551,3551,3598,3505,0,0,0,0,0,0,15.02,14.76,15.04
$GC,1900,-0.92,-146.0,2571,1551,3600,3505,209.4,-10.1,91,1914,0.00,2.28,0.00,0.000,1158,0.000,0.052,2562,2871,3551,3598,3504,0,0,0,0,0,0,14.77,14.66,14.81
$GC,2243,-0.92,-146.0,2563,2871,3599,3500,243.5,-9.9,98,2257,0.00,2.15,0.00,0.000,548,0.000,0.031,2562,1560,3548,3598,3499,0,0,0,0,0,0,15.00,14.76,15.03
$GC,2297,-0.98,-146.0,2562,1559,3599,3499,249.0,-10.2,105,2312,0.00,2.28,0.00,0.000,1158,0.000,0.052,2554,2876,3548,3598,3499,0,0,0,0,0,0,14.77,14.66,14.80
$GC,2640,-0.98,-146.0,2554,2878,3599,3495,285.5,-10.6,112,2654,0.00,2.17,0.00,0.000,516,0.000,0.031,2554,1554,3546,3598,3494,0,0,0,0,0,0,15.02,14.73,15.05
$GC,2701,-1.01,-146.0,2554,1560,3599,3493,291.6,-9.9,120,2715,0.00,2.25,0.00,0.000,1190,0.000,0.051,2553,2871,3544,3597,3492,0,0,0,0,0,0,14.76,14.65,14.79
$GC,3042,-1.01,-146.0,2546,2872,3599,3490,326.5,-10.3,133,3056,0.00,2.15,0.00,0.000,516,0.000,0.031,2546,1561,3543,3598,3488,0,0,0,0,0,0,15.02,14.75,15.05
$GC,3089,-1.01,-146.0,2546,1561,3599,3494,331.4,-10.4,139,3103,0.00,2.28,0.00,0.000,1030,0.000,0.051,2537,2878,3542,3597,3487,0,0,0,0,0,0,14.75,14.64,14.78
$GC,3444,-1.01,-146.0,2536,2878,3595,3487,369.1,-10.6,147,3458,0.00,2.17,0.00,0.000,516,0.000,0.031,2536,1559,3541,3596,3486,0,0,0,0,0,0,15.02,14.73,15.05
$GC,3498,-1.01,-146.0,2537,1560,3596,3487,374.9,-10.6,154,3512,0.00,2.28,0.00,0.000,1030,0.000,0.051,2527,2872,3540,3594,3486,0,0,0,0,0,0,14.74,14.63,14.78
$GC,3841,-1.01,-146.0,2524,2873,3594,3483,414.8,-11.8,161,3855,0.00,2.17,0.00,0.000,516,0.000,0.031,2527,1554,3537,3593,3482,0,0,0,0,0,0,15.02,14.72,15.05
$GC,3902,-1.01,-146.0,2527,1555,3593,3483,421.9,-11.5,169,3916,0.00,2.30,0.00,0.000,1030,0.000,0.052,2518,2878,3536,3592,3481,0,0,0,0,0,0,14.74,14.62,14.77
$GC,4243,-0.97,-146.0,2518,2880,3591,3481,462.3,-11.9,182,4257,0.00,2.17,0.00,0.000,644,0.000,0.032,2517,1561,3535,3590,3481,0,0,0,0,0,0,15.02,14.73,15.03
$GC,4297,-0.97,-146.0,2518,1562,3590,3481,468.6,-11.6,189,4312,0.00,2.28,0.00,0.000,1030,0.000,0.051,2508,2876,3535,3590,3480,0,0,0,0,0,0,14.74,14.63,14.78
$GC,4640,-0.92,-146.0,2513,2877,3590,3479,509.6,-11.9,196,4654,0.17,0.00,0.00,0.000,2182,0.230,0.000,2550,2877,3533,3589,3477,0,0,0,0,0,0,14.43,14.73,14.65
$GC,4976,-0.96,-146.0,2550,2878,3588,3476,542.3,-9.7,202,4990,0.00,2.17,0.00,0.000,676,0.000,0.029,2550,1558,3531,3588,3475,0,0,0,0,0,0,15.02,14.73,15.05
$GC,5037,-1.03,-146.0,2551,1558,3589,3475,548.2,-9.5,210,5051,0.00,2.33,0.00,0.000,1190,0.000,0.050,2543,2880,3530,3587,3474,0,0,0,0,0,0,14.74,14.62,14.77
$GC,5379,-1.06,-146.0,2543,2880,3587,3474,581.3,-9.7,223,5393,0.00,2.17,0.00,0.000,676,0.000,0.029,2542,1561,3529,3586,3473,0,0,0,0,0,0,15.02,14.73,15.05
$GC,5475,-1.11,-146.0,2543,1562,3586,3474,590.3,-9.2,236,5489,0.12,2.25,0.00,0.000,5286,0.125,0.049,2481,2871,3528,3585,3472,0,0,0,0,0,0,14.63,14.60,14.73
$GC,5837,-1.01,-146.0,2482,2872,3585,3470,632.3,-11.7,245,5851,0.17,0.00,0.00,0.000,2182,0.251,0.000,2521,2872,3526,3583,3469,0,0,0,0,0,0,14.33,14.68,14.59
$GC,6173,-1.01,-146.0,2521,2873,3584,3470,666.2,-10.1,251,6187,0.00,2.17,0.00,0.000,516,0.000,0.029,2521,1551,3525,3583,3468,0,0,0,0,0,0,15.02,14.71,15.08
$GC,6248,-1.01,-146.0,2522,1552,3584,3468,674.1,-10.3,261,6262,0.00,2.30,0.00,0.000,1030,0.000,0.049,2513,2877,3524,3581,3467,0,0,0,0,0,0,14.71,14.60,14.75
$GC,6575,-1.01,-146.0,2514,2877,3582,3465,710.4,-11.2,272,6589,0.00,2.17,0.00,0.000,516,0.000,0.028,2514,1561,3523,3581,3465,0,0,0,0,0,0,15.02,14.70,15.04
$GC,6650,-1.01,-146.0,2514,1561,3582,3465,718.8,-11.0,282,6664,0.00,2.28,0.00,0.000,1030,0.000,0.048,2504,2869,3523,3581,3465,0,0,0,0,0,0,14.70,14.62,14.73
$GC,6977,-0.98,-146.0,2505,2870,3580,3465,756.3,-11.5,293,6991,0.12,2.17,0.00,0.000,2692,0.253,0.026,2536,1557,3521,3579,3464,0,0,0,0,0,0,14.34,14.56,14.44
$GC,7031,-1.04,-146.0,2536,1558,3579,3465,761.8,-9.7,300,7045,0.00,2.30,0.00,0.000,1190,0.000,0.050,2528,2874,3521,3578,3464,0,0,0,0,0,0,14.68,14.57,14.72
$GC,7374,-1.04,-146.0,2528,2875,3578,3463,795.4,-9.8,307,7388,0.00,2.17,0.00,0.000,548,0.000,0.028,2528,1561,3519,3577,3461,0,0,0,0,0,0,15.00,14.69,15.03
$GC,7429,-1.08,-146.0,2529,1560,3578,3461,800.7,-9.7,314,7443,0.00,2.30,0.00,0.000,1190,0.000,0.049,2518,2875,3516,3571,3461,0,0,0,0,0,0,14.66,14.55,14.71
$GC,7771,-1.08,-146.0,2519,2875,3577,3459,835.6,-10.2,321,7785,0.00,2.20,0.00,0.000,516,0.000,0.028,2519,1550,3517,3575,3459,0,0,0,0,0,0,14.91,14.66,14.94
$STATE,7815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7816,begin apogee
$GC,7823,-0.21,0.0,2511,2652,3576,3458,840.4,-10.0,327,8047,0.98,0.00,208.12,1.532,10246,0.191,0.000,2780,2653,2962,3036,2888,0,0,0,0,0,0,14.23,14.04,13.26
$STATE,8048,end apogee,CONTROL_FINISHED_OK
$STATE,8048,begin climb
$GC,8050,0.91,146.0,2781,2654,3035,2886,849.2,0.0,331,8227,1.12,0.00,163.25,1.689,10758,0.103,0.000,3140,2653,2383,2465,2302,0,0,0,0,0,0,14.09,13.94,13.16
$GC,8546,0.74,146.0,3140,2653,2445,2267,807.6,11.4,347,8560,0.17,2.20,0.00,0.000,4740,0.253,0.031,3103,1341,2358,2443,2273,0,0,0,0,0,0,14.26,14.50,14.42
$GC,8679,0.69,160.6,3104,1340,2441,2272,795.0,9.3,365,8698,0.12,2.25,4.03,1.336,13478,0.218,0.041,3077,2648,2330,2412,2248,0,0,0,0,0,0,14.38,14.57,13.18
$GC,9006,0.67,180.6,3077,2648,2418,2266,765.1,9.1,376,9051,0.00,2.22,31.27,1.711,8868,0.000,0.032,3085,1340,2241,2324,2159,0,0,0,0,0,0,14.86,14.24,13.57
$GC,9105,0.67,180.6,3086,1340,2315,2150,755.2,10.3,390,9119,0.00,2.28,0.00,0.000,1030,0.000,0.042,3085,2651,2231,2313,2149,0,0,0,0,0,0,14.56,14.51,14.59
$GC,9461,0.63,180.6,3086,2651,2312,2143,717.4,10.7,398,9475,0.12,2.22,0.00,0.000,4740,0.219,0.031,3060,1330,2227,2313,2142,0,0,0,0,0,0,14.40,14.58,14.51
$GC,9573,0.70,209.4,3059,1331,2311,2142,707.4,8.7,413,9617,0.00,2.28,31.98,1.690,9382,0.000,0.042,3060,2651,2135,2220,2050,0,0,0,0,0,0,14.69,14.60,13.60
$GC,9974,0.73,232.3,3061,2651,2202,2025,670.9,8.9,428,10012,0.00,2.22,23.90,1.732,8740,0.000,0.034,3070,1336,2037,2123,1952,0,0,0,0,0,0,14.83,14.25,13.62
$GC,10103,0.83,271.1,3070,1337,2110,1945,660.3,8.2,446,10163,0.15,2.25,47.28,1.571,11430,0.109,0.041,3133,2637,1887,1970,1805,0,0,0,0,0,0,14.50,14.50,13.50
$GC,10476,0.75,271.1,3133,2638,1950,1779,614.0,12.6,464,10490,0.15,2.20,0.00,0.000,4740,0.220,0.032,3100,1334,1863,1949,1778,0,0,0,0,0,0,14.31,14.52,14.44
$GC,10551,0.75,271.1,3101,1335,1947,1778,605.9,10.2,474,10565,0.00,2.28,0.00,0.000,1030,0.000,0.044,3101,2648,1861,1946,1776,0,0,0,0,0,0,14.63,14.58,14.66
$GC,10878,0.75,271.1,3101,2648,1948,1775,569.6,11.2,485,10892,0.00,2.22,0.00,0.000,516,0.000,0.035,3110,1338,1861,1947,1775,0,0,0,0,0,0,14.88,14.33,14.92
$GC,10974,0.75,271.1,3110,1338,1946,1776,559.0,10.9,498,10988,0.00,2.25,0.00,0.000,1030,0.000,0.043,3110,2644,1857,1946,1769,0,0,0,0,0,0,14.70,14.61,14.73
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$STATE,16078,end climb,SURFACE_DEPTH_REACHED
$STATE,16078,begin surface coast
$FINISH,-0.2,1.021325
$STATE,16106,end surface coast,CONTROL_FINISHED_OK
$STATE,16108,begin surface
$SM_CCo,16131,33.10,0.167,0,0,876,525.01
$SM_GC,0.87,8.80,0.40,33.10,0.051,0.067,0.167,186,2877,876,-8.25,-0.82,525.01,0,0,0,0,0,0,14.65,14.60,14.33
$IRIDIUM_FIX,1013.28,-12508.32,011117,125946
$TT8_MAMPS,0.041944,0.231441
$HUMID,52.59
$INTERNAL_PRESSURE,8.66636
$TCM_TEMP,22.20
$XPDR_PINGS,46
$SC_FREEKB,3786464
$PM_FREEKB,207744
$24V_AH,13.16,126.781
$10V_AH,12.60,0.000
$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,24.475,149.850,604.550,33.100,0.000,0.000,0.000,338.975,11.500,0.000,6.294,0.000,12957.810,858.215,2558.334,315.925,0.000,2528.350,0.000,1096.045,0.000,0.548,0.000
$DEVICE_MAMPS,357.255,2017.305,1731.960,166.770,0.000,0.000,0.000,181.305,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16122.000,666.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.161,8.127,0.000,0.000
$MEM,326256
$DATA_FILE_SIZE,26725,764
$CAP_FILE_SIZE,141044,0
$CFSIZE,1024409600,970014720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.024,179.26,1
$GPS,011117,222239,1008.990,-12512.385,27,1.2,28,9.0,0.3,86.8,7,9.7