version: 66.13
glider: 219
mission: 8
dive: 338
start: 11 4 117 17 29 40
data:
$ID,219
$MISSION,8
$DIVE,338
$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,109
$R_STBD_OVSHOOT,33
$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,1
$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
$GPS1,041117,172009,949.1572,-12509.0498,18,0.8,27,9.0,0.6,2.2,11,3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-70.4
$GPS2,041117,172918,949.2148,-12509.1152,2,0.8,5,9.0,0.6,321.2,12,7.6
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,135.5,22660,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.91,-146.0,185,2882,910,857,0.0,0.0,0,97,0.00,0.00,-85.50,0.000,16387,0.000,0.000,184,2881,3552,3581,3524,0,0,0,0,0,0,14.73,28.83,14.77
$GC,100,-0.91,-146.0,185,2883,3582,3525,8.0,-12.3,3,117,10.82,2.22,0.00,0.000,2564,0.355,0.021,2548,1477,3554,3586,3522,0,0,0,0,0,0,14.11,14.55,14.45
$GC,179,-0.69,-146.0,2548,1477,3591,3520,37.6,-22.0,15,186,0.30,2.42,0.00,0.000,3206,0.220,0.047,2620,2863,3554,3591,3518,0,0,0,0,0,0,14.19,14.47,14.34
$GC,516,-0.74,-146.0,2621,2865,3596,3519,77.5,-7.8,30,522,0.00,1.67,0.00,0.000,420,0.000,0.075,2615,3821,3556,3595,3518,0,0,0,0,0,0,14.92,14.54,14.96
$GC,706,-0.80,-146.0,2615,3822,3598,3519,93.0,-8.1,57,713,0.00,1.48,0.00,0.000,1190,0.000,0.030,2615,2824,3557,3597,3518,0,0,0,0,0,0,14.74,14.72,14.75
$GC,1048,-0.90,-146.0,2616,2824,3599,3518,116.9,-6.7,66,1052,0.17,2.08,0.00,0.000,4772,0.098,0.031,2530,1545,3557,3598,3517,0,0,0,0,0,0,14.77,14.68,14.83
$GC,1110,-0.85,-146.0,2531,1544,3598,3518,123.0,-10.3,75,1115,0.17,2.30,0.00,0.000,3206,0.195,0.048,2571,2879,3557,3597,3518,0,0,0,0,0,0,14.38,14.63,14.52
$GC,1440,-0.88,-146.0,2571,2880,3598,3517,154.0,-9.5,87,1446,0.00,2.20,0.00,0.000,676,0.000,0.030,2571,1547,3557,3598,3516,0,0,0,0,0,0,15.04,14.68,15.07
$GC,1530,-0.94,-146.0,2572,1547,3599,3514,162.8,-9.4,100,1537,0.00,2.28,0.00,0.000,1190,0.000,0.048,2563,2864,3556,3598,3515,0,0,0,0,0,0,14.68,14.62,14.72
$GC,1888,-0.97,-146.0,2564,2864,3599,3510,197.9,-9.8,109,1895,0.00,2.17,0.00,0.000,676,0.000,0.031,2563,1546,3554,3598,3510,0,0,0,0,0,0,15.06,14.71,15.09
$GC,1937,-1.03,-146.0,2563,1547,3598,3511,202.7,-9.9,116,1944,0.08,2.30,0.00,0.000,5286,0.075,0.050,2498,2868,3553,3598,3509,0,0,0,0,0,0,14.62,14.64,14.69
$GC,2279,-0.93,-146.0,2498,2869,3598,3505,247.0,-13.1,123,2281,0.20,0.00,0.00,0.000,2182,0.230,0.000,2547,2867,3550,3597,3504,0,0,0,0,0,0,14.45,14.76,14.68
$GC,2615,-0.93,-146.0,2547,2870,3598,3501,282.4,-10.4,129,2623,0.00,2.20,0.00,0.000,516,0.000,0.031,2547,1550,3548,3597,3499,0,0,0,0,0,0,15.07,14.73,15.10
$GC,2713,-0.97,-146.0,2547,1551,3598,3500,292.3,-10.1,143,2720,0.00,2.33,0.00,0.000,1158,0.000,0.050,2539,2872,3547,3597,3498,0,0,0,0,0,0,14.66,14.59,14.71
$GC,3063,-0.97,-146.0,2540,2872,3599,3493,328.7,-10.4,151,3070,0.00,2.20,0.00,0.000,516,0.000,0.031,2539,1554,3544,3596,3493,0,0,0,0,0,0,15.07,14.70,15.10
$GC,3098,-0.97,-146.0,2539,1555,3598,3493,332.4,-10.4,156,3105,0.00,2.30,0.00,0.000,1030,0.000,0.049,2530,2866,3544,3597,3492,0,0,0,0,0,0,14.71,14.65,14.74
$GC,3455,-0.97,-146.0,2530,2868,3598,3490,371.0,-10.9,165,3463,0.00,2.20,0.00,0.000,516,0.000,0.031,2530,1557,3542,3597,3488,0,0,0,0,0,0,15.05,14.69,15.08
$GC,3511,-0.97,-146.0,2530,1557,3598,3489,377.1,-10.9,173,3519,0.00,2.33,0.00,0.000,1030,0.000,0.050,2521,2876,3542,3596,3488,0,0,0,0,0,0,14.66,14.61,14.71
$GC,3847,-0.97,-146.0,2521,2876,3596,3486,416.0,-11.6,186,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2876,3540,3594,3486,0,0,0,0,0,0,15.07,15.10,15.10
$GC,4183,-0.97,-146.0,2520,2878,3591,3486,454.5,-11.3,192,4190,0.00,2.22,0.00,0.000,516,0.000,0.031,2520,1554,3537,3590,3485,0,0,0,0,0,0,15.04,14.67,15.08
$GC,4225,-0.97,-146.0,2520,1555,3591,3486,459.2,-11.1,198,4232,0.00,2.30,0.00,0.000,1030,0.000,0.050,2510,2869,3537,3590,3484,0,0,0,0,0,0,14.67,14.60,14.71
$GC,4576,-0.93,-146.0,2511,2869,3591,3481,498.8,-11.4,206,4582,0.15,2.22,0.00,0.000,2692,0.239,0.031,2546,1551,3535,3590,3481,0,0,0,0,0,0,14.42,14.66,14.64
$GC,4638,-0.98,-146.0,2546,1551,3591,3482,505.0,-9.4,215,4645,0.00,2.33,0.00,0.000,1190,0.000,0.050,2538,2866,3535,3590,3480,0,0,0,0,0,0,14.66,14.58,14.70
$GC,4967,-0.98,-146.0,2539,2866,3590,3478,537.1,-9.8,227,4968,0.00,0.00,0.00,0.000,38,0.000,0.000,2538,2866,3533,3589,3478,0,0,0,0,0,0,15.07,15.10,15.09
$GC,5303,-0.98,-146.0,2533,2866,3588,3476,570.0,-9.8,233,5311,0.00,2.20,0.00,0.000,548,0.000,0.031,2537,1556,3531,3587,3476,0,0,0,0,0,0,15.07,14.68,15.10
$GC,5373,-1.03,-146.0,2538,1557,3587,3476,576.8,-9.6,243,5380,0.00,2.33,0.00,0.000,1190,0.000,0.051,2529,2865,3530,3586,3474,0,0,0,0,0,0,14.62,14.55,14.67
$GC,5695,-1.03,-146.0,2529,2867,3586,3475,609.1,-10.1,254,5702,0.00,2.22,0.00,0.000,516,0.000,0.031,2529,1548,3530,3586,3474,0,0,0,0,0,0,15.07,14.68,15.09
$GC,5745,-1.06,-146.0,2529,1548,3587,3475,614.2,-10.1,261,5753,0.00,2.33,0.00,0.000,1158,0.000,0.050,2519,2869,3529,3586,3473,0,0,0,0,0,0,14.61,14.55,14.66
$GC,6087,-1.06,-146.0,2520,2868,3585,3471,650.1,-10.5,268,6094,0.00,2.22,0.00,0.000,516,0.000,0.030,2519,1543,3527,3584,3471,0,0,0,0,0,0,15.07,14.68,15.09
$GC,6157,-1.06,-146.0,2520,1544,3585,3472,657.4,-10.1,278,6164,0.00,2.35,0.00,0.000,1030,0.000,0.049,2509,2871,3527,3584,3471,0,0,0,0,0,0,14.63,14.57,14.67
$GC,6479,-1.06,-146.0,2510,2871,3584,3470,691.7,-10.7,289,6487,0.00,2.22,0.00,0.000,516,0.000,0.030,2510,1543,3525,3583,3468,0,0,0,0,0,0,15.07,14.66,15.09
$GC,6528,-1.06,-146.0,2510,1544,3584,3469,697.0,-10.6,296,6536,0.00,2.35,0.00,0.000,1030,0.000,0.049,2500,2868,3525,3582,3469,0,0,0,0,0,0,14.62,14.55,14.66
$GC,6871,-1.03,-146.0,2501,2868,3582,3467,734.7,-11.0,303,6878,0.00,2.22,0.00,0.000,644,0.000,0.030,2501,1549,3524,3581,3467,0,0,0,0,0,0,15.03,14.64,15.06
$GC,6913,-1.03,-146.0,2501,1548,3582,3467,739.6,-11.6,309,6921,0.00,2.35,0.00,0.000,1030,0.000,0.049,2490,2868,3523,3580,3467,0,0,0,0,0,0,14.54,14.49,14.59
$GC,7263,-0.97,-146.0,2490,2867,3581,3465,778.8,-11.1,317,7265,0.17,0.00,0.00,0.000,2182,0.252,0.000,2531,2869,3522,3579,3465,0,0,0,0,0,0,14.31,14.65,14.57
$GC,7600,-1.01,-146.0,2531,2871,3579,3474,809.8,-9.2,323,7606,0.00,2.22,0.00,0.000,676,0.000,0.030,2531,1551,3522,3578,3466,0,0,0,0,0,0,15.05,14.62,15.09
$GC,7690,-1.06,-146.0,2532,1550,3579,3464,817.9,-9.3,336,7697,0.00,2.35,0.00,0.000,1190,0.000,0.050,2523,2865,3520,3577,3464,0,0,0,0,0,0,14.57,14.48,14.61
$STATE,7933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7933,begin apogee
$GC,7939,-0.21,0.0,2524,2704,3578,3462,840.4,-9.3,343,8308,0.93,0.00,365.40,1.233,10246,0.189,0.000,2778,2703,2970,3044,2897,0,0,0,0,0,0,14.23,14.07,13.38
$STATE,8309,end apogee,CONTROL_FINISHED_OK
$STATE,8309,begin climb
$GC,8311,0.91,146.0,2780,2704,3043,2894,853.3,0.0,349,8479,1.17,0.00,164.23,1.660,10502,0.099,0.000,3148,2703,2387,2468,2307,0,0,0,0,0,0,14.10,13.94,13.14
$GC,8778,0.72,146.0,3149,2704,2445,2274,812.9,12.2,365,8783,0.22,2.33,0.00,0.000,4740,0.245,0.033,3099,1323,2359,2445,2273,0,0,0,0,0,0,14.23,14.48,14.39
$GC,8903,0.67,154.9,3100,1324,2442,2265,800.3,9.6,383,8908,0.15,2.33,0.00,0.000,5286,0.236,0.044,3068,2661,2356,2440,2272,0,0,0,0,0,0,14.30,14.55,14.53
$GC,9223,0.70,178.1,3068,2662,2442,2270,771.4,8.9,394,9260,0.00,2.35,32.67,1.638,8740,0.000,0.037,3077,1326,2253,2338,2168,0,0,0,0,0,0,14.92,14.16,13.58
$GC,9351,0.70,183.5,3077,1325,2321,2152,759.3,9.7,412,9356,0.00,2.30,0.00,0.000,1062,0.000,0.042,3077,2648,2236,2321,2151,0,0,0,0,0,0,14.58,14.50,14.60
$GC,9664,0.70,183.5,3077,2649,2320,2145,727.4,10.1,422,9672,0.00,2.28,0.00,0.000,516,0.000,0.035,3086,1323,2232,2320,2144,0,0,0,0,0,0,14.89,14.57,14.91
$GC,9727,0.71,192.2,3087,1324,2320,2145,721.2,9.6,431,9735,0.00,2.30,3.80,1.241,9254,0.000,0.043,3086,2639,2202,2288,2117,0,0,0,0,0,0,14.62,14.55,13.22
$GC,10049,0.67,192.2,3086,2640,2296,2143,688.9,10.0,442,10057,0.00,2.20,2.25,0.497,8836,0.000,0.033,3096,1323,2203,2282,2125,0,0,0,0,0,0,14.94,14.16,13.19
$GC,10112,0.68,199.7,3096,1324,2288,2137,682.8,9.6,451,10133,0.00,2.30,15.57,1.788,9254,0.000,0.042,3096,2635,2170,2251,2089,0,0,0,0,0,0,14.64,14.59,13.67
$GC,10442,0.63,199.7,3096,2636,2244,2072,648.0,10.7,463,10448,0.17,2.25,0.00,0.000,4740,0.214,0.034,3062,1325,2157,2243,2071,0,0,0,0,0,0,14.37,14.57,14.61
$GC,10540,0.71,225.0,3064,1325,2243,2071,639.0,8.8,477,10575,0.00,2.28,31.77,1.579,9382,0.000,0.041,3062,2640,2072,2156,1988,0,0,0,0,0,0,14.61,14.57,13.60
$GC,10884,0.76,231.1,3063,2641,2138,1964,605.9,9.7,491,10889,0.00,2.20,0.00,0.000,676,0.000,0.035,3073,1327,2051,2139,1963,0,0,0,0,0,0,14.84,14.57,14.87
$GC,10973,0.82,246.1,3073,1328,2137,1964,597.3,9.3,504,11001,0.10,2.30,22.05,1.622,11430,0.066,0.041,3129,2636,1982,2068,1896,0,0,0,0,0,0,14.53,14.54,13.62
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$GC,12675,0.74,248.5,3093,1325,2050,1877,395.3,9.9,593,12681,0.00,2.30,0.00,0.000,1190,0.000,0.041,3093,2641,1963,2050,1877,0,0,0,0,0,0,14.62,14.58,14.66
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$STATE,16557,end climb,SURFACE_DEPTH_REACHED
$STATE,16557,begin surface coast
$FINISH,-0.2,1.008478
$STATE,16585,end surface coast,CONTROL_FINISHED_OK
$STATE,16585,begin surface
$SM_CCo,16603,22.75,0.169,0,0,875,525.01
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$IRIDIUM_FIX,949.02,-12510.64,041117,122940
$TT8_MAMPS,0.041944,0.238931
$HUMID,54.92
$INTERNAL_PRESSURE,8.67612
$TCM_TEMP,21.80
$XPDR_PINGS,25
$SC_FREEKB,3780704
$24V_AH,13.14,131.663
$10V_AH,11.95,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.325,152.475,782.525,22.750,0.000,0.000,0.000,361.050,6.250,0.000,6.665,0.000,13777.157,1114.093,1952.099,318.036,0.000,2173.325,0.000,1167.986,0.000,0.547,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.138,4.055,0.000,0.000
$MEM,326048
$DATA_FILE_SIZE,30010,814
$CAP_FILE_SIZE,131826,0
$CFSIZE,1024409600,968294400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.028,303.05,1
$GPS,041117,220730,947.693,-12508.330,17,0.8,17,9.0,0.3,30.4,10,7.8