version: 66.13
glider: 219
mission: 11
dive: 535
start: 11 21 118 13 17 29
data:
$ID,219
$MISSION,11
$DIVE,535
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,5
$T_BOOST,0
$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,390
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$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,55668
$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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,250
$PITCH_MAX,3914
$C_PITCH,2155
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,45
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,251
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2970
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0013
$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,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-148.58136
$PRESSURE_SLOPE,0.0001078618
$AD7714Ch0Gain,1
$COMPASS_USE,2052
$ALTIM_PING_FIT,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,6
$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
$LOGGERDEVICE1,53
$LOGGERDEVICE2,147
$LOGGERDEVICE3,131
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043946085
$SEABIRD_T_H,0.00063626852
$SEABIRD_T_I,2.5989737e-05
$SEABIRD_T_J,3.1806876e-06
$SEABIRD_C_G,-9.6980124
$SEABIRD_C_H,1.1068786
$SEABIRD_C_I,-0.0019018035
$SEABIRD_C_J,0.00022417276
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$ES_RECORDABOVE,2000.0
$ES_PROFILE,3.0
$ES_XMITPROFILE,0.0
$ES_UPLOADMAX,100000.0
$ES_STARTS,11160.0
$ES_NDIVE,1.0
$ES_DL_HEADERSKIP,105044.0
$ES_DL_RECORDLENGTH,10086.0
$ES_DL_NRECORD,100.0
$ES_DL_RECORDCOUNT,3.0
$CP_RECORDABOVE,2000.0
$CP_PROFILE,0.0
$CP_XMITPROFILE,0.0
$CP_UPLOADMAX,0.0
$CP_STARTS,0.0
$CP_NDIVE,1.0
$GPS1,211118,130425,5048.5044,-14237.8613,32,1.0,32,16.1,0.7,317.8,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-78.8
$GPS2,211118,131640,5048.6006,-14237.8379,3,0.6,4,16.1,0.5,353.9,12,9.0
$SPEED_LIMITS,0.147,0.242
$TGT_NAME,MLF2_92_TGT
$TGT_LATLONG,5049.141,-14237.113
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,19.1,1312,-27.0,-8.462,-30.00,895
$D_GRID,990
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,20,-0.66,-49.6,122,2267,1372,1353,0.0,0.0,0,122,0.00,0.00,-99.05,0.004,16386,0.000,0.000,123,2268,3055,3070,3040,0,0,0,0,0,0,14.59,28.83,14.62
$GC,126,-0.66,-49.6,123,2268,3071,3040,3.5,-10.0,17,146,8.68,2.53,-2.47,0.035,19204,0.372,0.090,1922,3665,3169,3201,3138,0,0,0,0,0,0,13.92,12.95,14.38
$GC,381,-0.66,-49.6,1922,3665,3203,3138,63.6,-18.0,65,388,0.00,2.47,0.00,0.000,1030,0.000,0.049,1921,2248,3171,3203,3139,0,0,0,0,0,0,14.45,14.35,14.47
$GC,577,-0.66,-49.6,1922,2247,3204,3138,99.6,-17.1,102,584,0.00,2.70,0.00,0.000,260,0.000,0.090,1912,3659,3171,3204,3139,0,0,0,0,0,0,14.77,14.07,14.80
$GC,646,-0.66,-49.6,1912,3658,3204,3138,112.1,-17.1,114,651,0.00,2.47,0.00,0.000,1030,0.000,0.050,1912,2245,3171,3204,3138,0,0,0,0,0,0,14.25,14.19,14.26
$GC,862,-0.66,-49.6,1913,2243,3205,3137,146.0,-14.2,136,868,0.00,2.53,0.00,0.000,516,0.000,0.058,1912,844,3171,3204,3138,0,0,0,0,0,0,14.79,14.27,14.81
$GC,1052,-0.66,-49.6,1912,843,3204,3138,175.3,-15.0,172,1059,0.15,2.60,0.00,0.000,3078,0.265,0.068,1932,2258,3171,3204,3138,0,0,0,0,0,0,13.93,14.24,14.20
$GC,1273,-0.66,-49.6,1928,2259,3204,3141,205.8,-13.7,194,1278,0.00,2.60,0.00,0.000,260,0.000,0.087,1924,3668,3171,3204,3138,0,0,0,0,0,0,14.81,14.15,14.83
$GC,1416,-0.66,-49.6,1923,3668,3204,3138,225.9,-13.3,221,1423,0.00,2.47,0.00,0.000,1030,0.000,0.045,1924,2248,3170,3204,3137,0,0,0,0,0,0,14.42,14.32,14.45
$GC,1624,-0.66,-49.6,1923,2247,3205,3138,255.9,-14.1,240,1630,0.00,2.55,0.00,0.000,516,0.000,0.059,1924,842,3169,3202,3136,0,0,0,0,0,0,14.70,14.23,14.73
$GC,1814,-0.66,-49.6,1923,842,3204,3136,281.4,-12.9,276,1820,0.00,2.65,0.00,0.000,1030,0.000,0.076,1913,2246,3169,3204,3135,0,0,0,0,0,0,14.30,14.13,14.36
$GC,2041,-0.66,-49.6,1913,2247,3204,3135,313.6,-14.8,290,2046,0.00,2.62,0.00,0.000,516,0.000,0.068,1913,839,3169,3204,3134,0,0,0,0,0,0,14.78,14.17,14.82
$GC,2116,-0.66,-49.6,1913,840,3204,3133,325.1,-14.4,304,2123,0.15,2.60,0.00,0.000,3078,0.262,0.061,1932,2254,3171,3204,3139,0,0,0,0,0,0,13.87,14.20,14.15
$GC,2334,-0.66,-49.6,1932,2259,3204,3133,354.1,-13.6,316,2340,0.00,2.62,0.00,0.000,260,0.000,0.087,1924,3677,3169,3204,3134,0,0,0,0,0,0,14.81,14.10,14.82
$GC,2454,-0.66,-49.6,1923,3676,3204,3133,369.8,-12.4,339,2461,0.00,2.50,0.00,0.000,1030,0.000,0.047,1924,2250,3168,3204,3133,0,0,0,0,0,0,14.38,14.28,14.42
$GC,2661,-0.66,-49.6,1924,2249,3204,3132,396.2,-12.9,350,2666,0.00,2.58,0.00,0.000,516,0.000,0.058,1924,838,3168,3204,3132,0,0,0,0,0,0,14.79,14.14,14.82
$GC,2812,-0.66,-49.6,1923,837,3204,3131,415.2,-11.6,379,2818,0.00,2.62,0.00,0.000,1030,0.000,0.061,1913,2265,3167,3204,3131,0,0,0,0,0,0,14.32,14.18,14.36
$GC,3034,-0.66,-49.6,1917,2266,3204,3131,444.1,-13.1,392,3040,0.00,2.60,0.00,0.000,260,0.000,0.085,1906,3662,3164,3198,3131,0,0,0,0,0,0,14.73,14.08,14.76
$GC,3134,-0.66,-49.6,1902,3661,3204,3130,457.8,-13.4,411,3142,0.15,2.47,0.00,0.000,3078,0.263,0.046,1934,2245,3167,3204,3131,0,0,0,0,0,0,13.85,14.27,14.12
$GC,3341,-0.66,-49.6,1932,2245,3204,3126,482.8,-12.1,422,3346,0.00,2.58,0.00,0.000,516,0.000,0.058,1933,830,3166,3203,3130,0,0,0,0,0,0,14.78,14.15,14.81
$GC,3553,-0.66,-49.6,1932,829,3204,3130,507.9,-11.5,463,3559,0.00,2.58,0.00,0.000,1030,0.000,0.061,1924,2260,3166,3204,3129,0,0,0,0,0,0,14.28,14.14,14.33
$GC,3775,-0.66,-49.6,1924,2261,3204,3129,536.2,-13.1,476,3781,0.00,2.60,0.00,0.000,260,0.000,0.086,1914,3658,3166,3204,3129,0,0,0,0,0,0,14.73,14.04,14.76
$GC,3855,-0.66,-49.6,1914,3658,3203,3128,546.9,-13.1,491,3862,0.00,2.50,0.00,0.000,1030,0.000,0.047,1914,2240,3163,3203,3123,0,0,0,0,0,0,14.34,14.25,14.38
$GC,4062,-0.66,-49.6,1913,2238,3204,3127,574.2,-13.4,502,4067,0.00,2.55,0.00,0.000,516,0.000,0.058,1914,840,3165,3204,3127,0,0,0,0,0,0,14.73,14.16,14.76
$GC,4299,-0.66,-49.6,1914,840,3206,3127,604.1,-11.4,548,4306,0.15,2.60,0.00,0.000,3078,0.261,0.060,1933,2250,3165,3204,3126,0,0,0,0,0,0,13.78,14.12,14.06
$GC,4517,-0.66,-49.6,1932,2252,3204,3127,626.6,-10.3,560,4523,0.00,2.65,0.00,0.000,260,0.000,0.088,1925,3670,3165,3204,3126,0,0,0,0,0,0,14.78,14.02,14.81
$GC,4604,-0.66,-49.6,1923,3667,3204,3126,635.4,-9.8,576,4610,0.00,2.53,0.00,0.000,1030,0.000,0.047,1924,2245,3165,3204,3126,0,0,0,0,0,0,14.33,14.23,14.37
$GC,4831,-0.66,-49.6,1924,2245,3204,3121,658.1,-10.3,590,4836,0.00,2.58,0.00,0.000,516,0.000,0.058,1924,842,3163,3202,3125,0,0,0,0,0,0,14.71,14.12,14.74
$GC,5054,-0.66,-49.6,1923,842,3204,3129,680.5,-9.8,633,5061,0.00,2.62,0.00,0.000,1030,0.000,0.060,1914,2256,3164,3204,3125,0,0,0,0,0,0,14.25,14.11,14.30
$GC,5260,-0.66,-49.6,1913,2253,3204,3125,702.7,-11.4,644,5266,0.00,2.62,0.00,0.000,260,0.000,0.085,1903,3658,3165,3204,3126,0,0,0,0,0,0,14.77,14.00,14.77
$GC,5356,-0.66,-49.6,1903,3659,3203,3124,714.2,-11.4,662,5362,0.15,2.42,0.00,0.000,3078,0.263,0.047,1933,2247,3164,3204,3124,0,0,0,0,0,0,13.78,14.21,14.05
$GC,5573,-0.66,-49.6,1932,2247,3200,3124,737.4,-10.9,674,5578,0.00,2.58,0.00,0.000,516,0.000,0.060,1933,836,3163,3204,3123,0,0,0,0,0,0,14.77,14.15,14.79
$GC,5802,-0.66,-49.6,1931,836,3204,3124,762.4,-11.7,718,5807,0.00,2.62,0.00,0.000,1030,0.000,0.060,1924,2249,3163,3204,3123,0,0,0,0,0,0,14.23,14.09,14.28
$GC,6028,-0.66,-49.6,1925,2256,3204,3123,787.6,-11.5,732,6034,0.00,2.62,0.00,0.000,260,0.000,0.086,1914,3654,3163,3205,3122,0,0,0,0,0,0,14.76,13.97,14.79
$GC,6135,-0.66,-49.6,1914,3658,3204,3121,800.0,-11.5,752,6141,0.00,2.50,0.00,0.000,1030,0.000,0.047,1914,2245,3163,3204,3122,0,0,0,0,0,0,14.29,14.19,14.33
$GC,6362,-0.66,-49.6,1914,2244,3204,3121,827.1,-11.4,766,6368,0.12,2.55,0.00,0.000,2564,0.278,0.057,1943,843,3162,3204,3121,0,0,0,0,0,0,13.94,14.09,14.04
$GC,6495,-0.66,-49.6,1943,842,3204,3121,840.9,-11.4,791,6500,0.00,2.62,0.00,0.000,1030,0.000,0.059,1936,2259,3162,3204,3120,0,0,0,0,0,0,14.23,14.07,14.27
$GC,6717,-0.66,-49.6,1935,2259,3204,3120,863.1,-10.4,804,6723,0.00,2.62,0.00,0.000,260,0.000,0.086,1928,3661,3162,3204,3120,0,0,0,0,0,0,14.69,13.96,14.72
$GC,6824,-0.66,-49.6,1925,3660,3204,3120,874.5,-12.2,824,6830,0.00,2.50,0.00,0.000,1030,0.000,0.047,1925,2250,3162,3204,3120,0,0,0,0,0,0,14.29,14.19,14.33
$GC,7051,-0.66,-49.6,1924,2251,3204,3119,897.7,-10.4,838,7056,0.00,2.60,0.00,0.000,516,0.000,0.060,1925,840,3161,3203,3119,0,0,0,0,0,0,14.75,14.06,14.77
$GC,7212,-0.66,-49.6,1924,840,3204,3119,913.6,-10.3,869,7219,0.00,2.62,0.00,0.000,1030,0.000,0.059,1914,2251,3161,3204,3119,0,0,0,0,0,0,14.21,14.07,14.26
$GC,7418,-0.66,-49.6,1914,2253,3204,3119,934.5,-10.4,880,7424,0.00,2.62,0.00,0.000,260,0.000,0.086,1904,3655,3161,3204,3119,0,0,0,0,0,0,14.73,13.96,14.76
$GC,7485,-0.66,-49.6,1904,3659,3212,3119,941.3,-10.5,892,7492,0.15,2.50,0.00,0.000,3078,0.252,0.047,1934,2241,3159,3199,3119,0,0,0,0,0,0,13.76,14.18,14.03
$GC,7713,-0.66,-49.6,1934,2241,3204,3119,961.2,-8.2,906,7718,0.00,2.55,0.00,0.000,516,0.000,0.059,1933,845,3161,3204,3119,0,0,0,0,0,0,14.69,14.07,14.71
$GC,7871,-0.66,-49.6,1934,845,3204,3119,975.0,-11.6,936,7877,0.00,2.62,0.00,0.000,1030,0.000,0.059,1926,2257,3161,3204,3119,0,0,0,0,0,0,14.20,14.07,14.26
$STATE,8064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8064,begin apogee
$GC,8073,-0.11,0.0,1926,2124,3204,3118,991.0,-8.8,947,8124,0.73,0.00,44.83,2.616,10246,0.210,0.000,2109,2120,2969,3036,2903,0,0,0,0,0,0,13.64,13.81,12.83
$STATE,8126,end apogee,CONTROL_FINISHED_OK
$STATE,8126,begin climb
$GC,8130,0.66,49.6,2109,2123,3036,2903,993.5,0.0,950,8190,0.82,2.80,48.03,2.538,11012,0.104,0.092,2368,3564,2772,2828,2716,0,0,0,0,0,0,14.23,13.93,12.67
$GC,8217,0.70,79.2,2368,3564,2827,2713,990.6,5.1,962,8255,0.00,2.53,29.58,2.490,9254,0.000,0.060,2378,2174,2653,2709,2597,0,0,0,0,0,0,14.28,14.19,12.72
$GC,8460,0.73,79.2,2378,2173,2709,2582,976.6,7.3,980,8466,0.00,2.65,0.00,0.000,580,0.000,0.080,2398,741,2645,2709,2582,0,0,0,0,0,0,14.71,14.35,14.73
$GC,8486,0.76,108.1,2389,741,2709,2582,974.6,5.1,984,8520,0.00,2.67,27.17,2.511,9254,0.000,0.083,2389,2155,2540,2603,2477,0,0,0,0,0,0,14.44,14.28,12.95
$GC,8731,0.76,108.1,2389,2155,2599,2466,953.1,9.4,1002,8736,0.00,2.65,0.00,0.000,516,0.000,0.085,2400,746,2533,2600,2466,0,0,0,0,0,0,14.75,14.32,14.77
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$SM_GC,0.52,7.12,0.17,74.72,0.066,0.107,0.196,215,2267,1373,-5.93,-0.76,400.16,0,0,0,0,0,0,14.48,14.45,14.16
$IRIDIUM_FIX,5047.44,-14236.47,211118,072337
$TT8_MAMPS,0.02247,0.465878
$HUMID,50.07
$INTERNAL_PRESSURE,10.0531
$TCM_TEMP,0.00
$XPDR_PINGS,254
$SC_FREEKB,3602112
$24V_AH,12.67,209.341
$10V_AH,12.37,0.000
$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,19.000,284.000,276.375,74.725,0.000,0.000,0.000,436.050,63.500,0.000,14.047,4778.080,10231.650,771.240,4263.706,645.459,0.000,2772.792,0.000,0.000,0.000,0.541,0.000
$DEVICE_MAMPS,371.790,107.100,2616.300,195.840,0.000,0.000,0.000,208.845,420.000,0.000,8.990,12.460,2.190,11.710,30.440,45.420,0.000,16.000,0.000,0.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,echo,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19953.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.000,0.000,0.000,0.000
$MEM,322700
$DATA_FILE_SIZE,69761,2034
$CAP_FILE_SIZE,230751,0
$CFSIZE,1024409600,901021696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.115,48.93,1
$GPS,211118,185130,5050.102,-14235.626,33,0.7,33,16.2,0.6,107.6,12,3.7