version: 66.13
glider: 219
mission: 8
dive: 47
start: 9 7 117 4 9 56
data:
$ID,219
$MISSION,8
$DIVE,47
$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,141
$R_STBD_OVSHOOT,23
$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,7
$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
$GPS1,070917,035900,1004.4537,-12517.8789,20,0.8,20,9.0,0.7,279.6,11,3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-69.6
$GPS2,070917,040937,1004.3624,-12518.0244,2,0.8,2,9.0,0.5,220.2,11,6.4
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,127.7,54491,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.91,-146.0,184,2879,917,860,0.0,0.0,0,106,0.00,0.00,-85.30,0.000,16386,0.000,0.000,189,2880,3469,3494,3445,0,0,0,0,0,0,14.66,28.83,14.69
$GC,107,-0.91,-146.0,186,2881,3495,3447,6.5,-9.5,3,127,10.88,2.42,-1.17,0.000,18948,0.372,2.062,2550,1540,3553,3586,3521,0,0,0,0,0,0,14.21,13.42,14.54
$GC,257,-0.63,-146.0,2550,1541,3589,3521,54.1,-22.4,25,267,0.35,2.33,0.00,0.000,3206,0.242,0.049,2636,2873,3554,3589,3520,0,0,0,0,0,0,14.35,14.50,14.50
$GC,580,-0.63,-146.0,2636,2873,3594,3520,96.4,-9.4,38,584,0.00,0.00,0.00,0.000,38,0.000,0.000,2636,2873,3556,3592,3520,0,0,0,0,0,0,14.83,14.87,14.86
$GC,916,-0.66,-146.0,2636,2869,3597,3520,121.9,-7.4,45,925,0.00,1.65,0.00,0.000,420,0.000,0.078,2631,3822,3557,3595,3520,0,0,0,0,0,0,14.88,14.64,14.90
$GC,972,-0.69,-146.0,2631,3821,3597,3520,126.2,-7.8,53,982,0.00,1.40,0.00,0.000,1190,0.000,0.030,2631,2896,3558,3596,3520,0,0,0,0,0,0,14.73,14.70,14.73
$GC,1308,-0.75,-146.0,2631,2897,3596,3521,152.9,-8.0,66,1317,0.00,2.20,0.00,0.000,676,0.000,0.030,2631,1516,3557,3595,3520,0,0,0,0,0,0,14.90,14.73,14.93
$GC,1462,-0.84,-146.0,2631,1517,3596,3514,165.5,-8.0,88,1471,0.10,2.33,0.00,0.000,5286,0.067,0.049,2557,2871,3556,3595,3518,0,0,0,0,0,0,14.70,14.67,14.74
$GC,1813,-0.77,-146.0,2557,2873,3596,3515,204.2,-11.4,96,1821,0.17,1.60,0.00,0.000,2436,0.242,0.076,2592,3822,3554,3595,3513,0,0,0,0,0,0,14.50,14.68,14.70
$GC,1846,-0.77,-146.0,2593,3822,3596,3512,208.0,-10.3,101,1857,0.00,1.48,0.00,0.000,1030,0.000,0.029,2592,2832,3554,3595,3513,0,0,0,0,0,0,14.82,14.80,14.83
$GC,2204,-0.77,-146.0,2593,2837,3595,3509,244.2,-10.1,110,2213,0.00,2.10,0.00,0.000,516,0.000,0.030,2595,1548,3551,3594,3508,0,0,0,0,0,0,14.91,14.72,14.95
$GC,2231,-0.77,-146.0,2595,1549,3595,3508,247.0,-10.1,114,2241,0.00,2.28,0.00,0.000,1030,0.000,0.048,2588,2863,3553,3599,3507,0,0,0,0,0,0,14.68,14.64,14.71
$GC,2597,-0.77,-146.0,2587,2869,3597,3501,282.8,-9.8,124,2605,0.00,2.15,0.00,0.000,548,0.000,0.028,2586,1542,3547,3594,3501,0,0,0,0,0,0,14.91,14.75,14.94
$GC,2659,-0.80,-146.0,2593,1543,3595,3502,288.9,-9.7,133,2669,0.00,2.30,0.00,0.000,1190,0.000,0.050,2579,2869,3547,3595,3500,0,0,0,0,0,0,14.70,14.66,14.76
$GC,2989,-0.80,-146.0,2578,2869,3596,3495,322.4,-10.2,145,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2869,3545,3595,3495,0,0,0,0,0,0,14.91,14.99,14.94
$GC,3324,-0.80,-146.0,2578,2870,3595,3491,356.0,-10.0,151,3333,0.00,2.17,0.00,0.000,516,0.000,0.028,2577,1552,3541,3594,3489,0,0,0,0,0,0,14.91,14.71,14.95
$GC,3380,-0.80,-146.0,2578,1552,3594,3490,361.6,-9.9,159,3389,0.00,2.30,0.00,0.000,1062,0.000,0.050,2569,2869,3541,3593,3489,0,0,0,0,0,0,14.71,14.65,14.74
$GC,3716,-0.80,-146.0,2569,2871,3591,3490,396.3,-10.4,172,3725,0.00,1.67,0.00,0.000,260,0.000,0.080,2562,3822,3538,3588,3489,0,0,0,0,0,0,14.91,14.64,14.95
$GC,3765,-0.75,-146.0,2562,3822,3590,3489,401.5,-10.6,179,3776,0.15,1.42,0.00,0.000,3206,0.244,0.031,2600,2919,3538,3589,3488,0,0,0,0,0,0,14.47,14.78,14.61
$GC,4109,-0.81,-146.0,2601,2919,3590,3485,430.3,-8.3,186,4117,0.00,2.30,0.00,0.000,676,0.000,0.031,2608,1501,3544,3603,3485,0,0,0,0,0,0,14.90,14.73,14.94
$GC,4206,-0.88,-146.0,2602,1502,3589,3486,438.5,-8.0,200,4215,0.00,2.38,0.00,0.000,1190,0.000,0.047,2594,2869,3536,3588,3485,0,0,0,0,0,0,14.69,14.64,14.73
$GC,4557,-0.93,-146.0,2595,2870,3588,3482,469.5,-9.0,208,4565,0.15,1.70,0.00,0.000,4516,0.114,0.080,2522,3824,3534,3586,3482,0,0,0,0,0,0,14.72,14.63,14.78
$GC,4598,-0.80,-146.0,2522,3825,3585,3483,474.5,-12.7,214,4607,0.25,1.52,0.00,0.000,3206,0.246,0.030,2589,2843,3534,3586,3482,0,0,0,0,0,0,14.45,14.77,14.59
$GC,4949,-0.84,-146.0,2589,2845,3586,3480,507.4,-9.3,222,4963,0.00,2.15,0.00,0.000,676,0.000,0.031,2590,1516,3532,3585,3479,0,0,0,0,0,0,14.93,14.75,14.97
$GC,5023,-0.90,-146.0,2592,1515,3586,3479,514.4,-9.3,232,5037,0.00,2.30,0.00,0.000,1190,0.000,0.049,2583,2873,3531,3584,3479,0,0,0,0,0,0,14.78,14.69,14.81
$GC,5350,-0.90,-146.0,2583,2873,3583,3475,544.8,-9.2,243,5364,0.00,2.20,0.00,0.000,548,0.000,0.030,2582,1520,3530,3582,3478,0,0,0,0,0,0,14.95,14.78,14.97
$GC,5417,-0.95,-146.0,2583,1520,3584,3478,551.1,-9.2,252,5431,0.00,2.30,0.00,0.000,1190,0.000,0.049,2573,2876,3528,3583,3474,0,0,0,0,0,0,14.81,14.71,14.83
$GC,5751,-0.95,-146.0,2573,2876,3580,3476,581.0,-9.0,264,5765,0.00,0.00,0.00,0.000,38,0.000,0.000,2572,2876,3527,3582,3473,0,0,0,0,0,0,14.95,15.00,14.99
$GC,6087,-0.95,-146.0,2574,2876,3582,3471,612.1,-9.2,270,6101,0.00,2.20,0.00,0.000,548,0.000,0.029,2573,1521,3523,3581,3466,0,0,0,0,0,0,14.95,14.80,15.00
$GC,6126,-0.98,-146.0,2574,1520,3582,3472,616.0,-10.1,275,6141,0.00,2.30,0.00,0.000,1158,0.000,0.050,2562,2870,3526,3580,3472,0,0,0,0,0,0,14.80,14.70,14.82
$GC,6488,-0.98,-146.0,2564,2871,3579,3464,652.5,-10.3,284,6502,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2870,3523,3578,3469,0,0,0,0,0,0,14.98,15.02,15.01
$GC,6824,-0.98,-146.0,2564,2871,3578,3469,686.0,-9.8,290,6839,0.00,2.20,0.00,0.000,548,0.000,0.029,2564,1516,3522,3577,3468,0,0,0,0,0,0,14.98,14.79,15.02
$GC,6892,-0.98,-146.0,2564,1517,3578,3469,692.3,-9.1,299,6906,0.00,2.33,0.00,0.000,1062,0.000,0.050,2554,2878,3522,3576,3468,0,0,0,0,0,0,14.83,14.72,14.85
$GC,7226,-0.98,-146.0,2561,2878,3576,3467,722.4,-9.1,311,7240,0.00,0.00,0.00,0.000,38,0.000,0.000,2554,2878,3520,3575,3466,0,0,0,0,0,0,14.98,15.02,15.00
$GC,7562,-0.98,-146.0,2554,2877,3575,3465,752.6,-9.0,317,7577,0.00,2.22,0.00,0.000,548,0.000,0.030,2554,1516,3520,3575,3465,0,0,0,0,0,0,14.98,14.78,15.02
$GC,7665,-0.98,-146.0,2555,1520,3575,3465,762.5,-9.6,331,7679,0.00,2.33,0.00,0.000,1062,0.000,0.050,2545,2870,3519,3573,3465,0,0,0,0,0,0,14.81,14.71,14.81
$GC,8020,-0.98,-146.0,2545,2871,3574,3465,797.5,-10.0,339,8034,0.00,0.00,0.00,0.000,38,0.000,0.000,2545,2871,3518,3573,3464,0,0,0,0,0,0,14.96,15.00,14.99
$GC,8356,-0.98,-146.0,2546,2870,3573,3462,830.3,-9.7,345,8371,0.00,2.20,0.00,0.000,548,0.000,0.030,2545,1518,3517,3572,3462,0,0,0,0,0,0,14.97,14.78,15.00
$GC,8403,-0.98,-146.0,2545,1519,3572,3463,834.9,-8.1,351,8417,0.00,2.33,0.00,0.000,1062,0.000,0.050,2535,2875,3516,3571,3462,0,0,0,0,0,0,14.81,14.70,14.84
$STATE,8476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8476,begin apogee
$GC,8480,-0.21,0.0,2536,2650,3572,3463,842.0,-9.5,354,8875,0.88,0.00,377.10,1.134,10246,0.212,0.000,2777,2649,2964,3036,2893,0,0,0,0,0,0,14.50,14.07,13.59
$STATE,8877,end apogee,CONTROL_FINISHED_OK
$STATE,8877,begin climb
$GC,8878,0.91,146.0,2777,2650,3035,2894,854.2,0.0,361,9072,1.17,2.45,169.88,1.626,10756,0.119,0.036,3152,1289,2382,2463,2301,0,0,0,0,0,0,14.12,13.97,13.35
$GC,9111,0.75,146.0,3152,1290,2436,2279,838.4,12.3,395,9125,0.25,2.38,0.00,0.000,5254,0.262,0.043,3096,2648,2355,2435,2276,0,0,0,0,0,0,14.03,14.16,14.21
$GC,9438,0.67,146.0,3096,2648,2433,2263,803.7,10.5,406,9453,0.12,2.28,0.00,0.000,4740,0.267,0.032,3073,1289,2347,2432,2263,0,0,0,0,0,0,14.32,14.52,14.45
$GC,9492,0.70,172.0,3072,1290,2430,2264,798.7,8.8,413,9533,0.00,2.33,27.17,1.466,9254,0.000,0.043,3072,2646,2282,2365,2199,0,0,0,0,0,0,14.59,14.52,13.86
$GC,9840,0.68,186.2,3073,2647,2346,2174,766.7,9.3,427,9858,0.00,2.28,5.30,1.490,8868,0.000,0.034,3082,1282,2227,2316,2138,0,0,0,0,0,0,14.75,14.42,13.78
$GC,9911,0.71,204.5,3083,1282,2311,2158,759.9,9.2,437,9962,0.00,2.30,35.35,1.433,9254,0.000,0.044,3081,2639,2151,2232,2071,0,0,0,0,0,0,14.65,14.57,13.85
$GC,10290,0.71,204.5,3082,2640,2219,2050,720.4,10.6,449,10304,0.00,2.28,0.00,0.000,516,0.000,0.036,3093,1284,2133,2218,2049,0,0,0,0,0,0,14.76,14.60,14.80
$GC,10378,0.71,204.5,3092,1284,2215,2049,711.1,10.3,461,10392,0.00,2.30,0.00,0.000,1030,0.000,0.044,3092,2640,2131,2214,2049,0,0,0,0,0,0,14.68,14.61,14.71
$GC,10747,0.66,204.5,3093,2642,2215,2047,669.3,11.3,471,10761,0.00,2.25,0.00,0.000,644,0.000,0.037,3102,1284,2130,2214,2046,0,0,0,0,0,0,14.85,14.69,14.89
$GC,10814,0.66,204.5,3102,1284,2213,2047,662.0,10.6,480,10828,0.15,2.30,0.00,0.000,5126,0.228,0.045,3068,2646,2130,2213,2047,0,0,0,0,0,0,14.51,14.69,14.72
$GC,11148,0.68,217.4,3068,2646,2214,2045,629.9,9.4,492,11167,0.00,2.25,3.97,1.245,8740,0.000,0.036,3077,1290,2101,2182,2020,0,0,0,0,0,0,14.90,14.73,13.88
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$STATE,16861,end climb,SURFACE_DEPTH_REACHED
$STATE,16861,begin surface coast
$FINISH,0.9,1.021037
$STATE,16867,end surface coast,CONTROL_FINISHED_OK
$STATE,16868,begin surface
$SM_CCo,16897,38.53,0.168,0,0,877,525.01
$SM_GC,1.08,8.93,2.72,38.53,0.065,0.054,0.168,192,2861,877,-8.24,-0.96,525.01,0,0,0,0,0,0,14.66,14.59,14.48
$IRIDIUM_FIX,1002.34,-12518.00,070917,040140
$TT8_MAMPS,0.042693,0.459886
$HUMID,47.12
$INTERNAL_PRESSURE,8.65659
$TCM_TEMP,22.50
$XPDR_PINGS,44
$SC_FREEKB,3892480
$PM_FREEKB,58518592
$TM_FREEKB,6499136
$24V_AH,13.35,30.490
$10V_AH,13.02,0.000
$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,24.150,154.300,792.000,38.525,0.000,0.000,0.000,432.250,11.000,0.000,4.267,0.000,13611.652,1050.481,2782.175,125.135,0.000,2673.212,0.000,1379.484,0.000,0.548,0.000
$DEVICE_MAMPS,371.790,2062.440,1625.625,167.535,0.000,0.000,0.000,213.435,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.134,3.460,20.479,0.000
$MEM,326260
$DATA_FILE_SIZE,30107,788
$CAP_FILE_SIZE,140844,0
$CFSIZE,1024409600,1011105792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034,24.57,1
$GPS,070917,085308,1002.961,-12516.740,19,1.0,20,9.0,0.5,278.0,7,6.8