version: 66.13
glider: 219
mission: 8
dive: 339
start: 11 4 117 22 16 9
data:
$ID,219
$MISSION,8
$DIVE,339
$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,46
$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
$GPS1,041117,220730,947.6934,-12508.3301,17,0.8,17,9.0,0.3,30.4,10,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-70.8
$GPS2,041117,221547,947.7668,-12508.4121,2,0.7,2,9.0,0.5,358.1,11,10.0
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,119.9,19928,-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,-146.0,183,2900,917,855,0.0,0.0,0,97,0.00,0.00,-85.88,0.000,16390,0.000,0.000,182,2899,3552,3581,3524,0,0,0,0,0,0,14.73,12.74,14.76
$GC,99,-0.91,-146.0,183,2899,3584,3524,8.1,-12.4,3,117,11.00,2.28,0.00,0.000,2564,0.359,0.025,2548,1497,3555,3587,3523,0,0,0,0,0,0,14.07,14.52,14.42
$GC,151,-0.61,-146.0,2549,1497,3593,3521,31.5,-25.8,11,158,0.40,2.40,0.00,0.000,3206,0.221,0.052,2648,2852,3556,3593,3519,0,0,0,0,0,0,14.17,14.45,14.33
$GC,488,-0.70,-146.0,2648,2854,3598,3520,73.5,-8.5,26,494,0.00,1.73,0.00,0.000,420,0.000,0.077,2643,3826,3558,3597,3519,0,0,0,0,0,0,14.92,14.46,14.95
$GC,725,-0.80,-146.0,2643,3826,3599,3519,91.3,-6.7,60,732,0.17,1.50,0.00,0.000,5286,0.101,0.029,2563,2833,3558,3598,3519,0,0,0,0,0,0,14.69,14.78,14.76
$GC,1077,-0.80,-146.0,2563,2835,3601,3521,124.7,-10.0,70,1080,0.00,1.77,0.00,0.000,292,0.000,0.076,2555,3824,3559,3600,3519,0,0,0,0,0,0,14.99,14.57,15.02
$GC,1110,-0.80,-146.0,2555,3825,3601,3521,128.6,-11.2,75,1115,0.15,1.45,0.00,0.000,3078,0.226,0.030,2589,2880,3560,3600,3520,0,0,0,0,0,0,14.43,14.81,14.66
$GC,1468,-0.88,-146.0,2589,2882,3600,3519,163.2,-9.6,84,1474,0.00,2.25,0.00,0.000,676,0.000,0.031,2589,1522,3559,3600,3518,0,0,0,0,0,0,15.02,14.64,15.05
$GC,1544,-0.99,-146.0,2590,1519,3601,3515,170.1,-8.8,95,1551,0.12,2.33,0.00,0.000,5286,0.063,0.050,2509,2872,3558,3600,3517,0,0,0,0,0,0,14.66,14.63,14.71
$GC,1860,-0.91,-146.0,2510,2872,3601,3513,207.5,-12.1,105,1867,0.17,1.65,0.00,0.000,2436,0.230,0.077,2546,3818,3556,3599,3513,0,0,0,0,0,0,14.42,14.59,14.63
$GC,1908,-0.91,-146.0,2546,3818,3601,3512,213.0,-10.9,112,1916,0.00,1.48,0.00,0.000,1030,0.000,0.028,2546,2802,3556,3600,3512,0,0,0,0,0,0,14.81,14.78,14.81
$GC,2251,-0.91,-146.0,2546,2803,3600,3510,248.8,-10.5,119,2258,0.00,2.10,0.00,0.000,516,0.000,0.031,2546,1522,3553,3599,3508,0,0,0,0,0,0,15.06,14.72,15.09
$GC,2279,-0.91,-146.0,2546,1523,3601,3509,251.7,-10.4,123,2286,0.00,2.35,0.00,0.000,1030,0.000,0.050,2536,2862,3554,3600,3508,0,0,0,0,0,0,14.69,14.63,14.72
$GC,2643,-0.91,-146.0,2536,2869,3600,3503,289.9,-10.4,133,2651,0.00,2.22,0.00,0.000,516,0.000,0.031,2536,1531,3550,3599,3502,0,0,0,0,0,0,15.07,14.71,15.09
$GC,2685,-0.91,-146.0,2537,1532,3601,3502,294.1,-10.1,139,2692,0.08,2.38,0.00,0.000,3078,0.197,0.050,2548,2883,3549,3598,3501,0,0,0,0,0,0,14.42,14.63,14.54
$GC,3035,-0.91,-146.0,2549,2883,3601,3497,328.2,-9.8,147,3042,0.00,2.28,0.00,0.000,548,0.000,0.031,2548,1529,3548,3599,3497,0,0,0,0,0,0,15.06,14.71,15.09
$GC,3070,-0.95,-146.0,2547,1530,3600,3497,331.8,-10.1,152,3077,0.00,2.35,0.00,0.000,1158,0.000,0.050,2541,2864,3551,3607,3496,0,0,0,0,0,0,14.68,14.62,14.72
$GC,3428,-0.95,-146.0,2541,2865,3600,3492,369.9,-10.8,161,3435,0.00,2.25,0.00,0.000,516,0.000,0.031,2541,1523,3545,3599,3491,0,0,0,0,0,0,15.07,14.64,15.09
$GC,3469,-0.95,-146.0,2541,1524,3600,3491,374.4,-10.6,167,3476,0.00,2.38,0.00,0.000,1030,0.000,0.051,2531,2872,3544,3598,3490,0,0,0,0,0,0,14.67,14.62,14.71
$GC,3820,-0.95,-146.0,2532,2873,3597,3490,412.0,-10.8,175,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2872,3543,3598,3489,0,0,0,0,0,0,15.07,15.10,15.09
$GC,4155,-0.95,-146.0,2532,2873,3597,3489,447.7,-10.6,181,4162,0.00,2.25,0.00,0.000,516,0.000,0.031,2532,1532,3542,3596,3488,0,0,0,0,0,0,15.06,14.70,15.09
$GC,4239,-0.95,-146.0,2532,1531,3595,3488,456.8,-10.7,193,4247,0.00,2.38,0.00,0.000,1030,0.000,0.051,2522,2874,3540,3594,3487,0,0,0,0,0,0,14.67,14.60,14.71
$GC,4603,-0.95,-146.0,2522,2875,3593,3486,497.1,-11.1,203,4610,0.00,2.28,0.00,0.000,516,0.000,0.031,2522,1525,3538,3592,3485,0,0,0,0,0,0,14.94,14.69,14.97
$GC,4652,-0.95,-146.0,2522,1524,3592,3486,502.4,-10.8,210,4660,0.08,2.35,0.00,0.000,3078,0.206,0.050,2534,2868,3538,3591,3485,0,0,0,0,0,0,14.35,14.57,14.49
$GC,4995,-0.95,-146.0,2535,2868,3592,3481,537.9,-10.3,217,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2868,3537,3593,3481,0,0,0,0,0,0,15.07,15.11,15.10
$GC,5331,-0.95,-146.0,2535,2869,3591,3480,570.5,-9.5,223,5338,0.00,2.25,0.00,0.000,548,0.000,0.032,2534,1532,3536,3590,3482,0,0,0,0,0,0,15.07,14.68,15.10
$GC,5416,-0.99,-146.0,2535,1532,3590,3479,578.3,-9.0,235,5422,0.00,2.38,0.00,0.000,1190,0.000,0.052,2526,2874,3534,3589,3479,0,0,0,0,0,0,14.62,14.55,14.67
$GC,5779,-0.99,-146.0,2527,2875,3588,3478,613.6,-9.8,245,5787,0.00,2.28,0.00,0.000,548,0.000,0.031,2527,1526,3532,3588,3477,0,0,0,0,0,0,15.07,14.67,15.09
$GC,5814,-0.99,-146.0,2528,1526,3589,3478,617.3,-10.5,250,5821,0.00,2.38,0.00,0.000,1030,0.000,0.049,2517,2869,3532,3587,3477,0,0,0,0,0,0,14.64,14.57,14.68
$GC,6171,-0.99,-146.0,2517,2870,3587,3475,654.6,-10.5,259,6178,0.00,2.28,0.00,0.000,516,0.000,0.031,2517,1528,3530,3586,3474,0,0,0,0,0,0,15.03,14.64,15.07
$GC,6220,-0.99,-146.0,2517,1528,3587,3474,659.8,-10.5,266,6228,0.00,2.38,0.00,0.000,1030,0.000,0.050,2507,2871,3530,3586,3474,0,0,0,0,0,0,14.60,14.53,14.64
$GC,6563,-0.99,-146.0,2508,2870,3586,3473,697.2,-10.9,273,6571,0.00,2.25,0.00,0.000,516,0.000,0.031,2507,1530,3529,3585,3473,0,0,0,0,0,0,15.06,14.66,15.12
$GC,6626,-0.99,-146.0,2507,1532,3585,3474,704.0,-10.7,282,6633,0.10,2.38,0.00,0.000,3078,0.210,0.050,2525,2875,3528,3584,3472,0,0,0,0,0,0,14.28,14.55,14.42
$GC,6955,-0.99,-146.0,2525,2876,3585,3471,736.3,-9.7,294,6962,0.00,2.28,0.00,0.000,548,0.000,0.030,2525,1531,3526,3584,3469,0,0,0,0,0,0,15.05,14.62,15.08
$GC,6990,-1.03,-146.0,2526,1530,3584,3469,739.6,-9.8,299,6997,0.00,2.38,0.00,0.000,1190,0.000,0.050,2517,2876,3526,3584,3469,0,0,0,0,0,0,14.55,14.50,14.62
$GC,7347,-1.03,-146.0,2517,2876,3583,3470,775.3,-10.0,308,7354,0.00,2.28,0.00,0.000,548,0.000,0.031,2517,1529,3525,3583,3468,0,0,0,0,0,0,15.05,14.63,15.08
$GC,7382,-1.03,-146.0,2517,1529,3583,3468,778.9,-10.7,313,7390,0.00,2.38,0.00,0.000,1030,0.000,0.049,2507,2869,3524,3581,3468,0,0,0,0,0,0,14.57,14.52,14.61
$GC,7740,-1.03,-146.0,2508,2869,3582,3468,816.2,-10.5,322,7746,0.00,2.28,0.00,0.000,516,0.000,0.031,2507,1530,3524,3581,3467,0,0,0,0,0,0,14.89,14.60,14.92
$GC,7795,-1.03,-146.0,2508,1530,3582,3468,821.9,-9.6,330,7802,0.00,2.38,0.00,0.000,1062,0.000,0.050,2498,2864,3523,3580,3467,0,0,0,0,0,0,14.54,14.51,14.59
$STATE,7961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7961,begin apogee
$GC,7967,-0.21,0.0,2499,2658,3581,3466,840.5,-11.1,340,8182,1.02,0.00,211.95,1.518,10246,0.194,0.000,2780,2662,2968,3042,2894,0,0,0,0,0,0,14.21,14.03,13.23
$STATE,8183,end apogee,CONTROL_FINISHED_OK
$STATE,8183,begin climb
$GC,8185,0.91,146.0,2780,2659,3037,2889,846.6,0.0,343,8357,1.15,2.42,162.20,1.678,11012,0.100,0.035,3156,1283,2374,2455,2293,0,0,0,0,0,0,14.06,13.97,13.12
$GC,8434,0.74,146.0,3156,1280,2443,2281,833.5,11.9,372,8441,0.22,2.45,0.00,0.000,5254,0.239,0.042,3098,2651,2360,2442,2278,0,0,0,0,0,0,14.02,14.27,14.19
$GC,8749,0.66,146.0,3098,2650,2441,2269,801.4,10.3,382,8756,0.15,2.35,0.00,0.000,4740,0.239,0.035,3071,1292,2354,2439,2269,0,0,0,0,0,0,14.33,14.52,14.56
$GC,8868,0.69,174.8,3072,1293,2437,2270,790.6,8.7,399,8903,0.00,2.38,27.25,1.706,9254,0.000,0.044,3071,2635,2263,2349,2178,0,0,0,0,0,0,14.59,14.54,13.53
$GC,9253,0.71,186.8,3071,2633,2340,2161,754.4,9.4,412,9260,0.00,2.38,3.42,1.146,8740,0.000,0.036,3081,1276,2224,2310,2139,0,0,0,0,0,0,14.86,13.81,13.21
$GC,9337,0.72,196.2,3082,1276,2315,2156,746.7,9.6,424,9359,0.00,2.40,18.25,1.789,9254,0.000,0.041,3081,2643,2187,2272,2103,0,0,0,0,0,0,14.60,14.56,13.57
$GC,9694,0.72,199.2,3081,2643,2259,2082,712.0,9.9,433,9702,0.00,2.35,0.00,0.000,548,0.000,0.037,3092,1285,2169,2258,2081,0,0,0,0,0,0,14.86,14.54,14.90
$GC,9792,0.74,212.3,3092,1284,2256,2081,702.6,9.4,447,9814,0.00,2.38,15.90,1.795,9254,0.000,0.045,3092,2630,2120,2205,2035,0,0,0,0,0,0,14.64,14.55,13.64
$GC,10142,0.70,212.3,3092,2632,2196,2018,665.4,10.7,462,10148,0.00,2.35,0.00,0.000,644,0.000,0.038,3101,1283,2106,2195,2018,0,0,0,0,0,0,14.87,14.54,14.90
$GC,10247,0.70,212.3,3101,1284,2193,2021,654.3,10.5,477,10256,0.00,2.38,0.00,0.000,1030,0.000,0.044,3101,2645,2106,2193,2019,0,0,0,0,0,0,14.60,14.55,14.64
$GC,10590,0.65,212.3,3101,2647,2193,2019,615.7,11.3,484,10597,0.17,2.35,0.00,0.000,4740,0.211,0.037,3068,1282,2105,2192,2018,0,0,0,0,0,0,14.40,14.57,14.64
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$STATE,16370,end climb,SURFACE_DEPTH_REACHED
$STATE,16370,begin surface coast
$FINISH,-0.2,1.008998
$STATE,16400,end surface coast,CONTROL_FINISHED_OK
$STATE,16400,begin surface
$SM_CCo,16418,23.40,0.169,0,0,875,525.01
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$IRIDIUM_FIX,946.79,-12507.59,041117,172322
$TT8_MAMPS,0.039697,0.435169
$HUMID,54.25
$INTERNAL_PRESSURE,8.68589
$TCM_TEMP,21.80
$XPDR_PINGS,36
$SC_FREEKB,3780320
$24V_AH,12.74,131.979
$10V_AH,12.30,0.000
$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,24.950,168.075,620.375,23.400,0.000,0.000,0.000,337.975,9.000,0.000,4.002,0.000,13751.996,976.706,1901.087,301.891,0.000,2012.848,0.000,1149.587,0.000,0.547,0.000
$DEVICE_MAMPS,358.785,78.795,1794.690,169.065,0.000,0.000,0.000,179.775,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.162,0.000,0.000,0.000
$MEM,326080
$DATA_FILE_SIZE,30020,802
$CAP_FILE_SIZE,132240,0
$CFSIZE,1024409600,968179712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.006,72.52,1
$GPS,051117,025100,946.300,-12507.188,23,0.8,23,9.0,0.1,0.0,11,5.6