version: 66.14
glider: 219
mission: 15
dive: 3
start: 4 1 121 12 59 55
data:
$ID,219
$MISSION,15
$DIVE,3
$N_DIVES,3
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,250
$D_NO_BLEED,200
$D_BOOST,0
$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,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,1.023
$MASS,55689
$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,0
$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,609.96155
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,1
$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,1800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,40
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,251
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2950
$C_ROLL_CLIMB,3100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$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,2968
$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,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,1.2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-147.66289
$PRESSURE_SLOPE,0.00010781933
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$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
$LOGGERDEVICE1,53
$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,0.0044368538
$SEABIRD_T_H,0.0006575333
$SEABIRD_T_I,2.7761149e-05
$SEABIRD_T_J,3.5137082e-06
$SEABIRD_C_G,-10.037535
$SEABIRD_C_H,1.1079766
$SEABIRD_C_I,-0.0022889124
$SEABIRD_C_J,0.00024077215
$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,3.0
$ES_UPLOADMAX,100000.0
$ES_STARTS,4.0
$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
$GPS1,010421,125509,4900.4775,-1625.9236,1,1.4,5,-5.5,0.4,0.0,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-17.0
$GPS2,010421,125859,4900.4624,-1625.9485,3,1.4,7,-5.5,0.2,0.0,9,10.0
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,HEADING
$TGT_LATLONG,4911.261,-1625.948
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,22.9,20000,-17.6,-10.000,-21.21,2209
$D_GRID,1000
$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,21,-0.63,-146.6,243,2961,465,609,0.0,0.0,0,179,0.00,0.00,-151.15,0.004,16390,0.000,0.000,241,2962,3551,3529,3573,0,0,0,0,0,0,14.88,13.66,14.89
$GC,183,-0.63,-146.6,241,2962,3529,3574,2.5,-2.7,26,196,6.05,2.45,0.00,0.000,2596,0.379,0.042,1583,1550,3551,3526,3577,0,0,0,0,0,0,14.45,14.69,14.62
$GC,251,-0.66,-146.6,1582,1549,3522,3584,11.7,-8.7,38,258,0.00,2.60,0.00,0.000,1158,0.000,0.102,1574,2944,3550,3516,3584,0,0,0,0,0,0,14.74,14.64,14.76
$GC,444,-0.66,-146.6,1574,2944,3521,3584,30.5,-9.9,75,450,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2944,3552,3521,3584,0,0,0,0,0,0,14.88,14.92,14.91
$GC,636,-0.66,-146.6,1574,2944,3521,3583,49.5,-10.0,112,643,0.00,2.40,0.00,0.000,516,0.000,0.055,1574,1563,3552,3521,3584,0,0,0,0,0,0,14.90,14.67,14.94
$GC,677,-0.68,-146.6,1574,1563,3521,3584,54.1,-9.4,119,684,0.00,2.55,0.00,0.000,1158,0.000,0.090,1564,2956,3551,3521,3582,0,0,0,0,0,0,14.76,14.66,14.78
$GC,870,-0.66,-146.6,1564,2957,3520,3584,73.2,-9.9,156,876,0.00,0.00,0.00,0.000,134,0.000,0.000,1564,2957,3552,3520,3584,0,0,0,0,0,0,14.92,14.95,14.95
$GC,1062,-0.64,-146.6,1564,2952,3520,3584,93.0,-11.6,193,1070,0.00,2.38,0.00,0.000,644,0.000,0.046,1561,1550,3551,3520,3582,0,0,0,0,0,0,14.92,14.75,14.95
$GC,1172,-0.66,-146.6,1564,1549,3520,3585,102.7,-8.8,213,1179,0.12,2.55,0.00,0.000,3206,0.264,0.090,1581,2958,3552,3520,3585,0,0,0,0,0,0,14.59,14.69,14.76
$GC,1488,-0.66,-146.6,1580,2959,3519,3584,131.7,-9.4,245,1495,0.00,2.38,0.00,0.000,516,0.000,0.041,1581,1549,3551,3519,3584,0,0,0,0,0,0,14.94,14.76,14.97
$GC,1547,-0.70,-146.6,1579,1548,3519,3584,137.0,-8.7,256,1554,0.00,2.55,0.00,0.000,1158,0.000,0.091,1572,2950,3551,3519,3584,0,0,0,0,0,0,14.79,14.69,14.81
$GC,1853,-0.70,-146.6,1572,2949,3519,3585,166.4,-9.8,287,1859,0.00,2.35,0.00,0.000,516,0.000,0.041,1572,1552,3551,3519,3584,0,0,0,0,0,0,14.95,14.76,14.97
$GC,1898,-0.73,-146.6,1572,1551,3519,3584,170.6,-9.1,295,1904,0.00,2.55,0.00,0.000,1158,0.000,0.089,1563,2957,3552,3519,3585,0,0,0,0,0,0,14.82,14.72,14.83
$STATE,1989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1989,begin apogee
$GC,1997,-0.12,0.0,1562,3108,3519,3584,180.1,-10.4,305,2111,0.68,0.00,106.57,1.291,10246,0.214,0.000,1753,3108,2968,2937,3000,0,0,0,0,0,0,14.55,14.14,13.71
$STATE,2115,end apogee,CONTROL_FINISHED_OK
$STATE,2115,begin climb
$GC,2118,0.63,146.6,1754,3108,2934,3000,182.3,0.0,317,2237,0.80,0.00,108.20,1.243,10502,0.125,0.000,2006,3109,2384,2347,2422,0,0,0,0,0,0,14.27,14.14,13.62
$GC,2536,0.52,146.6,2006,3108,2347,2412,129.6,14.6,366,2543,0.15,2.42,0.00,0.000,4740,0.283,0.042,1982,1700,2376,2337,2415,0,0,0,0,0,0,14.43,14.59,14.57
$GC,2677,0.49,146.6,1982,1700,2337,2414,112.5,11.2,393,2684,0.00,2.58,0.00,0.000,1158,0.000,0.092,1981,3104,2375,2337,2413,0,0,0,0,0,0,14.71,14.61,14.73
$GC,2986,0.42,146.6,1981,3105,2336,2413,72.6,12.7,444,2993,0.15,2.40,0.00,0.000,4740,0.237,0.043,1952,1694,2374,2336,2413,0,0,0,0,0,0,14.52,14.67,14.63
$GC,3082,0.42,146.6,1951,1699,2338,2413,63.2,8.6,462,3090,0.00,2.55,0.00,0.000,1030,0.000,0.090,1949,3103,2374,2336,2412,0,0,0,0,0,0,14.77,14.70,14.79
$GC,3277,0.40,146.6,1951,3103,2335,2412,42.9,10.5,499,3283,0.00,2.38,0.00,0.000,644,0.000,0.044,1960,1703,2374,2335,2413,0,0,0,0,0,0,14.85,14.73,14.89
$GC,3333,0.46,197.0,1960,1702,2334,2408,37.7,7.7,509,3376,0.00,2.55,36.55,1.112,9254,0.000,0.091,1955,3105,2183,2149,2217,0,0,0,0,0,0,14.73,14.64,14.02
$GC,3562,0.46,197.0,1960,3105,2142,2212,11.1,12.0,552,3569,0.00,2.40,0.00,0.000,516,0.000,0.044,1969,1703,2177,2142,2212,0,0,0,0,0,0,14.79,14.65,14.83
$STATE,3641,end climb,SURFACE_DEPTH_REACHED
$STATE,3641,begin surface coast
$FINISH,0.4,1.022484
$STATE,3657,end surface coast,CONTROL_FINISHED_OK
$STATE,3657,begin surface
$SM_CCo,3682,294.48,1.057,0,0,538,610.16
$SM_GC,0.41,5.10,2.35,294.48,0.079,0.091,1.057,223,2959,538,-4.81,-0.34,610.16,0,0,0,0,0,0,14.71,14.63,13.73
$IRIDIUM_FIX,4901.66,-1621.52,010421,125244
$TT8_MAMPS,0.02247,0.627662
$HUMID,39.95
$INTERNAL_PRESSURE,8.30502
$TCM_TEMP,16.90
$XPDR_PINGS,87
$SC_FREEKB,3908704
$ES_FREE,15879503872.000000
$ES_POWER,63.340000
$ES_POWER1,0.000000
$24V_AH,13.62,18.583
$10V_AH,13.61,0.000
$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,13.050,44.650,251.325,294.475,0.000,0.000,0.000,0.000,21.750,0.000,18.666,1324.067,978.190,690.730,968.552,127.466,0.000,1175.075,0.000,895.381,0.000,0.546,0.000
$DEVICE_MAMPS,379.440,120.105,1290.555,1057.230,0.000,0.000,0.000,0.000,420.000,0.000,8.990,12.110,2.190,11.360,30.090,45.070,0.000,15.600,0.000,2.250,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,echo,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3645.000,3651.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.450,10.000,0.000,0.000
$MEM,292688
$DATA_FILE_SIZE,20027,570
$CAP_FILE_SIZE,81419,0
$CFSIZE,1024409600,1022476288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.144,190.97,1
$GPS,010421,141036,4900.480,-1625.723,170,2.7,210,-5.5,0.2,0.0,4,6.3