version: 66.14
glider: 219
mission: 15
dive: 340
start: 5 29 121 1 24 15
data:
$ID,219
$MISSION,15
$DIVE,340
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,20
$D_TGT,360
$D_ABORT,1010
$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,120
$T_MISSION,150
$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,180
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55689
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00316228
$HD_B,0.011885
$HD_C,5.7000002e-06
$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,375
$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,1760
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,43
$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,2825
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,77
$R_STBD_OVSHOOT,29
$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,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$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,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$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,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,0.0044368538
$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,0.0
$ES_UPLOADMAX,100000.0
$ES_STARTS,301.0
$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
$GPS1,290521,011601,4849.5151,-1450.8647,12,1.4,41,-4.8,1.3,0.0,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-39.0
$GPS2,290521,012324,4849.5366,-1450.8114,5,1.5,6,-4.8,1.1,108.3,8,9.6
$SPEED_LIMITS,0.084,0.262
$TGT_NAME,MLF2_92_TGT
$TGT_LATLONG,4849.544,-1451.019
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,299.4,253,-48.2,-10.000,-50.00,392
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,12,-1.15,-25.4,218,2829,1463,1474,0.0,0.0,0,98,0.00,0.00,-81.12,0.004,16390,0.000,0.000,214,2829,3070,3057,3083,0,0,0,0,0,0,14.74,12.90,14.77
$GC,102,-1.18,-48.6,214,2829,3055,3086,2.6,-3.9,14,116,5.35,2.47,-3.58,0.025,18980,0.360,0.054,1371,1440,3163,3137,3189,0,0,0,0,0,0,14.02,13.05,14.45
$GC,166,-1.38,-48.6,1371,1439,3137,3191,8.8,-12.1,25,175,0.15,2.58,0.00,0.000,5254,0.101,0.063,1292,2818,3163,3136,3190,0,0,0,0,0,0,14.42,14.33,14.50
$GC,362,-1.46,-48.6,1292,2819,3136,3191,40.2,-17.8,62,369,0.00,2.42,0.00,0.000,644,0.000,0.040,1292,1440,3163,3136,3191,0,0,0,0,0,0,14.81,14.57,14.83
$GC,483,-1.58,-48.6,1292,1440,3136,3191,58.8,-12.9,85,491,0.00,2.60,0.00,0.000,1158,0.000,0.064,1283,2831,3164,3137,3191,0,0,0,0,0,0,14.59,14.45,14.59
$GC,680,-1.66,-48.6,1282,2831,3136,3187,91.5,-17.5,122,688,0.15,2.42,0.00,0.000,4740,0.114,0.032,1191,1444,3163,3137,3190,0,0,0,0,0,0,14.54,14.59,14.58
$GC,769,-1.70,-48.6,1191,1444,3137,3195,107.3,-18.9,138,775,0.15,2.60,0.00,0.000,3206,0.324,0.061,1207,2832,3164,3137,3191,0,0,0,0,0,0,14.09,14.45,14.41
$GC,968,-1.71,-48.6,1208,2833,3137,3192,142.9,-17.8,158,973,0.00,1.70,0.00,0.000,388,0.000,0.075,1203,3829,3163,3136,3191,0,0,0,0,0,0,14.80,14.41,14.81
$GC,1189,-1.68,-48.6,1202,3830,3136,3189,186.3,-20.0,201,1197,0.00,1.58,0.00,0.000,1158,0.000,0.029,1203,2799,3165,3139,3191,0,0,0,0,0,0,14.61,14.57,14.62
$GC,1376,-1.68,-48.6,1202,2798,3137,3191,222.6,-19.5,220,1381,0.00,2.33,0.00,0.000,516,0.000,0.033,1203,1460,3161,3137,3186,0,0,0,0,0,0,14.83,14.52,14.85
$GC,1391,-1.70,-48.6,1202,1459,3137,3191,225.3,-19.7,222,1397,0.00,2.55,0.00,0.000,1158,0.000,0.063,1192,2826,3165,3135,3196,0,0,0,0,0,0,14.57,14.46,14.60
$GC,1586,-1.70,-48.6,1193,2826,3137,3192,263.9,-20.4,242,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,1193,2825,3164,3137,3192,0,0,0,0,0,0,14.84,14.87,14.86
$GC,1776,-1.70,-48.6,1192,2827,3137,3191,301.5,-19.6,261,1782,0.00,2.40,0.00,0.000,516,0.000,0.035,1193,1462,3164,3137,3191,0,0,0,0,0,0,14.85,14.58,14.88
$GC,1812,-1.74,-48.6,1193,1462,3137,3191,308.3,-18.0,267,1817,0.00,2.60,0.00,0.000,1158,0.000,0.064,1182,2829,3164,3137,3191,0,0,0,0,0,0,14.56,14.45,14.60
$GC,2007,-1.74,-48.6,1183,2832,3137,3191,347.4,-20.4,287,2012,0.00,2.40,0.00,0.000,516,0.000,0.034,1183,1462,3164,3137,3191,0,0,0,0,0,0,14.84,14.59,14.87
$GC,2026,-1.74,-48.6,1183,1461,3136,3192,351.2,-20.7,290,2033,0.00,2.58,0.00,0.000,1030,0.000,0.062,1173,2834,3167,3137,3198,0,0,0,0,0,0,14.53,14.42,14.57
$STATE,2068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2068,begin apogee
$GC,2076,-0.12,0.0,1173,2834,3138,3191,360.5,-19.5,295,2121,2.25,0.00,39.67,1.324,10246,0.301,0.000,1711,2835,2969,2937,3002,0,0,0,0,0,0,14.00,14.42,13.69
$STATE,2122,end apogee,CONTROL_FINISHED_OK
$STATE,2123,begin climb
$GC,2126,1.18,48.6,1711,2836,2935,3002,364.9,0.0,300,2173,1.33,1.83,40.45,1.304,10500,0.114,0.083,2135,3840,2776,2752,2800,0,0,0,0,0,0,14.40,14.28,13.57
$GC,2214,1.30,48.6,2133,3835,2747,2797,359.1,8.2,315,2221,0.12,1.60,0.00,0.000,3206,0.142,0.036,2185,2821,2771,2746,2797,0,0,0,0,0,0,14.31,14.40,14.41
$GC,2404,1.42,48.6,2184,2820,2742,2798,339.1,11.0,334,2410,0.00,0.00,0.00,0.000,134,0.000,0.000,2185,2820,2769,2741,2797,0,0,0,0,0,0,14.73,14.79,14.76
$GC,2591,1.54,48.6,2187,2821,2740,2797,317.4,11.7,353,2599,0.20,0.00,0.00,0.000,2182,0.086,0.000,2252,2826,2767,2739,2796,0,0,0,0,0,0,14.52,14.60,14.58
$GC,2781,1.60,48.6,2251,2820,2739,2796,294.4,11.9,372,2788,0.00,0.00,0.00,0.000,134,0.000,0.000,2252,2820,2768,2740,2796,0,0,0,0,0,0,14.81,14.84,14.84
$GC,2971,1.67,48.6,2251,2820,2738,2795,270.8,12.5,391,2977,0.12,2.45,0.00,0.000,2692,0.145,0.033,2347,1416,2767,2739,2796,0,0,0,0,0,0,14.52,14.47,14.57
$GC,3001,1.70,48.6,2347,1415,2740,2790,266.7,13.5,396,3008,0.20,2.62,0.00,0.000,5254,0.311,0.061,2308,2816,2767,2740,2794,0,0,0,0,0,0,14.00,14.39,14.32
$GC,3190,1.72,48.6,2307,2815,2739,2793,242.0,13.4,415,3196,0.00,0.00,0.00,0.000,134,0.000,0.000,2309,2815,2766,2739,2793,0,0,0,0,0,0,14.81,14.84,14.84
$GC,3378,1.73,48.6,2308,2816,2737,2793,218.5,12.2,434,3385,0.00,0.00,0.00,0.000,134,0.000,0.000,2308,2815,2766,2739,2793,0,0,0,0,0,0,14.84,14.87,14.87
$GC,3568,1.75,48.6,2308,2815,2738,2793,195.5,12.1,453,3574,0.00,2.50,0.00,0.000,644,0.000,0.046,2317,1414,2765,2738,2793,0,0,0,0,0,0,14.83,14.55,14.86
$GC,3624,1.81,48.6,2317,1413,2739,2793,189.0,11.7,463,3630,0.00,2.62,0.00,0.000,1158,0.000,0.065,2318,2811,2766,2739,2793,0,0,0,0,0,0,14.64,14.52,14.67
$GC,3819,1.81,48.6,2326,2811,2738,2792,165.5,11.7,483,3824,0.00,1.75,0.00,0.000,260,0.000,0.076,2318,3825,2767,2738,2796,0,0,0,0,0,0,14.81,14.44,14.83
$GC,4056,1.76,48.6,2317,3825,2748,2791,135.9,12.8,529,4062,0.00,1.62,0.00,0.000,1158,0.000,0.033,2325,2791,2765,2738,2792,0,0,0,0,0,0,14.59,14.55,14.62
$GC,4251,1.76,48.6,2326,2790,2738,2792,113.9,10.8,549,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2790,2765,2738,2792,0,0,0,0,0,0,14.83,14.86,14.85
$GC,4443,1.76,48.6,2328,2790,2738,2792,92.4,10.6,574,4450,0.00,2.42,0.00,0.000,516,0.000,0.035,2336,1419,2764,2737,2792,0,0,0,0,0,0,14.81,14.52,14.85
$GC,4510,1.80,48.6,2335,1419,2739,2792,85.2,9.7,586,4517,0.00,2.60,0.00,0.000,1158,0.000,0.065,2329,2808,2765,2738,2792,0,0,0,0,0,0,14.58,14.42,14.57
$GC,4705,1.80,48.6,2335,2808,2738,2792,63.5,13.3,623,4712,0.00,1.77,0.00,0.000,260,0.000,0.074,2336,3835,2764,2738,2790,0,0,0,0,0,0,14.82,14.47,14.84
$GC,4930,1.74,48.6,2336,3834,2738,2791,36.0,10.1,666,4937,0.00,1.65,0.00,0.000,1158,0.000,0.032,2343,2804,2765,2739,2791,0,0,0,0,0,0,14.59,14.56,14.61
$GC,5123,1.74,48.6,2343,2803,2738,2791,14.1,10.9,703,5130,0.00,2.45,0.00,0.000,516,0.000,0.037,2353,1428,2764,2738,2791,0,0,0,0,0,0,14.79,14.42,14.85
$STATE,5222,end climb,SURFACE_DEPTH_REACHED
$STATE,5222,begin surface coast
$FINISH,1.0,1.026915
$STATE,5242,end surface coast,CONTROL_FINISHED_OK
$STATE,5242,begin surface
$SM_CCo,5264,238.18,0.927,0,0,1475,375.04
$SM_GC,1.09,6.38,2.70,238.18,0.079,0.076,0.927,224,2817,1475,-4.69,-0.88,375.04,0,0,0,0,0,0,14.64,14.45,13.71
$IRIDIUM_FIX,4850.12,-1449.77,280521,234652
$TT8_MAMPS,0.02247,0.517559
$HUMID,43.77
$INTERNAL_PRESSURE,8.41244
$TCM_TEMP,17.10
$XPDR_PINGS,28
$SC_FREEKB,3709440
$24V_AH,12.90,222.183
$10V_AH,13.07,0.000
$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,16.400,63.825,80.125,238.175,0.000,0.000,0.000,233.675,7.000,0.000,17.453,1817.990,1929.277,503.142,1418.372,296.529,0.000,1312.282,0.000,1143.494,0.000,0.546,0.000
$DEVICE_MAMPS,360.315,82.620,1324.215,927.180,0.000,0.000,0.000,188.190,420.000,0.000,8.990,12.110,2.190,11.360,30.090,45.070,0.000,15.600,0.000,2.250,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,echo,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5277.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,37.695,0.000,0.000,0.000
$MEM,293128
$DATA_FILE_SIZE,23405,725
$CAP_FILE_SIZE,83545,0
$CFSIZE,1024409600,965296128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.193,86.23,1
$GPS,290521,025710,4849.681,-1450.401,19,1.2,26,-4.8,0.9,68.3,7,10.0