version: 66.13
glider: 219
mission: 11
dive: 171
start: 9 1 118 17 41 55
data:
$ID,219
$MISSION,11
$DIVE,171
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$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,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,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,28
$R_STBD_OVSHOOT,41
$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,4
$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,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,0.0043946085
$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,346.0
$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
$GPS1,010918,173249,5034.3467,-14450.3203,38,1.9,38,15.7,0.8,32.1,6,6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-72.4
$GPS2,010918,174100,5034.3320,-14450.1562,2,1.8,3,15.7,1.2,125.9,6,7.7
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,SG219_TGT
$TGT_LATLONG,5036.743,-14446.223
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,19.2,6428,-17.6,-10.000,-21.24,2209
$D_GRID,360
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.58,-146.0,129,2281,1382,1357,0.0,0.0,0,114,0.00,0.00,-88.38,0.004,16386,0.000,0.000,129,2281,3045,3066,3024,0,0,0,0,0,0,14.69,28.83,14.71
$GC,118,-0.58,-146.0,128,2279,3066,3024,4.3,-10.0,15,145,8.43,2.58,-9.80,0.012,18948,0.377,0.083,1958,831,3554,3600,3509,0,0,0,0,0,0,14.29,13.46,14.58
$GC,268,-0.58,-146.0,1958,833,3600,3517,44.9,-23.1,43,275,0.00,2.53,0.00,0.000,1030,0.000,0.074,1949,2233,3555,3600,3510,0,0,0,0,0,0,14.64,14.54,14.66
$GC,460,-0.58,-146.0,1944,2233,3600,3510,84.1,-21.7,80,466,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2233,3556,3602,3510,0,0,0,0,0,0,14.80,14.83,14.83
$GC,654,-0.58,-146.0,1949,2233,3600,3509,120.4,-17.4,107,660,0.00,2.47,0.00,0.000,516,0.000,0.067,1950,843,3555,3601,3510,0,0,0,0,0,0,14.82,14.62,14.85
$GC,693,-0.58,-146.0,1949,843,3601,3510,126.5,-15.6,114,700,0.00,2.53,0.00,0.000,1030,0.000,0.076,1940,2250,3559,3601,3517,0,0,0,0,0,0,14.71,14.62,14.73
$GC,898,-0.58,-146.0,1939,2250,3608,3510,161.2,-17.0,135,904,0.00,2.55,0.00,0.000,260,0.000,0.085,1928,3660,3555,3601,3510,0,0,0,0,0,0,14.83,14.61,14.85
$GC,966,-0.58,-146.0,1929,3661,3601,3510,172.3,-15.9,148,974,0.15,2.50,0.00,0.000,3078,0.263,0.057,1961,2247,3555,3601,3510,0,0,0,0,0,0,14.48,14.62,14.66
$GC,1174,-0.58,-146.0,1961,2246,3601,3510,202.9,-15.3,169,1181,0.00,2.45,0.00,0.000,516,0.000,0.062,1961,837,3555,3601,3509,0,0,0,0,0,0,14.86,14.67,14.89
$GC,1289,-0.58,-146.0,1960,835,3601,3510,218.4,-11.7,191,1295,0.00,2.53,0.00,0.000,1030,0.000,0.075,1953,2248,3555,3601,3510,0,0,0,0,0,0,14.76,14.65,14.78
$GC,1503,-0.58,-146.0,1953,2249,3600,3508,250.4,-15.1,213,1510,0.00,2.55,0.00,0.000,260,0.000,0.085,1942,3668,3555,3601,3509,0,0,0,0,0,0,14.87,14.66,14.90
$GC,1582,-0.58,-146.0,1942,3669,3601,3509,262.0,-13.4,228,1589,0.00,2.50,0.00,0.000,1030,0.000,0.060,1941,2233,3554,3600,3509,0,0,0,0,0,0,14.78,14.69,14.79
$GC,1788,-0.58,-146.0,1942,2234,3601,3507,294.5,-16.0,239,1794,0.00,2.42,0.00,0.000,516,0.000,0.062,1942,838,3554,3601,3507,0,0,0,0,0,0,14.91,14.70,14.93
$GC,1847,-0.58,-146.0,1942,837,3601,3506,303.4,-13.8,250,1855,0.15,2.55,0.00,0.000,3078,0.252,0.080,1965,2250,3553,3601,3506,0,0,0,0,0,0,14.54,14.62,14.72
$GC,2053,-0.58,-146.0,1965,2251,3600,3505,332.3,-14.2,261,2059,0.00,2.53,0.00,0.000,260,0.000,0.085,1956,3664,3553,3601,3506,0,0,0,0,0,0,14.91,14.66,14.94
$GC,2122,-0.58,-146.0,1956,3663,3600,3506,341.6,-12.7,274,2127,0.00,2.47,0.00,0.000,1030,0.000,0.057,1956,2239,3553,3601,3505,0,0,0,0,0,0,14.79,14.71,14.81
$STATE,2258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2258,begin apogee
$GC,2265,-0.11,0.0,1956,2113,3601,3505,362.4,-15.6,283,2381,0.57,0.10,109.62,1.769,10246,0.216,0.111,2110,2158,2972,3044,2901,0,0,0,0,0,0,14.57,14.09,13.48
$STATE,2385,end apogee,CONTROL_FINISHED_OK
$STATE,2385,begin climb
$GC,2388,0.58,146.0,2112,2158,3043,2898,369.9,0.0,289,2511,0.77,2.67,112.65,1.683,10500,0.138,0.077,2341,3563,2388,2475,2301,0,0,0,0,0,0,14.12,13.84,13.33
$GC,2524,0.73,262.2,2340,3562,2468,2300,368.6,4.6,312,2622,0.12,2.53,90.15,1.649,11302,0.127,0.053,2395,2183,1925,2009,1841,0,0,0,0,0,0,14.02,14.03,13.24
$GC,2836,0.73,262.2,2394,2184,2009,1828,332.3,12.9,343,2841,0.00,2.60,0.00,0.000,516,0.000,0.067,2406,743,1918,2009,1828,0,0,0,0,0,0,14.50,14.33,14.52
$GC,2929,0.73,262.2,2405,743,2007,1828,320.5,12.0,361,2935,0.00,2.55,0.00,0.000,1030,0.000,0.057,2407,2160,1916,2006,1827,0,0,0,0,0,0,14.50,14.42,14.52
$GC,3143,0.73,262.2,2405,2160,2006,1827,291.3,14.2,373,3149,0.00,2.55,0.00,0.000,260,0.000,0.080,2406,3557,1916,2006,1827,0,0,0,0,0,0,14.73,14.47,14.76
$GC,3197,0.73,262.2,2412,3556,2004,1827,283.1,15.4,383,3202,0.00,2.50,0.00,0.000,1030,0.000,0.057,2416,2140,1915,2004,1827,0,0,0,0,0,0,14.64,14.57,14.66
$GC,3411,0.73,262.2,2416,2141,2005,1827,251.3,14.8,395,3417,0.00,2.50,0.00,0.000,516,0.000,0.067,2428,733,1916,2005,1827,0,0,0,0,0,0,14.80,14.56,14.81
$GC,3445,0.73,262.2,2426,733,2005,1827,246.1,14.8,401,3452,0.15,2.53,0.00,0.000,5126,0.224,0.059,2392,2150,1915,2004,1827,0,0,0,0,0,0,14.47,14.59,14.64
$GC,3663,0.73,262.2,2398,2151,2004,1826,218.5,12.7,423,3668,0.00,2.55,0.00,0.000,260,0.000,0.080,2392,3564,1915,2004,1826,0,0,0,0,0,0,14.85,14.62,14.88
$GC,3727,0.73,262.2,2392,3564,2003,1826,209.5,12.5,435,3733,0.00,2.50,0.00,0.000,1030,0.000,0.054,2401,2142,1914,2003,1826,0,0,0,0,0,0,14.73,14.64,14.76
$GC,3941,0.73,262.2,2401,2142,2003,1826,180.3,14.3,457,3947,0.00,2.47,0.00,0.000,516,0.000,0.067,2412,741,1914,2003,1826,0,0,0,0,0,0,14.85,14.66,14.88
$GC,4025,0.73,262.2,2412,741,2003,1821,167.8,13.6,473,4031,0.00,2.50,0.00,0.000,1030,0.000,0.057,2412,2156,1914,2003,1826,0,0,0,0,0,0,14.72,14.64,14.75
$GC,4240,0.73,262.2,2410,2158,1998,1826,138.0,13.7,495,4245,0.00,2.53,0.00,0.000,260,0.000,0.079,2412,3562,1914,2003,1826,0,0,0,0,0,0,14.86,14.64,14.89
$GC,4308,0.73,262.2,2412,3562,2002,1826,129.0,12.5,508,4316,0.12,2.45,0.00,0.000,5126,0.292,0.054,2399,2150,1914,2002,1826,0,0,0,0,0,0,14.50,14.66,14.73
$GC,4516,0.73,262.2,2397,2145,2001,1826,104.8,11.5,529,4522,0.00,2.45,0.00,0.000,516,0.000,0.067,2407,737,1913,2002,1825,0,0,0,0,0,0,14.84,14.66,14.85
$GC,4636,0.73,262.2,2407,738,2002,1832,91.5,10.6,552,4644,0.00,2.53,0.00,0.000,1030,0.000,0.055,2415,2164,1914,2003,1825,0,0,0,0,0,0,14.73,14.64,14.76
$GC,4828,0.73,262.2,2406,2164,2002,1825,71.1,10.0,589,4835,0.00,2.50,0.00,0.000,260,0.000,0.078,2407,3555,1913,2002,1825,0,0,0,0,0,0,14.88,14.63,14.88
$GC,4924,0.73,262.2,2407,3551,2001,1825,60.7,11.0,607,4931,0.00,2.45,0.00,0.000,1030,0.000,0.051,2418,2149,1913,2002,1825,0,0,0,0,0,0,14.73,14.66,14.76
$GC,5115,0.79,307.4,2418,2149,2002,1826,44.1,7.9,644,5159,0.00,2.58,33.80,1.392,8740,0.000,0.068,2428,738,1744,1816,1672,0,0,0,0,0,0,14.83,14.46,13.88
$GC,5217,0.79,307.4,2428,733,1814,1671,34.9,10.4,662,5225,0.00,2.53,0.00,0.000,1030,0.000,0.054,2428,2148,1742,1813,1671,0,0,0,0,0,0,14.58,14.50,14.59
$GC,5412,0.90,389.5,2428,2149,1813,1667,21.2,6.2,699,5479,0.00,2.58,60.30,1.330,8740,0.000,0.064,2439,743,1423,1473,1374,0,0,0,0,0,0,14.74,14.19,13.75
$GC,5539,0.90,389.5,2438,741,1469,1372,8.2,9.6,721,5546,0.00,2.55,0.00,0.000,1030,0.000,0.054,2439,2160,1421,1470,1372,0,0,0,0,0,0,14.45,14.37,14.46
$STATE,5592,end climb,SURFACE_DEPTH_REACHED
$STATE,5592,begin surface coast
$FINISH,-0.2,1.024046
$STATE,5608,end surface coast,CONTROL_FINISHED_OK
$STATE,5608,begin surface
$SM_CCo,5630,5.25,0.226,0,0,1375,400.16
$SM_GC,1.19,6.50,0.17,5.25,0.055,0.083,0.226,231,2265,1375,-5.93,-0.42,400.16,0,0,0,0,0,0,14.50,14.50,14.35
$IRIDIUM_FIX,5032.51,-14456.87,010918,154018
$TT8_MAMPS,0.02247,0.566244
$HUMID,48.50
$INTERNAL_PRESSURE,10.1117
$TCM_TEMP,15.80
$XPDR_PINGS,107
$SC_FREEKB,3810848
$ES_FREE,14377091072.000000
$ES_POWER,63.360000
$ES_POWER1,0.000000
$24V_AH,13.24,66.310
$10V_AH,13.38,0.000
$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,16.975,91.150,406.525,5.250,0.000,0.000,0.000,267.275,26.750,0.000,13.132,1694.464,2249.242,527.835,1452.033,249.494,0.000,1439.859,0.000,1059.688,0.000,0.542,0.000
$DEVICE_MAMPS,377.145,110.925,1768.680,225.675,0.000,0.000,0.000,195.840,420.000,0.000,8.990,12.460,2.190,11.710,30.440,45.420,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,echo,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5634.000,5635.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.691,5.000,0.000,0.000
$MEM,323012
$DATA_FILE_SIZE,26758,734
$CAP_FILE_SIZE,83707,0
$CFSIZE,1024409600,979779584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077,120.40,1
$GPS,010918,191700,5034.628,-14449.270,3,1.5,6,15.7,0.9,92.6,5,6.3