version: 66.13
glider: 219
mission: 5
dive: 3
start: 8 24 116 17 36 28
data:
$ID,219
$MISSION,5
$DIVE,3
$N_DIVES,5
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,240
$D_ABORT,300
$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,80
$T_MISSION,100
$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,54391
$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,609.96155
$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,45
$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
$PITCH_MIN,200
$PITCH_MAX,3914
$C_PITCH,2885
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,20
$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,2600
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,52
$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,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$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,-148.94582
$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,5
$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,0.0044063777
$SEABIRD_T_H,0.00063933869
$SEABIRD_T_I,2.4772711e-05
$SEABIRD_T_J,2.9384435e-06
$SEABIRD_C_G,-9.8920727
$SEABIRD_C_H,1.0856217
$SEABIRD_C_I,-0.0019095645
$SEABIRD_C_J,0.0001978568
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,500.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,240816,172922,1003.7944,-12503.1758,1,0.8,3,9.0,0.4,339.2,10,5.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-67.5
$GPS2,240816,173609,1003.8159,-12503.1543,2,0.8,3,9.0,0.1,0.0,10,8.5
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,NW
$TGT_LATLONG,1013.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,310.8,26302,-17.6,-10.000,-21.24,2209
$D_GRID,240
$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,15,-1.06,-146.0,189,2637,595,511,0.0,0.0,0,93,0.00,0.00,-74.62,0.000,16386,0.000,0.000,188,2637,2873,2897,2849,0,0,0,0,0,0,15.16,28.83,15.18
$GC,95,-1.06,-146.0,189,2637,2898,2847,3.2,-5.3,12,127,10.02,2.60,-12.38,0.000,18980,0.359,2.072,2537,1200,3551,3584,3519,0,0,0,0,0,0,14.72,13.86,14.97
$GC,197,-0.95,-146.0,2538,1200,3585,3520,30.1,-24.0,31,205,0.17,2.35,0.00,0.000,3206,0.248,0.077,2576,2583,3552,3585,3519,0,0,0,0,0,0,14.78,14.90,14.94
$GC,265,-0.83,-146.0,2576,2584,3587,3520,46.9,-25.3,44,272,0.10,2.17,0.00,0.000,2436,0.291,0.109,2602,3814,3552,3585,3520,0,0,0,0,0,0,14.80,14.88,14.92
$GC,317,-0.76,-146.0,2600,3814,3586,3516,57.4,-18.7,54,325,0.12,1.95,0.00,0.000,3206,0.248,0.048,2636,2596,3552,3585,3520,0,0,0,0,0,0,14.81,14.98,14.99
$GC,445,-0.78,-146.0,2635,2597,3587,3521,74.4,-9.6,79,452,0.00,2.17,0.00,0.000,420,0.000,0.113,2628,3811,3552,3585,3519,0,0,0,0,0,0,15.17,14.92,15.18
$GC,582,-0.84,-146.0,2629,3812,3585,3520,87.2,-9.0,106,590,0.00,1.95,0.00,0.000,1190,0.000,0.050,2628,2591,3552,3585,3520,0,0,0,0,0,0,15.08,15.05,15.09
$GC,710,-0.88,-146.0,2629,2591,3585,3520,96.7,-6.2,131,717,0.00,2.25,0.00,0.000,676,0.000,0.054,2628,1205,3553,3586,3520,0,0,0,0,0,0,15.19,15.00,15.21
$GC,852,-0.96,-146.0,2629,1205,3586,3520,105.8,-5.8,159,860,0.08,2.35,0.00,0.000,5286,0.162,0.075,2575,2602,3552,3586,3519,0,0,0,0,0,0,14.99,14.98,15.07
$GC,980,-0.98,-146.0,2576,2603,3588,3520,115.1,-8.0,184,987,0.00,2.15,0.00,0.000,420,0.000,0.113,2567,3816,3553,3586,3520,0,0,0,0,0,0,15.21,14.95,15.21
$GC,1202,-0.98,-146.0,2566,3816,3588,3520,135.2,-8.5,228,1209,0.00,1.95,0.00,0.000,1062,0.000,0.049,2567,2594,3556,3586,3526,0,0,0,0,0,0,15.10,15.04,15.11
$GC,1329,-1.00,-146.0,2566,2592,3591,3518,145.6,-8.3,253,1338,0.00,2.17,0.00,0.000,420,0.000,0.114,2559,3812,3551,3585,3517,0,0,0,0,0,0,15.19,14.96,15.22
$GC,1458,-1.01,-146.0,2560,3812,3585,3513,157.1,-9.1,278,1466,0.00,1.95,0.00,0.000,1190,0.000,0.050,2560,2594,3550,3586,3515,0,0,0,0,0,0,15.07,15.02,15.09
$GC,1586,-1.04,-146.0,2559,2594,3587,3515,168.5,-8.8,303,1593,0.00,0.00,0.00,0.000,166,0.000,0.000,2559,2594,3550,3586,3514,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1713,-1.06,-146.0,2560,2594,3586,3512,179.5,-8.6,328,1721,0.00,2.20,0.00,0.000,420,0.000,0.117,2552,3813,3548,3586,3511,0,0,0,0,0,0,15.21,14.93,15.21
$GC,1815,-1.08,-146.0,2552,3814,3586,3516,189.0,-9.5,348,1823,0.00,1.98,0.00,0.000,1190,0.000,0.050,2550,2583,3547,3586,3509,0,0,0,0,0,0,15.09,15.03,15.10
$GC,1943,-1.10,-146.0,2550,2583,3588,3508,200.5,-9.0,373,1951,0.00,0.00,0.00,0.000,166,0.000,0.000,2550,2583,3546,3586,3507,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2071,-1.12,-146.0,2550,2584,3587,3505,212.3,-9.1,398,2079,0.00,2.22,0.00,0.000,420,0.000,0.117,2545,3813,3544,3585,3504,0,0,0,0,0,0,15.20,14.94,15.21
$GC,2123,-1.12,-146.0,2544,3813,3587,3504,217.3,-9.6,408,2131,0.00,2.00,0.00,0.000,1062,0.000,0.053,2544,2593,3544,3586,3503,0,0,0,0,0,0,15.09,15.02,15.10
$GC,2251,-1.14,-146.0,2543,2593,3587,3501,229.2,-9.3,433,2259,0.00,2.30,0.00,0.000,676,0.000,0.058,2543,1197,3543,3585,3501,0,0,0,0,0,0,15.20,15.04,15.21
$GC,2284,-1.16,-146.0,2542,1197,3594,3501,232.4,-9.6,439,2292,0.00,2.40,0.00,0.000,1190,0.000,0.080,2537,2604,3542,3585,3500,0,0,0,0,0,0,15.07,14.96,15.08
$STATE,2365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2365,begin apogee
$GC,2368,-0.25,0.0,2537,2495,3587,3499,240.3,-9.7,455,2488,0.85,0.00,105.60,1.844,10246,0.188,0.000,2800,2494,2975,3035,2915,0,0,0,0,1,0,14.85,14.35,13.54
$STATE,2491,end apogee,CONTROL_FINISHED_OK
$STATE,2491,begin climb
$GC,2492,1.06,146.0,2801,2494,3036,2921,243.2,0.0,475,2634,1.25,2.42,123.12,1.109,10756,0.092,0.062,3237,1105,2370,2443,2297,0,0,0,0,0,0,14.52,14.45,14.01
$GC,2749,0.89,146.0,3237,1105,2434,2284,216.6,17.0,518,2757,0.22,2.42,0.00,0.000,5254,0.248,0.074,3176,2511,2358,2434,2283,0,0,0,0,0,0,14.64,14.73,14.81
$GC,2877,0.76,146.0,3176,2512,2435,2282,197.3,14.8,543,2885,0.12,2.38,0.00,0.000,4740,0.259,0.060,3146,1102,2357,2434,2281,0,0,0,0,0,0,14.72,14.83,14.83
$GC,2915,0.67,146.0,3146,1103,2434,2282,192.3,13.1,550,2923,0.15,2.40,0.00,0.000,5254,0.242,0.076,3103,2501,2357,2434,2280,0,0,0,0,0,0,14.75,14.83,14.90
$GC,3042,0.61,146.0,3104,2506,2434,2278,178.2,10.7,575,3050,0.00,0.00,0.00,0.000,134,0.000,0.000,3103,2501,2356,2434,2278,0,0,0,0,0,0,15.08,15.09,15.09
$GC,3169,0.55,146.0,3102,2502,2435,2277,164.2,11.0,600,3177,0.10,0.00,0.00,0.000,4230,0.256,0.000,3068,2501,2355,2434,2276,0,0,0,0,0,0,14.78,14.95,14.91
$GC,3296,0.54,159.8,3069,2501,2434,2273,152.2,9.4,625,3305,0.00,0.00,3.67,0.795,8358,0.000,0.000,3069,2501,2328,2407,2249,0,0,0,0,0,0,15.12,14.89,14.29
$GC,3425,0.55,178.5,3069,2502,2407,2270,140.3,9.1,650,3457,0.00,2.40,23.05,1.060,8612,0.000,0.119,3067,3811,2244,2325,2164,0,0,0,0,0,0,15.12,14.75,14.34
$GC,3586,0.51,178.5,3067,3812,2321,2150,122.4,11.9,681,3594,0.00,2.15,0.00,0.000,1158,0.000,0.052,3077,2497,2236,2322,2151,0,0,0,0,0,0,14.97,14.90,14.98
$GC,3714,0.52,204.3,3077,2495,2323,2147,110.4,8.8,706,3746,0.00,2.38,22.17,1.043,8868,0.000,0.065,3089,1109,2140,2222,2059,0,0,0,0,0,0,15.11,14.78,14.35
$GC,3781,0.52,204.3,3084,1109,2215,2052,103.8,10.0,718,3789,0.12,2.40,0.00,0.000,5126,0.230,0.078,3051,2500,2135,2213,2058,0,0,0,0,0,0,14.73,14.81,14.88
$GC,3908,0.62,265.9,3052,2498,2213,2048,93.0,7.1,743,3940,0.00,0.00,28.23,0.413,8614,0.000,0.000,3057,2500,1907,1991,1823,0,0,0,0,0,0,15.07,14.85,14.58
$GC,4060,0.79,359.1,3051,2500,2004,1856,83.4,5.7,772,4118,0.17,2.38,49.30,0.409,10916,0.125,0.063,3141,1097,1545,1615,1476,0,0,0,0,0,0,14.85,14.74,14.56
$GC,4128,0.79,365.2,3142,1097,1620,1477,77.8,9.7,783,4142,0.00,2.42,4.57,0.353,9254,0.000,0.079,3139,2502,1517,1587,1447,0,0,0,0,0,0,14.87,14.78,14.55
$GC,4261,0.82,370.2,3142,2503,1597,1467,64.4,9.8,809,4276,0.00,2.42,4.62,0.282,8612,0.000,0.122,3137,3810,1503,1566,1440,0,0,0,0,0,0,15.04,14.79,14.64
$GC,4371,0.87,407.8,3140,3810,1580,1456,54.7,8.2,830,4402,0.00,2.15,21.55,0.318,9254,0.000,0.052,3151,2492,1350,1420,1280,0,0,0,0,0,0,14.96,14.90,14.65
$GC,4522,0.98,456.9,3153,2492,1431,1297,43.7,7.7,859,4555,0.08,2.40,27.10,0.289,10916,0.175,0.064,3205,1095,1150,1226,1075,0,0,0,0,0,0,14.86,14.83,14.67
$GC,4594,1.07,501.9,3205,1095,1242,1092,38.0,7.9,872,4627,0.00,2.42,25.02,0.277,9382,0.000,0.076,3205,2506,969,1050,888,0,0,0,0,0,0,14.93,14.83,14.65
$GC,4686,1.10,504.7,3204,2506,1064,906,29.3,9.9,889,4696,0.05,2.42,3.05,0.214,10916,0.236,0.065,3251,1104,962,1042,883,0,0,0,0,0,0,14.81,14.83,14.69
$GC,4715,1.10,504.7,3251,1105,1051,893,26.1,11.5,894,4723,0.00,2.42,2.03,0.242,9222,0.000,0.078,3250,2513,956,1036,877,0,0,0,0,0,0,14.93,14.86,14.70
$GC,4783,1.08,504.7,3250,2513,1055,898,17.4,13.5,907,4790,0.00,0.00,2.10,0.223,8326,0.000,0.000,3251,2513,960,1039,881,0,0,0,0,0,0,15.07,14.90,14.75
$GC,4850,1.08,504.7,3250,2514,1057,898,8.2,13.8,920,4858,0.00,2.45,2.00,0.217,8708,0.000,0.065,3261,1095,961,1041,882,0,0,0,0,0,0,15.07,14.84,14.77
$STATE,4902,end climb,SURFACE_DEPTH_REACHED
$STATE,4902,begin surface coast
$FINISH,0.4,1.020437
$STATE,4917,end surface coast,CONTROL_FINISHED_OK
$STATE,4917,begin surface
$SM_CCo,4943,52.00,0.171,0,0,537,610.16
$SM_GC,1.31,8.77,2.62,52.00,0.076,0.080,0.171,205,2605,537,-8.33,-0.74,610.16,0,0,0,0,0,0,14.91,14.89,14.78
$IRIDIUM_FIX,1000.45,-12505.26,240816,173312
$TT8_MAMPS,0.043442,0.462133
$HUMID,51.92
$INTERNAL_PRESSURE,8.14876
$TCM_TEMP,21.50
$XPDR_PINGS,50
$SC_FREEKB,3909376
$PM_FREEKB,62291136
$TM_FREEKB,7819584
$24V_AH,13.54,3.386
$10V_AH,13.79,0.000
$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,22.400,82.350,447.200,52.000,0.000,0.000,0.000,0.000,12.500,0.000,4.604,0.000,1837.517,608.738,2574.355,34.884,0.000,1469.854,0.000,2010.428,0.000,0.553,0.000
$DEVICE_MAMPS,358.785,2072.385,1843.650,171.360,0.000,0.000,0.000,0.000,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4902.000,4899.000,4907.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.421,3.236,11.878,0.000
$MEM,334824
$DATA_FILE_SIZE,30060,933
$CAP_FILE_SIZE,128622,0
$CFSIZE,1024409600,1019215872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.083,246.78,1
$GPS,240816,190023,1004.171,-12503.676,6,1.4,8,9.0,0.6,51.8,7,9.0