version: 66.13
glider: 219
mission: 8
dive: 4
start: 8 30 117 4 4 26
data:
$ID,219
$MISSION,8
$DIVE,4
$N_DIVES,10
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,240
$D_ABORT,320
$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,120
$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,619.96155
$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,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,2900
$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,2600
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,53
$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,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,0.0043199207
$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,3.0
$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
$GPS1,300817,040156,1113.2318,-12453.4053,1,0.8,2,9.1,0.4,188.7,9,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.2
$GPS2,300817,040407,1113.2301,-12453.3896,2,0.8,3,9.1,0.2,208.2,9,6.9
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,197.2,143673,-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,-0.91,-146.0,193,2616,547,472,0.0,0.0,0,105,0.00,0.00,-84.97,0.000,16386,0.000,0.000,183,2622,2894,2916,2873,0,0,0,0,0,0,15.00,28.83,15.05
$GC,106,-0.91,-146.0,184,2620,2917,2874,3.0,-3.3,3,138,10.68,2.22,-11.80,0.000,18692,0.367,2.089,2587,3804,3551,3592,3511,0,0,0,0,0,0,14.56,13.68,14.74
$GC,198,-0.70,-146.0,2587,3798,3594,3512,27.6,-22.9,17,208,0.28,1.92,0.00,0.000,3206,0.231,0.027,2666,2525,3552,3593,3512,0,0,0,0,0,0,14.63,14.85,14.75
$GC,521,-0.74,-146.0,2666,2523,3594,3513,74.8,-9.8,30,529,0.00,2.12,0.00,0.000,676,0.000,0.037,2666,1190,3552,3593,3512,0,0,0,0,0,0,15.04,14.80,15.07
$GC,605,-0.82,-146.0,2667,1190,3594,3512,81.0,-7.0,42,614,0.00,2.30,0.00,0.000,1190,0.000,0.042,2657,2588,3552,3593,3512,0,0,0,0,0,0,14.85,14.81,14.88
$GC,941,-0.92,-146.0,2658,2589,3594,3512,104.5,-7.4,56,951,0.17,2.03,0.00,0.000,4516,0.107,0.073,2573,3813,3552,3593,3512,0,0,0,0,0,0,14.88,14.81,14.94
$GC,1178,-0.87,-146.0,2573,3813,3594,3512,129.8,-10.6,90,1188,0.12,1.98,0.00,0.000,3206,0.215,0.026,2607,2517,3552,3593,3512,0,0,0,0,0,0,14.63,14.95,14.76
$GC,1502,-0.93,-146.0,2609,2516,3593,3510,157.9,-8.6,101,1510,0.00,2.20,0.00,0.000,420,0.000,0.074,2601,3816,3551,3592,3510,0,0,0,0,0,0,15.06,14.81,15.09
$GC,1739,-0.98,-146.0,2601,3815,3593,3507,178.3,-8.3,135,1748,0.00,1.95,0.00,0.000,1190,0.000,0.028,2601,2526,3549,3592,3507,0,0,0,0,0,0,14.92,14.91,14.93
$GC,2062,-1.05,-146.0,2601,2525,3593,3501,205.2,-8.3,146,2070,0.12,2.20,0.00,0.000,4516,0.137,0.076,2534,3821,3546,3592,3501,0,0,0,0,0,0,14.83,14.79,14.90
$GC,2299,-0.97,-146.0,2535,3822,3593,3497,231.7,-11.0,180,2309,0.15,1.98,0.00,0.000,3206,0.220,0.028,2578,2529,3549,3603,3496,0,0,0,0,0,0,14.55,14.90,14.70
$STATE,2396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2396,begin apogee
$GC,2400,-0.21,0.0,2579,2629,3593,3495,240.7,-8.9,187,2699,0.85,0.00,293.20,0.938,10246,0.194,0.000,2825,2629,2969,3032,2907,0,0,0,0,0,0,14.66,14.38,13.95
$STATE,2703,end apogee,CONTROL_FINISHED_OK
$STATE,2703,begin climb
$GC,2704,0.91,146.0,2827,2629,3028,2902,249.9,0.0,192,2841,1.10,2.40,118.70,1.081,10756,0.103,0.035,3202,1195,2378,2440,2316,0,0,0,0,0,0,14.44,14.19,13.85
$GC,2887,0.70,146.0,3202,1194,2424,2298,240.0,12.6,222,2897,0.25,2.38,0.00,0.000,5254,0.240,0.044,3134,2591,2360,2423,2297,0,0,0,0,0,0,14.38,14.52,14.49
$GC,3238,0.61,146.0,3134,2593,2423,2277,202.8,10.4,230,3247,0.15,2.28,0.00,0.000,4740,0.247,0.039,3107,1191,2352,2423,2281,0,0,0,0,0,0,14.59,14.76,14.78
$GC,3300,0.64,170.4,3116,1191,2422,2282,197.1,8.9,239,3331,0.00,2.35,22.27,0.977,9254,0.000,0.043,3106,2594,2287,2356,2219,0,0,0,0,0,0,14.80,14.75,14.20
$GC,3687,0.61,179.7,3108,2595,2346,2196,160.8,9.6,252,3696,0.00,2.35,2.50,0.508,8868,0.000,0.039,3117,1190,2250,2320,2181,0,0,0,0,0,0,14.96,14.82,14.12
$GC,3742,0.64,201.0,3118,1190,2322,2197,155.6,9.0,260,3782,0.00,2.38,32.50,1.003,9254,0.000,0.043,3118,2611,2167,2235,2100,0,0,0,0,0,0,14.83,14.79,14.20
$GC,4122,0.63,216.4,3117,2610,2217,2073,119.7,9.3,272,4139,0.00,2.35,5.55,0.945,8868,0.000,0.038,3128,1195,2111,2178,2045,0,0,0,0,0,0,14.96,14.76,14.26
$GC,4199,0.65,239.6,3128,1195,2177,2053,112.6,8.9,283,4244,0.00,2.35,36.25,0.976,9254,0.000,0.043,3134,2599,2013,2080,1947,0,0,0,0,0,0,14.82,14.78,14.19
$GC,4571,0.73,302.3,3128,2600,2068,1923,79.4,7.1,305,4609,0.00,2.15,30.00,0.372,8484,0.000,0.078,3128,3815,1761,1822,1701,0,0,0,0,0,0,14.95,14.71,14.47
$GC,4676,0.79,349.9,3128,3816,1839,1727,70.9,7.8,320,4714,0.00,2.00,27.00,0.357,9254,0.000,0.028,3138,2534,1581,1638,1524,0,0,0,0,0,0,14.83,14.80,14.45
$GC,5020,1.08,465.1,3138,2533,1651,1542,53.1,4.6,336,5093,0.35,2.28,61.10,0.314,10660,0.111,0.076,3265,3815,1120,1184,1056,0,0,0,0,0,0,14.77,14.66,14.48
$GC,5250,1.02,465.1,3270,3816,1193,1078,21.8,14.7,369,5262,0.15,2.00,2.30,0.185,13446,0.220,0.026,3231,2557,1118,1184,1052,0,0,0,0,0,0,14.55,14.78,14.61
$STATE,5441,end climb,SURFACE_DEPTH_REACHED
$STATE,5441,begin surface coast
$FINISH,-0.0,1.021044
$STATE,5469,end surface coast,CONTROL_FINISHED_OK
$STATE,5469,begin surface
$SM_CCo,5495,75.22,0.164,0,0,497,619.96
$SM_GC,1.08,8.52,0.08,75.22,0.050,0.165,0.164,187,2616,497,-8.41,-1.07,619.96,0,0,0,0,0,0,14.83,14.80,14.65
$IRIDIUM_FIX,1110.81,-12452.14,300817,035901
$TT8_MAMPS,0.041944,0.292859
$HUMID,50.39
$INTERNAL_PRESSURE,8.76402
$TCM_TEMP,21.50
$XPDR_PINGS,20
$SC_FREEKB,3908992
$PM_FREEKB,62242752
$TM_FREEKB,7806240
$24V_AH,13.68,13.070
$10V_AH,13.15,0.000
$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,22.900,48.350,631.375,75.225,0.000,0.000,0.000,0.000,5.000,0.000,5.423,0.000,3835.986,794.046,981.599,25.818,0.000,1241.118,0.000,645.823,0.000,0.551,0.000
$DEVICE_MAMPS,367.200,2089.215,1080.945,164.475,0.000,0.000,0.000,0.000,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5453.000,5463.000,5453.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.824,3.998,19.393,0.000
$MEM,326340
$DATA_FILE_SIZE,13483,379
$CAP_FILE_SIZE,70309,0
$CFSIZE,1024409600,1018888192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054,94.52,1
$GPS,300817,053802,1113.100,-12453.523,7,1.5,9,9.1,0.7,98.7,6,7.1