version: 66.13
glider: 219
mission: 8
dive: 7
start: 8 30 117 10 6 49
data:
$ID,219
$MISSION,8
$DIVE,7
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,420
$D_ABORT,550
$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,140
$T_MISSION,200
$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,2880
$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,2850
$C_ROLL_CLIMB,2850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,127
$R_STBD_OVSHOOT,26
$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
$GPS1,300817,095703,1112.4902,-12453.8682,2,1.6,5,9.1,0.6,26.5,6,9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-66.3
$GPS2,300817,100630,1112.5105,-12453.7715,17,1.5,17,9.1,1.1,175.6,6,5.9
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,213.8,142186,-17.6,-10.000,-21.24,2209
$D_GRID,420
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.91,-146.0,181,2830,554,476,0.0,0.0,0,107,0.00,0.00,-85.88,0.000,16386,0.000,0.000,180,2830,2906,2930,2883,0,0,0,0,0,0,14.78,28.83,14.81
$GC,109,-0.91,-146.0,180,2832,2932,2885,3.1,-3.4,3,135,11.02,0.00,-11.10,0.000,18438,0.373,0.000,2582,2830,3552,3594,3511,0,0,0,0,0,0,14.35,13.50,14.64
$GC,439,-0.73,-146.0,2577,2831,3595,3511,80.9,-18.5,15,448,0.25,2.10,0.00,0.000,2692,0.236,0.030,2640,1490,3552,3594,3511,0,0,0,0,0,0,14.52,14.71,14.71
$GC,676,-0.78,-146.0,2641,1490,3596,3512,102.5,-7.3,49,686,0.00,2.33,0.00,0.000,1190,0.000,0.049,2632,2856,3553,3595,3512,0,0,0,0,0,0,14.74,14.69,14.78
$GC,999,-0.84,-146.0,2632,2858,3596,3513,127.0,-7.6,60,1007,0.00,2.15,0.00,0.000,676,0.000,0.030,2633,1504,3553,3595,3512,0,0,0,0,0,0,14.95,14.78,15.00
$GC,1223,-0.94,-146.0,2633,1502,3605,3512,143.8,-7.6,92,1232,0.15,2.30,0.00,0.000,5286,0.110,0.050,2553,2853,3552,3594,3511,0,0,0,0,0,0,14.78,14.71,14.84
$GC,1559,-0.88,-146.0,2555,2853,3596,3508,180.0,-11.0,105,1563,0.17,0.00,0.00,0.000,2182,0.244,0.000,2594,2853,3551,3595,3508,0,0,0,0,0,0,14.55,14.82,14.77
$GC,1895,-0.93,-146.0,2594,2854,3595,3515,210.6,-8.9,111,1899,0.00,0.00,0.00,0.000,166,0.000,0.000,2594,2853,3549,3595,3503,0,0,0,0,0,0,14.96,15.02,15.01
$GC,2231,-0.97,-146.0,2594,2854,3595,3499,240.1,-8.8,117,2235,0.00,0.00,0.00,0.000,166,0.000,0.000,2594,2853,3546,3595,3498,0,0,0,0,0,0,14.97,15.01,15.00
$GC,2567,-1.02,-146.0,2595,2853,3596,3494,269.6,-8.7,123,2576,0.15,2.15,0.00,0.000,4772,0.115,0.031,2529,1508,3541,3590,3492,0,0,0,0,0,0,14.78,14.79,14.85
$GC,2623,-0.97,-146.0,2530,1508,3596,3491,275.8,-11.5,131,2632,0.12,2.30,0.00,0.000,3206,0.229,0.051,2567,2847,3543,3595,3491,0,0,0,0,0,0,14.52,14.70,14.76
$GC,2959,-0.97,-146.0,2567,2847,3595,3487,309.0,-9.8,144,2967,0.00,1.70,0.00,0.000,292,0.000,0.083,2568,3821,3541,3595,3487,0,0,0,0,0,0,14.96,14.68,14.99
$GC,3015,-0.97,-146.0,2562,3819,3595,3487,314.7,-10.4,152,3023,0.00,1.45,0.00,0.000,1030,0.000,0.033,2562,2866,3540,3593,3487,0,0,0,0,0,0,14.83,14.81,14.84
$GC,3351,-0.97,-146.0,2563,2866,3592,3484,349.6,-10.4,165,3360,0.00,2.22,0.00,0.000,516,0.000,0.031,2564,1500,3538,3592,3484,0,0,0,0,0,0,14.97,14.73,15.00
$GC,3385,-0.97,-146.0,2564,1500,3592,3489,353.4,-10.8,170,3395,0.00,2.33,0.00,0.000,1030,0.000,0.052,2555,2848,3536,3590,3483,0,0,0,0,0,0,14.74,14.67,14.78
$GC,3743,-0.97,-146.0,2555,2848,3589,3481,393.2,-11.2,179,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2849,3534,3588,3481,0,0,0,0,0,0,14.92,15.00,14.99
$STATE,4022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4022,begin apogee
$GC,4024,-0.21,0.0,2556,2849,3588,3479,423.6,-10.8,184,4354,0.93,0.00,323.35,1.022,10246,0.212,0.000,2812,2849,2969,3032,2906,0,0,0,0,0,0,14.52,14.19,13.76
$STATE,4357,end apogee,CONTROL_FINISHED_OK
$STATE,4357,begin climb
$GC,4358,0.91,146.0,2815,2851,3028,2902,434.5,0.0,189,4521,1.10,2.30,141.68,1.242,10756,0.109,0.034,3180,1501,2373,2438,2308,0,0,0,0,0,0,14.25,14.13,13.62
$GC,4624,0.74,146.0,3180,1501,2419,2284,417.9,12.3,234,4634,0.25,2.35,0.00,0.000,5254,0.253,0.050,3122,2861,2349,2416,2282,0,0,0,0,0,0,14.29,14.41,14.46
$GC,4982,0.64,146.0,3122,2862,2418,2273,380.8,10.3,243,4991,0.15,2.22,0.00,0.000,4740,0.256,0.033,3095,1501,2345,2417,2273,0,0,0,0,0,0,14.46,14.64,14.67
$GC,5170,0.67,173.4,3091,1500,2416,2271,364.3,8.7,270,5215,0.00,2.35,36.45,1.018,9254,0.000,0.050,3094,2856,2278,2349,2208,0,0,0,0,0,0,14.64,14.59,14.07
$GC,5542,0.64,173.4,3096,2856,2340,2186,326.9,10.3,288,5550,0.00,2.22,0.00,0.000,644,0.000,0.034,3105,1501,2262,2338,2186,0,0,0,0,0,0,14.84,14.69,14.88
$GC,5723,0.64,173.4,3105,1501,2335,2187,308.8,10.0,314,5734,0.00,2.33,0.00,0.000,1030,0.000,0.050,3105,2845,2259,2334,2185,0,0,0,0,0,0,14.70,14.64,14.73
$GC,6046,0.60,173.4,3106,2846,2330,2183,275.1,10.4,325,6055,0.00,2.25,0.00,0.000,644,0.000,0.034,3116,1498,2258,2334,2183,0,0,0,0,0,0,14.90,14.71,14.94
$GC,6178,0.61,184.1,3116,1499,2334,2184,262.2,9.5,344,6189,0.10,2.35,3.60,0.876,13350,0.202,0.050,3086,2856,2235,2307,2163,0,0,0,0,0,0,14.52,14.65,14.02
$GC,6544,0.65,209.9,3086,2856,2307,2181,229.8,8.8,354,6623,0.00,2.25,70.30,0.981,8740,0.000,0.032,3094,1505,2131,2200,2063,0,0,0,0,0,0,14.88,14.45,14.01
$GC,6851,0.69,223.8,3095,1506,2186,2050,201.6,9.4,398,6875,0.00,2.35,14.65,1.099,9382,0.000,0.050,3094,2856,2077,2145,2009,0,0,0,0,0,0,14.63,14.57,14.08
$GC,7216,0.69,223.8,3101,2857,2138,1993,162.7,10.9,408,7224,0.00,2.28,0.00,0.000,516,0.000,0.034,3104,1501,2064,2137,1992,0,0,0,0,0,0,14.83,14.65,14.87
$GC,7440,0.69,223.8,3105,1501,2136,1992,138.6,10.6,440,7448,0.00,2.35,0.00,0.000,1030,0.000,0.050,3104,2854,2064,2139,1990,0,0,0,0,0,0,14.68,14.62,14.71
$GC,7776,0.69,223.8,3105,2854,2135,1988,102.5,10.7,453,7784,0.00,2.22,0.00,0.000,516,0.000,0.034,3114,1492,2061,2135,1988,0,0,0,0,0,0,14.90,14.72,14.93
$GC,7958,0.83,291.9,3114,1492,2134,1988,87.9,6.8,479,8003,0.00,2.35,35.22,0.405,9382,0.000,0.050,3115,2851,1805,1871,1740,0,0,0,0,0,0,14.71,14.66,14.38
$GC,8308,1.09,411.0,3115,2852,1889,1771,64.4,4.5,496,8380,0.35,0.00,66.20,0.359,10918,0.109,0.000,3237,2851,1331,1398,1265,0,0,0,0,0,0,14.63,14.60,14.35
$GC,8672,1.11,426.1,3238,2851,1416,1297,33.6,9.3,515,8688,0.00,0.00,11.02,0.246,8230,0.000,0.000,3238,2851,1272,1340,1204,0,0,0,0,0,0,14.85,14.67,14.44
$GC,8980,1.16,426.1,3235,2846,1365,1241,2.2,10.8,526,8991,0.00,1.73,3.75,0.187,8580,0.000,0.078,3237,3824,1271,1338,1204,0,0,0,0,0,0,14.88,14.66,14.56
$STATE,8993,end climb,SURFACE_DEPTH_REACHED
$STATE,8993,begin surface coast
$FINISH,0.0,1.021073
$STATE,9001,end surface coast,CONTROL_FINISHED_OK
$STATE,9001,begin surface
$SM_CCo,9028,95.32,0.168,0,0,499,619.96
$SM_GC,1.05,8.82,1.50,95.32,0.067,0.028,0.168,188,2845,499,-8.36,3.17,619.96,0,0,0,0,0,0,14.73,14.80,14.54
$IRIDIUM_FIX,1112.94,-12452.14,300817,095913
$TT8_MAMPS,0.041944,0.253162
$HUMID,49.92
$INTERNAL_PRESSURE,8.69566
$TCM_TEMP,22.40
$XPDR_PINGS,27
$PM_FREEKB,62055168
$TM_FREEKB,7731776
$24V_AH,13.50,13.882
$10V_AH,13.04,0.000
$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,23.575,56.425,706.225,95.325,0.000,0.000,0.000,374.200,6.750,0.000,18.826,0.000,6985.938,895.628,1737.526,79.324,0.000,1858.950,0.000,905.888,0.000,0.548,0.000
$DEVICE_MAMPS,372.555,83.385,1241.595,167.535,0.000,0.000,0.000,212.670,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8994.000,9003.000,9000.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.008,3.942,19.202,0.000
$MEM,326280
$DATA_FILE_SIZE,20114,529
$CAP_FILE_SIZE,77807,0
$CFSIZE,1024409600,1018380288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.046,121.72,1
$GPS,300817,124000,1112.198,-12454.052,30,0.8,30,9.1,0.5,33.2,11,3.8