version: 66.13
glider: 219
mission: 8
dive: 347
start: 11 6 117 10 15 4
data:
$ID,219
$MISSION,8
$DIVE,347
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,950
$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,120
$T_MISSION,160
$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,525
$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,2850
$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,2870
$C_ROLL_CLIMB,2640
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,108
$R_STBD_OVSHOOT,39
$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,1
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,48
$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,1.0
$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
$GPS1,061117,100718,945.4481,-12503.1396,31,0.8,31,9.0,0.3,231.6,10,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-69.8
$GPS2,061117,101444,945.4181,-12503.1270,2,0.9,4,9.0,0.1,0.0,9,3.7
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,PICKUP
$TGT_LATLONG,950.000,-12505.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,346.8,9148,-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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,11,-0.91,-146.0,181,2891,910,855,0.0,0.0,0,98,0.00,0.00,-85.80,0.000,16386,0.000,0.000,180,2892,3503,3529,3478,0,0,0,0,0,0,14.79,28.83,14.83
$GC,101,-0.91,-146.0,181,2893,3530,3479,7.5,-11.4,3,119,10.95,2.53,-0.65,0.000,18948,0.360,2.000,2546,1508,3551,3587,3516,0,0,0,0,0,0,14.11,13.29,14.50
$GC,194,-0.71,-146.0,2547,1507,3592,3515,39.4,-22.6,17,202,0.28,2.38,0.00,0.000,3206,0.220,0.050,2613,2863,3553,3591,3515,0,0,0,0,0,0,14.28,14.53,14.42
$GC,517,-0.71,-146.0,2613,2863,3597,3515,75.9,-8.5,30,523,0.00,1.70,0.00,0.000,292,0.000,0.076,2607,3828,3555,3596,3515,0,0,0,0,0,0,14.99,14.64,15.02
$GC,721,-0.76,-146.0,2607,3829,3598,3516,95.8,-8.9,59,726,0.00,1.48,0.00,0.000,1190,0.000,0.029,2607,2803,3556,3598,3515,0,0,0,0,0,0,14.80,14.78,14.85
$GC,1049,-0.85,-146.0,2608,2803,3599,3515,125.6,-9.1,68,1055,0.00,1.80,0.00,0.000,420,0.000,0.076,2600,3819,3556,3598,3515,0,0,0,0,0,0,15.05,14.64,15.08
$GC,1111,-0.94,-146.0,2600,3821,3599,3516,131.5,-9.1,77,1119,0.17,1.48,0.00,0.000,5286,0.099,0.028,2516,2797,3556,3598,3514,0,0,0,0,0,0,14.78,14.86,14.85
$GC,1440,-0.86,-146.0,2516,2798,3599,3515,172.9,-12.9,89,1448,0.20,2.08,0.00,0.000,2692,0.215,0.029,2567,1521,3555,3598,3513,0,0,0,0,0,0,14.52,14.75,14.73
$GC,1503,-0.92,-146.0,2567,1521,3599,3513,179.6,-10.4,98,1510,0.00,2.33,0.00,0.000,1158,0.000,0.047,2558,2875,3555,3598,3513,0,0,0,0,0,0,14.67,14.62,14.71
$GC,1833,-0.92,-146.0,2559,2875,3598,3509,214.8,-10.7,110,1839,0.00,1.67,0.00,0.000,260,0.000,0.078,2551,3827,3553,3598,3509,0,0,0,0,0,0,15.05,14.69,15.09
$GC,1860,-0.92,-146.0,2552,3828,3599,3508,218.0,-11.3,114,1866,0.00,1.50,0.00,0.000,1030,0.000,0.028,2551,2787,3553,3598,3509,0,0,0,0,0,0,14.90,14.88,14.91
$GC,2224,-0.92,-146.0,2552,2786,3599,3504,258.1,-11.1,124,2231,0.00,2.08,0.00,0.000,516,0.000,0.030,2551,1521,3550,3598,3503,0,0,0,0,0,0,15.09,14.76,15.11
$GC,2280,-0.96,-146.0,2551,1520,3599,3503,264.1,-10.7,132,2287,0.00,2.35,0.00,0.000,1158,0.000,0.048,2544,2871,3550,3598,3502,0,0,0,0,0,0,14.73,14.67,14.76
$GC,2616,-0.96,-146.0,2544,2871,3599,3498,300.2,-10.6,145,2624,0.00,2.25,0.00,0.000,516,0.000,0.029,2543,1519,3548,3598,3498,0,0,0,0,0,0,15.09,14.76,15.11
$GC,2693,-0.96,-146.0,2544,1520,3598,3498,308.1,-10.2,156,2700,0.00,2.35,0.00,0.000,1030,0.000,0.048,2534,2867,3547,3598,3497,0,0,0,0,0,0,14.72,14.66,14.76
$GC,3008,-0.96,-146.0,2534,2867,3599,3492,341.5,-10.6,166,3015,0.00,2.25,0.00,0.000,516,0.000,0.030,2534,1517,3545,3598,3492,0,0,0,0,0,0,15.09,14.74,15.11
$GC,3036,-0.96,-146.0,2534,1518,3599,3493,344.5,-10.8,170,3043,0.00,2.35,0.00,0.000,1030,0.000,0.049,2524,2863,3545,3598,3492,0,0,0,0,0,0,14.71,14.65,14.75
$STATE,3230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3230,begin apogee
$GC,3236,-0.21,0.0,2525,2600,3598,3490,366.1,-11.1,177,3367,0.90,0.08,127.62,1.284,10246,0.188,0.165,2778,2652,2965,3036,2894,0,0,0,0,0,0,14.45,14.26,13.55
$STATE,3368,end apogee,CONTROL_FINISHED_OK
$STATE,3368,begin climb
$GC,3370,0.91,146.0,2778,2653,3032,2888,369.5,0.0,179,3508,1.12,2.33,125.45,1.229,10756,0.104,0.033,3153,1321,2375,2453,2297,0,0,0,0,0,0,14.28,14.22,13.52
$GC,3527,0.82,185.2,3154,1321,2448,2291,363.6,8.2,205,3571,0.12,2.33,33.75,1.246,13478,0.209,0.038,3120,2642,2219,2303,2135,0,0,0,0,0,0,14.14,14.32,13.54
$GC,3906,0.74,185.2,3120,2642,2300,2117,324.0,10.6,217,3913,0.12,2.22,0.00,0.000,4740,0.245,0.034,3099,1333,2207,2297,2117,0,0,0,0,0,0,14.44,14.61,14.69
$GC,3990,0.77,213.2,3100,1332,2291,2117,316.4,8.7,229,4019,0.00,2.25,23.58,1.255,9254,0.000,0.041,3099,2640,2113,2195,2031,0,0,0,0,0,0,14.67,14.62,13.77
$GC,4353,0.78,215.6,3100,2641,2188,2012,281.3,9.9,239,4360,0.00,2.22,0.00,0.000,548,0.000,0.034,3109,1332,2099,2186,2012,0,0,0,0,0,0,14.95,14.62,14.98
$GC,4423,0.78,218.3,3109,1333,2183,2014,274.4,9.9,249,4431,0.00,2.28,0.00,0.000,1062,0.000,0.043,3109,2639,2097,2182,2012,0,0,0,0,0,0,14.68,14.64,14.72
$GC,4746,0.74,218.3,3109,2640,2183,2012,240.2,10.6,260,4752,0.00,2.20,0.00,0.000,644,0.000,0.034,3119,1335,2096,2182,2011,0,0,0,0,0,0,15.02,14.70,15.04
$GC,4801,0.74,218.3,3119,1336,2181,2012,234.3,10.8,268,4808,0.08,2.25,0.00,0.000,5126,0.168,0.044,3095,2646,2095,2180,2010,0,0,0,0,0,0,14.52,14.69,14.62
$GC,5137,0.74,218.3,3095,2650,2181,2010,199.3,10.5,281,5145,0.00,2.22,0.00,0.000,516,0.000,0.036,3104,1325,2092,2180,2004,0,0,0,0,0,0,15.04,14.71,15.07
$GC,5179,0.74,218.3,3104,1326,2181,2009,195.1,10.0,287,5186,0.00,2.25,0.00,0.000,1030,0.000,0.042,3103,2641,2094,2180,2009,0,0,0,0,0,0,14.74,14.68,14.78
$GC,5529,0.74,219.5,3104,2641,2181,2007,160.2,9.9,295,5536,0.00,2.20,0.00,0.000,548,0.000,0.035,3113,1324,2093,2180,2007,0,0,0,0,0,0,15.05,14.72,15.08
$GC,5620,0.76,232.9,3114,1324,2181,2006,151.4,9.4,308,5642,0.00,2.28,15.80,1.175,9254,0.000,0.042,3113,2641,2033,2116,1951,0,0,0,0,0,0,14.74,14.69,13.92
$GC,5977,0.76,232.9,3113,2641,2110,1939,113.2,11.0,317,5985,0.00,2.22,0.00,0.000,516,0.000,0.034,3123,1327,2024,2111,1938,0,0,0,0,0,0,15.02,14.69,15.05
$GC,6047,0.76,235.7,3123,1328,2109,1939,105.9,9.9,327,6054,0.00,2.28,0.00,0.000,1062,0.000,0.043,3123,2652,2022,2106,1938,0,0,0,0,0,0,14.71,14.66,14.75
$GC,6370,0.79,257.6,3123,2652,2109,1936,75.5,9.0,342,6384,0.00,2.28,10.80,0.353,8740,0.000,0.034,3132,1325,1943,2023,1863,0,0,0,0,0,0,15.02,14.57,14.15
$GC,6418,0.80,266.5,3133,1318,2025,1876,71.0,9.6,349,6428,0.00,2.25,6.07,0.337,9254,0.000,0.040,3132,2632,1906,1984,1828,0,0,0,0,0,0,14.66,14.63,14.16
$GC,6734,1.02,399.0,3133,2636,1991,1849,51.3,3.8,361,6810,0.12,2.08,70.93,0.314,10660,0.120,0.074,3192,3824,1380,1450,1310,0,0,0,0,0,0,14.78,14.43,14.26
$GC,7014,1.10,435.7,3193,3824,1452,1323,29.4,8.3,401,7042,0.00,1.83,19.75,0.249,9382,0.000,0.026,3201,2676,1235,1302,1168,0,0,0,0,0,0,14.81,14.78,14.25
$GC,7350,1.23,471.2,3202,2675,1311,1176,4.1,8.3,416,7372,0.15,2.35,17.75,0.174,10916,0.115,0.037,3286,1295,1089,1155,1024,0,0,0,0,0,0,14.74,14.66,14.41
$STATE,7375,end climb,SURFACE_DEPTH_REACHED
$STATE,7375,begin surface coast
$FINISH,0.5,1.021346
$STATE,7382,end surface coast,CONTROL_FINISHED_OK
$STATE,7382,begin surface
$SM_CCo,7403,25.52,0.166,0,0,876,525.01
$SM_GC,1.16,8.90,2.75,25.52,0.056,0.047,0.166,189,2875,876,-8.25,-0.74,525.01,0,0,0,0,0,0,14.73,14.66,14.43
$IRIDIUM_FIX,942.64,-12502.75,061117,075636
$TT8_MAMPS,0.039697,0.433671
$HUMID,53.38
$INTERNAL_PRESSURE,8.71519
$TCM_TEMP,22.00
$XPDR_PINGS,16
$SC_FREEKB,3777248
$24V_AH,13.29,134.265
$10V_AH,12.80,0.000
$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,23.125,77.950,451.500,25.525,0.000,0.000,0.000,301.775,4.000,0.000,6.249,0.000,5885.969,649.667,1125.703,212.031,0.000,1344.409,0.000,609.528,0.000,0.548,0.000
$DEVICE_MAMPS,359.550,2000.475,1283.670,166.005,0.000,0.000,0.000,171.360,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7398.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.242,0.000,0.000,0.000
$MEM,326192
$DATA_FILE_SIZE,13476,421
$CAP_FILE_SIZE,71052,0
$CFSIZE,1024409600,967376896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091,268.16,1
$GPS,061117,121925,946.163,-12503.396,6,1.1,7,9.0,0.6,74.7,8,8.5