version: 66.13
glider: 219
mission: 8
dive: 349
start: 11 6 117 14 43 20
data:
$ID,219
$MISSION,8
$DIVE,349
$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,114
$R_STBD_OVSHOOT,36
$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
$GPS1,061117,143600,946.9385,-12503.6494,28,0.8,28,9.0,0.6,204.9,11,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-71.3
$GPS2,061117,144300,946.9089,-12503.6240,2,0.8,3,9.0,0.9,124.7,11,5.9
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,PICKUP
$TGT_LATLONG,950.000,-12505.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,342.8,6251,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.91,-146.0,184,2892,908,861,0.0,0.0,0,97,0.00,0.00,-85.53,0.000,16386,0.000,0.000,180,2893,3482,3507,3457,0,0,0,0,0,0,14.83,28.83,14.86
$GC,100,-0.91,-146.0,180,2894,3508,3458,7.4,-11.1,3,117,10.77,1.77,-0.90,0.000,18692,0.353,2.042,2540,3815,3548,3584,3513,0,0,0,0,0,0,14.14,13.28,14.52
$GC,216,-0.60,-146.0,2541,3817,3588,3513,48.5,-26.5,20,221,0.38,1.45,0.00,0.000,3206,0.208,0.029,2653,2862,3549,3586,3513,0,0,0,0,0,0,14.39,14.70,14.61
$GC,544,-0.72,-146.0,2654,2861,3593,3513,77.2,-7.5,34,550,0.12,1.70,0.00,0.000,4516,0.130,0.074,2586,3819,3552,3591,3513,0,0,0,0,0,0,14.76,14.65,14.83
$GC,620,-0.72,-146.0,2586,3820,3593,3515,84.6,-9.8,45,629,0.12,1.45,0.00,0.000,3110,0.230,0.028,2614,2861,3552,3592,3513,0,0,0,0,0,0,14.54,14.85,14.73
$GC,936,-0.81,-146.0,2621,2861,3595,3513,110.5,-7.8,55,942,0.00,2.15,0.00,0.000,676,0.000,0.030,2614,1539,3553,3594,3513,0,0,0,0,0,0,15.09,14.78,15.09
$GC,1020,-0.95,-146.0,2615,1539,3596,3513,116.3,-7.4,67,1026,0.15,2.28,0.00,0.000,5286,0.056,0.049,2524,2864,3553,3594,3513,0,0,0,0,0,0,14.76,14.70,14.78
$GC,1384,-0.88,-146.0,2524,2865,3595,3513,160.4,-12.6,77,1391,0.15,2.20,0.00,0.000,2692,0.230,0.031,2560,1529,3553,3594,3512,0,0,0,0,0,0,14.57,14.76,14.76
$GC,1453,-0.91,-146.0,2560,1528,3596,3511,168.2,-10.7,87,1460,0.00,2.33,0.00,0.000,1158,0.000,0.050,2552,2870,3552,3594,3511,0,0,0,0,0,0,14.76,14.71,14.80
$GC,1775,-0.91,-146.0,2552,2870,3595,3508,202.4,-10.5,98,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2869,3551,3594,3509,0,0,0,0,0,0,15.07,15.11,15.10
$GC,2111,-0.91,-146.0,2552,2871,3595,3505,236.0,-9.8,104,2118,0.00,2.22,0.00,0.000,548,0.000,0.034,2551,1538,3548,3594,3503,0,0,0,0,0,0,15.09,14.77,15.12
$GC,2188,-0.95,-146.0,2552,1539,3595,3502,243.1,-9.1,115,2195,0.00,2.33,0.00,0.000,1190,0.000,0.050,2543,2869,3548,3594,3502,0,0,0,0,0,0,14.76,14.69,14.79
$GC,2503,-0.95,-146.0,2544,2870,3595,3498,273.3,-9.6,125,2511,0.00,2.22,0.00,0.000,548,0.000,0.031,2543,1537,3546,3594,3498,0,0,0,0,0,0,15.09,14.77,15.13
$GC,2538,-0.95,-146.0,2544,1537,3595,3497,276.7,-9.7,130,2545,0.00,2.30,0.00,0.000,1062,0.000,0.050,2534,2868,3545,3593,3497,0,0,0,0,0,0,14.75,14.69,14.79
$GC,2895,-0.95,-146.0,2533,2870,3594,3493,314.6,-10.8,139,2902,0.00,2.20,0.00,0.000,516,0.000,0.031,2534,1536,3543,3594,3492,0,0,0,0,0,0,15.07,14.76,15.11
$GC,2951,-0.95,-146.0,2534,1536,3595,3491,320.7,-10.8,147,2958,0.00,2.33,0.00,0.000,1030,0.000,0.049,2524,2868,3542,3594,3490,0,0,0,0,0,0,14.74,14.69,14.79
$GC,3288,-0.95,-146.0,2524,2869,3594,3488,357.2,-10.7,160,3294,0.00,2.22,0.00,0.000,516,0.000,0.029,2524,1527,3541,3594,3488,0,0,0,0,0,0,15.09,14.77,15.12
$STATE,3313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3313,begin apogee
$GC,3321,-0.21,0.0,2514,2659,3595,3489,360.1,-10.4,164,3637,0.93,0.00,313.25,0.999,10246,0.190,0.000,2777,2659,2968,3040,2897,0,0,0,0,0,0,14.47,14.27,13.67
$STATE,3638,end apogee,CONTROL_FINISHED_OK
$STATE,3638,begin climb
$GC,3640,0.91,146.0,2778,2660,3038,2896,369.3,0.0,169,3779,1.15,2.15,127.43,1.214,10500,0.107,0.073,3142,3819,2374,2453,2295,0,0,0,0,0,0,14.28,14.21,13.55
$GC,3840,0.70,146.0,3141,3816,2448,2284,359.6,11.7,197,3847,0.28,1.88,0.00,0.000,5254,0.247,0.025,3081,2643,2365,2448,2282,0,0,0,0,0,0,14.23,14.54,14.38
$GC,4156,0.74,180.8,3082,2642,2448,2273,332.6,8.4,207,4190,0.00,2.25,29.17,1.230,8740,0.000,0.038,3090,1303,2238,2322,2155,0,0,0,0,0,0,14.90,14.54,13.79
$GC,4253,0.78,206.4,3089,1304,2313,2148,324.2,8.8,221,4281,0.00,2.35,22.62,1.259,9254,0.000,0.043,3089,2642,2141,2224,2059,0,0,0,0,0,0,14.62,14.57,13.77
$GC,4604,0.79,219.2,3090,2641,2212,2038,291.1,9.4,236,4611,0.00,2.30,3.72,0.929,8740,0.000,0.035,3099,1309,2097,2178,2017,0,0,0,0,0,0,14.92,14.55,13.44
$GC,4652,0.81,233.4,3099,1310,2182,2035,286.5,9.3,243,4681,0.00,2.30,21.25,1.300,9254,0.000,0.042,3099,2634,2031,2113,1949,0,0,0,0,0,0,14.70,14.64,13.81
$GC,4988,0.81,233.4,3100,2634,2108,1933,251.1,10.7,256,4995,0.00,2.25,0.00,0.000,516,0.000,0.035,3109,1313,2020,2107,1933,0,0,0,0,0,0,14.94,14.66,14.97
$GC,5044,0.81,233.4,3109,1314,2105,1934,245.3,10.5,264,5051,0.00,2.33,0.00,0.000,1030,0.000,0.042,3109,2650,2019,2105,1933,0,0,0,0,0,0,14.72,14.66,14.73
$GC,5381,0.78,233.4,3109,2651,2106,1932,207.6,11.4,277,5387,0.00,2.28,0.00,0.000,644,0.000,0.036,3119,1317,2017,2104,1930,0,0,0,0,0,0,15.00,14.69,15.03
$GC,5443,0.78,233.4,3119,1318,2105,1932,200.6,10.8,286,5451,0.00,2.30,0.00,0.000,1030,0.000,0.043,3118,2642,2017,2104,1931,0,0,0,0,0,0,14.74,14.69,14.78
$GC,5773,0.73,233.4,3119,2643,2105,1929,162.2,11.8,298,5780,0.15,2.25,0.00,0.000,4740,0.209,0.036,3090,1312,2016,2104,1929,0,0,0,0,0,0,14.52,14.71,14.73
$GC,5807,0.77,233.4,3091,1313,2105,1928,158.6,10.0,303,5814,0.00,2.30,0.00,0.000,1158,0.000,0.044,3090,2637,2016,2104,1928,0,0,0,0,0,0,14.75,14.69,14.78
$GC,6164,0.78,245.3,3090,2638,2104,1928,124.4,9.4,312,6172,0.00,2.22,2.88,0.682,8740,0.000,0.033,3100,1303,1995,2077,1914,0,0,0,0,0,0,15.06,14.26,13.50
$GC,6242,0.84,265.5,3099,1304,2074,1930,117.2,9.1,323,6277,0.00,2.30,28.27,1.084,9382,0.000,0.042,3100,2642,1902,1983,1821,0,0,0,0,0,0,14.76,14.71,13.89
$GC,6585,0.88,265.5,3100,2642,1977,1806,82.6,10.2,336,6591,0.10,2.25,0.00,0.000,2692,0.143,0.034,3172,1313,1891,1976,1806,0,0,0,0,0,0,14.74,14.62,14.81
$GC,6647,0.83,265.5,3172,1314,1974,1807,76.0,10.4,345,6654,0.17,2.30,0.00,0.000,5254,0.202,0.040,3122,2648,1889,1973,1806,0,0,0,0,0,0,14.40,14.66,14.54
$GC,6977,1.07,390.8,3122,2648,1974,1804,55.9,4.2,359,7046,0.22,2.05,63.08,0.326,10660,0.086,0.071,3209,3816,1415,1484,1346,0,0,0,0,0,0,14.71,14.62,14.26
$GC,7208,1.06,407.8,3210,3819,1485,1360,35.3,9.2,392,7221,0.00,1.85,10.20,0.256,9382,0.000,0.026,3218,2613,1343,1411,1275,0,0,0,0,0,0,14.77,14.76,14.23
$GC,7537,1.14,441.8,3218,2612,1420,1293,8.2,8.4,406,7558,0.00,2.20,17.88,0.186,8868,0.000,0.036,3227,1321,1208,1276,1140,0,0,0,0,0,0,15.01,14.66,14.40
$STATE,7604,end climb,SURFACE_DEPTH_REACHED
$STATE,7604,begin surface coast
$FINISH,1.2,1.021330
$STATE,7611,end surface coast,CONTROL_FINISHED_OK
$STATE,7611,begin surface
$SM_CCo,7632,39.35,0.164,0,0,877,525.01
$SM_GC,0.81,8.95,2.70,39.35,0.073,0.047,0.164,183,2862,877,-8.27,-1.13,525.01,0,0,0,0,0,0,14.71,14.67,14.45
$IRIDIUM_FIX,944.78,-12502.75,061117,122151
$TT8_MAMPS,0.039697,0.2996
$HUMID,54.13
$INTERNAL_PRESSURE,8.72495
$TCM_TEMP,22.00
$XPDR_PINGS,17
$SC_FREEKB,3776480
$24V_AH,13.28,134.688
$10V_AH,11.53,0.000
$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,23.650,77.925,639.750,39.350,0.000,0.000,0.000,276.775,4.250,0.000,4.856,0.000,5939.246,840.875,1111.560,198.285,0.000,1507.173,0.000,604.893,0.000,0.549,0.000
$DEVICE_MAMPS,353.430,2041.785,1299.735,164.475,0.000,0.000,0.000,166.005,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7621.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.244,0.000,0.000,0.000
$MEM,326056
$DATA_FILE_SIZE,13458,417
$CAP_FILE_SIZE,71903,0
$CFSIZE,1024409600,967180288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084,291.41,1
$GPS,061117,165153,947.803,-12504.047,15,1.1,16,9.0,0.2,0.0,8,8.5