version: 66.14
glider: 219
mission: 15
dive: 4
start: 4 1 121 14 52 26
data:
$ID,219
$MISSION,15
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,250
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$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,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,55689
$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,0
$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,2
$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,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,250
$PITCH_MAX,3914
$C_PITCH,1760
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,40
$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,2950
$C_ROLL_CLIMB,3100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,16
$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,0.0013
$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,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,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,1.2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-147.66289
$PRESSURE_SLOPE,0.00010781933
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$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,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,147
$LOGGERDEVICE3,131
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044368538
$SEABIRD_T_H,0.0006575333
$SEABIRD_T_I,2.7761149e-05
$SEABIRD_T_J,3.5137082e-06
$SEABIRD_C_G,-10.037535
$SEABIRD_C_H,1.1079766
$SEABIRD_C_I,-0.0022889124
$SEABIRD_C_J,0.00024077215
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$ES_RECORDABOVE,2000.0
$ES_PROFILE,3.0
$ES_XMITPROFILE,0.0
$ES_UPLOADMAX,100000.0
$ES_STARTS,6.0
$ES_NDIVE,1.0
$ES_DL_HEADERSKIP,105044.0
$ES_DL_RECORDLENGTH,10086.0
$ES_DL_NRECORD,100.0
$ES_DL_RECORDCOUNT,3.0
$CP_RECORDABOVE,2000.0
$CP_PROFILE,0.0
$CP_XMITPROFILE,0.0
$CP_UPLOADMAX,0.0
$CP_STARTS,0.0
$CP_NDIVE,1.0
$GPS1,010421,144351,4900.2817,-1625.8110,5,4.3,45,-5.5,0.2,0.0,4,16.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-12.4
$GPS2,010421,145130,4900.2261,-1625.8220,10,4.3,50,-5.5,1.4,0.0,3,14.0
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,HEADING
$TGT_LATLONG,4911.025,-1625.822
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,11.6,20000,-17.6,-10.000,-21.24,2209
$D_GRID,1000
$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,21,-0.63,-146.0,245,2969,464,609,0.0,0.0,0,179,0.00,0.00,-152.23,0.004,16390,0.000,0.000,242,2966,3550,3527,3573,0,0,0,0,0,0,14.90,13.66,14.91
$GC,183,-0.63,-146.0,242,2969,3522,3573,2.6,-3.0,26,196,5.95,0.00,0.00,0.000,2342,0.386,0.000,1544,2969,3550,3524,3577,0,0,0,0,0,0,14.45,14.70,14.62
$GC,382,-0.57,-146.0,1543,2970,3522,3582,28.8,-11.4,64,389,0.12,2.38,0.00,0.000,2692,0.287,0.040,1571,1553,3551,3521,3582,0,0,0,0,0,0,14.59,14.73,14.73
$GC,433,-0.59,-146.0,1570,1553,3525,3583,34.3,-10.2,73,441,0.00,2.55,0.00,0.000,1158,0.000,0.093,1563,2952,3551,3520,3583,0,0,0,0,0,0,14.76,14.67,14.78
$GC,628,-0.56,-146.0,1562,2952,3520,3583,55.6,-12.2,110,634,0.00,1.52,0.00,0.000,388,0.000,0.103,1556,3828,3551,3520,3582,0,0,0,0,0,0,14.92,14.68,14.95
$GC,654,-0.52,-146.0,1556,3828,3520,3583,58.2,-10.0,114,661,0.08,1.45,0.00,0.000,3206,0.237,0.047,1585,2946,3551,3521,3582,0,0,0,0,0,0,14.57,14.74,14.75
$GC,847,-0.52,-146.0,1579,2944,3520,3590,77.1,-8.8,151,854,0.00,2.35,0.00,0.000,516,0.000,0.041,1585,1553,3551,3519,3583,0,0,0,0,0,0,14.92,14.72,14.96
$GC,923,-0.56,-146.0,1584,1552,3518,3583,83.4,-8.4,165,931,0.00,2.55,0.00,0.000,1158,0.000,0.096,1576,2950,3549,3519,3580,0,0,0,0,0,0,14.80,14.69,14.82
$GC,1117,-0.56,-146.0,1576,2950,3513,3584,101.7,-10.5,201,1123,0.00,2.38,0.00,0.000,516,0.000,0.046,1576,1551,3548,3514,3583,0,0,0,0,0,0,14.93,14.73,14.95
$GC,1153,-0.59,-146.0,1576,1550,3519,3584,104.7,-9.0,207,1158,0.00,2.55,0.00,0.000,1158,0.000,0.088,1566,2955,3552,3519,3585,0,0,0,0,0,0,14.79,14.69,14.81
$GC,1467,-0.59,-146.0,1566,2955,3518,3580,136.3,-10.0,239,1473,0.00,2.38,0.00,0.000,516,0.000,0.041,1566,1552,3551,3518,3584,0,0,0,0,0,0,14.94,14.73,14.97
$GC,1535,-0.61,-146.0,1566,1551,3518,3584,143.1,-8.8,252,1542,0.00,2.55,0.00,0.000,1158,0.000,0.093,1557,2950,3551,3518,3584,0,0,0,0,0,0,14.81,14.71,14.81
$GC,1842,-0.58,-146.0,1556,2950,3518,3583,175.9,-11.4,283,1847,0.00,2.35,0.00,0.000,644,0.000,0.042,1561,1553,3551,3518,3584,0,0,0,0,0,0,14.94,14.76,14.95
$STATE,1873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1873,begin apogee
$GC,1883,-0.12,0.0,1545,3101,3518,3584,180.3,-11.3,289,1995,0.60,0.00,107.65,1.296,10246,0.226,0.000,1712,3103,2967,2937,2998,0,0,0,0,0,0,14.60,14.25,13.72
$STATE,1999,end apogee,CONTROL_FINISHED_OK
$STATE,1999,begin climb
$GC,2003,0.63,146.0,1712,3103,2934,2997,184.6,0.0,301,2122,0.80,1.35,108.43,1.239,10500,0.155,0.100,1952,3825,2384,2346,2423,0,0,0,0,0,0,14.23,14.12,13.63
$GC,2156,0.57,146.0,1951,3825,2341,2420,174.7,10.7,326,2163,0.00,1.23,0.00,0.000,1158,0.000,0.049,1952,3107,2380,2341,2420,0,0,0,0,0,0,14.35,14.33,14.38
$GC,2463,0.55,146.0,1956,3106,2336,2417,143.5,10.3,357,2468,0.00,2.40,0.00,0.000,644,0.000,0.044,1966,1698,2377,2337,2417,0,0,0,0,0,0,14.76,14.63,14.79
$GC,2622,0.55,146.0,1966,1696,2337,2415,128.3,8.8,388,2629,0.00,2.58,0.00,0.000,1030,0.000,0.091,1971,3105,2372,2336,2409,0,0,0,0,0,0,14.72,14.62,14.75
$GC,2931,0.50,146.0,1966,3104,2336,2414,95.7,10.6,422,2940,0.15,2.40,0.00,0.000,4740,0.226,0.042,1936,1690,2374,2336,2413,0,0,0,0,0,0,14.57,14.71,14.67
$GC,3071,0.53,146.0,1936,1689,2336,2414,84.1,9.6,448,3078,0.00,2.60,0.00,0.000,1158,0.000,0.098,1936,3101,2374,2335,2413,0,0,0,0,0,0,14.75,14.66,14.81
$GC,3264,0.53,146.0,1935,3097,2334,2413,67.0,8.9,485,3271,0.00,2.42,0.00,0.000,516,0.000,0.053,1945,1693,2373,2334,2413,0,0,0,0,0,0,14.90,14.74,14.93
$GC,3345,0.54,146.0,1946,1692,2334,2413,60.2,8.4,500,3352,0.00,2.60,0.00,0.000,1158,0.000,0.099,1945,3108,2374,2334,2414,0,0,0,0,0,0,14.79,14.68,14.82
$GC,3537,0.54,146.0,1944,3107,2333,2412,42.4,9.3,537,3544,0.00,2.45,0.00,0.000,516,0.000,0.057,1954,1707,2373,2334,2413,0,0,0,0,0,0,14.90,14.67,14.94
$GC,3604,0.54,146.0,1953,1704,2334,2413,35.7,9.6,549,3611,0.00,2.55,0.00,0.000,1030,0.000,0.089,1954,3106,2373,2334,2413,0,0,0,0,0,0,14.79,14.69,14.82
$GC,3797,0.52,146.0,1954,3107,2334,2412,16.6,10.2,586,3805,0.00,2.40,0.00,0.000,644,0.000,0.045,1963,1693,2370,2328,2412,0,0,0,0,0,0,14.91,14.69,14.94
$GC,3860,0.52,146.0,1963,1694,2334,2413,10.1,9.5,597,3868,0.15,2.55,0.00,0.000,5126,0.200,0.090,1926,3101,2373,2334,2413,0,0,0,0,0,0,14.64,14.70,14.80
$STATE,3938,end climb,SURFACE_DEPTH_REACHED
$STATE,3938,begin surface coast
$FINISH,0.3,1.020752
$STATE,3962,end surface coast,CONTROL_FINISHED_OK
$STATE,3962,begin surface
$SM_CCo,3983,331.67,1.050,0,0,539,610.16
$SM_GC,0.47,4.95,0.28,331.67,0.078,0.058,1.050,227,2925,539,-4.71,1.13,610.16,0,0,0,0,0,0,14.78,14.82,13.72
$IRIDIUM_FIX,4903.23,-1622.45,010421,144506
$TT8_MAMPS,0.023219,0.451647
$HUMID,39.95
$INTERNAL_PRESSURE,8.30502
$TCM_TEMP,16.90
$XPDR_PINGS,102
$SC_FREEKB,3908128
$ES_FREE,15877505024.000000
$ES_POWER,63.340000
$ES_POWER1,0.000000
$24V_AH,13.63,18.896
$10V_AH,13.74,0.000
$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,12.800,55.675,216.075,331.675,0.000,0.000,0.000,0.000,25.500,0.000,61.694,1456.772,1066.866,716.157,1086.207,146.320,0.000,1232.659,0.000,967.643,0.000,0.546,0.000
$DEVICE_MAMPS,386.325,103.275,1295.910,1049.580,0.000,0.000,0.000,0.000,420.000,0.000,8.990,12.110,2.190,11.360,30.090,45.070,0.000,15.600,0.000,2.250,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,echo,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3951.000,3954.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.783,10.000,0.000,0.000
$MEM,292680
$DATA_FILE_SIZE,20020,616
$CAP_FILE_SIZE,94309,0
$CFSIZE,1024409600,1022296064
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2010.92,0x235aac,1,24
$INTR,1,2011.01,0x235aaa,1,24
$CURRENT,0.145,188.40,1
$GPS,010421,161453,4900.221,-1625.785,572,1.1,576,-5.5,0.2,0.0,8,10.0