version: 66.13
glider: 219
mission: 5
dive: 28
start: 8 26 116 3 45 31
data:
$ID,219
$MISSION,5
$DIVE,28
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$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,54391
$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,609.96155
$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,45
$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
$PITCH_MIN,200
$PITCH_MAX,3914
$C_PITCH,2885
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,20
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,1
$ROLL_MIN,251
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,23
$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,6
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$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,-148.94582
$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,5
$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,0.0044063777
$SEABIRD_T_H,0.00063933869
$SEABIRD_T_I,2.4772711e-05
$SEABIRD_T_J,2.9384435e-06
$SEABIRD_C_G,-9.8920727
$SEABIRD_C_H,1.0856217
$SEABIRD_C_I,-0.0019095645
$SEABIRD_C_J,0.0001978568
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,500.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,260816,033830,1002.4854,-12505.0977,1,0.8,3,9.0,0.3,121.9,10,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-69.2
$GPS2,260816,034512,1002.5084,-12505.0908,2,0.8,3,9.0,0.3,104.5,11,7.3
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,C
$TGT_LATLONG,1030.000,-12500.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,350.4,51751,-17.6,-10.000,-21.24,2209
$D_GRID,150
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.06,-146.0,201,2659,585,508,0.0,0.0,0,92,0.00,0.00,-74.12,0.000,16386,0.000,0.000,202,2658,2877,2905,2849,0,0,0,0,0,0,15.05,28.83,15.07
$GC,93,-1.06,-146.0,202,2659,2906,2850,4.0,-3.8,5,122,10.10,2.22,-11.95,0.000,18724,0.368,2.142,2530,3811,3552,3589,3515,0,0,0,0,0,0,14.69,13.98,14.91
$GC,126,-1.06,-146.0,2531,3812,3589,3516,14.6,-27.0,12,131,0.00,1.90,0.00,0.000,1030,0.000,0.046,2530,2650,3552,3589,3516,0,0,0,0,0,0,14.90,14.89,14.92
$GC,436,-1.06,-146.0,2531,2650,3591,3517,85.5,-13.1,34,441,0.00,2.25,0.00,0.000,516,0.000,0.048,2530,1250,3554,3591,3517,0,0,0,0,0,0,15.16,14.97,15.16
$GC,636,-1.06,-146.0,2531,1250,3594,3517,107.0,-9.1,74,641,0.00,2.38,0.00,0.000,1062,0.000,0.066,2519,2654,3559,3602,3516,0,0,0,0,0,0,15.02,14.97,15.04
$GC,946,-1.06,-146.0,2520,2655,3595,3517,135.2,-8.7,86,951,0.00,2.00,0.00,0.000,292,0.000,0.099,2509,3816,3555,3595,3516,0,0,0,0,0,0,15.22,14.96,15.23
$STATE,1096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1096,begin apogee
$GC,1101,-0.25,0.0,2509,2435,3597,3517,150.5,-10.9,116,1259,0.98,0.00,153.73,0.877,10246,0.203,0.000,2803,2430,2966,3031,2901,0,0,0,0,0,0,14.92,14.62,14.23
$STATE,1262,end apogee,CONTROL_FINISHED_OK
$STATE,1262,begin climb
$GC,1263,1.06,146.0,2803,2433,3027,2895,153.2,0.0,121,1387,1.20,2.38,105.93,0.897,10756,0.096,0.054,3218,1057,2372,2440,2304,0,0,0,0,0,0,14.62,14.53,14.15
$GC,1421,1.06,146.0,3219,1058,2435,2296,138.1,15.3,156,1426,0.00,2.42,0.00,0.000,1030,0.000,0.063,3220,2455,2362,2431,2294,0,0,0,0,0,0,14.71,14.62,14.70
$GC,1726,1.06,146.0,3221,2456,2431,2287,94.7,12.2,168,1731,0.00,2.35,0.00,0.000,260,0.000,0.097,3220,3820,2358,2431,2285,0,0,0,0,0,0,15.09,14.84,15.10
$GC,1956,1.28,322.8,3219,3820,2432,2281,77.2,1.8,214,2047,0.12,2.22,84.90,0.367,11302,0.086,0.043,3298,2452,1681,1758,1605,0,0,0,0,0,0,14.95,14.97,14.64
$GC,2346,1.36,389.6,3298,2453,1765,1630,37.6,6.9,252,2387,0.00,2.30,34.85,0.259,8740,0.000,0.055,3310,1052,1421,1487,1356,0,0,0,0,0,0,15.14,14.88,14.76
$GC,2516,1.36,389.6,3310,1052,1497,1374,19.9,12.3,286,2523,0.00,2.38,2.05,0.183,9222,0.000,0.063,3307,2453,1416,1483,1350,0,0,0,0,0,0,14.97,14.90,14.84
$STATE,2667,end climb,SURFACE_DEPTH_REACHED
$STATE,2667,begin surface coast
$FINISH,0.3,0.000000
$STATE,2682,end surface coast,CONTROL_FINISHED_OK
$STATE,2682,begin surface
$SM_CCo,2705,103.88,0.159,0,0,538,610.16
$SM_GC,1.39,8.80,0.32,103.88,0.070,0.097,0.159,200,2659,538,-8.34,-0.68,610.16,0,0,0,0,0,0,14.98,14.97,14.84
$IRIDIUM_FIX,958.26,-12507.06,260816,024743
$TT8_MAMPS,0.038948,0.152796
$HUMID,49.52
$INTERNAL_PRESSURE,8.16829
$TCM_TEMP,22.00
$XPDR_PINGS,14
$SC_FREEKB,3900160
$PM_FREEKB,62026880
$TM_FREEKB,7666464
$24V_AH,13.98,7.589
$10V_AH,13.58,0.000
$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,21.200,27.350,381.450,103.875,0.000,0.000,0.000,252.850,3.500,0.000,5.028,0.000,1646.544,504.847,1023.715,43.955,0.000,1081.023,0.000,528.948,0.000,0.552,0.000
$DEVICE_MAMPS,367.965,2142.000,897.345,159.120,0.000,0.000,0.000,185.895,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2697.000,2674.000,2711.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.208,3.155,12.077,0.000
$MEM,334572
$DATA_FILE_SIZE,10130,299
$CAP_FILE_SIZE,44476,0
$CFSIZE,1024409600,1015349248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.123,308.65,1
$GPS,260816,043255,1002.626,-12505.240,1,0.8,3,9.0,0.5,335.5,9,7.5