version: 66.13
glider: 219
mission: 8
dive: 6
start: 8 30 117 7 25 33
data:
$ID,219
$MISSION,8
$DIVE,6
$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,111
$R_STBD_OVSHOOT,45
$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
$GPS1,300817,071900,1112.9525,-12453.5947,28,0.8,28,9.1,0.6,350.9,11,3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-66.8
$GPS2,300817,072514,1112.9495,-12453.5312,3,0.8,4,9.1,0.4,313.8,12,6.3
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,206.8,143097,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.91,-146.0,180,2871,554,477,0.0,0.0,0,122,0.00,0.00,-101.10,0.000,16390,0.000,0.000,179,2870,3550,3574,3527,0,0,0,0,0,0,14.81,13.45,14.85
$GC,124,-0.91,-146.0,180,2876,3578,3529,3.0,-3.2,3,142,10.82,1.60,0.00,0.000,2820,0.376,0.054,2572,3833,3551,3575,3527,0,0,0,0,0,0,14.44,14.69,14.69
$GC,146,0.52,-146.0,2572,3833,3579,3526,23.8,-45.1,7,155,1.70,1.50,0.00,0.000,3206,0.253,0.029,3041,2841,3552,3580,3525,0,0,0,0,0,0,14.51,14.74,14.71
$GC,483,-0.16,-146.0,3041,2841,3586,3521,53.4,-8.5,22,487,0.68,0.00,0.00,0.000,4262,0.118,0.000,2823,2839,3552,3585,3520,0,0,0,0,0,0,14.69,14.83,14.81
$GC,790,-0.70,-146.0,2824,2840,3587,3521,76.6,-6.5,33,799,0.50,1.67,0.00,0.000,4516,0.101,0.075,2651,3811,3553,3587,3520,0,0,0,0,0,0,14.75,14.74,14.85
$GC,839,-0.85,-146.0,2652,3811,3588,3520,79.9,-7.0,40,850,0.15,1.48,0.00,0.000,5286,0.116,0.032,2585,2849,3556,3587,3525,0,0,0,0,0,0,14.82,14.86,14.88
$GC,1183,-0.81,-146.0,2585,2856,3589,3521,113.3,-9.9,51,1191,0.12,1.65,0.00,0.000,2468,0.246,0.076,2607,3805,3554,3589,3520,0,0,0,0,0,0,14.65,14.76,14.83
$GC,1413,-0.85,-146.0,2607,3804,3589,3520,135.4,-9.0,84,1422,0.00,1.48,0.00,0.000,1190,0.000,0.031,2607,2832,3551,3588,3515,0,0,0,0,0,0,14.91,14.88,14.90
$GC,1742,-0.91,-146.0,2608,2832,3589,3519,162.2,-8.1,96,1751,0.00,2.15,0.00,0.000,676,0.000,0.031,2607,1498,3553,3589,3518,0,0,0,0,0,0,15.02,14.82,15.04
$GC,1868,-1.00,-146.0,2607,1497,3589,3518,172.6,-8.2,114,1876,0.08,2.28,0.00,0.000,5286,0.078,0.050,2540,2835,3552,3588,3517,0,0,0,0,0,0,14.77,14.76,14.82
$GC,2191,-0.95,-146.0,2540,2837,3589,3514,208.3,-11.4,125,2199,0.12,1.65,0.00,0.000,2436,0.248,0.080,2562,3836,3550,3588,3513,0,0,0,0,0,0,14.62,14.78,14.81
$GC,2238,-0.95,-146.0,2562,3832,3589,3508,213.8,-10.9,132,2249,0.00,1.50,0.00,0.000,1030,0.000,0.032,2562,2846,3550,3588,3512,0,0,0,0,0,0,14.92,14.88,14.92
$GC,2582,-0.95,-146.0,2563,2846,3589,3507,249.4,-10.3,139,2591,0.00,2.17,0.00,0.000,516,0.000,0.031,2562,1496,3547,3588,3507,0,0,0,0,0,0,15.01,14.79,15.04
$GC,2630,-0.95,-146.0,2563,1494,3596,3506,254.4,-10.2,146,2642,0.00,2.30,0.00,0.000,1030,0.000,0.050,2554,2843,3546,3587,3506,0,0,0,0,0,0,14.78,14.73,14.83
$GC,2974,-0.95,-146.0,2554,2844,3589,3504,291.0,-10.7,153,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2843,3544,3588,3501,0,0,0,0,0,0,15.00,15.04,15.03
$GC,3310,-0.95,-146.0,2555,2843,3589,3495,327.6,-10.9,159,3319,0.00,2.15,0.00,0.000,516,0.000,0.032,2554,1500,3541,3588,3495,0,0,0,0,0,0,15.00,14.78,15.03
$GC,3344,-0.95,-146.0,2554,1500,3586,3494,331.5,-11.5,164,3354,0.00,2.33,0.00,0.000,1030,0.000,0.052,2544,2854,3540,3587,3494,0,0,0,0,0,0,14.78,14.71,14.80
$GC,3702,-0.95,-146.0,2545,2854,3590,3490,372.1,-11.5,173,3707,0.12,0.00,0.00,0.000,2054,0.261,0.000,2571,2854,3538,3588,3489,0,0,0,0,0,0,14.56,14.83,14.76
$GC,4038,-0.99,-146.0,2572,2854,3589,3486,407.0,-10.4,179,4047,0.00,2.22,0.00,0.000,644,0.000,0.031,2572,1500,3536,3588,3485,0,0,0,0,0,0,14.97,14.75,15.02
$GC,4072,-1.04,-146.0,2568,1507,3588,3486,410.5,-10.6,184,4082,0.00,2.33,0.00,0.000,1158,0.000,0.053,2564,2852,3539,3595,3484,0,0,0,0,0,0,14.76,14.69,14.79
$STATE,4205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4205,begin apogee
$GC,4208,-0.21,0.0,2566,2847,3587,3484,424.2,-10.3,189,4394,0.88,0.00,179.88,1.200,10246,0.204,0.000,2810,2853,2968,3031,2906,0,0,0,0,0,0,14.57,14.23,13.72
$STATE,4398,end apogee,CONTROL_FINISHED_OK
$STATE,4398,begin climb
$GC,4399,0.91,146.0,2811,2853,3023,2896,429.7,0.0,192,4552,1.12,0.00,136.70,1.287,10502,0.111,0.000,3174,2853,2384,2450,2318,0,0,0,0,0,0,14.31,14.15,13.64
$GC,4879,0.70,146.0,3175,2853,2426,2276,383.2,12.8,222,4888,0.28,2.20,0.00,0.000,4740,0.249,0.033,3117,1508,2354,2425,2283,0,0,0,0,0,0,14.44,14.64,14.66
$GC,5074,0.67,167.4,3117,1509,2421,2276,364.5,9.0,250,5099,0.00,2.33,18.42,1.147,9382,0.000,0.050,3117,2848,2302,2375,2230,0,0,0,0,0,0,14.69,14.62,14.10
$GC,5432,0.59,167.4,3118,2848,2361,2207,327.5,10.5,259,5441,0.17,2.20,0.00,0.000,4740,0.239,0.033,3084,1497,2282,2359,2206,0,0,0,0,0,0,14.53,14.73,14.73
$GC,5592,0.63,194.5,3084,1498,2356,2206,313.3,8.7,282,5637,0.00,2.33,33.67,1.095,9254,0.000,0.049,3084,2850,2189,2260,2118,0,0,0,0,0,0,14.73,14.69,14.12
$GC,5992,0.63,194.5,3084,2851,2247,2097,273.3,10.1,297,6000,0.00,2.25,0.00,0.000,516,0.000,0.033,3094,1498,2171,2246,2096,0,0,0,0,0,0,14.88,14.71,14.92
$GC,6173,0.63,197.5,3095,1499,2245,2096,255.4,9.9,323,6183,0.00,2.33,0.00,0.000,1062,0.000,0.050,3094,2847,2172,2243,2102,0,0,0,0,0,0,14.73,14.68,14.76
$GC,6496,0.63,197.5,3095,2848,2244,2095,221.7,10.5,334,6505,0.00,2.22,0.00,0.000,516,0.000,0.033,3104,1511,2168,2244,2093,0,0,0,0,0,0,14.92,14.73,14.97
$GC,6656,0.64,204.9,3104,1511,2244,2093,205.9,9.7,357,6667,0.00,2.33,2.33,0.456,9254,0.000,0.051,3104,2856,2151,2222,2080,0,0,0,0,0,0,14.74,14.68,13.99
$GC,7000,0.64,204.9,3105,2856,2224,2096,169.9,10.6,364,7008,0.00,2.22,0.00,0.000,516,0.000,0.033,3114,1511,2160,2223,2097,0,0,0,0,0,0,14.93,14.71,14.97
$GC,7160,0.65,212.9,3114,1511,2225,2097,154.1,9.6,387,7184,0.00,2.30,14.57,1.063,9254,0.000,0.050,3113,2848,2116,2185,2048,0,0,0,0,0,0,14.72,14.66,14.23
$GC,7504,0.65,212.9,3115,2849,2178,2035,118.5,10.4,401,7512,0.00,2.22,0.00,0.000,516,0.000,0.034,3123,1510,2105,2177,2034,0,0,0,0,0,0,14.92,14.76,14.95
$GC,7706,0.68,236.6,3123,1511,2177,2034,99.9,8.9,430,7724,0.00,2.33,10.95,0.366,9254,0.000,0.050,3123,2857,2025,2092,1958,0,0,0,0,0,0,14.73,14.68,14.40
$GC,8029,0.79,330.6,3124,2857,2109,1992,77.1,5.6,443,8090,0.00,2.28,52.78,0.391,8740,0.000,0.032,3131,1504,1656,1718,1595,0,0,0,0,0,0,14.91,14.66,14.37
$GC,8193,1.03,416.2,3132,1505,1731,1623,68.4,6.0,466,8251,0.20,2.33,47.70,0.365,11430,0.087,0.048,3209,2853,1313,1378,1248,0,0,0,0,0,0,14.61,14.62,14.35
$GC,8565,1.10,429.1,3209,2852,1395,1271,38.4,9.4,486,8581,0.00,1.73,9.32,0.255,8612,0.000,0.082,3208,3822,1260,1327,1193,0,0,0,0,0,0,14.86,14.65,14.45
$GC,8626,1.15,429.1,3209,3823,1339,1220,32.0,10.4,495,8637,0.10,1.50,2.72,0.218,11398,0.164,0.031,3263,2835,1257,1325,1190,0,0,0,0,0,0,14.65,14.76,14.48
$STATE,8899,end climb,SURFACE_DEPTH_REACHED
$STATE,8899,begin surface coast
$FINISH,-0.0,1.002359
$STATE,8928,end surface coast,CONTROL_FINISHED_OK
$STATE,8928,begin surface
$SM_CCo,8954,94.57,0.167,0,0,496,619.96
$SM_GC,1.08,8.88,0.00,94.57,0.071,0.000,0.167,191,2833,496,-8.34,-0.48,619.96,0,0,0,0,0,0,14.75,14.98,14.56
$IRIDIUM_FIX,1112.94,-12452.14,300817,054005
$TT8_MAMPS,0.042693,0.428428
$HUMID,50.11
$INTERNAL_PRESSURE,8.70542
$TCM_TEMP,21.40
$XPDR_PINGS,19
$SC_FREEKB,3908224
$PM_FREEKB,62126720
$TM_FREEKB,7760352
$24V_AH,13.45,13.568
$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,25.925,65.925,509.050,94.575,0.000,0.000,0.000,262.025,4.750,0.000,5.702,0.000,7015.460,741.788,1598.983,76.943,0.000,1591.212,0.000,878.921,0.000,0.549,0.000
$DEVICE_MAMPS,375.615,81.855,1287.495,166.770,0.000,0.000,0.000,196.605,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8919.000,8929.000,8924.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.005,3.919,19.237,0.000
$MEM,326320
$DATA_FILE_SIZE,16789,508
$CAP_FILE_SIZE,81109,0
$CFSIZE,1024409600,1018544128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114,84.63,1
$GPS,300817,095703,1112.490,-12453.868,2,1.6,5,9.1,0.6,26.5,6,9.3