version: 66.13
glider: 219
mission: 8
dive: 8
start: 8 30 117 12 47 23
data:
$ID,219
$MISSION,8
$DIVE,8
$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,113
$R_STBD_OVSHOOT,26
$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
$GPS1,300817,124000,1112.1982,-12454.0518,30,0.8,30,9.1,0.5,33.2,11,3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-70.1
$GPS2,300817,124704,1112.2335,-12453.9805,2,0.8,3,9.1,0.9,115.1,11,8.9
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,200.2,141576,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-0.91,-146.0,179,2839,561,481,0.0,0.0,0,123,0.00,0.00,-101.28,0.000,16390,0.000,0.000,174,2839,3552,3576,3528,0,0,0,0,0,0,14.73,13.39,14.78
$GC,124,-0.91,-146.0,175,2840,3584,3529,2.9,-2.9,3,143,10.90,1.73,0.00,0.000,2308,0.374,0.062,2572,3840,3552,3577,3527,0,0,0,0,0,0,14.37,14.59,14.60
$GC,153,0.23,-146.0,2572,3842,3582,3526,26.8,-52.3,8,163,1.38,1.55,0.00,0.000,3206,0.250,0.029,2939,2841,3553,3584,3523,0,0,0,0,0,0,14.42,14.66,14.54
$GC,483,-0.32,-146.0,2939,2840,3587,3516,57.0,-9.9,22,492,0.50,1.70,0.00,0.000,4516,0.099,0.080,2770,3834,3552,3586,3519,0,0,0,0,0,0,14.66,14.66,14.75
$GC,595,-0.66,-146.0,2771,3834,3587,3519,65.7,-6.8,38,604,0.28,1.50,0.00,0.000,5286,0.070,0.032,2654,2859,3552,3586,3519,0,0,0,0,0,0,14.70,14.74,14.73
$GC,931,-0.72,-146.0,2655,2859,3589,3518,94.7,-7.8,53,940,0.00,1.70,0.00,0.000,420,0.000,0.078,2649,3828,3553,3588,3519,0,0,0,0,0,0,14.92,14.66,14.95
$GC,1140,-0.82,-146.0,2650,3829,3590,3521,109.8,-6.8,83,1151,0.00,1.52,0.00,0.000,1190,0.000,0.031,2649,2819,3553,3588,3519,0,0,0,0,0,0,14.85,14.83,14.87
$GC,1492,-0.94,-146.0,2649,2819,3588,3519,132.7,-6.6,91,1501,0.22,2.08,0.00,0.000,4772,0.094,0.030,2555,1501,3554,3589,3519,0,0,0,0,0,0,14.79,14.80,14.85
$GC,1604,-0.90,-146.0,2555,1506,3590,3525,144.1,-10.4,107,1614,0.12,2.30,0.00,0.000,3206,0.213,0.050,2578,2853,3552,3588,3517,0,0,0,0,0,0,14.56,14.71,14.83
$GC,1940,-0.90,-146.0,2580,2853,3589,3516,178.2,-10.2,120,1949,0.00,1.67,0.00,0.000,260,0.000,0.080,2576,3822,3551,3588,3514,0,0,0,0,0,0,14.96,14.71,15.00
$GC,1996,-0.90,-146.0,2577,3824,3589,3514,184.4,-11.0,128,2005,0.00,1.45,0.00,0.000,1030,0.000,0.031,2576,2861,3551,3589,3513,0,0,0,0,0,0,14.83,14.82,14.85
$GC,2332,-0.90,-146.0,2577,2861,3589,3504,220.4,-10.6,141,2341,0.00,2.20,0.00,0.000,516,0.000,0.031,2576,1507,3548,3588,3508,0,0,0,0,0,0,14.97,14.76,15.00
$GC,2401,-0.93,-146.0,2575,1507,3589,3508,227.6,-10.1,151,2412,0.00,2.30,0.00,0.000,1158,0.000,0.050,2567,2847,3548,3589,3508,0,0,0,0,0,0,14.73,14.68,14.78
$GC,2724,-0.93,-146.0,2567,2848,3589,3503,261.2,-10.4,162,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2847,3545,3589,3502,0,0,0,0,0,0,14.96,15.00,15.00
$GC,3060,-0.93,-146.0,2567,2847,3589,3497,293.4,-9.3,168,3069,0.00,1.70,0.00,0.000,292,0.000,0.082,2559,3826,3542,3587,3497,0,0,0,0,0,0,14.96,14.69,15.00
$GC,3297,-0.90,-146.0,2560,3826,3590,3492,316.9,-10.1,202,3307,0.00,1.50,0.00,0.000,1158,0.000,0.031,2560,2839,3541,3589,3494,0,0,0,0,0,0,14.86,14.83,14.88
$GC,3620,-0.90,-146.0,2560,2840,3589,3490,347.0,-9.3,213,3630,0.12,1.75,0.00,0.000,2340,0.246,0.083,2580,3822,3538,3588,3489,0,0,0,0,0,0,14.54,14.66,14.74
$GC,3857,-0.90,-146.0,2580,3824,3589,3488,369.1,-9.5,247,3868,0.00,1.50,0.00,0.000,1062,0.000,0.034,2580,2856,3537,3588,3487,0,0,0,0,0,0,14.83,14.81,14.85
$GC,4181,-0.90,-146.0,2581,2856,3589,3482,398.2,-9.2,258,4189,0.00,1.73,0.00,0.000,292,0.000,0.083,2573,3825,3535,3588,3482,0,0,0,0,0,0,14.94,14.64,14.97
$GC,4326,-0.90,-146.0,2573,3825,3586,3481,412.9,-10.0,279,4336,0.00,1.52,0.00,0.000,1030,0.000,0.032,2573,2832,3534,3586,3482,0,0,0,0,0,0,14.84,14.81,14.85
$STATE,4403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4403,begin apogee
$GC,4406,-0.21,0.0,2574,2833,3587,3482,420.3,-9.7,283,4744,0.85,0.00,331.52,1.012,10246,0.209,0.000,2810,2831,2968,3032,2905,0,0,0,0,0,0,14.51,14.16,13.72
$STATE,4749,end apogee,CONTROL_FINISHED_OK
$STATE,4749,begin climb
$GC,4750,0.91,146.0,2807,2833,3026,2899,433.9,0.0,289,4960,1.12,2.28,190.57,1.117,10756,0.115,0.034,3180,1513,2378,2444,2312,0,0,0,0,0,0,14.22,14.13,13.64
$GC,5006,0.73,146.0,3179,1513,2430,2294,417.2,13.0,313,5016,0.22,2.38,0.00,0.000,5254,0.242,0.049,3121,2849,2361,2429,2293,0,0,0,0,0,0,14.19,14.31,14.31
$GC,5357,0.64,146.0,3121,2849,2427,2280,377.8,11.0,321,5366,0.15,2.20,0.00,0.000,4740,0.252,0.032,3094,1505,2353,2426,2280,0,0,0,0,0,0,14.45,14.62,14.64
$GC,5545,0.68,178.8,3095,1506,2423,2279,360.8,8.5,348,5618,0.00,2.33,61.25,0.955,9254,0.000,0.049,3094,2847,2255,2326,2185,0,0,0,0,0,0,14.66,14.60,13.97
$GC,5973,0.68,181.1,3095,2847,2316,2161,319.3,9.9,367,5982,0.00,2.20,0.00,0.000,548,0.000,0.033,3104,1508,2238,2315,2161,0,0,0,0,0,0,14.81,14.66,14.84
$GC,6147,0.70,193.6,3104,1509,2308,2161,302.5,9.4,392,6171,0.00,2.33,13.45,1.145,9254,0.000,0.050,3104,2845,2197,2272,2123,0,0,0,0,0,0,14.68,14.63,14.16
$GC,6477,0.70,193.6,3105,2846,2261,2108,267.4,10.7,404,6485,0.00,2.22,0.00,0.000,516,0.000,0.033,3114,1515,2184,2260,2108,0,0,0,0,0,0,14.86,14.69,14.90
$GC,6616,0.70,193.6,3115,1514,2258,2108,252.9,10.3,424,6626,0.00,2.33,0.00,0.000,1030,0.000,0.050,3114,2856,2182,2257,2108,0,0,0,0,0,0,14.71,14.66,14.74
$GC,6981,0.66,193.6,3115,2856,2258,2106,214.0,10.6,434,6989,0.00,2.20,0.00,0.000,644,0.000,0.034,3123,1512,2181,2257,2106,0,0,0,0,0,0,14.90,14.73,14.94
$GC,7169,0.67,203.4,3122,1513,2256,2114,195.7,9.5,461,7180,0.00,2.33,3.33,0.784,9254,0.000,0.051,3124,2853,2158,2231,2085,0,0,0,0,0,0,14.72,14.66,14.08
$GC,7535,0.61,203.4,3124,2854,2229,2103,156.4,10.9,471,7545,0.17,2.22,1.52,0.246,12932,0.231,0.030,3090,1499,2153,2222,2084,0,0,0,0,0,0,14.57,14.70,14.59
$GC,7662,0.69,229.2,3090,1499,2227,2101,144.9,8.8,489,7741,0.00,2.33,68.07,0.921,9382,0.000,0.050,3090,2846,2051,2118,1984,0,0,0,0,0,0,14.73,14.69,14.01
$GC,8097,0.78,260.6,3090,2846,2113,1964,106.2,8.5,509,8163,0.12,2.30,58.97,0.888,10916,0.149,0.034,3152,1512,1928,1997,1859,0,0,0,0,0,0,14.62,14.44,14.04
$GC,8279,0.80,277.3,3153,1512,1982,1854,86.6,9.2,535,8296,0.00,2.35,6.60,0.241,9254,0.000,0.050,3152,2851,1868,1932,1805,0,0,0,0,0,0,14.57,14.52,14.26
$GC,8623,1.09,458.2,3153,2851,1954,1835,68.0,1.6,551,8730,0.25,1.70,99.20,0.366,10660,0.106,0.077,3249,3832,1145,1217,1074,0,0,0,0,0,0,14.63,14.43,14.25
$GC,8769,1.02,458.2,3249,3834,1227,1098,56.4,12.0,563,8780,0.20,1.52,2.40,0.225,13446,0.239,0.029,3208,2846,1146,1216,1076,0,0,0,0,0,0,14.40,14.61,14.39
$GC,9100,1.17,493.3,3209,2847,1239,1105,27.0,8.4,577,9131,0.15,1.75,21.00,0.236,10660,0.125,0.080,3269,3822,1006,1075,937,0,0,0,0,0,0,14.65,14.59,14.45
$GC,9275,1.13,493.3,3269,3823,1096,964,4.1,14.4,602,9286,0.12,1.50,3.33,0.195,13446,0.265,0.026,3248,2828,1001,1073,930,0,0,0,0,0,0,14.50,14.73,14.52
$STATE,9296,end climb,SURFACE_DEPTH_REACHED
$STATE,9296,begin surface coast
$FINISH,0.0,1.008498
$STATE,9324,end surface coast,CONTROL_FINISHED_OK
$STATE,9324,begin surface
$SM_CCo,9350,62.62,0.167,0,0,499,620.21
$SM_GC,0.98,8.75,0.00,62.62,0.059,0.000,0.167,189,2828,499,-8.36,-0.65,620.21,0,0,0,0,0,0,14.70,14.92,14.54
$IRIDIUM_FIX,1110.81,-12452.14,300817,100118
$TT8_MAMPS,0.041195,0.31458
$HUMID,48.58
$INTERNAL_PRESSURE,8.69566
$TCM_TEMP,21.90
$XPDR_PINGS,23
$SC_FREEKB,3907456
$PM_FREEKB,61979200
$TM_FREEKB,7702176
$24V_AH,13.39,14.229
$10V_AH,13.02,0.000
$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,25.650,69.850,861.225,62.625,0.000,0.000,0.000,304.250,5.750,0.000,4.719,0.000,6872.435,1065.630,1822.174,83.273,0.000,2032.629,0.000,1025.850,0.000,0.548,0.000
$DEVICE_MAMPS,374.085,83.385,1145.205,166.770,0.000,0.000,0.000,209.610,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9317.000,9324.000,9325.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.077,3.934,19.277,0.000
$MEM,326284
$DATA_FILE_SIZE,20028,606
$CAP_FILE_SIZE,87881,0
$CFSIZE,1024409600,1018200064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.140,100.10,1
$GPS,300817,152458,1111.695,-12454.306,3,1.2,5,9.1,0.9,107.9,7,9.0