version: 66.13
glider: 219
mission: 8
dive: 348
start: 11 6 117 12 27 15
data:
$ID,219
$MISSION,8
$DIVE,348
$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,107
$R_STBD_OVSHOOT,27
$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
$GPS1,061117,121925,946.1632,-12503.3955,6,1.1,7,9.0,0.6,74.7,8,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-70.6
$GPS2,061117,122655,946.1481,-12503.3701,3,1.1,3,9.0,0.3,73.4,8,9.2
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,PICKUP
$TGT_LATLONG,950.000,-12505.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,347.7,7729,-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,-146.0,182,2889,908,860,0.0,0.0,0,97,0.00,0.00,-85.55,0.000,16386,0.000,0.000,180,2887,3499,3525,3474,0,0,0,0,0,0,14.81,28.83,14.85
$GC,100,-0.91,-146.0,181,2889,3525,3475,7.6,-11.4,3,116,10.82,1.83,-0.70,0.000,18692,0.354,2.034,2542,3837,3551,3586,3517,0,0,0,0,0,0,14.13,13.27,14.52
$GC,130,0.18,-146.0,2542,3838,3588,3518,26.0,-52.3,8,138,1.30,1.52,0.00,0.000,3206,0.217,0.028,2899,2828,3552,3588,3516,0,0,0,0,0,0,14.32,14.73,14.47
$GC,460,-0.36,-146.0,2900,2828,3595,3514,54.6,-9.1,22,466,0.52,2.08,0.00,0.000,4772,0.101,0.027,2726,1537,3553,3593,3514,0,0,0,0,0,0,14.60,14.71,14.71
$GC,522,-0.74,-146.0,2726,1537,3596,3514,59.4,-7.0,31,529,0.30,2.30,0.00,0.000,5286,0.062,0.047,2602,2880,3554,3594,3514,0,0,0,0,0,0,14.63,14.60,14.68
$GC,852,-0.77,-146.0,2602,2881,3598,3514,88.0,-9.0,45,858,0.00,1.65,0.00,0.000,420,0.000,0.074,2594,3837,3556,3598,3514,0,0,0,0,0,0,15.05,14.69,15.08
$GC,880,-0.81,-146.0,2596,3837,3599,3514,90.6,-9.2,49,886,0.00,1.45,0.00,0.000,1190,0.000,0.027,2594,2826,3556,3598,3514,0,0,0,0,0,0,14.90,14.88,14.91
$GC,1216,-0.87,-146.0,2595,2825,3600,3521,121.0,-9.2,60,1223,0.00,1.75,0.00,0.000,420,0.000,0.073,2588,3823,3556,3598,3514,0,0,0,0,0,0,15.07,14.71,15.11
$GC,1320,-0.93,-146.0,2589,3823,3600,3514,130.6,-9.0,75,1328,0.12,1.38,0.00,0.000,5286,0.123,0.028,2523,2900,3556,3598,3514,0,0,0,0,0,0,14.80,14.90,14.87
$GC,1663,-0.87,-146.0,2523,2900,3599,3514,169.6,-11.5,82,1670,0.17,2.20,0.00,0.000,2692,0.211,0.028,2567,1542,3555,3598,3513,0,0,0,0,0,0,14.58,14.80,14.78
$GC,1754,-0.93,-146.0,2567,1543,3599,3513,178.7,-9.8,95,1761,0.00,2.28,0.00,0.000,1190,0.000,0.047,2559,2865,3554,3598,3511,0,0,0,0,0,0,14.76,14.71,14.81
$GC,2111,-0.93,-146.0,2559,2866,3599,3509,214.8,-10.1,104,2118,0.00,1.67,0.00,0.000,260,0.000,0.076,2552,3822,3550,3598,3503,0,0,0,0,0,0,15.09,14.73,15.13
$GC,2146,-0.93,-146.0,2552,3822,3599,3507,218.4,-10.6,109,2152,0.00,1.42,0.00,0.000,1030,0.000,0.028,2552,2843,3552,3598,3507,0,0,0,0,0,0,14.92,14.90,14.94
$GC,2503,-0.93,-146.0,2552,2843,3599,3502,255.5,-10.5,118,2510,0.00,2.08,0.00,0.000,516,0.000,0.027,2552,1564,3550,3598,3502,0,0,0,0,0,0,15.10,14.81,15.13
$GC,2587,-0.96,-146.0,2552,1565,3599,3502,264.2,-10.1,130,2594,0.00,2.25,0.00,0.000,1158,0.000,0.047,2543,2866,3549,3598,3500,0,0,0,0,0,0,14.76,14.71,14.80
$GC,2951,-0.96,-146.0,2544,2867,3599,3495,302.3,-10.3,140,2959,0.00,2.15,0.00,0.000,516,0.000,0.029,2543,1565,3546,3598,3494,0,0,0,0,0,0,15.10,14.78,15.13
$GC,3007,-0.96,-146.0,2543,1564,3599,3494,308.0,-9.9,148,3015,0.00,2.28,0.00,0.000,1062,0.000,0.049,2533,2869,3546,3598,3494,0,0,0,0,0,0,14.75,14.69,14.78
$GC,3344,-0.96,-146.0,2535,2868,3599,3489,342.5,-10.3,161,3350,0.00,2.17,0.00,0.000,516,0.000,0.029,2534,1566,3543,3598,3488,0,0,0,0,0,0,15.08,14.74,15.11
$GC,3371,-0.96,-146.0,2535,1566,3599,3489,345.5,-10.5,165,3378,0.00,2.28,0.00,0.000,1030,0.000,0.049,2524,2870,3543,3598,3489,0,0,0,0,0,0,14.73,14.67,14.78
$STATE,3509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3509,begin apogee
$GC,3515,-0.21,0.0,2525,2688,3597,3490,360.4,-10.7,171,3691,0.90,0.00,172.82,1.149,10246,0.190,0.000,2779,2686,2966,3038,2895,0,0,0,0,0,0,14.47,14.27,13.61
$STATE,3692,end apogee,CONTROL_FINISHED_OK
$STATE,3692,begin climb
$GC,3694,0.91,146.0,2780,2687,3035,2891,365.7,0.0,174,3829,1.12,2.45,126.28,1.213,10756,0.106,0.034,3153,1291,2378,2457,2300,0,0,0,0,0,0,14.27,14.23,13.54
$GC,3981,0.78,147.3,3153,1292,2443,2285,348.3,9.9,217,3988,0.17,2.35,0.00,0.000,5286,0.203,0.041,3105,2649,2362,2442,2283,0,0,0,0,0,0,14.31,14.53,14.45
$GC,4296,0.75,176.8,3105,2650,2442,2278,321.0,8.6,227,4326,0.00,2.35,25.45,1.250,8868,0.000,0.034,3113,1286,2257,2339,2175,0,0,0,0,0,0,14.92,14.56,13.82
$GC,4394,0.74,201.0,3114,1287,2327,2167,312.3,8.9,241,4423,0.00,2.35,21.73,1.283,9382,0.000,0.041,3113,2641,2159,2240,2079,0,0,0,0,0,0,14.63,14.59,13.78
$GC,4737,0.68,201.0,3113,2642,2234,2062,277.4,10.4,255,4744,0.17,2.28,0.00,0.000,4740,0.211,0.031,3078,1298,2147,2233,2061,0,0,0,0,0,0,14.49,14.62,14.70
$GC,4800,0.78,238.1,3079,1298,2232,2061,272.0,8.3,264,4842,0.00,2.33,34.20,1.229,9382,0.000,0.039,3078,2645,2011,2093,1929,0,0,0,0,0,0,14.70,14.66,13.84
$GC,5186,0.83,250.9,3079,2646,2086,1913,236.1,9.4,277,5194,0.12,2.33,3.90,0.963,10916,0.123,0.033,3152,1293,1970,2051,1890,0,0,0,0,0,0,14.73,14.54,13.44
$GC,5269,0.75,250.9,3153,1293,2054,1907,226.1,12.3,289,5276,0.20,2.30,1.62,0.210,13446,0.187,0.041,3094,2639,1968,2044,1892,0,0,0,0,0,0,14.42,14.66,14.41
$GC,5626,0.75,250.9,3095,2639,2052,1909,188.8,10.3,298,5628,0.00,0.00,1.45,0.224,8198,0.000,0.000,3094,2639,1967,2044,1891,0,0,0,0,0,0,14.99,14.68,14.45
$GC,5962,0.75,250.9,3095,2639,2050,1909,155.3,10.0,304,5970,0.00,2.30,1.27,0.227,8740,0.000,0.037,3102,1297,1969,2042,1897,0,0,0,0,0,0,15.04,14.71,14.48
$GC,6060,0.81,268.8,3103,1298,2054,1909,146.0,9.2,318,6088,0.00,2.30,24.33,1.134,9382,0.000,0.043,3109,2639,1897,1973,1821,0,0,0,0,0,0,14.77,14.71,13.93
$GC,6403,0.81,268.8,3103,2639,1963,1798,109.2,11.0,332,6410,0.00,2.28,0.00,0.000,516,0.000,0.033,3112,1300,1879,1961,1798,0,0,0,0,0,0,15.00,14.67,15.00
$GC,6445,0.85,268.8,3113,1300,1962,1798,104.5,11.4,338,6451,0.00,2.33,0.00,0.000,1158,0.000,0.041,3112,2636,1879,1961,1797,0,0,0,0,0,0,14.71,14.66,14.73
$GC,6767,0.88,290.3,3112,2638,1961,1797,72.5,9.0,350,6781,0.00,2.25,8.73,0.337,8740,0.000,0.034,3122,1292,1815,1891,1740,0,0,0,0,0,0,15.02,14.59,14.13
$GC,6823,1.02,346.6,3122,1292,1897,1754,68.2,7.4,358,6860,0.12,2.33,32.25,0.357,11430,0.061,0.039,3190,2641,1588,1658,1518,0,0,0,0,0,0,14.69,14.68,14.24
$GC,7182,1.09,402.2,3190,2642,1662,1534,40.5,7.4,376,7216,0.00,2.33,30.20,0.281,8740,0.000,0.037,3200,1300,1367,1433,1301,0,0,0,0,0,0,14.93,14.62,14.26
$GC,7446,1.28,472.1,3201,1300,1443,1312,20.0,6.8,414,7489,0.15,2.33,35.55,0.219,11430,0.060,0.044,3282,2645,1087,1152,1022,0,0,0,0,0,0,14.66,14.64,14.28
$STATE,7597,end climb,SURFACE_DEPTH_REACHED
$STATE,7597,begin surface coast
$FINISH,-0.2,0.999611
$STATE,7626,end surface coast,CONTROL_FINISHED_OK
$STATE,7626,begin surface
$SM_CCo,7646,25.52,0.166,0,0,875,525.01
$SM_GC,1.19,8.85,0.40,25.52,0.050,0.067,0.166,183,2882,875,-8.25,-0.76,525.01,0,0,0,0,0,0,14.74,14.71,14.44
$IRIDIUM_FIX,942.64,-12502.75,061117,100948
$TT8_MAMPS,0.039697,0.319074
$HUMID,53.85
$INTERNAL_PRESSURE,8.70542
$TCM_TEMP,21.90
$XPDR_PINGS,24
$SC_FREEKB,3776864
$24V_AH,13.27,134.462
$10V_AH,12.11,0.000
$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,25.075,72.450,519.775,25.525,0.000,0.000,0.000,308.975,6.000,0.000,4.878,0.000,6069.651,696.684,1141.832,214.427,0.000,1401.980,0.000,614.495,0.000,0.549,0.000
$DEVICE_MAMPS,354.195,2034.135,1282.905,166.005,0.000,0.000,0.000,169.065,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7642.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.245,0.000,0.000,0.000
$MEM,326192
$DATA_FILE_SIZE,13450,425
$CAP_FILE_SIZE,74114,0
$CFSIZE,1024409600,967278592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,234.78,1
$GPS,061117,143600,946.939,-12503.649,28,0.8,28,9.0,0.6,204.9,11,3.6