version: 66.12
glider: 219
mission: 1
dive: 4
start: 2 1 107 20 44 1
data:
$ID,219
$MISSION,1
$DIVE,4
$N_DIVES,2
$STOP_T,2021620
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,1090
$D_NO_BLEED,100
$D_BOOST,100
$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,40
$T_MISSION,70
$T_ABORT,1440
$T_TURN,360
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53200
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3914
$C_PITCH,2744
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,25
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,251
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2027
$C_ROLL_CLIMB,2027
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2704
$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,4
$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,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-148.68361
$PRESSURE_SLOPE,0.0001078618
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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,0
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$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
$GPS1,01
,202103,4743.5938,-12223.7275,13,0.6,231,17.5,0.5,23.5,12,1.0
$_CALLS,10
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-58.0
$GPS2,D,204320,4743.8364,-12223.4795,199,0.5,415,17.5,0.7,0.0,12,0.6
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,296.5,1768,-17.6,-10.000,-21.21,2209
$D_GRID,162
$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,15,-0.88,-146.6,212,2038,552,456,0.0,0.0,0,141,0.00,0.00,-122.70,0.000,16386,0.000,0.000,213,2039,3213,3235,3191,0,0,0,0,0,0,14.99,28.83,15.00
$GC,144,-0.88,-146.6,212,2039,3237,3191,3.4,-9.1,25,162,9.38,2.80,-1.83,0.000,18948,0.356,2.239,2452,617,3288,3323,3254,0,0,0,0,0,0,14.54,13.67,14.70
$GC,328,-0.88,-146.6,2451,617,3323,3254,24.7,-9.9,62,333,0.00,2.53,0.00,0.000,1030,0.000,0.099,2441,2029,3288,3323,3254,0,0,0,0,0,0,14.81,14.67,14.82
$GC,395,-0.88,-146.6,2441,2029,3323,3254,30.9,-9.6,75,402,0.00,2.65,0.00,0.000,260,0.000,0.145,2431,3442,3288,3323,3254,0,0,0,0,0,0,14.96,14.64,14.97
$GC,448,-0.88,-146.6,2431,3441,3323,3254,36.1,-9.4,86,453,0.00,2.50,0.00,0.000,1030,0.000,0.094,2430,2029,3288,3323,3254,0,0,0,0,0,0,14.83,14.71,14.83
$GC,514,-0.88,-146.6,2430,2029,3324,3254,41.8,-8.4,99,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2029,3288,3323,3254,0,0,0,0,0,0,14.97,14.97,14.98
$GC,639,-0.88,-146.6,2430,2029,3323,3254,52.5,-8.6,124,644,0.00,2.53,0.00,0.000,516,0.000,0.108,2431,615,3288,3323,3254,0,0,0,0,0,0,14.99,14.70,14.99
$GC,664,-0.88,-146.6,2431,615,3323,3254,54.8,-9.1,129,670,0.12,2.55,0.00,0.000,3078,0.242,0.106,2456,2030,3288,3323,3253,0,0,0,0,0,0,14.64,14.70,14.81
$GC,791,-0.88,-146.6,2456,2030,3323,3254,65.0,-8.3,154,795,0.00,2.62,0.00,0.000,260,0.000,0.145,2446,3437,3288,3323,3254,0,0,0,0,0,0,15.00,14.67,15.00
$GC,866,-0.88,-146.6,2446,3436,3323,3254,71.3,-8.3,169,871,0.00,2.47,0.00,0.000,1030,0.000,0.092,2446,2027,3288,3323,3254,0,0,0,0,0,0,14.85,14.74,14.87
$GC,992,-0.88,-146.6,2446,2026,3323,3253,82.5,-9.6,194,997,0.00,2.53,0.00,0.000,516,0.000,0.109,2446,617,3288,3323,3254,0,0,0,0,0,0,15.00,14.72,15.01
$GC,1022,-0.88,-146.6,2446,617,3323,3254,85.7,-10.7,200,1026,0.00,2.55,0.00,0.000,1030,0.000,0.105,2437,2035,3288,3323,3254,0,0,0,0,0,0,14.85,14.71,14.87
$GC,1148,-0.88,-146.6,2436,2036,3323,3254,98.4,-9.9,225,1153,0.00,2.62,0.00,0.000,260,0.000,0.145,2426,3446,3288,3323,3254,0,0,0,0,0,0,15.01,14.69,15.02
$GC,1246,-0.88,-146.6,2426,3446,3324,3254,108.5,-10.5,244,1252,0.10,2.50,0.00,0.000,3078,0.248,0.093,2455,2018,3289,3324,3254,0,0,0,0,0,0,14.67,14.75,14.83
$GC,1372,-0.88,-146.6,2455,2017,3322,3253,119.8,-8.2,269,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2017,3288,3323,3253,0,0,0,0,0,0,15.02,15.03,15.02
$STATE,1381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1381,begin apogee
$GC,1385,-0.20,0.0,2455,2017,3323,3254,120.6,-8.1,271,1467,0.68,0.00,77.22,1.965,10246,0.185,0.000,2670,2012,2702,2771,2633,0,0,0,0,0,0,14.70,14.07,13.50
$STATE,1468,end apogee,CONTROL_FINISHED_OK
$STATE,1468,begin climb
$GC,1470,0.88,146.6,2670,2013,2770,2635,122.2,0.0,288,1554,1.08,0.00,79.43,1.975,10246,0.127,0.000,3009,2013,2118,2201,2035,0,0,0,0,0,0,14.16,14.00,13.35
$GC,1674,0.88,146.6,3009,2013,2201,2035,106.3,10.4,329,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2013,2118,2201,2035,0,0,0,0,0,0,14.61,14.62,14.62
$GC,1800,0.89,151.5,3008,2013,2201,2035,93.9,9.8,354,1805,0.00,0.00,2.38,0.508,8198,0.000,0.000,3009,2013,2097,2182,2013,0,0,0,0,0,0,14.75,14.58,14.33
$GC,1926,0.90,159.9,3009,2013,2181,2019,81.6,9.6,379,1936,0.00,2.70,4.35,0.448,8452,0.000,0.141,3009,3442,2064,2146,1983,0,0,0,0,0,0,14.82,14.53,14.40
$GC,1971,0.90,159.9,3009,3442,2146,1986,76.7,11.1,388,1976,0.00,2.53,0.00,0.000,1030,0.000,0.093,3020,2025,2066,2146,1986,0,0,0,0,0,0,14.71,14.60,14.72
$GC,2097,0.90,159.9,3020,2024,2146,1986,63.5,10.1,413,2101,0.00,2.55,0.00,0.000,516,0.000,0.115,3031,617,2066,2146,1986,0,0,0,0,0,0,14.88,14.62,14.88
$GC,2157,0.90,159.9,3030,617,2146,1986,56.7,11.6,425,2162,0.00,2.55,0.00,0.000,1030,0.000,0.106,3031,2028,2066,2146,1986,0,0,0,0,0,0,14.76,14.64,14.77
$GC,2284,0.90,159.9,3031,2028,2146,1985,43.7,10.7,450,2291,0.00,2.62,0.00,0.000,260,0.000,0.145,3031,3436,2066,2146,1986,0,0,0,0,0,0,14.92,14.64,14.92
$GC,2342,0.90,159.9,3031,3436,2146,1986,36.7,11.3,462,2347,0.00,2.50,0.00,0.000,1030,0.000,0.095,3042,2023,2066,2146,1987,0,0,0,0,0,0,14.81,14.69,14.81
$GC,2407,0.90,159.9,3042,2024,2146,1986,29.9,10.9,475,2412,0.00,2.55,0.00,0.000,516,0.000,0.117,3052,612,2066,2146,1986,0,0,0,0,0,0,14.94,14.68,14.95
$GC,2492,0.90,159.9,3053,612,2146,1986,20.4,11.2,492,2498,0.00,2.55,0.00,0.000,1030,0.000,0.105,3053,2030,2065,2146,1985,0,0,0,0,0,0,14.79,14.69,14.83
$GC,2558,0.90,159.9,3053,2031,2146,1985,12.7,12.2,505,2563,0.00,2.58,0.00,0.000,516,0.000,0.116,3064,615,2065,2146,1985,0,0,0,0,0,0,14.96,14.70,14.96
$GC,2608,0.90,159.9,3064,615,2146,1985,6.9,10.7,515,2614,0.10,2.55,0.00,0.000,5126,0.277,0.106,3038,2035,2065,2146,1985,0,0,0,0,0,0,14.64,14.71,14.80
$STATE,2668,end climb,SURFACE_DEPTH_REACHED
$STATE,2668,begin surface coast
$STATE,2693,end surface coast,CONTROL_FINISHED_OK
$STATE,2694,begin surface
$SM_CCo,2710,122.50,0.188,0,0,1109,400.16
$SM_GC,0.92,8.70,0.00,122.50,0.129,0.000,0.188,211,2036,1109,-7.89,0.25,400.16,0,0,0,0,0,0,14.71,14.98,14.57
$IRIDIUM_FIX,4726.11,-12226.80,010216,202206
$TT8_MAMPS,0.03745,0.106358
$HUMID,37.67
$INTERNAL_PRESSURE,9.0863
$TCM_TEMP,16.60
$XPDR_PINGS,32
$ALTIM_TOP_PING,20.0,20.0
$ALTIM_BOTTOM_PING,105.2,11.0
$24V_AH,13.35,0.689
$10V_AH,13.24,0.000
$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,20.150,56.525,163.375,122.500,0.000,244.364,178.172,0.000,9.250,0.000,421.085,509.367,1575.895,377.832,1689.509,57.207,0.000,869.074,0.000,789.931,0.000,11.674,0.000
$DEVICE_MAMPS,356.490,2239.155,1975.230,188.190,0.000,41.310,160.000,0.000,420.000,0.000,9.740,27.950,2.190,27.950,47.420,65.400,0.000,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,194896
$DATA_FILE_SIZE,13415,532
$CAP_FILE_SIZE,73880,1
$CFSIZE,1024409600,1022328832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,87,0
$GPS,010216,213459,4744.197,-12223.644,17,0.7,195,17.5,0.4,49.0,12,1.2