version: 66.13
glider: 219
mission: 12
dive: 4
start: 2 21 120 20 18 9
data:
$ID,219
$MISSION,12
$DIVE,4
$N_DIVES,5
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,3
$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,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,-6
$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,1.023
$MASS,55176
$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,643.12
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,250
$PITCH_MAX,3914
$C_PITCH,1800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,251
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,71
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3000
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0013
$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,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,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,1.2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-148.23886
$PRESSURE_SLOPE,0.00010781933
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,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,6
$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,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,147
$LOGGERDEVICE3,131
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044368538
$SEABIRD_T_H,0.0006575333
$SEABIRD_T_I,2.7761149e-05
$SEABIRD_T_J,3.5137082e-06
$SEABIRD_C_G,-10.037535
$SEABIRD_C_H,1.1079766
$SEABIRD_C_I,-0.0022889124
$SEABIRD_C_J,0.00024077215
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$ES_RECORDABOVE,2000.0
$ES_PROFILE,3.0
$ES_XMITPROFILE,3.0
$ES_UPLOADMAX,100000.0
$ES_STARTS,6.0
$ES_NDIVE,1.0
$ES_DL_HEADERSKIP,105044.0
$ES_DL_RECORDLENGTH,10086.0
$ES_DL_NRECORD,100.0
$ES_DL_RECORDCOUNT,3.0
$CP_RECORDABOVE,2000.0
$CP_PROFILE,0.0
$CP_XMITPROFILE,0.0
$CP_UPLOADMAX,0.0
$CP_STARTS,0.0
$CP_NDIVE,1.0
$GPS1,210220,201343,4744.1655,-12223.9600,3,0.9,4,15.4,0.1,0.0,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-55.3
$GPS2,210220,201700,4744.1602,-12223.9297,3,0.9,5,15.4,0.2,0.0,9,7.6
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,219.4,1809,-17.6,-10.000,-21.21,2209
$D_GRID,171
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,32,-0.69,-146.6,234,2687,461,546,0.0,0.0,0,176,0.00,0.00,-141.80,0.004,16386,0.000,0.000,236,2687,3341,3334,3348,0,0,0,0,0,0,14.81,28.83,14.83
$GC,180,-0.69,-146.6,236,2687,3333,3349,5.2,-14.8,23,201,6.10,2.10,-5.55,0.018,18692,0.392,0.139,1560,3824,3579,3554,3604,0,0,0,0,0,0,14.41,13.71,14.68
$GC,269,-0.46,-146.6,1562,3824,3555,3609,23.3,-17.0,38,276,0.35,1.83,0.00,0.000,3206,0.278,0.041,1642,2720,3582,3555,3609,0,0,0,0,0,0,14.50,14.66,14.67
$GC,462,-0.41,-146.6,1642,2717,3554,3609,48.0,-12.5,75,469,0.00,2.42,0.00,0.000,644,0.000,0.041,1643,1283,3582,3554,3610,0,0,0,0,0,0,14.80,14.66,14.83
$GC,484,-0.37,-146.6,1642,1279,3554,3610,50.7,-12.1,78,492,0.17,2.58,0.00,0.000,3206,0.248,0.091,1674,2691,3582,3554,3610,0,0,0,0,0,0,14.54,14.61,14.68
$GC,679,-0.39,-146.6,1674,2690,3554,3610,69.2,-10.0,115,686,0.00,2.05,0.00,0.000,388,0.000,0.122,1667,3826,3581,3554,3609,0,0,0,0,0,0,14.79,14.61,14.82
$GC,721,-0.43,-146.6,1668,3826,3553,3610,73.1,-9.8,122,727,0.00,1.85,0.00,0.000,1158,0.000,0.043,1667,2699,3581,3553,3610,0,0,0,0,0,0,14.71,14.65,14.74
$GC,914,-0.45,-146.6,1667,2696,3553,3610,89.9,-9.1,159,921,0.00,2.35,0.00,0.000,644,0.000,0.041,1667,1285,3581,3553,3610,0,0,0,0,0,0,14.79,14.66,14.81
$GC,945,-0.51,-146.6,1666,1282,3553,3610,92.8,-9.1,164,952,0.00,2.60,0.00,0.000,1158,0.000,0.093,1657,2701,3582,3553,3611,0,0,0,0,0,0,14.70,14.61,14.72
$GC,1139,-0.51,-146.6,1657,2701,3553,3611,110.5,-8.8,190,1145,0.00,2.03,0.00,0.000,260,0.000,0.121,1649,3825,3581,3553,3610,0,0,0,0,0,0,14.79,14.61,14.83
$GC,1235,-0.55,-146.6,1649,3824,3553,3610,119.2,-8.6,208,1241,0.00,1.85,0.00,0.000,1158,0.000,0.042,1649,2691,3581,3553,3610,0,0,0,0,0,0,14.73,14.68,14.74
$GC,1549,-0.55,-146.6,1649,2690,3553,3611,146.8,-8.6,240,1555,0.00,2.33,0.00,0.000,516,0.000,0.041,1656,1298,3582,3553,3611,0,0,0,0,0,0,14.78,14.67,14.81
$GC,1574,-0.59,-146.6,1649,1294,3553,3611,148.8,-7.6,244,1580,0.00,2.58,0.00,0.000,1190,0.000,0.093,1639,2702,3581,3552,3611,0,0,0,0,0,0,14.71,14.62,14.76
$STATE,1595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1596,begin apogee
$GC,1603,-0.14,0.0,1638,2697,3551,3611,150.9,-8.2,247,1717,0.38,0.00,107.62,1.341,10246,0.224,0.000,1745,2702,2998,2974,3022,0,0,0,0,0,0,14.53,14.02,13.59
$STATE,1767,end apogee,CONTROL_FINISHED_OK
$STATE,1767,begin climb
$GC,1773,0.69,146.6,1743,2702,2975,3019,156.1,0.0,259,1895,0.93,2.58,109.95,1.306,10756,0.165,0.044,2027,1293,2415,2392,2439,0,0,0,0,0,0,14.28,14.09,13.55
$GC,1959,0.62,146.6,2027,1288,2387,2433,138.9,13.9,291,1965,0.00,2.65,0.00,0.000,1158,0.000,0.087,2028,2704,2409,2386,2433,0,0,0,0,0,0,14.40,14.28,14.42
$GC,2272,0.49,146.6,2027,2704,2379,2430,92.5,15.0,326,2280,0.25,2.03,0.00,0.000,4484,0.253,0.109,1963,3830,2404,2378,2430,0,0,0,0,0,0,14.50,14.57,14.62
$GC,2333,0.44,146.6,1963,3830,2379,2426,85.1,10.9,337,2341,0.00,1.85,0.00,0.000,1158,0.000,0.041,1971,2704,2403,2378,2428,0,0,0,0,0,0,14.71,14.66,14.73
$GC,2528,0.42,146.6,1970,2701,2377,2426,66.9,9.4,374,2535,0.15,2.38,0.00,0.000,4740,0.230,0.041,1936,1285,2401,2377,2425,0,0,0,0,0,0,14.59,14.67,14.69
$GC,2585,0.56,192.7,1942,1284,2377,2427,61.8,7.9,384,2625,0.12,2.58,33.35,1.213,11430,0.152,0.088,1990,2702,2233,2214,2252,0,0,0,0,0,0,14.69,14.66,13.94
$GC,2813,0.56,192.7,1989,2702,2205,2247,37.6,10.8,426,2819,0.00,2.03,0.00,0.000,260,0.000,0.113,1990,3832,2226,2205,2247,0,0,0,0,0,0,14.78,14.59,14.81
$GC,2952,0.51,192.7,1990,3832,2204,2245,20.9,12.8,452,2959,0.10,1.90,0.00,0.000,5254,0.216,0.041,1969,2698,2224,2204,2244,0,0,0,0,0,0,14.56,14.71,14.66
$GC,3147,0.73,322.0,1969,2696,2203,2245,4.3,4.0,489,3192,0.17,0.00,42.20,1.166,10658,0.106,0.000,2040,2697,2007,1991,2024,0,0,0,0,0,0,14.73,28.83,14.76
$STATE,3193,end climb,SURFACE_DEPTH_REACHED
$STATE,3193,begin surface coast
$FINISH,0.6,1.020034
$STATE,3219,end surface coast,CONTROL_FINISHED_OK
$STATE,3219,begin surface
$SM_CCo,3243,317.42,0.997,1,0,499,628.00
$SM_CCo,3573,-0.12,0.679,0,0,501,628.00
$SM_CCo,3578,0.28,0.184,0,0,500,628.00
$SM_GC,0.55,5.78,0.00,0.28,0.136,0.000,0.184,231,2696,500,-4.82,-0.11,628.00,0,0,0,0,0,0,14.54,14.72,14.12
$IRIDIUM_FIX,4744.97,-12226.80,210220,200925
$TT8_MAMPS,0.023219,1.06882
$HUMID,39.76
$INTERNAL_PRESSURE,8.25619
$TCM_TEMP,15.60
$XPDR_PINGS,75
$SC_FREEKB,3908128
$ES_FREE,15892938752.000000
$ES_POWER,28.990000
$ES_POWER1,0.000000
$24V_AH,13.40,5.598
$10V_AH,13.09,0.000
$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,14.500,44.525,293.125,317.700,0.000,0.000,0.000,0.000,18.750,0.000,16.770,1182.957,709.538,748.779,925.568,134.440,0.000,1193.263,0.000,788.850,0.000,0.544,0.000
$DEVICE_MAMPS,391.680,139.230,1341.045,996.795,0.000,0.000,0.000,0.000,420.000,0.000,8.990,12.110,2.190,11.360,30.090,45.070,0.000,15.600,0.000,2.250,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,echo,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3160.000,3223.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.639,10.000,0.000,0.000
$MEM,298572
$DATA_FILE_SIZE,16776,501
$CAP_FILE_SIZE,80904,2
$CFSIZE,1024409600,1022590976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.148,164.60,1
$GPS,210220,211851,4743.711,-12224.210,7,0.9,10,15.4,0.5,157.8,7,9.6