version: 66.12
glider: 218
mission: 1
dive: 19
start: 4 24 114 12 19 2
data:
$ID,218
$MISSION,1
$DIVE,19
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,25
$T_BOOST,2
$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,75
$T_MISSION,85
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51890
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,290
$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,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-308.33044
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3855
$C_PITCH,3143
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,22.799999
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,260
$ROLL_MAX,3840
$ROLL_DEG,40
$C_ROLL_DIVE,1920
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3076
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0017
$VBD_PUMP_AD_RATE_SURFACE,5
$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,20
$AH0_24V,350
$AH0_10V,50
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-49.013588
$PRESSURE_SLOPE,0.0001155959
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004394019
$SEABIRD_T_H,0.00063509599
$SEABIRD_T_I,2.6066664e-05
$SEABIRD_T_J,3.2284852e-06
$SEABIRD_C_G,-9.7862835
$SEABIRD_C_H,1.1523048
$SEABIRD_C_I,-0.0016481688
$SEABIRD_C_J,0.00020067087
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,240414,121130,4742.932,-12224.407,2,1.0,2,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-76.3
$GPS2,240414,121806,4743.039,-12224.316,4,1.1,4,16.3
$SPEED_LIMITS,0.139,0.220
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.011,0.219
$KALMAN_X,-4909.3,-334.3,-144.8,6153.6,-142.0
$KALMAN_Y,-3254.5,-395.9,615.5,3506.7,-257.3
$MHEAD_RNG_PITCHd_Wd,340.7,1844,-16.8,-8.000,-20.01,2232
$D_GRID,180
$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,17,-0.94,-117.3,217,1917,1949,1848,0.0,0.0,0,74,0.00,0.00,-54.35,0.000,16386,0.000,0.000,217,1914,3420,3488,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.94,-117.3,217,1914,3488,3353,3.6,-8.2,10,100,12.15,2.40,-2.45,0.000,19204,0.435,0.109,2829,521,3559,3645,3474,0,0,0,0,0,0,14.62,14.78,14.99
$GC,331,-0.94,-117.3,2828,521,3642,3474,57.1,-17.6,60,338,0.00,2.28,0.00,0.000,1030,0.000,0.063,2828,1914,3558,3642,3474,0,0,0,0,0,0,28.83,14.90,28.83
$GC,460,-0.94,-117.3,2828,1916,3642,3474,80.4,-18.4,85,466,0.00,2.38,0.00,0.000,516,0.000,0.090,2828,518,3558,3642,3474,0,0,0,0,0,0,28.83,14.89,28.83
$GC,492,-0.94,-117.3,2828,517,3642,3474,86.2,-17.3,91,499,0.00,2.28,0.00,0.000,1030,0.000,0.061,2818,1922,3558,3642,3474,0,0,0,0,0,0,28.83,14.92,28.83
$GC,620,-0.94,-117.3,2818,1922,3642,3474,106.5,-15.8,116,627,0.00,2.33,0.00,0.000,260,0.000,0.084,2807,3320,3557,3642,3473,0,0,0,0,0,0,28.83,14.95,28.83
$GC,703,-0.94,-117.3,2807,3320,3642,3473,119.8,-15.5,132,713,0.12,2.28,0.00,0.000,3078,0.323,0.065,2833,1918,3557,3642,3473,0,0,0,0,0,0,14.83,14.95,28.83
$GC,829,-0.94,-117.3,2834,1917,3642,3473,137.6,-13.7,145,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1917,3557,3642,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1010,-0.94,-117.3,2833,1917,3642,3473,163.1,-14.4,163,1015,0.00,2.35,0.00,0.000,260,0.000,0.084,2825,3331,3557,3642,3473,0,0,0,0,0,0,28.83,14.99,28.83
$STATE,1081,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1081,begin apogee
$GC,1087,-0.22,0.0,2825,1922,3642,3473,173.7,-14.7,170,1183,0.85,0.00,87.62,1.048,10246,0.269,0.000,3062,1920,3068,3167,2970,0,0,0,0,0,0,14.88,28.83,14.17
$STATE,1184,end apogee,CONTROL_FINISHED_OK
$STATE,1184,begin climb
$GC,1185,0.94,117.3,3062,1920,3167,2969,178.6,0.0,180,1283,1.15,2.53,85.80,1.021,10756,0.175,0.092,3433,516,2587,2677,2498,0,0,0,0,0,0,14.52,14.33,13.97
$GC,1305,0.97,136.4,3432,516,2675,2496,173.3,7.1,192,1326,0.00,2.35,15.10,0.942,9222,0.000,0.057,3433,1924,2516,2606,2427,0,0,0,0,0,0,28.83,14.47,14.02
$GC,1505,0.97,136.4,3433,1925,2600,2418,155.1,9.1,212,1510,0.00,2.33,0.00,0.000,260,0.000,0.082,3432,3318,2509,2600,2419,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1586,0.97,136.4,3433,3318,2599,2420,147.0,10.1,220,1591,0.00,2.30,0.00,0.000,1030,0.000,0.064,3444,1919,2509,2599,2420,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1778,0.97,136.4,3444,1918,2599,2419,128.1,9.9,239,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1918,2509,2599,2419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1958,0.97,136.4,3444,1918,2599,2419,110.5,10.4,266,1964,0.00,2.38,0.00,0.000,516,0.000,0.096,3455,515,2509,2599,2420,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2020,0.97,136.4,3455,515,2599,2419,103.6,10.8,278,2027,0.00,2.28,0.00,0.000,1030,0.000,0.059,3455,1923,2509,2599,2419,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2149,0.97,136.4,3455,1925,2599,2419,90.1,10.3,303,2155,0.00,2.30,0.00,0.000,260,0.000,0.083,3455,3323,2508,2598,2419,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2182,0.97,136.4,3455,3323,2598,2419,86.5,11.3,309,2188,0.00,2.28,0.00,0.000,1030,0.000,0.065,3466,1919,2509,2598,2420,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2310,0.97,136.4,3466,1919,2598,2420,73.9,8.6,334,2316,0.00,2.38,0.00,0.000,516,0.000,0.095,3477,509,2509,2598,2420,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2423,0.97,136.4,3477,509,2598,2419,62.9,11.0,356,2429,0.00,2.28,0.00,0.000,1030,0.000,0.060,3476,1923,2508,2598,2419,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2550,0.97,136.4,3477,1923,2598,2419,50.6,9.0,381,2557,0.00,2.30,0.00,0.000,260,0.000,0.083,3477,3326,2509,2598,2420,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2748,0.97,136.4,3477,3326,2597,2420,32.5,8.1,420,2756,0.15,2.30,0.00,0.000,5126,0.288,0.064,3454,1914,2509,2598,2420,0,0,0,0,0,0,14.90,15.00,28.83
$GC,2818,1.04,179.2,3454,1914,2598,2420,28.1,6.0,433,2856,0.00,0.00,33.42,0.872,8198,0.000,0.000,3454,1914,2337,2424,2250,0,0,0,0,0,0,28.83,28.83,14.52
$GC,2918,1.04,179.2,3454,1913,2421,2245,20.1,9.3,452,2924,0.00,2.38,0.00,0.000,516,0.000,0.094,3463,513,2332,2420,2245,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2991,1.04,179.2,3463,513,2420,2244,13.1,10.1,466,2997,0.00,2.28,0.00,0.000,1030,0.000,0.060,3462,1919,2332,2421,2244,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3059,1.04,179.2,3463,1922,2421,2244,6.4,8.3,479,3066,0.00,2.40,0.00,0.000,516,0.000,0.093,3473,513,2332,2420,2244,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3123,1.21,275.7,3473,512,2420,2244,3.0,3.6,491,3153,0.12,2.28,23.88,0.084,11266,0.164,0.058,3521,1934,2128,2211,2046,0,0,0,0,0,0,14.90,14.95,28.83
$STATE,3154,end climb,SURFACE_DEPTH_REACHED
$STATE,3154,begin surface coast
$FINISH,0.4,1.021046
$STATE,3185,end surface coast,CONTROL_FINISHED_OK
$STATE,3185,begin surface
$SM_CCo,3200,29.92,0.086,0,0,1893,290.19
$SM_GC,2.33,9.43,0.00,29.92,0.095,0.000,0.086,212,1937,1893,-9.11,0.40,290.19,0,0,0,0,0,0,14.89,28.83,14.90
$IRIDIUM_FIX,4722.92,-12223.37,240414,111155
$TT8_MAMPS,0.025466,0.025466
$HUMID,32.79
$INTERNAL_PRESSURE,9.21442
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.2,62.4
$SC_FREEKB,4014016
$24V_AH,14.0,1.773
$10V_AH,13.2,0.632
$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,23.975,55.900,245.825,29.925,0.000,24.256,42.933,224.328,0.750,0.000,5.180,1143.722,929.323,351.062,1174.442,43.024,33.204,824.617,0.000,817.036,0.000,7.162,0.000
$DEVICE_MAMPS,434.520,108.630,1048.050,86.445,0.000,19.120,160.000,223.000,420.000,0.000,20.220,11.960,2.190,11.960,29.190,42.670,45.670,15.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3187.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.836,0.000,0.000,0.000
$MEM,322728
$DATA_FILE_SIZE,13381,502
$CAP_FILE_SIZE,89344,0
$CFSIZE,1024409600,1020706816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240414,131330,4743.462,-12224.276,1,1.4,1,16.3