version: 66.13
glider: 219
mission: 11
dive: 148
start: 8 27 118 22 44 55
data:
$ID,219
$MISSION,11
$DIVE,148
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,5
$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,60
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$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,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,55668
$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,400
$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,2155
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,45
$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,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2970
$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,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-148.58136
$PRESSURE_SLOPE,0.0001078618
$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,0.0043946085
$SEABIRD_T_H,0.00063626852
$SEABIRD_T_I,2.5989737e-05
$SEABIRD_T_J,3.1806876e-06
$SEABIRD_C_G,-9.6980124
$SEABIRD_C_H,1.1068786
$SEABIRD_C_I,-0.0019018035
$SEABIRD_C_J,0.00022417276
$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,0.0
$ES_UPLOADMAX,100000.0
$ES_STARTS,300.0
$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
$GPS1,270818,223509,5037.6040,-14458.9756,9,1.9,10,15.7,0.2,0.0,5,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-72.4
$GPS2,270818,224401,5037.5933,-14458.9863,3,0.9,28,15.7,0.6,192.6,9,2.4
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,SG219_TGT
$TGT_LATLONG,5037.004,-14500.229
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,217.5,1823,-17.6,-10.000,-21.24,2209
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.58,-146.0,182,2276,1392,1346,0.0,0.0,0,113,0.00,0.00,-88.43,0.004,16386,0.000,0.000,179,2281,3083,3101,3065,0,0,0,0,0,0,14.72,28.83,14.74
$GC,117,-0.58,-146.0,179,2280,3101,3066,4.5,-11.2,15,144,8.20,2.53,-9.00,0.013,18692,0.384,0.110,1949,3638,3554,3597,3512,0,0,0,0,0,0,14.35,13.56,14.61
$GC,177,-0.58,-146.0,1948,3638,3596,3512,27.0,-28.1,25,185,0.00,2.45,0.00,0.000,1030,0.000,0.057,1949,2251,3554,3596,3512,0,0,0,0,0,0,14.60,14.52,14.61
$GC,370,-0.58,-146.0,1948,2251,3598,3513,73.6,-21.0,62,377,0.00,2.47,0.00,0.000,516,0.000,0.060,1950,831,3555,3597,3513,0,0,0,0,0,0,14.74,14.62,14.78
$GC,450,-0.58,-146.0,1950,830,3597,3514,88.1,-16.0,77,458,0.00,2.50,0.00,0.000,1030,0.000,0.072,1942,2232,3555,3600,3510,0,0,0,0,0,0,14.69,14.59,14.71
$GC,650,-0.58,-146.0,1937,2233,3597,3514,123.3,-17.3,102,656,0.00,2.58,0.00,0.000,260,0.000,0.087,1931,3667,3553,3592,3514,0,0,0,0,0,0,14.84,14.62,14.86
$GC,698,-0.58,-146.0,1931,3667,3597,3514,132.2,-15.8,111,705,0.15,2.50,0.00,0.000,3078,0.273,0.057,1963,2247,3555,3597,3514,0,0,0,0,0,0,14.51,14.64,14.69
$GC,904,-0.58,-146.0,1962,2247,3597,3512,162.7,-14.6,132,910,0.00,2.45,0.00,0.000,516,0.000,0.061,1963,830,3555,3597,3514,0,0,0,0,0,0,14.85,14.68,14.88
$GC,999,-0.58,-146.0,1963,830,3604,3514,175.0,-12.1,150,1005,0.00,2.55,0.00,0.000,1030,0.000,0.076,1955,2262,3555,3597,3513,0,0,0,0,0,0,14.76,14.66,14.78
$STATE,1040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1040,begin apogee
$GC,1048,-0.11,0.0,1954,2122,3597,3514,181.2,-13.9,155,1162,0.57,0.00,105.43,1.463,10246,0.226,0.000,2108,2122,2968,3035,2902,0,0,0,0,0,0,14.52,14.18,13.62
$STATE,1165,end apogee,CONTROL_FINISHED_OK
$STATE,1165,begin climb
$GC,1168,0.58,146.0,2111,2122,3036,2898,188.9,0.0,167,1288,0.77,2.58,107.05,1.401,10756,0.150,0.080,2349,768,2388,2468,2308,0,0,0,0,0,0,14.16,14.01,13.49
$GC,1393,0.69,230.8,2348,767,2467,2299,182.5,6.1,205,1465,0.00,2.47,63.70,1.404,9254,0.000,0.056,2349,2151,2048,2129,1968,0,0,0,0,0,0,14.34,14.27,13.56
$GC,1673,0.72,230.8,2348,2151,2129,1954,158.7,8.7,239,1680,0.12,2.55,0.00,0.000,2372,0.123,0.080,2399,3555,2042,2129,1955,0,0,0,0,0,0,14.45,14.38,14.48
$GC,1752,0.72,230.8,2399,3555,2128,1954,149.4,12.0,254,1759,0.00,2.50,0.00,0.000,1030,0.000,0.066,2409,2174,2041,2128,1955,0,0,0,0,0,0,14.51,14.43,14.53
$GC,1958,0.72,230.8,2409,2174,2128,1952,125.6,11.8,275,1964,0.00,2.55,0.00,0.000,516,0.000,0.067,2421,733,2040,2128,1952,0,0,0,0,0,0,14.73,14.57,14.78
$GC,1992,0.72,230.8,2421,732,2128,1952,122.5,10.0,281,1999,0.15,2.53,0.00,0.000,5126,0.213,0.067,2385,2150,2040,2129,1952,0,0,0,0,0,0,14.46,14.59,14.60
$GC,2210,0.79,287.6,2381,2154,2128,1950,104.6,7.4,303,2259,0.00,2.58,42.22,1.417,8484,0.000,0.078,2385,3565,1824,1900,1749,0,0,0,0,0,0,14.81,14.31,13.83
$GC,2378,0.79,287.6,2389,3564,1898,1742,88.3,10.4,335,2385,0.00,2.53,0.00,0.000,1030,0.000,0.058,2394,2143,1823,1905,1742,0,0,0,0,0,0,14.57,14.49,14.58
$GC,2569,0.80,287.6,2394,2143,1898,1739,69.3,9.4,372,2577,0.00,2.50,0.00,0.000,580,0.000,0.068,2405,742,1819,1899,1739,0,0,0,0,0,0,14.74,14.56,14.77
$GC,2615,0.80,287.6,2405,742,1898,1738,64.6,10.3,380,2622,0.00,2.53,0.00,0.000,1030,0.000,0.057,2405,2163,1818,1898,1738,0,0,0,0,0,0,14.66,14.57,14.67
$GC,2807,0.83,287.6,2405,2159,1898,1736,45.4,8.6,417,2814,0.00,0.00,0.00,0.000,70,0.000,0.000,2405,2158,1817,1898,1736,0,0,0,0,0,0,14.76,14.78,14.78
$GC,2999,0.92,357.9,2404,2158,1898,1735,32.0,6.7,454,3056,0.12,0.00,51.83,1.326,10790,0.129,0.000,2470,2159,1543,1599,1488,0,0,0,0,0,0,14.68,14.38,13.85
$GC,3239,0.92,357.9,2470,2159,1599,1479,4.3,13.9,499,3246,0.00,2.53,0.00,0.000,260,0.000,0.078,2470,3561,1539,1599,1479,0,0,0,0,0,0,14.69,14.49,14.71
$STATE,3257,end climb,SURFACE_DEPTH_REACHED
$STATE,3257,begin surface coast
$FINISH,-0.3,1.024009
$STATE,3268,end surface coast,CONTROL_FINISHED_OK
$STATE,3268,begin surface
$SM_CCo,3291,20.25,0.196,0,0,1374,400.16
$SM_GC,0.48,6.65,2.38,20.25,0.063,0.050,0.196,222,2246,1374,-5.93,0.74,400.16,0,0,0,0,0,0,14.59,14.55,14.45
$IRIDIUM_FIX,5042.16,-14642.17,270818,204826
$TT8_MAMPS,0.02247,0.966959
$HUMID,47.95
$INTERNAL_PRESSURE,10.1313
$TCM_TEMP,15.90
$XPDR_PINGS,72
$SC_FREEKB,3824288
$ES_FREE,14581661696.000000
$ES_POWER,63.370000
$ES_POWER1,0.000000
$24V_AH,13.49,57.832
$10V_AH,13.49,0.000
$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,16.750,50.450,370.225,20.250,0.000,0.000,0.000,289.725,18.000,0.000,37.478,1169.980,886.036,468.725,1140.750,210.283,0.000,1224.101,0.000,734.405,0.000,0.543,0.000
$DEVICE_MAMPS,384.030,110.160,1462.680,195.840,0.000,0.000,0.000,188.190,420.000,0.000,8.990,12.460,2.190,11.710,30.440,45.420,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,echo,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3293.000,3281.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.657,5.000,0.000,0.000
$MEM,322984
$DATA_FILE_SIZE,16751,504
$CAP_FILE_SIZE,58938,0
$CFSIZE,1024409600,985300992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,1239.57,0x2355a6,1,24
$CURRENT,0.030,160.01,1
$GPS,270818,234101,5037.308,-14459.289,2,1.1,4,15.7,0.4,333.0,8,7.2