version: 66.13
glider: 219
mission: 5
dive: 2
start: 8 24 116 16 25 58
data:
$ID,219
$MISSION,5
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,180
$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,40
$T_MISSION,60
$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,54391
$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,609.96155
$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,45
$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
$PITCH_MIN,200
$PITCH_MAX,3914
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,20
$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,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,51
$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,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,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-148.94582
$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,5
$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,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$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
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,500.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,240816,162316,1003.5474,-12503.0029,1,0.8,2,9.0,0.3,350.8,10,6.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-69.6
$GPS2,240816,162539,1003.5547,-12502.9922,2,0.8,3,9.0,0.3,121.0,10,4.7
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,NW
$TGT_LATLONG,1013.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,290.2,26848,-17.6,-10.000,-21.24,2209
$D_GRID,120
$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,14,begin dive
$GC,15,-1.06,-146.0,189,2513,586,499,0.0,0.0,0,97,0.00,0.00,-78.15,0.000,16386,0.000,0.000,188,2514,2986,3011,2962,0,0,0,0,0,0,15.15,28.83,15.16
$GC,98,-1.06,-146.0,189,2515,3013,2963,3.8,-7.2,13,125,10.10,2.55,-9.68,0.000,18980,0.358,2.058,2549,1089,3550,3583,3517,0,0,0,0,0,0,14.69,13.94,14.95
$GC,150,-0.97,-146.0,2550,1090,3583,3518,20.1,-21.9,22,159,0.17,2.35,0.00,0.000,3206,0.246,0.076,2588,2472,3549,3581,3517,0,0,0,0,0,0,14.77,14.87,14.94
$GC,218,-0.89,-146.0,2589,2473,3585,3514,35.1,-22.3,35,226,0.00,2.40,0.00,0.000,388,0.000,0.113,2579,3823,3551,3585,3517,0,0,0,0,0,0,15.11,14.85,15.12
$GC,310,-0.80,-146.0,2585,3818,3587,3518,54.3,-19.0,53,318,0.20,2.15,0.00,0.000,3206,0.222,0.047,2637,2476,3548,3585,3512,0,0,0,0,0,0,14.81,14.95,14.95
$GC,438,-0.80,-146.0,2638,2477,3585,3518,71.6,-11.0,78,446,0.00,2.25,0.00,0.000,516,0.000,0.059,2637,1107,3549,3582,3517,0,0,0,0,0,0,15.16,14.95,15.18
$GC,450,-0.82,-146.0,2637,1108,3587,3518,73.0,-11.0,80,458,0.00,2.38,0.00,0.000,1158,0.000,0.076,2633,2508,3552,3586,3518,0,0,0,0,0,0,15.00,14.92,15.02
$GC,578,-0.86,-146.0,2637,2509,3588,3518,84.2,-8.3,105,586,0.00,2.33,0.00,0.000,420,0.000,0.113,2622,3817,3551,3585,3517,0,0,0,0,0,0,15.18,14.90,15.20
$GC,811,-0.92,-146.0,2623,3818,3585,3518,103.5,-7.3,151,818,0.00,2.12,0.00,0.000,1190,0.000,0.049,2625,2490,3551,3585,3518,0,0,0,0,0,0,15.06,15.00,15.07
$GC,938,-0.99,-146.0,2622,2491,3588,3519,111.7,-6.1,176,946,0.08,2.35,0.00,0.000,4516,0.165,0.109,2561,3814,3551,3585,3518,0,0,0,0,0,0,14.98,14.92,15.03
$STATE,1040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1040,begin apogee
$GC,1044,-0.25,0.0,2561,2494,3587,3518,120.4,-8.9,196,1194,0.80,0.00,140.07,0.907,10246,0.178,0.000,2813,2493,2961,3026,2896,0,0,0,0,0,0,14.86,14.49,14.16
$STATE,1196,end apogee,CONTROL_FINISHED_OK
$STATE,1196,begin climb
$GC,1197,1.06,146.0,2813,2499,3027,2895,121.2,0.0,221,1316,1.20,2.40,103.43,0.924,10756,0.093,0.060,3235,1109,2375,2445,2306,0,0,0,0,0,0,14.64,14.54,14.11
$GC,1361,0.90,146.0,3236,1110,2434,2296,106.2,14.8,246,1370,0.15,2.40,0.00,0.000,5254,0.251,0.076,3195,2502,2364,2434,2294,0,0,0,0,0,0,14.57,14.68,14.74
$GC,1489,0.80,166.0,3196,2503,2434,2291,90.4,9.1,271,1504,0.10,2.40,7.68,0.256,12964,0.269,0.060,3172,1097,2315,2383,2247,0,0,0,0,0,0,14.71,14.81,14.57
$GC,1634,0.86,286.0,3171,1101,2400,2274,82.1,4.4,299,1707,0.00,2.38,63.08,0.384,9382,0.000,0.072,3171,2505,1837,1908,1766,0,0,0,0,0,0,14.97,14.88,14.56
$GC,1827,0.90,342.0,3172,2505,1918,1785,69.1,7.4,335,1865,0.00,2.33,30.27,0.342,8612,0.000,0.116,3171,3807,1613,1682,1544,0,0,0,0,0,0,15.07,14.78,14.61
$GC,2089,0.97,402.1,3171,3811,1689,1568,46.9,7.2,386,2128,0.00,2.12,32.35,0.284,9254,0.000,0.049,3181,2502,1368,1442,1295,0,0,0,0,0,0,14.98,14.92,14.69
$GC,2188,1.10,477.1,3182,2503,1450,1321,40.5,6.5,404,2239,0.12,2.38,39.80,0.269,10916,0.142,0.061,3264,1101,1077,1153,1001,0,0,0,0,0,0,14.88,14.83,14.69
$GC,2269,1.08,477.1,3264,1101,1164,1012,32.0,12.0,418,2278,0.00,2.38,2.35,0.207,9350,0.000,0.075,3265,2496,1068,1144,993,0,0,0,0,0,0,14.93,14.83,14.74
$GC,2337,1.04,477.1,3264,2497,1160,1014,23.3,13.1,431,2345,0.00,0.00,2.08,0.207,8326,0.000,0.000,3265,2496,1071,1144,998,0,0,0,0,0,0,15.08,14.92,14.78
$GC,2404,1.01,477.1,3266,2496,1153,1011,14.2,13.9,444,2413,0.10,2.38,1.98,0.180,12932,0.245,0.061,3238,1107,1068,1144,993,0,0,0,0,0,0,14.79,14.87,14.81
$GC,2488,1.03,477.1,3239,1108,1161,1009,4.5,11.1,460,2496,0.00,2.38,1.92,0.207,9350,0.000,0.076,3239,2505,1067,1144,990,0,0,0,0,0,0,15.00,14.90,14.82
$STATE,2509,end climb,SURFACE_DEPTH_REACHED
$STATE,2509,begin surface coast
$FINISH,0.5,1.020555
$STATE,2525,end surface coast,CONTROL_FINISHED_OK
$STATE,2525,begin surface
$SM_CCo,2547,63.53,0.161,0,0,537,610.16
$SM_GC,1.52,8.50,0.00,63.53,0.059,0.000,0.161,203,2506,537,-8.38,0.17,610.16,0,0,0,0,0,0,14.95,15.17,14.82
$IRIDIUM_FIX,956.07,-12504.01,240816,162010
$TT8_MAMPS,0.041195,0.369257
$HUMID,46.06
$INTERNAL_PRESSURE,8.20736
$TCM_TEMP,23.00
$XPDR_PINGS,14
$SC_FREEKB,3909760
$PM_FREEKB,62304832
$TM_FREEKB,7827584
$24V_AH,13.94,3.145
$10V_AH,14.03,0.000
$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,21.525,46.550,425.000,63.525,0.000,0.000,0.000,0.000,3.500,0.000,5.392,0.000,826.961,520.049,1305.555,19.536,0.000,1009.923,0.000,984.927,0.000,0.554,0.000
$DEVICE_MAMPS,358.020,2057.850,924.120,161.415,0.000,0.000,0.000,0.000,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2510.000,2507.000,2515.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.102,3.261,12.206,0.000
$MEM,334812
$DATA_FILE_SIZE,16785,467
$CAP_FILE_SIZE,76968,0
$CFSIZE,1024409600,1019428864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,282.86,1
$GPS,240816,171003,1003.729,-12503.233,1,0.7,3,9.0,0.3,65.1,11,7.9