version: 66.13
glider: 219
mission: 5
dive: 4
start: 8 24 116 19 10 42
data:
$ID,219
$MISSION,5
$DIVE,4
$N_DIVES,5
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,240
$D_ABORT,300
$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,80
$T_MISSION,100
$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,2885
$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,2600
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,26
$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
$GPS1,240816,190023,1004.1710,-12503.6758,6,1.4,8,9.0,0.6,51.8,7,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-69.5
$GPS2,240816,191023,1004.2134,-12503.6221,3,1.4,5,9.0,0.2,109.8,7,8.7
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,NW
$TGT_LATLONG,1013.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,321.3,25176,-17.6,-10.000,-21.24,2209
$D_GRID,240
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.06,-146.0,202,2611,591,511,0.0,0.0,0,92,0.00,0.00,-73.88,0.000,16386,0.000,0.000,200,2610,2857,2883,2831,0,0,0,0,0,0,15.00,28.83,15.00
$GC,94,-1.06,-146.0,201,2611,2883,2833,3.6,-6.3,12,126,10.15,2.58,-12.35,0.000,18980,0.366,2.099,2533,1193,3552,3586,3518,0,0,0,0,0,0,14.60,13.82,14.84
$GC,196,-0.94,-146.0,2533,1193,3586,3517,32.4,-25.6,31,204,0.20,2.42,0.00,0.000,3206,0.249,0.076,2578,2605,3551,3584,3518,0,0,0,0,0,0,14.69,14.79,14.85
$GC,264,-0.83,-146.0,2579,2605,3585,3519,49.1,-21.6,44,272,0.10,2.15,0.00,0.000,2436,0.288,0.110,2603,3815,3552,3586,3518,0,0,0,0,0,0,14.71,14.78,14.83
$GC,326,-0.78,-146.0,2604,3815,3591,3519,61.2,-17.1,56,334,0.10,1.98,0.00,0.000,3206,0.260,0.050,2630,2592,3550,3584,3517,0,0,0,0,0,0,14.76,14.90,14.92
$GC,454,-0.80,-146.0,2631,2592,3586,3519,75.7,-9.2,81,462,0.00,2.20,0.00,0.000,420,0.000,0.112,2622,3814,3549,3581,3518,0,0,0,0,0,0,15.10,14.85,15.11
$GC,591,-0.85,-146.0,2622,3815,3589,3520,89.5,-9.7,108,599,0.00,1.98,0.00,0.000,1190,0.000,0.050,2622,2589,3553,3587,3519,0,0,0,0,0,0,15.02,14.97,15.04
$GC,719,-0.90,-146.0,2623,2590,3588,3520,98.2,-6.6,133,727,0.00,2.28,0.00,0.000,676,0.000,0.055,2622,1198,3553,3588,3519,0,0,0,0,0,0,15.14,14.95,15.15
$GC,806,-0.96,-146.0,2622,1198,3590,3516,103.8,-6.4,150,815,0.00,2.38,0.00,0.000,1190,0.000,0.075,2614,2601,3553,3588,3519,0,0,0,0,0,0,15.01,14.91,15.03
$GC,935,-1.02,-146.0,2611,2601,3589,3520,112.0,-6.8,175,942,0.08,2.15,0.00,0.000,4516,0.160,0.110,2553,3817,3553,3588,3519,0,0,0,0,0,0,14.97,14.90,15.01
$GC,1072,-1.02,-146.0,2554,3818,3588,3520,124.7,-9.0,202,1080,0.00,1.98,0.00,0.000,1062,0.000,0.050,2551,2587,3553,3588,3519,0,0,0,0,0,0,15.04,14.99,15.06
$GC,1200,-1.02,-146.0,2551,2588,3589,3520,135.8,-8.4,227,1207,0.00,2.20,0.00,0.000,292,0.000,0.112,2544,3816,3553,3588,3519,0,0,0,0,0,0,15.17,14.92,15.19
$GC,1277,-1.02,-146.0,2544,3816,3590,3520,142.9,-9.2,242,1285,0.00,1.98,0.00,0.000,1062,0.000,0.050,2543,2590,3558,3588,3529,0,0,0,0,0,0,15.04,15.00,15.06
$GC,1405,-1.02,-146.0,2543,2590,3590,3520,154.7,-9.1,267,1413,0.00,2.20,0.00,0.000,292,0.000,0.112,2537,3815,3553,3588,3518,0,0,0,0,0,0,15.17,14.92,15.18
$GC,1532,-1.02,-146.0,2538,3816,3588,3518,167.3,-9.6,292,1540,0.00,1.98,0.00,0.000,1062,0.000,0.050,2537,2589,3552,3588,3517,0,0,0,0,0,0,15.06,15.02,15.08
$GC,1660,-1.02,-146.0,2532,2589,3590,3516,179.2,-9.6,317,1668,0.00,2.20,0.00,0.000,292,0.000,0.113,2529,3814,3551,3588,3515,0,0,0,0,0,0,15.17,14.92,15.18
$GC,1747,-1.02,-146.0,2530,3815,3588,3515,188.1,-10.3,334,1756,0.00,1.98,0.00,0.000,1030,0.000,0.050,2527,2591,3556,3588,3525,0,0,0,0,0,0,15.05,15.00,15.06
$GC,1875,-1.02,-146.0,2532,2592,3588,3520,200.6,-10.0,359,1883,0.00,0.00,0.00,0.000,38,0.000,0.000,2527,2591,3550,3588,3512,0,0,0,0,0,0,15.20,15.18,15.19
$GC,2002,-1.02,-146.0,2532,2592,3590,3512,213.5,-10.3,384,2010,0.00,2.20,0.00,0.000,260,0.000,0.115,2521,3815,3548,3587,3510,0,0,0,0,0,0,15.18,14.92,15.19
$GC,2054,-1.02,-146.0,2522,3816,3588,3510,219.2,-10.9,394,2063,0.10,2.00,0.00,0.000,3078,0.222,0.052,2564,2603,3549,3588,3510,0,0,0,0,0,0,14.86,15.00,15.00
$GC,2183,-1.06,-146.0,2563,2603,3590,3509,231.0,-9.2,419,2190,0.00,2.33,0.00,0.000,676,0.000,0.059,2564,1199,3548,3588,3509,0,0,0,0,0,0,15.15,14.96,15.19
$GC,2215,-1.10,-146.0,2565,1199,3588,3503,234.1,-9.2,425,2223,0.00,2.40,0.00,0.000,1190,0.000,0.078,2555,2608,3546,3588,3504,0,0,0,0,0,0,15.04,14.95,15.06
$STATE,2276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2276,begin apogee
$GC,2279,-0.25,0.0,2554,2499,3590,3507,240.0,-9.6,437,2404,0.77,0.00,112.10,1.837,10246,0.182,0.000,2797,2498,2972,3035,2910,0,0,0,0,1,0,14.85,14.31,13.54
$STATE,2406,end apogee,CONTROL_FINISHED_OK
$STATE,2407,begin climb
$GC,2407,1.06,146.0,2799,2499,3037,2918,243.8,0.0,458,2554,1.27,2.45,127.35,1.087,10756,0.093,0.062,3235,1100,2370,2444,2297,0,0,0,0,0,0,14.43,14.41,13.97
$GC,2649,0.89,146.0,3236,1101,2435,2285,221.6,16.5,498,2657,0.22,2.42,0.00,0.000,5254,0.252,0.073,3175,2501,2359,2435,2284,0,0,0,0,0,0,14.57,14.67,14.73
$GC,2777,0.76,146.0,3175,2501,2436,2282,202.4,14.7,523,2785,0.12,0.00,0.00,0.000,4230,0.263,0.000,3136,2501,2357,2434,2281,0,0,0,0,0,0,14.68,14.83,14.79
$GC,2905,0.67,146.0,3135,2501,2436,2280,185.8,12.4,548,2913,0.10,2.35,0.00,0.000,4740,0.252,0.060,3111,1096,2357,2435,2280,0,0,0,0,0,0,14.74,14.85,14.85
$GC,2952,0.61,146.0,3112,1100,2434,2280,180.5,10.9,557,2960,0.10,2.40,0.00,0.000,5254,0.243,0.074,3082,2500,2356,2435,2278,0,0,0,0,0,0,14.76,14.84,14.91
$GC,3080,0.57,146.0,3083,2501,2434,2278,167.7,10.2,582,3087,0.00,2.35,0.00,0.000,388,0.000,0.118,3082,3810,2356,2435,2277,0,0,0,0,0,0,15.06,14.85,15.08
$GC,3132,0.50,146.0,3083,3812,2434,2277,161.8,11.3,592,3140,0.15,2.15,0.00,0.000,5254,0.244,0.052,3049,2494,2355,2434,2277,0,0,0,0,0,0,14.78,14.91,14.94
$GC,3259,0.55,181.4,3050,2493,2435,2276,150.8,8.4,617,3297,0.00,2.40,29.83,1.050,8484,0.000,0.113,3049,3811,2232,2314,2150,0,0,0,0,0,0,15.09,14.66,14.31
$GC,3317,0.53,181.4,3049,3811,2312,2142,145.5,10.1,627,3325,0.00,2.17,0.00,0.000,1158,0.000,0.052,3058,2496,2223,2309,2138,0,0,0,0,0,0,14.86,14.80,14.88
$GC,3445,0.53,181.4,3058,2496,2308,2134,132.8,10.0,652,3453,0.00,2.40,0.00,0.000,260,0.000,0.120,3058,3811,2220,2308,2132,0,0,0,0,0,0,15.04,14.79,15.05
$GC,3492,0.50,181.4,3057,3811,2309,2134,127.3,11.8,661,3500,0.00,2.17,0.00,0.000,1158,0.000,0.053,3068,2490,2219,2307,2132,0,0,0,0,0,0,14.95,14.88,14.95
$GC,3619,0.54,214.3,3068,2491,2308,2131,114.9,8.5,686,3658,0.00,2.42,26.42,0.972,8740,0.000,0.065,3079,1088,2105,2189,2022,0,0,0,0,1,0,15.07,14.76,14.21
$GC,3707,0.56,229.4,3079,1092,2195,2034,107.2,9.3,702,3734,0.00,2.45,18.83,1.042,9254,0.000,0.078,3079,2514,2053,2140,1966,0,0,0,0,0,0,14.88,14.78,14.29
$GC,3853,0.60,255.9,3081,2507,2119,1950,93.2,8.8,730,3873,0.00,2.40,11.10,0.358,8484,0.000,0.121,3079,3807,1957,2032,1882,0,0,0,0,0,0,15.00,14.72,14.56
$GC,3888,0.60,263.5,3080,3808,2032,1890,90.0,9.6,736,3901,0.00,2.17,5.80,0.386,9254,0.000,0.053,3090,2491,1920,2000,1840,0,0,0,0,0,0,14.89,14.82,14.56
$GC,4021,0.69,335.6,3090,2492,2013,1871,79.8,6.6,762,4065,0.00,0.00,39.08,0.394,8742,0.000,0.000,3088,2492,1633,1712,1555,0,0,0,0,0,0,15.04,14.81,14.56
$GC,4185,0.84,418.8,3089,2491,1723,1583,67.8,6.1,793,4236,0.10,2.47,44.80,0.360,10660,0.158,0.119,3148,3806,1302,1379,1225,0,0,0,0,0,0,14.82,14.67,14.56
$GC,4335,0.84,418.8,3149,3807,1385,1251,53.1,10.4,821,4344,0.00,2.17,2.42,0.216,9222,0.000,0.051,3160,2490,1298,1374,1222,0,0,0,0,0,0,14.90,14.83,14.71
$GC,4463,0.92,447.0,3158,2491,1389,1249,42.3,8.7,846,4489,0.00,2.38,16.52,0.280,8868,0.000,0.065,3169,1105,1192,1267,1118,0,0,0,0,0,0,15.04,14.80,14.66
$GC,4524,1.04,495.1,3170,1106,1279,1130,37.0,7.8,857,4557,0.10,2.40,26.77,0.277,11430,0.158,0.076,3211,2502,994,1073,916,0,0,0,0,0,0,14.81,14.82,14.64
$GC,4617,1.06,495.1,3212,2503,1090,937,28.8,10.1,874,4625,0.00,2.42,2.28,0.222,8836,0.000,0.064,3227,1104,997,1078,916,0,0,0,0,0,0,15.02,14.81,14.71
$GC,4654,1.08,495.1,3222,1104,1085,931,24.9,10.3,881,4663,0.00,2.40,1.70,0.236,9350,0.000,0.076,3221,2501,993,1073,913,0,0,0,0,0,0,14.91,14.81,14.73
$GC,4722,1.08,495.1,3222,2501,1091,937,17.8,10.7,894,4730,0.00,0.00,2.22,0.212,8198,0.000,0.000,3221,2501,996,1075,918,0,0,0,0,0,0,15.03,14.89,14.75
$GC,4789,1.08,495.1,3221,2501,1092,934,10.3,11.2,907,4798,0.00,2.42,1.98,0.217,8708,0.000,0.064,3232,1097,999,1077,921,0,0,0,0,0,0,15.05,14.83,14.76
$GC,4862,1.11,495.1,3233,1098,1092,937,2.3,10.6,921,4871,0.00,2.40,2.08,0.213,9350,0.000,0.075,3232,2499,995,1077,913,0,0,0,0,0,0,14.95,14.85,14.76
$STATE,4874,end climb,SURFACE_DEPTH_REACHED
$STATE,4874,begin surface coast
$FINISH,0.4,1.019774
$STATE,4889,end surface coast,CONTROL_FINISHED_OK
$STATE,4889,begin surface
$SM_CCo,4912,56.78,0.171,0,0,536,610.16
$SM_GC,1.28,8.57,0.17,56.78,0.059,0.119,0.171,194,2618,536,-8.37,-0.48,610.16,0,0,0,0,0,0,14.89,14.90,14.76
$IRIDIUM_FIX,958.26,-12504.01,240816,173443
$TT8_MAMPS,0.040446,0.417942
$HUMID,51.96
$INTERNAL_PRESSURE,8.1097
$TCM_TEMP,21.60
$XPDR_PINGS,11
$SC_FREEKB,3908992
$PM_FREEKB,62277440
$TM_FREEKB,7811648
$24V_AH,13.54,3.620
$10V_AH,13.79,0.000
$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,22.250,95.650,471.275,56.775,0.000,0.000,0.000,388.875,2.750,0.000,7.019,0.000,1797.708,643.847,3068.235,55.905,0.000,1908.625,0.000,1982.781,0.000,0.552,0.000
$DEVICE_MAMPS,365.670,2099.160,1836.765,170.595,0.000,0.000,0.000,208.845,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4937.000,4880.000,4935.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.519,3.253,11.853,0.000
$MEM,334764
$DATA_FILE_SIZE,33361,926
$CAP_FILE_SIZE,116896,0
$CFSIZE,1024409600,1019019264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.103,242.12,1
$GPS,240816,203431,1004.597,-12504.098,29,0.8,29,9.1,0.5,208.9,11,9.0