version: 66.13
glider: 219
mission: 8
dive: 352
start: 11 6 117 20 31 46
data:
$ID,219
$MISSION,8
$DIVE,352
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,950
$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,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-7
$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,54258
$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,525
$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,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,200
$PITCH_MAX,3914
$C_PITCH,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,251
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2870
$C_ROLL_CLIMB,2640
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,145
$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,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,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,-149.39949
$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,10
$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,1
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,48
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043199207
$SEABIRD_T_H,0.00062990503
$SEABIRD_T_I,2.3814182e-05
$SEABIRD_T_J,2.5407201e-06
$SEABIRD_C_G,-9.8638144
$SEABIRD_C_H,1.1196728
$SEABIRD_C_I,-0.0018518606
$SEABIRD_C_J,0.0002092591
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,1.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,0.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,500.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,061117,202535,949.2208,-12504.5332,10,0.8,12,9.0,0.3,43.0,12,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-70.8
$GPS2,061117,203126,949.2118,-12504.5225,2,0.8,4,9.0,0.4,93.7,12,5.9
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,PICKUP
$TGT_LATLONG,950.000,-12505.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,321.0,1700,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,10,-0.91,-146.0,178,2885,904,856,0.0,0.0,0,97,0.00,0.00,-85.47,0.000,16386,0.000,0.000,178,2885,3460,3486,3434,0,0,0,0,0,0,14.88,28.83,14.91
$GC,100,-0.91,-146.0,179,2885,3488,3434,7.0,-10.5,3,118,10.68,2.42,-1.33,0.000,18948,0.351,1.989,2545,1550,3554,3588,3520,0,0,0,0,0,0,14.18,13.39,14.57
$GC,244,-0.72,-146.0,2546,1549,3595,3518,49.7,-18.9,24,249,0.30,2.25,0.00,0.000,3206,0.230,0.049,2613,2868,3556,3593,3519,0,0,0,0,0,0,14.44,14.67,14.66
$GC,572,-0.76,-146.0,2613,2868,3598,3519,83.6,-8.3,38,578,0.00,1.65,0.00,0.000,420,0.000,0.073,2607,3822,3558,3597,3519,0,0,0,0,0,0,15.05,14.71,15.07
$GC,809,-0.82,-146.0,2607,3824,3599,3520,103.8,-9.9,72,815,0.00,1.40,0.00,0.000,1190,0.000,0.029,2607,2885,3558,3598,3519,0,0,0,0,0,0,14.92,14.89,14.93
$GC,1132,-0.91,-146.0,2608,2886,3599,3520,130.1,-8.0,83,1133,0.15,0.00,0.00,0.000,4262,0.107,0.000,2531,2883,3559,3599,3519,0,0,0,0,0,0,14.88,14.95,14.92
$GC,1468,-0.86,-146.0,2531,2882,3600,3515,166.7,-11.1,89,1469,0.17,0.00,0.00,0.000,2182,0.219,0.000,2573,2883,3557,3598,3516,0,0,0,0,0,0,14.61,14.87,14.81
$STATE,1633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1633,begin apogee
$GC,1639,-0.21,0.0,2574,2634,3600,3514,182.7,-9.9,92,1798,0.70,0.00,156.38,0.965,10246,0.174,0.000,2779,2633,2966,3036,2897,0,0,0,0,0,0,14.62,14.39,13.78
$STATE,1799,end apogee,CONTROL_FINISHED_OK
$STATE,1799,begin climb
$GC,1801,0.91,146.0,2781,2633,3032,2894,187.0,0.0,94,1920,1.10,2.28,110.43,1.015,10756,0.106,0.031,3150,1312,2379,2455,2303,0,0,0,0,0,0,14.38,14.34,13.72
$GC,2117,0.80,150.0,3150,1312,2445,2292,167.5,9.8,146,2122,0.17,2.25,0.00,0.000,5286,0.220,0.042,3109,2656,2368,2444,2292,0,0,0,0,0,0,14.44,14.64,14.64
$GC,2479,0.76,169.5,3110,2656,2445,2285,134.7,9.1,156,2500,0.00,2.30,17.62,1.092,8868,0.000,0.035,3118,1307,2286,2366,2207,0,0,0,0,0,0,15.01,14.65,13.97
$GC,2600,0.74,183.1,3123,1308,2359,2202,123.5,9.4,173,2613,0.00,2.22,9.27,1.180,9382,0.000,0.042,3118,2641,2242,2319,2165,0,0,0,0,0,0,14.79,14.72,13.94
$GC,2943,0.70,194.7,3118,2642,2317,2149,90.2,9.5,185,2955,0.15,2.25,5.15,0.339,12964,0.226,0.035,3085,1311,2199,2274,2124,0,0,0,0,0,0,14.55,14.64,14.16
$GC,2990,0.83,249.8,3085,1312,2275,2133,86.4,7.4,192,3026,0.00,2.25,31.77,0.396,9382,0.000,0.041,3087,2635,1972,2052,1893,0,0,0,0,0,0,14.76,14.71,14.24
$GC,3333,1.00,312.0,3086,2634,2053,1906,60.2,7.1,208,3376,0.25,2.25,34.38,0.327,10916,0.076,0.035,3204,1309,1728,1799,1658,0,0,0,0,0,0,14.81,14.65,14.27
$GC,3468,1.06,404.1,3204,1311,1800,1672,48.8,5.7,227,3522,0.00,2.25,49.58,0.299,9382,0.000,0.041,3203,2646,1357,1426,1289,0,0,0,0,0,0,14.81,14.73,14.29
$GC,3839,1.22,479.6,3204,2645,1432,1298,20.1,6.5,247,3880,0.12,2.10,37.20,0.214,10660,0.119,0.072,3283,3812,1060,1123,997,0,0,0,0,0,0,14.77,14.62,14.35
$STATE,3981,end climb,SURFACE_DEPTH_REACHED
$STATE,3981,begin surface coast
$FINISH,0.3,1.021284
$STATE,3988,end surface coast,CONTROL_FINISHED_OK
$STATE,3988,begin surface
$SM_CCo,4008,21.67,0.164,0,0,879,525.01
$SM_GC,0.65,8.82,1.42,21.67,0.051,0.026,0.164,188,2867,879,-8.25,3.73,525.01,0,0,0,0,0,0,14.78,14.84,14.51
$IRIDIUM_FIX,949.06,-12502.75,061117,191058
$TT8_MAMPS,0.041944,0.405958
$HUMID,53.46
$INTERNAL_PRESSURE,8.74449
$TCM_TEMP,21.50
$XPDR_PINGS,15
$SC_FREEKB,3775328
$24V_AH,13.39,135.163
$10V_AH,11.93,0.000
$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,22.625,29.550,451.775,21.675,0.000,0.000,0.000,213.250,3.750,0.000,6.445,0.000,2925.693,536.842,754.753,167.554,0.000,1011.261,0.000,394.188,0.000,0.548,0.000
$DEVICE_MAMPS,351.135,1989.000,1179.630,163.710,0.000,0.000,0.000,165.240,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4004.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.188,0.000,0.000,0.000
$MEM,326080
$DATA_FILE_SIZE,10124,269
$CAP_FILE_SIZE,44280,0
$CFSIZE,1024409600,966918144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,248.87,1
$GPS,061117,213929,949.423,-12504.729,6,1.1,8,9.0,0.6,333.5,9,8.7