version: 66.11
glider: 215
mission: 1
dive: 19
start: 3 5 114 15 23 26
data:
$ID,215
$MISSION,1
$DIVE,19
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,210
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,50
$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,88
$T_MISSION,105
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,60
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0235
$MASS,53499
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,240
$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,-468.0369
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,198
$PITCH_MAX,3925
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,260
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2200
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.493416
$PRESSURE_SLOPE,0.0001163634
$AD7714Ch0Gain,128
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,131
$DEVICE4,150
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044005844
$SEABIRD_T_H,0.00063442322
$SEABIRD_T_I,2.5163401e-05
$SEABIRD_T_J,3.0001177e-06
$SEABIRD_C_G,-9.7719641
$SEABIRD_C_H,1.1567575
$SEABIRD_C_I,-0.00080766954
$SEABIRD_C_J,0.00014343993
$GPS1,050314,151619,4742.737,-12225.798,3,1.1,4,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-70.2
$GPS2,050314,152225,4742.782,-12225.807,4,1.1,5,16.3
$SPEED_LIMITS,0.138,0.237
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.232,0.049
$KALMAN_X,-325.0,113.8,-660.0,-516.8,-230.8
$KALMAN_Y,-2279.9,405.7,-1530.3,2301.6,-338.4
$MHEAD_RNG_PITCHd_Wd,61.7,1263,-14.1,-7.955,-18.57,2750
$D_GRID,189
$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,13,begin dive
$GC,15,-0.82,-146.6,177,2490,1212,1218,0.0,0.0,0,56,0.00,0.00,-39.40,0.000,16386,0.000,0.000,177,2490,2388,2358,2418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.82,-146.6,177,2490,2358,2418,3.4,-5.3,5,84,9.15,2.05,-8.70,0.000,18692,0.243,0.071,2536,3797,2798,2792,2804,0,0,0,0,0,0,26.39,26.59,26.90
$GC,194,-0.82,-146.6,2536,3798,2793,2804,26.3,-17.3,27,202,0.00,1.98,0.00,0.000,1030,0.000,0.040,2536,2494,2798,2793,2804,0,0,0,0,0,0,28.83,26.72,28.83
$GC,274,-0.82,-146.6,2536,2494,2793,2803,40.1,-16.6,40,283,0.00,2.05,0.00,0.000,260,0.000,0.059,2526,3794,2798,2793,2803,0,0,0,0,0,0,28.83,26.71,28.83
$GC,322,-0.82,-146.6,2526,3794,2793,2804,47.4,-13.9,48,331,0.00,1.95,0.00,0.000,1030,0.000,0.040,2526,2504,2798,2793,2803,0,0,0,0,0,0,28.83,26.79,28.83
$GC,469,-0.82,-146.6,2526,2504,2792,2804,69.3,-14.7,73,476,0.00,2.00,0.00,0.000,260,0.000,0.059,2516,3807,2798,2793,2803,0,0,0,0,0,0,28.83,26.79,28.83
$GC,643,-0.82,-146.6,2516,3807,2793,2804,99.8,-15.7,103,651,0.15,1.95,0.00,0.000,3078,0.169,0.039,2557,2487,2798,2793,2804,0,0,0,0,0,0,26.76,26.90,28.83
$GC,790,-0.82,-146.6,2557,2487,2793,2803,120.0,-14.2,128,799,0.00,2.08,0.00,0.000,516,0.000,0.048,2557,1107,2798,2793,2803,0,0,0,0,0,0,28.83,26.87,28.83
$GC,873,-0.82,-146.6,2557,1107,2793,2803,131.4,-13.6,142,881,0.00,2.10,0.00,0.000,1030,0.000,0.046,2548,2492,2798,2793,2803,0,0,0,0,0,0,28.83,26.91,28.83
$GC,1029,-0.82,-146.6,2548,2492,2793,2803,152.7,-14.0,167,1036,0.00,1.98,0.00,0.000,260,0.000,0.057,2539,3802,2798,2793,2804,0,0,0,0,0,0,28.83,26.93,28.83
$GC,1078,-0.82,-146.6,2539,3802,2793,2804,160.4,-15.4,175,1085,0.00,1.92,0.00,0.000,1030,0.000,0.038,2539,2491,2798,2793,2804,0,0,0,0,0,0,28.83,26.99,28.83
$GC,1222,-0.82,-146.6,2539,2490,2793,2804,180.7,-14.0,200,1230,0.00,2.08,0.00,0.000,516,0.000,0.048,2539,1103,2798,2793,2804,0,0,0,0,0,0,28.83,26.96,28.83
$GC,1247,-0.82,-146.6,2539,1103,2793,2803,184.4,-14.3,204,1256,0.00,2.10,0.00,0.000,1030,0.000,0.046,2530,2492,2798,2793,2803,0,0,0,0,0,0,28.83,26.97,28.83
$STATE,1283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1283,begin apogee
$GC,1286,-0.23,0.0,2530,2493,2793,2803,189.6,-14.8,210,1424,0.60,0.00,125.88,1.081,10246,0.138,0.000,2734,2492,2204,2217,2191,0,0,0,0,1,0,26.89,28.83,24.17
$STATE,1425,end apogee,CONTROL_FINISHED_OK
$STATE,1425,begin climb
$GC,1426,0.82,146.6,2733,2492,2223,2192,196.0,0.0,231,1557,1.02,2.28,118.85,0.621,10756,0.088,0.050,3093,1117,1591,1617,1566,0,0,0,0,0,0,25.08,25.20,24.77
$GC,1708,0.82,146.6,3093,1117,1612,1560,179.6,8.7,277,1714,0.00,2.12,0.00,0.000,1030,0.000,0.045,3093,2498,1586,1611,1561,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1851,0.82,146.6,3093,2498,1611,1558,166.4,8.8,302,1859,0.00,2.17,0.00,0.000,516,0.000,0.050,3103,1115,1585,1611,1559,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1933,0.82,146.6,3103,1115,1611,1558,159.0,9.0,316,1942,0.00,2.12,0.00,0.000,1030,0.000,0.045,3103,2492,1584,1611,1558,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2081,0.82,146.6,3103,2493,1610,1558,144.5,10.6,341,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2493,1584,1610,1558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2223,0.82,146.6,3103,2493,1610,1558,130.4,11.3,366,2231,0.00,2.15,0.00,0.000,516,0.000,0.050,3113,1110,1584,1610,1558,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2453,0.82,146.6,3113,1110,1610,1558,107.4,9.5,406,2462,0.08,2.12,0.00,0.000,5126,0.146,0.046,3087,2502,1584,1610,1558,0,0,0,0,0,0,26.65,26.75,28.83
$GC,2601,0.82,146.6,3087,2502,1610,1558,94.2,8.8,431,2608,0.00,2.10,0.00,0.000,516,0.000,0.050,3096,1111,1584,1610,1558,0,0,0,0,0,0,28.83,26.78,28.83
$GC,2661,0.82,146.6,3097,1111,1610,1558,88.9,8.3,441,2668,0.00,2.08,0.00,0.000,1030,0.000,0.045,3097,2507,1584,1610,1558,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2804,0.82,146.6,3097,2507,1610,1559,75.7,8.9,466,2812,0.00,2.03,0.00,0.000,260,0.000,0.058,3097,3807,1584,1610,1558,0,0,0,0,0,0,28.83,26.84,28.83
$GC,3021,0.82,146.6,3097,3807,1610,1558,52.8,10.8,503,3027,0.00,1.92,0.00,0.000,1030,0.000,0.039,3107,2505,1584,1610,1558,0,0,0,0,0,0,28.83,26.95,28.83
$GC,3167,0.84,162.2,3106,2504,1609,1558,39.3,7.4,528,3177,0.00,2.08,4.62,0.194,8452,0.000,0.057,3107,3810,1538,1567,1510,0,0,0,0,0,0,28.83,26.91,26.74
$GC,3248,0.84,162.2,3107,3810,1586,1510,31.0,10.2,541,3257,0.00,1.98,1.23,0.164,9222,0.000,0.040,3117,2492,1539,1574,1505,0,0,0,0,0,0,28.83,26.98,26.82
$GC,3327,0.84,162.2,3117,2492,1592,1506,24.5,8.0,554,3336,0.00,2.10,1.20,0.193,8708,0.000,0.050,3127,1107,1540,1578,1503,0,0,0,0,0,0,28.83,26.91,26.84
$GC,3378,0.84,162.2,3126,1107,1592,1503,20.3,8.1,562,3388,0.10,2.10,1.15,0.167,13318,0.144,0.046,3092,2495,1537,1572,1503,0,0,0,0,0,0,26.85,26.95,26.84
$GC,3458,0.84,162.2,3092,2495,1592,1503,13.9,8.3,575,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2495,1547,1592,1503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3537,0.85,167.5,3092,2495,1593,1503,7.5,7.8,588,3545,0.00,0.00,2.92,0.161,8198,0.000,0.000,3092,2495,1513,1546,1481,0,0,0,0,0,0,28.83,28.83,26.86
$STATE,3609,end climb,SURFACE_DEPTH_REACHED
$STATE,3609,begin surface coast
$FINISH,0.5,1.022019
$STATE,3641,end surface coast,CONTROL_FINISHED_OK
$STATE,3641,begin surface
$SM_CCo,3654,26.02,0.131,0,0,1218,240.15
$SM_GC,5.87,7.45,0.00,26.02,0.050,0.000,0.131,181,2495,1218,-8.16,-0.14,240.15,0,0,0,0,0,0,26.99,28.83,26.79
$IRIDIUM_FIX,4726.11,-12227.78,050314,151511
$TT8_MAMPS,0.030709,0.030709
$HUMID,39.60
$INTERNAL_PRESSURE,8.90313
$TCM_TEMP,9.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,145.0,63.1
$24V_AH,24.2,1.548
$10V_AH,10.3,1.527
$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,18.550,53.575,255.850,26.025,0.000,25.121,43.438,220.946,3.500,0.000,6.852,1381.811,383.575,328.185,1911.273,58.660,33.199,921.235,0.000,1608.448,0.000,25.651,0.000
$DEVICE_MAMPS,242.505,71.145,1080.945,130.815,0.000,11.480,160.000,223.000,420.000,0.000,29.960,26.200,2.190,26.200,53.160,75.630,77.880,12.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,407.908,478.486,778.102,1192.183,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,10.490,44.190,45.690,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322388
$DATA_FILE_SIZE,50452,605
$CAP_FILE_SIZE,69665,0
$CFSIZE,1024393216,1021607936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,050314,162525,4742.604,-12225.381,5,1.1,5,16.3