version: 66.14
glider: 219
mission: 15
dive: 5
start: 4 1 121 16 39 39
data:
$ID,219
$MISSION,15
$DIVE,5
$N_DIVES,5
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,1000
$D_NO_BLEED,200
$D_BOOST,0
$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,120
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,55689
$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,0
$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,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,1
$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,1760
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,40
$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,2950
$C_ROLL_CLIMB,3100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,31
$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,0.0013
$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,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,1.2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-147.66289
$PRESSURE_SLOPE,0.00010781933
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$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,0.0044368538
$SEABIRD_T_H,0.0006575333
$SEABIRD_T_I,2.7761149e-05
$SEABIRD_T_J,3.5137082e-06
$SEABIRD_C_G,-10.037535
$SEABIRD_C_H,1.1079766
$SEABIRD_C_I,-0.0022889124
$SEABIRD_C_J,0.00024077215
$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,8.0
$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
$GPS1,010421,163036,4900.1284,-1625.8649,9,1.1,13,-5.5,0.5,110.7,8,10.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-9.6
$GPS2,010421,163843,4900.0767,-1625.9020,5,1.0,7,-5.5,0.5,110.3,8,10.0
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,HEADING
$TGT_LATLONG,4910.876,-1625.902
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,10.2,20000,-17.6,-10.000,-21.24,2209
$D_GRID,1000
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,22,-0.63,-146.0,240,2987,468,608,0.0,0.0,0,179,0.00,0.00,-151.88,0.004,16390,0.000,0.000,245,2986,3548,3527,3570,0,0,0,0,0,0,14.88,13.69,14.90
$GC,183,-0.63,-146.0,245,2986,3528,3571,2.5,-2.7,26,196,5.95,1.50,0.00,0.000,2340,0.385,0.077,1547,3828,3549,3525,3574,0,0,0,0,0,0,14.44,14.69,14.63
$GC,271,-0.55,-146.0,1547,3828,3522,3577,15.2,-12.2,42,278,0.08,1.45,0.00,0.000,3206,0.243,0.042,1577,2942,3549,3522,3577,0,0,0,0,0,0,14.58,14.75,14.74
$GC,464,-0.55,-146.0,1574,2941,3521,3579,35.6,-10.6,79,471,0.00,2.33,0.00,0.000,516,0.000,0.043,1575,1569,3550,3520,3580,0,0,0,0,0,0,14.89,14.73,14.92
$GC,536,-0.58,-146.0,1575,1562,3520,3580,43.3,-9.9,92,542,0.00,2.55,0.00,0.000,1158,0.000,0.098,1566,2943,3549,3518,3581,0,0,0,0,0,0,14.74,14.64,14.76
$GC,728,-0.56,-146.0,1567,2943,3519,3580,62.6,-9.9,129,735,0.00,0.00,0.00,0.000,134,0.000,0.000,1567,2943,3550,3519,3581,0,0,0,0,0,0,14.90,14.96,14.95
$GC,921,-0.54,-146.0,1567,2945,3519,3580,82.8,-10.5,166,927,0.00,2.38,0.00,0.000,644,0.000,0.051,1567,1560,3550,3519,3581,0,0,0,0,0,0,14.90,14.73,14.91
$GC,992,-0.56,-146.0,1566,1560,3519,3581,90.4,-9.6,179,999,0.00,2.55,0.00,0.000,1158,0.000,0.090,1557,2957,3547,3518,3577,0,0,0,0,0,0,14.83,14.70,14.83
$GC,1191,-0.53,-146.0,1557,2957,3518,3581,113.3,-11.7,206,1197,0.12,0.00,0.00,0.000,2182,0.278,0.000,1589,2957,3549,3518,3581,0,0,0,0,0,0,14.61,14.78,14.72
$GC,1498,-0.55,-146.0,1589,2958,3518,3581,142.5,-9.3,237,1505,0.00,2.38,0.00,0.000,644,0.000,0.048,1590,1565,3549,3518,3581,0,0,0,0,0,0,14.94,14.76,14.97
$GC,1608,-0.60,-146.0,1589,1565,3517,3581,152.2,-8.5,258,1614,0.00,2.53,0.00,0.000,1158,0.000,0.090,1582,2949,3549,3518,3581,0,0,0,0,0,0,14.83,14.72,14.84
$GC,1914,-0.60,-146.0,1582,2950,3517,3581,182.1,-9.9,289,1920,0.00,2.35,0.00,0.000,516,0.000,0.042,1582,1560,3549,3517,3582,0,0,0,0,0,0,14.94,14.76,14.97
$GC,1973,-0.64,-146.0,1578,1558,3517,3582,187.8,-9.1,300,1980,0.00,2.53,0.00,0.000,1158,0.000,0.090,1572,2949,3549,3517,3581,0,0,0,0,0,0,14.80,14.71,14.83
$GC,2279,-0.64,-146.0,1572,2950,3517,3581,216.9,-9.3,331,2284,0.00,2.33,0.00,0.000,516,0.000,0.040,1572,1563,3548,3516,3581,0,0,0,0,0,0,14.95,14.80,14.98
$GC,2347,-0.67,-146.0,1571,1562,3517,3581,223.0,-8.4,344,2354,0.00,2.53,0.00,0.000,1158,0.000,0.088,1563,2954,3549,3516,3582,0,0,0,0,0,0,14.81,14.71,14.83
$GC,2653,-0.67,-146.0,1563,2954,3514,3589,253.1,-9.8,375,2659,0.00,2.33,0.00,0.000,516,0.000,0.041,1563,1560,3548,3516,3581,0,0,0,0,0,0,14.97,14.76,15.00
$GC,2718,-0.69,-146.0,1563,1560,3510,3588,259.3,-9.3,387,2724,0.00,2.50,0.00,0.000,1158,0.000,0.088,1554,2949,3549,3516,3582,0,0,0,0,0,0,14.85,14.75,14.88
$GC,3033,-0.66,-146.0,1553,2949,3516,3581,292.8,-10.8,419,3038,0.00,2.33,0.00,0.000,644,0.000,0.040,1554,1559,3548,3516,3581,0,0,0,0,0,0,14.95,14.79,15.00
$GC,3087,-0.66,-146.0,1553,1556,3516,3581,298.4,-9.8,429,3093,0.00,2.53,0.00,0.000,1030,0.000,0.088,1543,2957,3548,3516,3581,0,0,0,0,0,0,14.85,14.75,14.89
$GC,3403,-0.62,-146.0,1543,2957,3514,3581,334.5,-11.8,461,3409,0.00,2.33,0.00,0.000,644,0.000,0.039,1543,1568,3548,3516,3581,0,0,0,0,0,0,14.97,14.81,15.00
$GC,3452,-0.62,-146.0,1546,1567,3516,3581,340.2,-10.3,470,3459,0.00,2.53,0.00,0.000,1030,0.000,0.089,1533,2958,3548,3516,3581,0,0,0,0,0,0,14.84,14.74,14.87
$STATE,3614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3615,begin apogee
$GC,3623,-0.12,0.0,1532,3114,3515,3581,360.6,-12.6,487,3740,0.65,0.00,113.12,1.512,10246,0.233,0.000,1712,3115,2967,2937,2998,0,0,0,0,0,0,14.62,14.19,13.62
$STATE,3744,end apogee,CONTROL_FINISHED_OK
$STATE,3744,begin climb
$GC,3750,0.63,146.0,1712,3110,2934,2998,365.6,0.0,499,3875,0.80,1.38,115.22,1.457,10500,0.151,0.100,1953,3823,2384,2344,2424,0,0,0,0,0,0,14.20,14.08,13.53
$GC,3919,0.56,146.0,1954,3820,2339,2421,353.4,11.7,527,3924,0.00,1.20,0.00,0.000,1158,0.000,0.047,1959,3117,2380,2339,2421,0,0,0,0,0,0,14.37,14.35,14.38
$GC,4234,0.53,146.0,1959,3114,2334,2418,318.7,10.9,559,4239,0.00,2.42,0.00,0.000,644,0.000,0.042,1968,1693,2380,2335,2426,0,0,0,0,0,0,14.79,14.64,14.82
$GC,4424,0.58,201.6,1963,1694,2334,2416,300.2,7.4,596,4474,0.00,2.58,42.38,1.414,9382,0.000,0.096,1965,3094,2170,2138,2202,0,0,0,0,0,0,14.73,14.62,13.87
$GC,4773,0.55,201.6,1968,3094,2123,2196,258.5,11.9,635,4780,0.12,2.45,0.00,0.000,4740,0.236,0.054,1949,1702,2158,2123,2193,0,0,0,0,0,0,14.57,14.65,14.68
$GC,4919,0.56,201.6,1948,1701,2122,2196,244.3,8.6,663,4925,0.00,2.58,0.00,0.000,1158,0.000,0.088,1949,3108,2159,2123,2195,0,0,0,0,0,0,14.76,14.66,14.78
$GC,5234,0.56,201.6,1948,3108,2122,2195,212.7,9.9,695,5239,0.00,2.40,0.00,0.000,516,0.000,0.044,1957,1689,2158,2122,2195,0,0,0,0,0,0,14.91,14.75,14.94
$GC,5381,0.56,201.6,1956,1688,2122,2195,198.2,9.6,723,5387,0.00,2.60,0.00,0.000,1030,0.000,0.098,1957,3107,2158,2122,2194,0,0,0,0,0,0,14.81,14.71,14.83
$GC,5695,0.56,201.6,1957,3107,2121,2194,163.3,11.3,755,5701,0.00,2.40,0.00,0.000,516,0.000,0.047,1966,1701,2158,2122,2194,0,0,0,0,0,0,14.94,14.71,14.96
$GC,5836,0.56,201.6,1966,1701,2121,2194,148.5,10.4,782,5843,0.00,2.58,0.00,0.000,1030,0.000,0.094,1965,3106,2157,2121,2194,0,0,0,0,0,0,14.80,14.69,14.82
$GC,6142,0.54,201.6,1966,3107,2121,2194,112.1,11.5,813,6149,0.12,2.40,0.00,0.000,4740,0.233,0.044,1946,1694,2158,2121,2195,0,0,0,0,0,0,14.66,14.77,14.78
$GC,6280,0.57,201.6,1946,1693,2123,2194,98.9,8.4,839,6287,0.00,2.58,0.00,0.000,1158,0.000,0.093,1946,3105,2158,2122,2194,0,0,0,0,0,0,14.81,14.71,14.84
$GC,6473,0.57,201.6,1946,3106,2121,2195,78.9,10.5,876,6480,0.00,2.40,0.00,0.000,516,0.000,0.045,1954,1696,2154,2114,2194,0,0,0,0,0,0,14.92,14.76,14.95
$GC,6570,0.59,201.6,1954,1695,2121,2194,69.6,9.5,894,6577,0.00,2.58,0.00,0.000,1158,0.000,0.092,1954,3110,2157,2121,2193,0,0,0,0,0,0,14.81,14.71,14.84
$GC,6762,0.59,201.6,1954,3110,2121,2194,48.5,11.1,931,6768,0.00,2.40,0.00,0.000,516,0.000,0.044,1959,1696,2157,2121,2193,0,0,0,0,0,0,14.90,14.76,14.95
$GC,6843,0.59,201.6,1963,1695,2121,2192,40.1,10.6,946,6850,0.00,2.58,0.00,0.000,1030,0.000,0.093,1963,3108,2154,2120,2188,0,0,0,0,0,0,14.79,14.69,14.82
$GC,7036,0.57,201.6,1963,3108,2119,2193,17.9,12.5,983,7042,0.00,2.40,0.00,0.000,644,0.000,0.047,1972,1699,2154,2116,2193,0,0,0,0,0,0,14.92,14.72,14.96
$GC,7117,0.57,201.6,1972,1699,2121,2193,8.3,10.5,998,7124,0.12,2.55,0.00,0.000,5126,0.210,0.090,1941,3102,2156,2120,2193,0,0,0,0,0,0,14.66,14.69,14.84
$STATE,7170,end climb,SURFACE_DEPTH_REACHED
$STATE,7170,begin surface coast
$FINISH,0.2,1.027044
$STATE,7186,end surface coast,CONTROL_FINISHED_OK
$STATE,7189,begin surface
$SM_CCo,7210,215.07,1.081,0,0,976,500.14
$SM_GC,0.49,5.00,0.25,215.07,0.081,0.083,1.081,227,2963,976,-4.70,1.39,500.14,0,0,0,0,0,0,14.78,14.78,13.74
$IRIDIUM_FIX,4859.33,-1627.82,010421,162642
$TT8_MAMPS,0.023219,1.01564
$HUMID,40.82
$INTERNAL_PRESSURE,8.34408
$TCM_TEMP,16.90
$XPDR_PINGS,129
$SC_FREEKB,3907552
$ES_FREE,15873703936.000000
$ES_POWER,63.340000
$ES_POWER1,0.000000
$24V_AH,13.53,19.199
$10V_AH,13.70,0.000
$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,12.975,84.875,270.725,215.075,0.000,0.000,0.000,0.000,32.250,0.000,18.602,2361.017,2618.509,675.909,1669.959,211.081,0.000,1471.868,0.000,1572.748,0.000,0.545,0.000
$DEVICE_MAMPS,384.795,120.105,1511.640,1080.945,0.000,0.000,0.000,0.000,420.000,0.000,8.990,12.110,2.190,11.360,30.090,45.070,0.000,15.600,0.000,2.250,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,echo,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7175.000,7178.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.816,10.000,0.000,0.000
$MEM,292688
$DATA_FILE_SIZE,36664,1011
$CAP_FILE_SIZE,116915,0
$CFSIZE,1024409600,1022083072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.140,188.80,1
$GPS,010421,184518,4900.159,-1625.724,21,4.4,61,-5.5,0.6,0.0,4,7.3