version: 66.14
glider: 219
mission: 15
dive: 160
start: 4 30 121 20 4 28
data:
$ID,219
$MISSION,15
$DIVE,160
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,100
$D_TGT,270
$D_ABORT,1010
$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,90
$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,250
$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,0.00316228
$HD_B,0.011885
$HD_C,5.7000002e-06
$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,375
$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,43
$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,2825
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,170
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,21
$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,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$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,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$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,1
$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,301.0
$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
$GPS1,300421,195933,4830.6406,-1531.9155,1,0.8,3,-5.0,0.3,207.1,12,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-45.2
$GPS2,300421,200340,4830.6538,-1531.9220,3,1.2,20,-5.0,0.4,340.5,10,5.9
$SPEED_LIMITS,0.173,0.303
$TGT_NAME,A2_NE
$TGT_LATLONG,4934.500,-1418.400
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,63.6,147572,-13.9,-10.000,-18.24,3719
$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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,12,-0.64,-243.3,242,2813,1468,1467,0.0,0.0,0,133,0.00,0.00,-114.20,0.004,16390,0.000,0.000,243,2814,3938,3920,3957,0,0,0,0,0,0,14.78,13.76,14.82
$GC,137,-0.64,-243.3,243,2814,3920,3954,6.9,-20.4,20,150,5.93,0.00,0.00,0.000,2054,0.369,0.000,1544,2814,3939,3919,3959,0,0,0,0,0,0,14.29,14.60,14.50
$GC,338,-0.54,-243.3,1543,2814,3912,3967,49.3,-14.7,58,344,0.12,0.00,0.00,0.000,2182,0.262,0.000,1578,2814,3939,3912,3967,0,0,0,0,0,0,14.45,14.64,14.56
$GC,532,-0.50,-243.3,1578,2814,3911,3967,73.3,-14.1,95,538,0.00,0.00,0.00,0.000,134,0.000,0.000,1578,2816,3939,3911,3967,0,0,0,0,0,0,14.90,14.92,14.92
$GC,723,-0.47,-243.3,1578,2814,3911,3967,95.1,-11.6,132,730,0.12,0.00,0.00,0.000,2182,0.236,0.000,1609,2814,3938,3910,3967,0,0,0,0,0,0,14.52,14.70,14.66
$GC,917,-0.49,-243.3,1608,2814,3910,3967,112.4,-8.6,155,923,0.00,0.00,0.00,0.000,134,0.000,0.000,1609,2814,3939,3911,3967,0,0,0,0,0,0,14.90,14.93,14.93
$GC,1105,-0.51,-243.3,1608,2817,3911,3968,128.7,-8.6,174,1111,0.00,0.00,0.00,0.000,134,0.000,0.000,1609,2814,3939,3911,3968,0,0,0,0,0,0,14.90,14.93,14.92
$GC,1294,-0.54,-243.3,1608,2814,3910,3968,144.8,-8.3,193,1302,0.00,0.00,0.00,0.000,134,0.000,0.000,1609,2814,3938,3910,3967,0,0,0,0,0,0,14.90,14.93,14.93
$GC,1484,-0.57,-243.3,1608,2814,3911,3967,160.3,-8.3,212,1491,0.00,0.00,0.00,0.000,134,0.000,0.000,1609,2815,3943,3919,3968,0,0,0,0,0,0,14.91,14.94,14.93
$GC,1674,-0.60,-243.3,1608,2814,3910,3967,176.4,-8.4,231,1682,0.15,0.00,0.00,0.000,4230,0.113,0.000,1543,2814,3940,3912,3968,0,0,0,0,0,0,14.71,14.80,14.77
$GC,1865,-0.51,-243.3,1542,2814,3910,3967,202.5,-14.4,250,1872,0.20,0.00,0.00,0.000,2182,0.230,0.000,1591,2814,3939,3910,3968,0,0,0,0,0,0,14.48,14.74,14.68
$GC,2054,-0.51,-243.3,1591,2814,3910,3967,222.3,-10.1,269,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2814,3938,3909,3968,0,0,0,0,0,0,14.92,14.95,14.95
$GC,2244,-0.51,-243.3,1590,2814,3909,3968,241.6,-10.2,288,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2814,3938,3909,3968,0,0,0,0,0,0,14.92,14.95,14.94
$GC,2434,-0.51,-243.3,1591,2814,3910,3968,260.7,-9.9,307,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2814,3944,3920,3968,0,0,0,0,0,0,14.92,14.95,14.95
$STATE,2530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2530,begin apogee
$GC,2538,-0.12,0.0,1591,2814,3909,3966,270.3,-9.5,317,2725,0.40,0.00,178.45,1.262,10246,0.181,0.000,1715,2813,2967,2935,3000,0,0,0,0,0,0,14.50,14.19,13.66
$STATE,2726,end apogee,CONTROL_FINISHED_OK
$STATE,2726,begin climb
$GC,2730,0.64,243.3,1712,2814,2933,3000,277.5,0.0,336,2922,0.80,0.00,184.25,1.207,10502,0.137,0.000,1956,2813,1998,1961,2036,0,0,0,0,0,0,14.17,14.02,13.64
$GC,3104,0.58,243.3,1956,2813,1955,2030,243.5,11.7,375,3112,0.00,0.00,0.00,0.000,134,0.000,0.000,1956,2813,1993,1956,2031,0,0,0,0,0,0,14.66,14.69,14.69
$GC,3294,0.52,243.3,1956,2813,1954,2030,221.6,11.8,394,3301,0.00,0.00,0.00,0.000,134,0.000,0.000,1956,2813,1992,1954,2030,0,0,0,0,0,0,14.78,14.81,14.81
$GC,3484,0.47,243.3,1955,2813,1954,2031,199.1,11.8,413,3492,0.17,0.00,0.00,0.000,4230,0.207,0.000,1912,2813,1991,1953,2030,0,0,0,0,0,0,14.50,14.71,14.66
$GC,3674,0.47,243.3,1912,2819,1952,2031,182.1,8.6,432,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,2812,1991,1952,2030,0,0,0,0,0,0,14.86,14.89,14.88
$GC,3864,0.48,243.3,1911,2813,1952,2030,165.8,8.6,451,3872,0.00,0.00,0.00,0.000,134,0.000,0.000,1913,2813,1991,1952,2030,0,0,0,0,0,0,14.86,14.90,14.90
$GC,4054,0.50,243.3,1912,2813,1951,2030,149.3,8.6,470,4061,0.00,0.00,0.00,0.000,134,0.000,0.000,1912,2814,1990,1951,2030,0,0,0,0,0,0,14.88,14.92,14.88
$GC,4244,0.52,243.3,1912,2813,1953,2030,133.4,8.2,489,4251,0.00,0.00,0.00,0.000,134,0.000,0.000,1913,2813,1990,1951,2030,0,0,0,0,0,0,14.89,14.92,14.91
$GC,4435,0.65,333.5,1913,2815,1951,2030,118.6,7.5,508,4507,0.17,0.00,68.32,1.073,10406,0.099,0.000,1996,2813,1637,1618,1657,0,0,0,0,0,0,14.69,14.44,13.95
$GC,4687,0.57,333.5,1996,2813,1607,1657,84.2,14.4,543,4694,0.17,0.00,0.00,0.000,4230,0.209,0.000,1952,2813,1635,1613,1658,0,0,0,0,0,0,14.31,14.47,14.41
$GC,4881,0.57,333.5,1947,2813,1610,1658,64.3,10.5,580,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2813,1633,1610,1657,0,0,0,0,0,0,14.81,14.82,14.83
$GC,5074,0.57,333.5,1947,2813,1610,1657,45.9,8.8,617,5080,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2813,1633,1610,1656,0,0,0,0,0,0,14.85,14.88,14.88
$GC,5267,0.57,333.5,1947,2813,1609,1657,27.3,12.0,654,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2813,1632,1608,1657,0,0,0,0,0,0,14.85,14.88,14.88
$GC,5460,0.57,333.5,1947,2813,1608,1657,9.1,9.4,691,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2813,1633,1609,1657,0,0,0,0,0,0,14.85,14.88,14.88
$STATE,5528,end climb,SURFACE_DEPTH_REACHED
$STATE,5528,begin surface coast
$FINISH,1.3,1.025897
$STATE,5544,end surface coast,CONTROL_FINISHED_OK
$STATE,5544,begin surface
$SM_CCo,5562,30.60,0.968,0,0,1474,375.04
$SM_GC,0.88,4.93,0.00,30.60,0.055,0.000,0.968,221,2813,1474,-4.69,-0.34,375.04,0,0,0,0,0,0,14.71,14.94,14.12
$IRIDIUM_FIX,4827.94,-1530.40,300421,195718
$TT8_MAMPS,0.02247,1.04111
$HUMID,43.46
$INTERNAL_PRESSURE,8.43197
$TCM_TEMP,17.30
$XPDR_PINGS,103
$SC_FREEKB,3812288
$24V_AH,13.64,132.106
$10V_AH,13.58,0.000
$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,13.175,0.000,431.025,30.600,0.000,0.000,0.000,0.000,25.750,0.000,32.352,1659.674,2110.307,613.099,1176.353,134.045,0.000,1183.658,0.000,1111.090,0.000,0.546,0.000
$DEVICE_MAMPS,369.495,0.000,1262.250,967.725,0.000,0.000,0.000,0.000,420.000,0.000,8.990,12.110,2.190,11.360,30.090,45.070,0.000,15.600,0.000,2.250,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,echo,NCP,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5535.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.742,0.000,0.000,0.000
$MEM,291588
$DATA_FILE_SIZE,23406,707
$CAP_FILE_SIZE,78697,0
$CFSIZE,1024409600,989757440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.190,42.05,1
$GPS,300421,213841,4830.984,-1530.947,22,1.9,24,-5.0,0.5,290.2,6,9.8