version: 66.13
glider: 219
mission: 5
dive: 24
start: 8 26 116 0 1 34
data:
$ID,219
$MISSION,5
$DIVE,24
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,50
$T_MISSION,65
$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
$PITCH_ADJ_DBAND,1
$ROLL_MIN,251
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$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,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,3
$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
$GPS1,250816,235416,1002.6980,-12505.0713,2,0.9,4,9.0,0.4,305.6,9,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-65.9
$GPS2,260816,000115,1002.6998,-12505.1045,2,0.9,3,9.0,0.6,274.6,9,8.5
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,C
$TGT_LATLONG,1030.000,-12500.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,8.8,51407,-17.6,-10.000,-21.24,2209
$D_GRID,150
$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,14,-1.06,-146.0,201,2669,585,512,0.0,0.0,0,92,0.00,0.00,-74.00,0.000,16386,0.000,0.000,194,2669,2837,2863,2811,0,0,0,0,0,0,15.03,28.83,15.04
$GC,93,-1.06,-146.0,194,2670,2865,2813,3.7,-3.5,5,122,10.20,2.17,-13.07,0.000,18724,0.372,2.146,2526,3808,3550,3588,3513,0,0,0,0,0,0,14.67,14.02,14.90
$GC,305,-1.06,-146.0,2528,3809,3588,3510,60.9,-20.1,48,311,0.00,1.88,0.00,0.000,1030,0.000,0.042,2526,2649,3548,3586,3510,0,0,0,0,0,0,14.97,14.95,14.99
$GC,611,-1.06,-146.0,2525,2645,3595,3515,100.8,-10.9,69,617,0.00,2.08,0.00,0.000,260,0.000,0.099,2518,3810,3554,3593,3515,0,0,0,0,0,0,15.18,14.94,15.19
$GC,841,-1.06,-146.0,2518,3810,3594,3517,124.4,-8.7,115,846,0.00,1.88,0.00,0.000,1062,0.000,0.044,2517,2648,3554,3593,3516,0,0,0,0,0,0,15.06,15.03,15.11
$STATE,1151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1151,begin apogee
$GC,1154,-0.25,0.0,2518,2439,3594,3516,152.4,-9.2,127,1311,0.93,0.00,153.18,0.894,10246,0.198,0.000,2797,2438,2969,3034,2904,0,0,0,0,0,0,14.92,14.59,14.21
$STATE,1314,end apogee,CONTROL_FINISHED_OK
$STATE,1314,begin climb
$GC,1315,1.06,146.0,2797,2439,3030,2897,154.6,0.0,132,1442,1.23,2.38,108.82,0.909,11012,0.099,0.054,3219,1064,2370,2439,2302,0,0,0,0,0,0,14.59,14.50,14.13
$GC,1665,1.06,146.0,3219,1064,2430,2288,104.6,14.1,205,1671,0.00,2.38,0.00,0.000,1030,0.000,0.063,3219,2452,2358,2430,2287,0,0,0,0,0,0,14.85,14.81,14.87
$GC,1977,1.24,287.6,3220,2456,2428,2280,74.4,3.4,228,2052,0.08,2.42,67.40,0.359,11044,0.157,0.099,3282,3811,1827,1899,1756,0,0,0,0,0,0,14.95,14.76,14.63
$GC,2156,1.24,287.6,3283,3812,1901,1775,58.2,12.3,262,2163,0.00,2.17,1.70,0.223,9222,0.000,0.044,3293,2453,1825,1898,1753,0,0,0,0,0,0,15.00,14.90,14.81
$GC,2468,1.41,428.5,3292,2457,1903,1772,34.6,3.4,284,2548,0.08,2.38,70.82,0.256,10788,0.164,0.056,3369,1054,1266,1336,1197,0,0,0,0,0,0,14.95,14.86,14.73
$GC,2667,1.41,428.5,3370,1054,1344,1210,9.3,17.4,324,2674,0.10,2.38,1.85,0.179,13318,0.252,0.063,3342,2452,1260,1331,1189,0,0,0,0,0,0,14.78,14.90,14.83
$STATE,2716,end climb,SURFACE_DEPTH_REACHED
$STATE,2716,begin surface coast
$FINISH,0.4,0.000000
$STATE,2731,end surface coast,CONTROL_FINISHED_OK
$STATE,2732,begin surface
$SM_CCo,2755,85.60,0.161,0,0,537,610.16
$SM_GC,1.30,8.95,0.32,85.60,0.072,0.110,0.161,206,2645,537,-8.32,-0.82,610.16,0,0,0,0,0,0,14.94,14.92,14.82
$IRIDIUM_FIX,956.07,-12459.16,250816,230251
$TT8_MAMPS,0.041944,0.233688
$HUMID,50.43
$INTERNAL_PRESSURE,8.14876
$TCM_TEMP,21.60
$XPDR_PINGS,7
$SC_FREEKB,3901696
$PM_FREEKB,62057600
$TM_FREEKB,7684544
$24V_AH,14.02,7.077
$10V_AH,13.54,0.000
$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,21.550,22.700,403.775,85.600,0.000,0.000,0.000,268.900,1.750,0.000,4.986,0.000,1631.538,506.296,1087.255,41.787,0.000,1116.432,0.000,573.571,0.000,0.551,0.000
$DEVICE_MAMPS,371.790,2145.825,908.820,160.650,0.000,0.000,0.000,184.365,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2748.000,2724.000,2760.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.255,3.163,12.006,0.000
$MEM,334564
$DATA_FILE_SIZE,10151,329
$CAP_FILE_SIZE,45697,0
$CFSIZE,1024409600,1015939072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.139,181.57,1
$GPS,260816,004929,1002.485,-12505.110,1,1.0,3,9.0,0.9,342.8,8,9.1