version: 66.13
glider: 219
mission: 3
dive: 4
start: 7 21 116 20 43 21
data:
$ID,219
$MISSION,3
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$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,-6
$USE_ICE,0
$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,1.023
$MASS,54175
$MASS_COMP,0
$NAV_MODE,0
$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,708.93439
$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,2880
$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,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,251
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2038
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2900
$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,4
$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,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-149.32829
$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,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,210716,203434,4743.5957,-12224.3955,0,1.5,3,15.9,0.4,244.5,7,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-62.5
$GPS2,210716,204302,4743.5278,-12224.4131,3,1.1,22,15.9,0.4,213.4,8,3.2
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,250.1,733,-18.8,-10.000,-22.26,1964
$D_GRID,174
$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,15,begin dive
$GC,16,-1.10,-130.2,210,2157,555,459,0.0,0.0,0,147,0.00,0.00,-123.65,0.000,16390,0.000,0.000,210,2157,3418,3436,3400,0,0,0,0,0,0,14.76,13.93,14.78
$GC,148,-1.12,-146.6,211,2157,3437,3400,3.4,-8.7,22,169,10.20,2.78,-1.42,0.000,18724,0.375,2.183,2505,3557,3486,3512,3460,0,0,0,0,0,0,14.38,13.70,14.60
$GC,344,-1.01,-146.6,2504,3556,3514,3460,40.9,-17.9,60,352,0.17,2.38,0.00,0.000,3206,0.259,0.060,2553,2141,3487,3513,3461,0,0,0,0,0,0,14.50,14.62,14.66
$GC,412,-0.95,-146.6,2553,2139,3512,3458,51.4,-14.9,73,420,0.00,2.60,0.00,0.000,388,0.000,0.122,2542,3558,3485,3512,3459,0,0,0,0,0,0,14.83,14.57,14.83
$GC,454,-0.88,-146.6,2542,3559,3514,3460,58.3,-16.1,81,463,0.17,2.38,0.00,0.000,3206,0.250,0.062,2590,2141,3485,3512,3459,0,0,0,0,0,0,14.53,14.67,14.69
$GC,582,-0.88,-146.6,2590,2139,3514,3457,75.4,-13.1,106,590,0.00,2.60,0.00,0.000,260,0.000,0.122,2580,3560,3486,3512,3460,0,0,0,0,0,0,14.86,14.59,14.87
$GC,650,-0.86,-146.6,2581,3558,3512,3460,84.0,-12.5,119,658,0.00,2.38,0.00,0.000,1158,0.000,0.062,2576,2155,3486,3513,3459,0,0,0,0,0,0,14.76,14.68,14.78
$GC,777,-0.86,-146.6,2579,2150,3512,3460,100.7,-14.5,144,785,0.00,2.60,0.00,0.000,260,0.000,0.123,2570,3563,3485,3512,3459,0,0,0,0,0,0,14.89,14.61,14.89
$GC,810,-0.83,-146.6,2569,3566,3514,3460,105.3,-14.0,150,818,0.15,2.40,0.00,0.000,3206,0.259,0.062,2611,2143,3486,3512,3460,0,0,0,0,0,0,14.57,14.69,14.73
$GC,938,-0.85,-146.6,2609,2142,3514,3460,119.2,-9.9,175,946,0.00,2.60,0.00,0.000,420,0.000,0.122,2600,3556,3486,3512,3460,0,0,0,0,0,0,14.90,14.63,14.90
$GC,1160,-0.85,-146.6,2602,3556,3512,3460,145.6,-12.7,219,1168,0.00,2.35,0.00,0.000,1030,0.000,0.060,2601,2154,3485,3512,3459,0,0,0,0,0,0,14.79,14.71,14.80
$STATE,1197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1197,begin apogee
$GC,1200,-0.25,0.0,2602,2030,3512,3459,150.3,-12.3,226,1325,0.62,0.00,111.72,1.857,10246,0.200,0.000,2791,2029,2904,2960,2848,0,0,0,0,1,0,14.61,13.93,13.35
$STATE,1329,end apogee,CONTROL_FINISHED_OK
$STATE,1329,begin climb
$GC,1330,1.12,146.6,2793,2030,2960,2857,155.9,0.0,247,1482,1.38,2.50,134.23,1.031,10756,0.138,0.084,3229,649,2302,2372,2232,0,0,0,0,0,0,14.16,14.10,13.78
$GC,1522,1.01,146.6,3230,650,2363,2223,141.8,14.7,277,1530,0.00,2.50,0.00,0.000,1158,0.000,0.078,3229,2047,2292,2363,2222,0,0,0,0,0,0,14.40,14.31,14.42
$GC,1650,0.89,146.6,3228,2048,2365,2219,124.4,13.5,302,1658,0.17,2.55,0.00,0.000,4484,0.247,0.115,3175,3446,2291,2363,2219,0,0,0,0,0,0,14.40,14.45,14.50
$GC,1723,0.79,146.6,3171,3446,2365,2219,114.4,13.4,316,1732,0.17,2.40,0.00,0.000,5254,0.254,0.063,3138,2042,2290,2363,2218,0,0,0,0,0,0,14.45,14.56,14.62
$GC,1852,0.76,146.6,3139,2037,2363,2215,102.2,10.8,341,1860,0.00,2.58,0.00,0.000,388,0.000,0.116,3138,3446,2290,2363,2217,0,0,0,0,0,0,14.79,14.55,14.80
$GC,1915,0.70,146.6,3138,3447,2365,2218,94.9,11.6,353,1923,0.15,2.42,0.00,0.000,5254,0.252,0.063,3108,2032,2289,2362,2217,0,0,0,0,0,0,14.54,14.64,14.70
$GC,2042,0.75,185.5,3109,2027,2363,2217,83.1,8.0,378,2068,0.00,2.60,17.15,0.371,8484,0.000,0.118,3107,3447,2167,2237,2098,0,0,0,0,0,0,14.85,14.57,14.43
$GC,2117,0.75,185.5,3108,3449,2237,2119,74.9,12.2,392,2126,0.00,2.40,2.35,0.241,9222,0.000,0.063,3117,2037,2160,2231,2089,0,0,0,0,0,0,14.72,14.64,14.50
$GC,2245,0.75,189.1,3118,2034,2237,2119,61.5,9.8,417,2259,0.00,2.50,4.05,0.282,8740,0.000,0.090,3128,640,2151,2216,2087,0,0,0,0,0,0,14.87,14.62,14.50
$GC,2299,0.79,207.7,3129,641,2220,2102,56.4,9.0,427,2319,0.00,2.45,11.02,0.323,9382,0.000,0.078,3128,2044,2077,2144,2010,0,0,0,0,0,0,14.75,14.65,14.50
$GC,2438,0.80,213.7,3128,2045,2149,2032,43.9,9.7,454,2453,0.00,2.58,5.18,0.278,8484,0.000,0.121,3128,3446,2053,2118,1988,0,0,0,0,0,0,14.87,14.59,14.51
$GC,2507,0.80,213.7,3128,3440,2119,2008,36.8,10.7,467,2516,0.00,2.38,1.85,0.242,9222,0.000,0.064,3145,2040,2048,2117,1979,0,0,0,0,0,0,14.75,14.66,14.54
$GC,2575,0.80,213.7,3138,2036,2120,2004,29.8,10.4,480,2583,0.00,0.00,1.65,0.248,8198,0.000,0.000,3139,2036,2050,2117,1984,0,0,0,0,0,0,14.85,14.66,14.54
$GC,2642,0.80,213.7,3140,2036,2120,2004,23.0,10.2,493,2651,0.00,2.58,1.55,0.249,8452,0.000,0.118,3138,3454,2052,2117,1987,0,0,0,0,0,0,14.88,14.62,14.58
$GC,2746,0.78,213.7,3140,3454,2119,2008,11.0,11.4,513,2754,0.00,2.40,1.83,0.233,9350,0.000,0.063,3150,2031,2048,2116,1980,0,0,0,0,0,0,14.76,14.68,14.58
$GC,2814,0.78,215.7,3150,2026,2119,2003,3.9,9.9,526,2822,0.00,0.00,2.30,0.233,8230,0.000,0.000,3150,2027,2039,2107,1972,0,0,0,0,0,0,14.88,14.74,14.61
$STATE,2835,end climb,SURFACE_DEPTH_REACHED
$STATE,2835,begin surface coast
$FINISH,0.2,1.021756
$STATE,2856,end surface coast,CONTROL_FINISHED_OK
$STATE,2856,begin surface
$SM_CCo,2879,189.55,0.174,0,0,496,602.88
$SM_CCo,3070,-0.17,0.000,0,0,501,602.88
$SM_CCo,3072,0.20,0.702,0,0,498,603.13
$SM_GC,0.53,8.68,0.25,0.20,0.089,0.120,0.702,205,2167,498,-8.32,-0.37,603.13,0,0,0,0,0,0,14.70,14.69,14.54
$IRIDIUM_FIX,4726.11,-12224.09,210716,194037
$TT8_MAMPS,0.055426,0.482356
$HUMID,51.41
$INTERNAL_PRESSURE,9.09606
$TCM_TEMP,14.60
$XPDR_PINGS,5
$SC_FREEKB,3908992
$PM_FREEKB,61428096
$TM_FREEKB,7820832
$24V_AH,13.35,1.212
$10V_AH,13.73,0.000
$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,21.875,60.300,294.875,189.750,0.000,0.000,0.000,303.425,1.250,0.000,23.602,0.000,933.407,588.741,2007.683,52.075,0.000,1455.761,0.000,1217.954,0.000,0.546,0.000
$DEVICE_MAMPS,374.850,2183.310,1857.420,701.505,0.000,0.000,0.000,208.845,420.000,0.000,0.750,0.000,2.190,28.350,47.820,65.050,0.000,10.600,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2866.000,2846.000,2914.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.887,9.240,18.663,0.000
$MEM,311980
$DATA_FILE_SIZE,16749,534
$CAP_FILE_SIZE,130139,0
$CFSIZE,1024409600,1019346944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210716,213511,4743.239,-12224.935,2,1.2,5,15.9,0.3,202.1,7,9.5