version: 66.13
glider: 219
mission: 4
dive: 2
start: 7 26 116 18 16 4
data:
$ID,219
$MISSION,4
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,180
$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,70
$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,602.88
$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,30
$R_STBD_OVSHOOT,14
$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,-148.76245
$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,48
$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
$GPS1,260716,181309,4743.6577,-12224.3926,1,1.2,6,15.9,0.2,0.0,6,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-62.9
$GPS2,260716,181545,4743.6665,-12224.3711,2,1.2,8,15.9,0.2,0.0,6,10.0
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,232.6,842,-17.6,-10.000,-21.21,2209
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.06,-146.6,208,2150,547,457,0.0,0.0,0,132,0.00,0.00,-112.85,0.000,16390,0.000,0.000,208,2149,3484,3504,3464,0,0,0,0,0,0,14.98,13.73,15.00
$GC,134,-1.06,-146.6,208,2149,3504,3465,2.4,-4.3,20,153,10.23,2.42,0.00,0.000,2596,0.376,0.073,2535,748,3484,3507,3462,0,0,0,0,0,0,14.61,14.76,14.83
$GC,157,-0.49,-146.6,2535,749,3509,3461,9.1,-23.8,24,166,0.68,2.47,0.00,0.000,3206,0.239,0.086,2714,2164,3484,3507,3461,0,0,0,0,0,0,14.66,14.73,14.85
$GC,225,-0.57,-146.6,2714,2163,3511,3461,15.1,-4.3,37,233,0.00,2.58,0.00,0.000,420,0.000,0.138,2705,3555,3485,3511,3459,0,0,0,0,0,0,15.01,14.71,15.02
$GC,388,-0.62,-146.6,2705,3557,3512,3454,26.4,-5.8,69,395,0.00,2.38,0.00,0.000,1190,0.000,0.060,2705,2132,3485,3511,3460,0,0,0,0,0,0,14.90,14.81,14.91
$GC,455,-0.68,-146.6,2705,2129,3512,3461,30.2,-6.1,82,463,0.08,2.62,0.00,0.000,4516,0.162,0.131,2649,3556,3484,3511,3457,0,0,0,0,0,0,14.84,14.73,14.87
$GC,502,-0.68,-146.6,2650,3556,3512,3461,34.8,-10.8,91,510,0.00,2.38,0.00,0.000,1030,0.000,0.060,2649,2142,3485,3511,3460,0,0,0,0,0,0,14.92,14.84,14.93
$GC,570,-0.68,-146.6,2649,2140,3512,3454,43.1,-12.1,104,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2138,3485,3511,3459,0,0,0,0,0,0,15.04,15.05,15.04
$GC,636,-0.68,-146.6,2649,2140,3517,3459,50.6,-11.1,117,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2138,3485,3511,3460,0,0,0,0,0,0,15.04,15.06,15.05
$GC,763,-0.68,-146.6,2654,2139,3512,3459,63.0,-10.0,142,771,0.00,2.62,0.00,0.000,292,0.000,0.132,2641,3558,3485,3511,3460,0,0,0,0,0,0,15.09,14.76,15.07
$GC,800,-0.68,-146.6,2642,3558,3513,3461,66.9,-10.7,149,808,0.00,2.35,0.00,0.000,1030,0.000,0.060,2641,2150,3485,3511,3459,0,0,0,0,0,0,14.93,14.85,14.95
$GC,928,-0.68,-146.6,2641,2144,3512,3461,79.4,-9.5,174,935,0.00,2.62,0.00,0.000,292,0.000,0.132,2633,3564,3485,3511,3459,0,0,0,0,0,0,15.05,14.75,15.07
$GC,995,-0.68,-146.6,2633,3565,3512,3461,86.2,-10.3,187,1002,0.00,2.38,0.00,0.000,1030,0.000,0.059,2633,2146,3485,3511,3459,0,0,0,0,0,0,14.94,14.85,14.95
$GC,1122,-0.68,-146.6,2632,2141,3512,3461,99.1,-10.4,212,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2140,3485,3511,3459,0,0,0,0,0,0,15.06,15.07,15.07
$GC,1249,-0.68,-146.6,2632,2141,3512,3453,111.2,-9.5,237,1257,0.00,2.62,0.00,0.000,292,0.000,0.132,2624,3560,3485,3511,3459,0,0,0,0,0,0,15.06,14.75,15.07
$GC,1481,-0.68,-146.6,2625,3560,3512,3460,134.9,-9.6,283,1489,0.12,2.38,0.00,0.000,3110,0.239,0.057,2659,2133,3484,3510,3459,0,0,0,0,0,0,14.72,14.87,14.88
$GC,1609,-0.72,-146.6,2660,2133,3512,3459,145.0,-8.2,308,1617,0.00,2.62,0.00,0.000,420,0.000,0.129,2650,3557,3481,3504,3458,0,0,0,0,0,0,15.07,14.76,15.07
$STATE,1670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1670,begin apogee
$GC,1675,-0.25,0.0,2649,2042,3512,3459,150.2,-8.1,320,1797,0.47,0.00,109.95,1.926,10246,0.198,0.000,2796,2034,2902,2960,2845,0,0,0,0,1,0,14.73,14.25,13.49
$STATE,1801,end apogee,CONTROL_FINISHED_OK
$STATE,1801,begin climb
$GC,1801,1.06,146.6,2797,2034,2963,2853,154.8,0.0,341,1937,1.33,2.58,111.40,1.932,10756,0.141,0.084,3214,634,2320,2389,2251,0,0,0,0,1,0,14.32,14.16,13.45
$GC,2072,0.95,146.6,3214,636,2390,2257,127.6,13.9,388,2080,0.00,2.47,0.00,0.000,1158,0.000,0.074,3215,2044,2323,2389,2257,0,0,0,0,0,0,14.70,14.60,14.71
$GC,2199,0.84,146.6,3215,2046,2391,2257,111.0,14.2,413,2207,0.20,2.55,0.00,0.000,4484,0.247,0.120,3154,3446,2322,2389,2256,0,0,0,0,0,0,14.62,14.66,14.70
$GC,2262,0.76,146.6,3154,3447,2390,2256,102.9,12.8,425,2270,0.15,2.38,0.00,0.000,5254,0.256,0.059,3124,2039,2322,2389,2256,0,0,0,0,0,0,14.66,14.76,14.81
$GC,2389,0.76,147.9,3125,2033,2390,2256,90.1,9.9,450,2398,0.00,2.58,1.48,0.315,8484,0.000,0.121,3124,3446,2313,2382,2244,0,0,0,0,0,0,14.97,14.72,14.57
$GC,2402,0.73,147.9,3125,3447,2381,2249,88.7,10.3,452,2410,0.00,2.38,0.00,0.000,1158,0.000,0.060,3129,2037,2316,2381,2251,0,0,0,0,0,0,14.87,14.80,14.88
$GC,2530,0.71,147.9,3134,2032,2381,2257,75.0,11.4,477,2537,0.00,2.42,0.00,0.000,644,0.000,0.083,3144,632,2318,2382,2254,0,0,0,0,0,0,15.00,14.78,15.02
$GC,2587,0.68,147.9,3145,635,2382,2258,68.5,11.2,488,2597,0.15,2.42,0.00,0.000,5254,0.224,0.075,3101,2043,2318,2381,2256,0,0,0,0,0,0,14.74,14.80,14.88
$GC,2716,0.75,199.1,3101,2046,2383,2256,57.8,7.6,513,2753,0.00,2.58,27.17,0.343,8484,0.000,0.124,3101,3439,2110,2181,2040,0,0,0,0,0,0,15.02,14.71,14.62
$GC,2852,0.75,200.9,3101,3439,2182,2049,46.7,9.9,539,2861,0.00,2.38,1.85,0.296,9254,0.000,0.060,3109,2025,2101,2175,2027,0,0,0,0,0,0,14.90,14.81,14.65
$GC,2921,0.78,201.4,3110,2022,2174,2042,39.8,10.0,552,2928,0.00,0.00,1.48,0.298,8358,0.000,0.000,3110,2021,2098,2169,2027,0,0,0,0,0,0,15.01,14.80,14.64
$GC,2988,0.88,251.6,3110,2020,2170,2039,34.3,7.7,565,3024,0.08,2.65,26.95,0.281,10660,0.171,0.126,3160,3438,1899,1970,1828,0,0,0,0,0,0,14.86,14.70,14.64
$GC,3059,0.85,251.6,3160,3440,1970,1834,25.9,14.0,578,3067,0.00,2.38,0.00,0.000,1158,0.000,0.060,3174,2030,1901,1968,1834,0,0,0,0,0,0,14.86,14.78,14.91
$GC,3126,0.83,251.6,3175,2027,1971,1833,17.1,12.8,591,3133,0.00,0.00,0.00,0.000,134,0.000,0.000,3174,2027,1901,1970,1832,0,0,0,0,0,0,15.00,15.01,15.01
$GC,3192,0.83,251.6,3174,2026,1971,1833,8.4,12.5,604,3200,0.00,2.60,0.00,0.000,260,0.000,0.124,3174,3447,1900,1970,1831,0,0,0,0,0,0,15.01,14.72,15.02
$STATE,3244,end climb,SURFACE_DEPTH_REACHED
$STATE,3244,begin surface coast
$FINISH,-0.2,1.010903
$STATE,3259,end surface coast,CONTROL_FINISHED_OK
$STATE,3259,begin surface
$SM_CCo,3283,184.68,0.188,0,0,498,602.88
$SM_GC,0.70,8.70,2.22,184.68,0.088,0.067,0.188,206,2155,498,-8.31,0.99,602.88,0,0,0,0,0,0,14.83,14.84,14.66
$IRIDIUM_FIX,4726.11,-12229.50,260716,180938
$TT8_MAMPS,0.041195,0.409703
$HUMID,47.83
$INTERNAL_PRESSURE,7.77765
$TCM_TEMP,15.20
$XPDR_PINGS,35
$SC_FREEKB,3909760
$PM_FREEKB,62243264
$TM_FREEKB,7819488
$24V_AH,13.45,2.014
$10V_AH,13.67,0.000
$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,22.175,69.600,280.275,184.675,0.000,0.000,0.000,0.000,8.750,0.000,9.981,0.000,1180.471,602.606,1726.101,25.063,0.000,1210.971,0.000,1319.166,0.000,0.547,0.000
$DEVICE_MAMPS,375.615,137.700,1931.625,188.190,0.000,0.000,0.000,0.000,420.000,0.000,9.737,0.000,2.190,12.917,30.893,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3243.000,3240.000,3251.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.456,4.866,19.249,0.000
$MEM,312012
$DATA_FILE_SIZE,20122,617
$CAP_FILE_SIZE,99129,0
$CFSIZE,1024409600,1019691008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,2588.57,0x233bae,1,24
$GPS,260716,191456,4743.634,-12224.867,33,0.9,33,15.9,0.1,0.0,11,6.1