version: 66.13
glider: 219
mission: 8
dive: 63
start: 9 10 117 10 53 41
data:
$ID,219
$MISSION,8
$DIVE,63
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,840
$D_ABORT,950
$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,280
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-7
$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,54258
$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,525
$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,60
$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
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3914
$C_PITCH,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,251
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2870
$C_ROLL_CLIMB,2640
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,139
$R_STBD_OVSHOOT,40
$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,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,-149.39949
$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,10
$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,0.0043199207
$SEABIRD_T_H,0.00062990503
$SEABIRD_T_I,2.3814182e-05
$SEABIRD_T_J,2.5407201e-06
$SEABIRD_C_G,-9.8638144
$SEABIRD_C_H,1.1196728
$SEABIRD_C_I,-0.0018518606
$SEABIRD_C_J,0.0002092591
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,0.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,500.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,100917,104438,942.2635,-12458.8232,21,1.1,21,9.0,1.3,123.2,6,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-71.1
$GPS2,100917,105322,942.1619,-12458.7598,4,1.0,6,9.0,0.1,0.0,6,7.5
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,39.8,46767,-17.6,-10.000,-21.24,2209
$D_GRID,840
$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,17,-0.91,-146.0,175,2895,926,863,0.0,0.0,0,107,0.00,0.00,-85.22,0.000,16386,0.000,0.000,173,2896,3414,3440,3388,0,0,0,0,0,0,14.66,28.83,14.70
$GC,108,-0.91,-146.0,175,2896,3441,3390,5.7,-8.2,3,128,10.93,1.77,-2.00,0.000,18692,0.372,2.100,2541,3811,3554,3594,3515,0,0,0,0,0,0,14.23,13.40,14.52
$GC,217,-0.58,-146.0,2542,3812,3590,3518,48.1,-27.1,19,226,0.43,1.40,0.00,0.000,3206,0.241,0.028,2655,2897,3553,3588,3518,0,0,0,0,0,0,14.33,14.60,14.47
$GC,546,-0.58,-146.0,2655,2897,3593,3518,95.2,-11.3,33,555,0.00,2.20,0.00,0.000,516,0.000,0.028,2655,1512,3555,3593,3518,0,0,0,0,0,0,14.81,14.70,14.85
$GC,594,-0.66,-146.0,2656,1514,3590,3519,99.1,-7.3,40,605,0.00,2.30,0.00,0.000,1190,0.000,0.046,2647,2855,3555,3593,3518,0,0,0,0,0,0,14.66,14.62,14.67
$GC,910,-0.71,-146.0,2648,2855,3597,3519,119.3,-6.3,47,919,0.00,1.67,0.00,0.000,420,0.000,0.076,2640,3827,3557,3596,3518,0,0,0,0,0,0,14.88,14.64,14.91
$GC,951,-0.75,-146.0,2640,3828,3597,3518,122.1,-6.8,53,962,0.00,1.48,0.00,0.000,1190,0.000,0.028,2640,2829,3557,3596,3518,0,0,0,0,0,0,14.80,14.78,14.81
$GC,1302,-0.83,-146.0,2640,2830,3598,3519,146.1,-7.1,61,1312,0.17,1.75,0.00,0.000,4516,0.109,0.076,2558,3849,3557,3596,3518,0,0,0,0,0,0,14.73,14.67,14.78
$GC,1435,-0.76,-146.0,2559,3849,3597,3517,160.6,-11.2,80,1445,0.15,1.45,0.00,0.000,3206,0.221,0.028,2601,2897,3557,3597,3517,0,0,0,0,0,0,14.50,14.75,14.64
$GC,1751,-0.76,-146.0,2600,2898,3598,3512,189.7,-9.1,90,1760,0.00,2.20,0.00,0.000,548,0.000,0.029,2606,1515,3559,3597,3521,0,0,0,0,0,0,14.90,14.74,14.94
$GC,1876,-0.82,-146.0,2606,1516,3597,3513,201.1,-8.9,108,1885,0.00,2.33,0.00,0.000,1190,0.000,0.047,2598,2876,3553,3596,3511,0,0,0,0,0,0,14.72,14.67,14.75
$GC,2199,-0.85,-146.0,2598,2877,3597,3508,229.5,-8.7,119,2207,0.00,2.20,0.00,0.000,676,0.000,0.029,2598,1508,3551,3596,3507,0,0,0,0,0,0,14.90,14.76,14.93
$GC,2268,-0.90,-146.0,2598,1509,3597,3503,235.4,-8.4,129,2278,0.00,2.33,0.00,0.000,1190,0.000,0.047,2588,2863,3551,3598,3505,0,0,0,0,0,0,14.71,14.66,14.75
$GC,2591,-0.90,-146.0,2588,2864,3594,3502,264.5,-9.2,140,2595,0.00,0.00,0.00,0.000,38,0.000,0.000,2588,2863,3548,3596,3501,0,0,0,0,0,0,14.92,14.95,14.95
$GC,2927,-0.90,-146.0,2588,2865,3596,3496,296.6,-9.6,146,2931,0.00,0.00,0.00,0.000,38,0.000,0.000,2588,2864,3543,3591,3495,0,0,0,0,0,0,14.90,14.93,14.93
$GC,3263,-0.90,-146.0,2588,2864,3597,3491,328.6,-9.5,152,3271,0.00,2.17,0.00,0.000,548,0.000,0.028,2588,1515,3543,3596,3490,0,0,0,0,0,0,14.92,14.74,14.95
$GC,3367,-0.95,-146.0,2589,1514,3595,3489,338.2,-8.9,167,3378,0.00,2.35,0.00,0.000,1190,0.000,0.048,2578,2872,3541,3594,3489,0,0,0,0,0,0,14.71,14.63,14.73
$GC,3711,-0.95,-146.0,2578,2872,3592,3487,371.3,-9.7,174,3720,0.10,2.20,0.00,0.000,4644,0.148,0.029,2532,1514,3539,3591,3488,0,0,0,0,0,0,14.71,14.74,14.78
$GC,3745,-0.90,-146.0,2533,1514,3592,3488,375.2,-11.8,179,3755,0.12,2.38,0.00,0.000,3206,0.215,0.049,2557,2879,3539,3590,3488,0,0,0,0,0,0,14.47,14.66,14.61
$GC,4103,-0.90,-146.0,2557,2881,3589,3487,413.3,-10.7,188,4111,0.00,1.65,0.00,0.000,260,0.000,0.080,2552,3820,3537,3589,3485,0,0,0,0,0,0,14.91,14.62,14.94
$GC,4130,-0.86,-146.0,2551,3820,3587,3486,416.4,-11.3,192,4139,0.00,1.48,0.00,0.000,1158,0.000,0.029,2552,2842,3536,3588,3485,0,0,0,0,0,0,14.82,14.78,14.82
$GC,4495,-0.82,-146.0,2552,2843,3589,3481,455.7,-10.7,202,4504,0.12,2.10,0.00,0.000,2692,0.256,0.030,2578,1532,3534,3587,3481,0,0,0,0,0,0,14.49,14.72,14.69
$GC,4585,-0.86,-146.0,2579,1530,3587,3482,464.2,-8.9,215,4594,0.00,2.33,0.00,0.000,1190,0.000,0.047,2570,2876,3534,3587,3481,0,0,0,0,0,0,14.69,14.63,14.73
$GC,4943,-0.86,-146.0,2571,2877,3586,3480,496.5,-9.0,224,4951,0.00,2.20,0.00,0.000,548,0.000,0.028,2571,1547,3532,3586,3479,0,0,0,0,0,0,14.92,14.68,14.94
$GC,4999,-0.86,-146.0,2571,1546,3586,3479,501.5,-8.7,232,5013,0.00,2.28,0.00,0.000,1062,0.000,0.048,2561,2880,3531,3585,3478,0,0,0,0,0,0,14.78,14.68,14.80
$GC,5340,-0.86,-146.0,2561,2882,3585,3478,531.8,-8.9,245,5355,0.00,2.17,0.00,0.000,548,0.000,0.029,2561,1542,3530,3583,3477,0,0,0,0,0,0,14.95,14.77,14.98
$GC,5380,-0.86,-146.0,2561,1543,3585,3478,535.5,-9.2,250,5394,0.00,2.28,0.00,0.000,1062,0.000,0.049,2551,2873,3530,3584,3477,0,0,0,0,0,0,14.80,14.69,14.82
$GC,5742,-0.86,-146.0,2553,2874,3584,3471,568.9,-9.3,259,5755,0.00,0.00,0.00,0.000,38,0.000,0.000,2551,2873,3528,3582,3474,0,0,0,0,0,0,14.95,14.99,14.98
$GC,6078,-0.86,-146.0,2551,2874,3582,3473,603.1,-10.4,265,6092,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2873,3527,3581,3473,0,0,0,0,0,0,14.96,15.00,14.99
$GC,6413,-0.86,-146.0,2551,2874,3580,3471,640.1,-11.1,271,6428,0.00,2.17,0.00,0.000,516,0.000,0.030,2550,1542,3524,3579,3470,0,0,0,0,0,0,14.98,14.80,15.01
$GC,6530,-0.86,-146.0,2551,1541,3579,3469,653.4,-11.3,287,6545,0.12,2.28,0.00,0.000,3078,0.247,0.050,2569,2874,3524,3578,3470,0,0,0,0,0,0,14.52,14.71,14.74
$GC,6872,-0.86,-146.0,2569,2876,3577,3469,688.6,-10.2,300,6886,0.00,2.17,0.00,0.000,516,0.000,0.030,2568,1541,3522,3577,3468,0,0,0,0,0,0,14.97,14.79,15.01
$GC,6946,-0.91,-146.0,2569,1542,3577,3469,696.0,-9.9,310,6960,0.00,2.28,0.00,0.000,1190,0.000,0.050,2561,2876,3521,3576,3467,0,0,0,0,0,0,14.81,14.71,14.84
$GC,7273,-0.91,-146.0,2561,2870,3576,3467,727.4,-9.5,321,7287,0.00,0.00,0.00,0.000,38,0.000,0.000,2561,2868,3520,3575,3466,0,0,0,0,0,0,14.96,15.02,15.02
$GC,7609,-0.91,-146.0,2561,2870,3575,3466,757.8,-9.0,327,7623,0.00,0.00,0.00,0.000,38,0.000,0.000,2561,2869,3519,3574,3464,0,0,0,0,0,0,15.00,15.02,15.02
$GC,7945,-0.91,-146.0,2560,2870,3574,3465,786.2,-8.4,333,7960,0.00,2.17,0.00,0.000,548,0.000,0.031,2561,1543,3518,3573,3464,0,0,0,0,0,0,14.99,14.77,15.02
$GC,8020,-0.95,-146.0,2559,1543,3574,3465,792.7,-8.3,343,8034,0.00,2.28,0.00,0.000,1190,0.000,0.050,2551,2869,3518,3573,3463,0,0,0,0,0,0,14.80,14.69,14.83
$GC,8347,-0.95,-146.0,2551,2870,3573,3462,821.6,-9.0,354,8361,0.00,0.00,0.00,0.000,38,0.000,0.000,2551,2869,3516,3572,3461,0,0,0,0,0,0,14.98,15.01,15.00
$STATE,8570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8570,begin apogee
$GC,8573,-0.21,0.0,2552,2669,3572,3460,841.5,-8.9,358,8802,0.82,0.00,212.12,1.443,10246,0.202,0.000,2781,2669,2962,3033,2891,0,0,0,0,0,0,14.50,13.94,13.50
$STATE,8804,end apogee,CONTROL_FINISHED_OK
$STATE,8804,begin climb
$GC,8805,0.91,146.0,2782,2669,3032,2887,847.8,0.0,362,8999,1.15,2.47,169.02,1.649,10756,0.123,0.036,3147,1291,2378,2457,2299,0,0,0,0,0,0,14.12,13.96,13.34
$GC,9087,0.77,146.0,3156,1291,2436,2275,825.5,12.8,403,9101,0.20,2.38,0.00,0.000,5254,0.252,0.043,3103,2653,2354,2434,2275,0,0,0,0,0,0,14.11,14.26,14.31
$GC,9421,0.68,146.0,3104,2655,2433,2267,789.1,10.8,415,9436,0.12,2.30,0.00,0.000,4740,0.255,0.032,3080,1283,2347,2432,2263,0,0,0,0,0,0,14.35,14.52,14.46
$GC,9488,0.70,162.1,3080,1284,2431,2267,782.5,9.3,424,9510,0.00,2.30,5.40,1.498,9254,0.000,0.042,3080,2640,2322,2404,2241,0,0,0,0,0,0,14.63,14.55,13.76
$GC,9823,0.68,173.0,3080,2641,2403,2251,751.2,9.5,436,9855,0.00,2.33,16.40,1.680,8868,0.000,0.037,3090,1288,2273,2354,2193,0,0,0,0,0,0,14.87,14.56,13.98
$GC,9908,0.69,184.9,3090,1288,2345,2184,743.0,9.4,448,9929,0.00,2.33,4.43,1.372,9254,0.000,0.044,3090,2649,2230,2309,2151,0,0,0,0,0,0,14.63,14.57,13.77
$GC,10277,0.65,184.9,3090,2649,2315,2171,706.0,10.1,458,10292,0.00,2.35,1.62,0.238,8836,0.000,0.037,3099,1287,2229,2305,2154,0,0,0,0,0,0,14.81,14.60,14.48
$GC,10324,0.65,184.9,3100,1286,2311,2166,701.1,10.1,464,10338,0.15,2.30,0.00,0.000,5126,0.224,0.043,3065,2640,2239,2311,2167,0,0,0,0,0,0,14.46,14.62,14.64
$GC,10679,0.65,186.7,3065,2638,2314,2172,666.3,9.9,472,10698,0.00,2.33,2.25,0.506,8740,0.000,0.035,3079,1281,2225,2298,2152,0,0,0,0,0,0,14.86,14.71,13.69
$GC,10765,0.66,193.3,3073,1282,2319,2166,657.9,9.7,484,10786,0.00,2.30,5.07,1.520,9254,0.000,0.043,3074,2646,2197,2268,2127,0,0,0,0,0,0,14.73,14.66,13.88
$GC,11134,0.66,193.3,3074,2648,2291,2152,619.6,10.4,494,11153,0.00,2.30,2.58,0.728,8708,0.000,0.035,3083,1294,2202,2274,2130,0,0,0,0,0,0,14.90,14.72,13.77
$GC,11212,0.66,193.3,3084,1294,2285,2142,611.5,10.1,505,11228,0.00,2.28,1.27,0.258,9222,0.000,0.043,3083,2642,2201,2275,2128,0,0,0,0,0,0,14.77,14.69,14.53
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$STATE,16923,end climb,SURFACE_DEPTH_REACHED
$STATE,16923,begin surface coast
$FINISH,0.7,1.021224
$STATE,16930,end surface coast,CONTROL_FINISHED_OK
$STATE,16930,begin surface
$SM_CCo,16959,48.20,0.168,0,0,875,525.26
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$TT8_MAMPS,0.041195,0.432173
$HUMID,47.59
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$TCM_TEMP,22.30
$XPDR_PINGS,51
$SC_FREEKB,3886336
$PM_FREEKB,57056512
$TM_FREEKB,6006464
$24V_AH,13.34,36.801
$10V_AH,12.98,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,24.200,144.975,604.000,48.200,0.000,0.000,0.000,364.875,12.750,0.000,8.132,0.000,13763.490,870.397,2750.401,143.783,0.000,2409.808,0.000,1421.410,0.000,0.549,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.135,3.484,20.112,0.000
$MEM,326256
$DATA_FILE_SIZE,30049,815
$CAP_FILE_SIZE,143030,0
$CFSIZE,1024409600,1008222208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,316.36,1
$GPS,100917,153825,943.385,-12457.466,15,1.7,40,9.0,0.5,208.8,5,3.5