version: 66.13
glider: 219
mission: 8
dive: 269
start: 10 21 117 20 52 8
data:
$ID,219
$MISSION,8
$DIVE,269
$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,155
$R_STBD_OVSHOOT,27
$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,3
$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
$GPS1,211017,204339,1008.5504,-12511.9375,32,1.0,33,9.0,0.4,16.1,7,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-69.6
$GPS2,211017,205147,1008.6151,-12511.9053,2,1.3,6,9.0,0.5,59.4,6,9.0
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,221.2,20998,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.91,-146.0,178,2877,914,853,0.0,0.0,0,109,0.00,0.00,-85.53,0.000,16386,0.000,0.000,178,2877,3543,3572,3514,0,0,0,0,0,0,14.69,28.83,14.76
$GC,112,-0.91,-146.0,178,2876,3573,3514,7.8,-11.9,3,128,10.88,2.15,0.00,0.000,2564,0.358,0.021,2546,1535,3544,3574,3515,0,0,0,0,0,0,14.07,14.43,14.31
$GC,276,-0.66,-146.0,2546,1534,3585,3510,58.9,-21.7,27,284,0.38,2.30,0.00,0.000,3206,0.223,0.050,2633,2874,3546,3583,3510,0,0,0,0,0,0,14.26,14.53,14.51
$GC,612,-0.70,-146.0,2633,2875,3587,3511,96.4,-8.9,42,620,0.00,1.62,0.00,0.000,420,0.000,0.074,2628,3830,3548,3586,3511,0,0,0,0,0,0,14.90,14.54,14.92
$GC,795,-0.76,-146.0,2628,3831,3589,3512,111.9,-7.8,68,801,0.00,1.40,0.00,0.000,1190,0.000,0.028,2628,2884,3549,3588,3511,0,0,0,0,0,0,14.66,14.65,14.68
$GC,1116,-0.85,-146.0,2628,2882,3590,3510,134.4,-7.3,79,1124,0.15,1.62,0.00,0.000,4516,0.112,0.073,2547,3828,3550,3589,3511,0,0,0,0,0,0,14.73,14.62,14.78
$GC,1192,-0.77,-146.0,2547,3827,3590,3511,142.7,-11.0,90,1200,0.17,1.45,0.00,0.000,3206,0.227,0.028,2593,2870,3550,3589,3511,0,0,0,0,0,0,14.38,14.80,14.53
$GC,1508,-0.82,-146.0,2593,2870,3590,3510,170.9,-8.6,100,1515,0.00,2.15,0.00,0.000,676,0.000,0.029,2593,1532,3549,3588,3510,0,0,0,0,0,0,14.97,14.73,15.00
$GC,1556,-0.89,-146.0,2594,1532,3590,3509,175.3,-9.1,107,1566,0.00,2.30,0.00,0.000,1190,0.000,0.046,2585,2868,3548,3588,3509,0,0,0,0,0,0,14.66,14.62,14.70
$GC,1900,-0.94,-146.0,2586,2868,3590,3505,207.0,-9.2,114,1908,0.12,2.17,0.00,0.000,4772,0.121,0.028,2521,1530,3546,3589,3504,0,0,0,0,0,0,14.73,14.72,14.81
$GC,1941,-0.88,-146.0,2522,1531,3596,3503,211.7,-11.8,120,1949,0.20,2.30,0.00,0.000,3206,0.224,0.050,2557,2875,3546,3588,3504,0,0,0,0,0,0,14.37,14.66,14.60
$GC,2292,-0.88,-146.0,2562,2875,3590,3499,247.9,-10.3,128,2300,0.00,2.20,0.00,0.000,516,0.000,0.028,2561,1527,3543,3587,3500,0,0,0,0,0,0,15.00,14.71,15.03
$GC,2340,-0.88,-146.0,2562,1527,3589,3499,253.1,-10.7,135,2350,0.00,2.35,0.00,0.000,1030,0.000,0.049,2553,2867,3543,3588,3498,0,0,0,0,0,0,14.66,14.60,14.70
$GC,2684,-0.88,-146.0,2553,2867,3590,3493,291.1,-11.1,142,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2867,3540,3588,3493,0,0,0,0,0,0,14.98,15.02,15.01
$GC,3022,-0.88,-146.0,2554,2867,3590,3489,328.3,-11.1,148,3029,0.00,2.20,0.00,0.000,516,0.000,0.031,2553,1532,3538,3588,3488,0,0,0,0,0,0,14.96,14.66,14.99
$GC,3096,-0.88,-146.0,2554,1532,3590,3487,336.7,-10.8,159,3105,0.00,2.35,0.00,0.000,1030,0.000,0.050,2544,2866,3537,3588,3487,0,0,0,0,0,0,14.65,14.60,14.69
$GC,3412,-0.88,-146.0,2544,2866,3589,3484,371.7,-11.1,169,3419,0.00,2.20,0.00,0.000,516,0.000,0.031,2544,1529,3535,3588,3482,0,0,0,0,0,0,14.97,14.75,15.01
$GC,3446,-0.88,-146.0,2544,1530,3589,3485,375.7,-11.5,174,3455,0.10,2.38,0.00,0.000,3078,0.203,0.050,2563,2876,3535,3588,3482,0,0,0,0,0,0,14.35,14.58,14.48
$GC,3805,-0.88,-146.0,2563,2878,3589,3480,410.8,-9.6,183,3812,0.00,2.22,0.00,0.000,548,0.000,0.031,2563,1528,3533,3588,3478,0,0,0,0,0,0,14.97,14.71,15.00
$GC,3853,-0.92,-146.0,2564,1528,3588,3479,415.4,-9.4,190,3864,0.00,2.38,0.00,0.000,1190,0.000,0.050,2555,2869,3532,3586,3479,0,0,0,0,0,0,14.58,14.52,14.62
$GC,4197,-0.92,-146.0,2555,2868,3585,3477,449.2,-9.9,197,4203,0.00,2.20,0.00,0.000,548,0.000,0.030,2555,1533,3531,3585,3477,0,0,0,0,0,0,14.92,14.72,14.96
$GC,4245,-0.96,-146.0,2555,1533,3585,3477,454.1,-10.1,204,4255,0.00,2.38,0.00,0.000,1158,0.000,0.049,2546,2868,3530,3584,3477,0,0,0,0,0,0,14.55,14.50,14.59
$GC,4588,-0.96,-146.0,2546,2867,3584,3475,489.0,-10.1,211,4596,0.00,2.20,0.00,0.000,516,0.000,0.030,2546,1532,3528,3582,3475,0,0,0,0,0,0,14.96,14.69,15.00
$GC,4636,-0.96,-146.0,2546,1533,3583,3476,493.9,-10.0,218,4646,0.00,2.38,0.00,0.000,1030,0.000,0.050,2536,2882,3528,3582,3474,0,0,0,0,0,0,14.71,14.59,14.74
$GC,4981,-0.96,-146.0,2537,2882,3582,3472,528.3,-10.0,225,4987,0.00,2.22,0.00,0.000,516,0.000,0.030,2536,1536,3526,3581,3472,0,0,0,0,0,0,15.00,14.69,15.03
$GC,5014,-0.96,-146.0,2537,1536,3593,3472,531.8,-10.3,230,5022,0.00,2.38,0.00,0.000,1030,0.000,0.050,2526,2875,3526,3581,3471,0,0,0,0,0,0,14.59,14.54,14.65
$GC,5372,-0.93,-146.0,2526,2876,3578,3470,569.8,-10.8,239,5380,0.00,2.22,0.00,0.000,644,0.000,0.030,2526,1531,3524,3579,3469,0,0,0,0,0,0,14.97,14.67,15.01
$GC,5414,-0.93,-146.0,2529,1531,3579,3469,574.5,-11.2,245,5421,0.10,2.38,0.00,0.000,3078,0.211,0.050,2545,2872,3521,3577,3465,0,0,0,0,0,0,14.29,14.54,14.44
$GC,5765,-0.93,-146.0,2545,2872,3578,3467,608.7,-9.6,253,5771,0.00,2.22,0.00,0.000,548,0.000,0.031,2545,1526,3522,3577,3467,0,0,0,0,0,0,15.00,14.65,15.03
$GC,5813,-0.96,-146.0,2546,1526,3578,3467,613.4,-9.5,260,5821,0.00,2.40,0.00,0.000,1190,0.000,0.050,2537,2872,3521,3576,3467,0,0,0,0,0,0,14.53,14.46,14.57
$GC,6157,-0.96,-146.0,2538,2872,3576,3465,646.3,-9.6,267,6159,0.00,0.00,0.00,0.000,38,0.000,0.000,2537,2872,3520,3575,3465,0,0,0,0,0,0,14.97,15.01,15.00
$GC,6492,-0.96,-146.0,2538,2873,3575,3464,678.5,-9.7,273,6499,0.00,2.22,0.00,0.000,548,0.000,0.031,2537,1529,3519,3574,3464,0,0,0,0,0,0,14.91,14.69,14.94
$GC,6582,-0.96,-146.0,2537,1530,3575,3465,687.5,-9.8,286,6590,0.00,2.38,0.00,0.000,1062,0.000,0.050,2527,2877,3518,3573,3464,0,0,0,0,0,0,14.57,14.50,14.62
$GC,6940,-0.96,-146.0,2528,2878,3573,3460,724.6,-10.4,295,6948,0.00,2.22,0.00,0.000,516,0.000,0.029,2536,1536,3516,3573,3460,0,0,0,0,0,0,14.97,14.63,15.00
$GC,6988,-0.96,-146.0,2528,1536,3573,3460,730.0,-10.7,302,6998,0.00,2.35,0.00,0.000,1030,0.000,0.049,2517,2873,3515,3571,3460,0,0,0,0,0,0,14.56,14.50,14.61
$GC,7332,-0.96,-146.0,2518,2872,3572,3459,768.9,-11.6,309,7339,0.00,2.25,0.00,0.000,516,0.000,0.029,2517,1536,3515,3571,3459,0,0,0,0,0,0,14.97,14.59,15.00
$GC,7380,-0.96,-146.0,2518,1536,3572,3459,774.7,-11.6,316,7390,0.10,2.35,0.00,0.000,3078,0.215,0.049,2535,2868,3515,3571,3459,0,0,0,0,0,0,14.21,14.47,14.35
$GC,7725,-0.96,-146.0,2535,2869,3571,3459,810.9,-10.6,323,7730,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2873,3515,3572,3458,0,0,0,0,0,0,15.00,15.02,15.02
$STATE,8058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8058,begin apogee
$GC,8064,-0.21,0.0,2536,2651,3570,3457,844.2,-9.7,329,8269,0.88,0.00,201.40,1.509,10246,0.188,0.000,2780,2650,2971,3044,2898,0,0,0,0,0,0,14.24,14.05,13.33
$STATE,8271,end apogee,CONTROL_FINISHED_OK
$STATE,8271,begin climb
$GC,8273,0.91,146.0,2781,2651,3038,2893,849.4,0.0,332,8454,1.12,2.42,162.40,1.701,10756,0.099,0.034,3150,1309,2375,2456,2295,0,0,0,0,0,0,14.08,13.94,13.18
$GC,8496,0.74,146.0,3151,1309,2449,2287,836.4,12.6,349,8504,0.22,2.45,0.00,0.000,5254,0.220,0.042,3092,2653,2369,2447,2291,0,0,0,0,0,0,13.95,14.13,14.13
$GC,8847,0.65,146.0,3092,2654,2446,2275,797.4,11.1,357,8854,0.12,2.28,0.00,0.000,4740,0.258,0.034,3072,1306,2359,2446,2273,0,0,0,0,0,0,14.33,14.57,14.55
$GC,8909,0.65,146.0,3072,1306,2445,2273,791.1,10.2,366,8917,0.00,2.35,0.00,0.000,1030,0.000,0.042,3071,2634,2359,2444,2274,0,0,0,0,0,0,14.55,14.51,14.59
$GC,9239,0.62,158.3,3073,2633,2445,2270,759.9,9.4,378,9247,0.00,2.17,2.70,0.822,8612,0.000,0.079,3072,3825,2338,2421,2255,0,0,0,0,0,0,14.85,14.57,13.28
$GC,9266,0.54,163.4,3075,3826,2421,2267,757.2,9.8,382,9281,0.17,1.88,5.38,2.017,13478,0.223,0.026,3033,2626,2323,2404,2243,0,0,0,0,0,0,14.33,14.70,13.47
$GC,9624,0.66,229.5,3033,2626,2410,2257,731.5,6.9,391,9721,0.00,2.33,87.93,1.629,8868,0.000,0.036,3041,1314,2043,2128,1959,0,0,0,0,0,0,14.84,14.21,13.47
$GC,9786,0.81,270.5,3041,1315,2117,1953,719.1,8.1,414,9841,0.22,2.38,46.00,1.635,11430,0.087,0.042,3126,2652,1883,1965,1802,0,0,0,0,0,0,14.33,14.33,13.39
$GC,10185,0.72,270.5,3126,2653,1952,1782,663.8,14.3,429,10192,0.15,2.28,0.00,0.000,4740,0.226,0.031,3095,1311,1866,1951,1781,0,0,0,0,0,0,14.30,14.51,14.43
$GC,10260,0.72,270.5,3095,1312,1949,1782,654.2,12.0,440,10268,0.00,2.35,0.00,0.000,1030,0.000,0.042,3095,2634,1864,1948,1780,0,0,0,0,0,0,14.56,14.51,14.59
$GC,10576,0.72,270.5,3096,2634,1949,1777,613.3,13.0,450,10583,0.00,2.22,0.00,0.000,516,0.000,0.035,3104,1318,1862,1948,1777,0,0,0,0,0,0,14.85,14.61,14.88
$GC,10617,0.72,270.5,3104,1319,1957,1778,608.0,12.7,456,10625,0.00,2.33,0.00,0.000,1030,0.000,0.043,3104,2638,1861,1946,1777,0,0,0,0,0,0,14.61,14.55,14.63
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$STATE,16075,end climb,SURFACE_DEPTH_REACHED
$STATE,16075,begin surface coast
$FINISH,1.2,1.021020
$STATE,16082,end surface coast,CONTROL_FINISHED_OK
$STATE,16082,begin surface
$SM_CCo,16110,35.40,0.166,0,0,875,525.01
$SM_GC,0.82,8.82,2.72,35.40,0.057,0.041,0.166,185,2861,875,-8.26,-1.16,525.01,0,0,0,0,0,0,14.66,14.57,14.37
$IRIDIUM_FIX,1008.75,-12518.00,211017,160727
$TT8_MAMPS,0.040446,0.310835
$HUMID,49.92
$INTERNAL_PRESSURE,8.68589
$TCM_TEMP,22.70
$XPDR_PINGS,26
$SC_FREEKB,3807200
$PM_FREEKB,22792704
$24V_AH,13.18,107.644
$10V_AH,13.07,0.000
$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,24.575,160.650,595.675,35.400,0.000,0.000,0.000,287.900,6.500,0.000,9.499,0.000,13162.685,903.974,2266.691,294.766,0.000,2021.104,0.000,1380.906,0.000,0.548,0.000
$DEVICE_MAMPS,358.020,78.795,2016.540,166.005,0.000,0.000,0.000,198.900,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16090.000,16096.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.208,6.094,0.000,0.000
$MEM,326324
$DATA_FILE_SIZE,26700,767
$CAP_FILE_SIZE,129517,0
$CFSIZE,1024409600,977338368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,119.97,1
$GPS,221017,012200,1007.233,-12513.071,14,1.2,14,9.0,0.6,109.5,5,9.6