version: 66.13
glider: 219
mission: 8
dive: 282
start: 10 24 117 10 24 1
data:
$ID,219
$MISSION,8
$DIVE,282
$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,125
$R_STBD_OVSHOOT,36
$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
$GPS1,241017,101430,949.5382,-12509.9121,22,0.8,22,9.0,0.2,77.9,10,3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-70.9
$GPS2,241017,102341,949.4887,-12509.8203,3,0.8,3,9.0,0.9,145.1,10,8.7
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,121.7,23955,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.91,-146.0,162,2892,918,856,0.0,0.0,0,104,0.00,0.00,-84.00,0.000,16390,0.000,0.000,158,2892,3553,3582,3524,0,0,0,0,0,0,14.72,12.83,14.76
$GC,106,-0.91,-146.0,159,2892,3582,3526,8.9,-13.4,3,124,10.75,2.22,0.00,0.000,2564,0.353,0.021,2546,1509,3555,3585,3525,0,0,0,0,0,0,14.16,14.48,14.38
$GC,272,-0.65,-146.0,2546,1509,3590,3521,61.9,-22.9,27,278,0.40,2.30,0.00,0.000,3206,0.236,0.049,2637,2863,3555,3590,3520,0,0,0,0,0,0,14.22,14.54,14.47
$GC,606,-0.71,-146.0,2638,2863,3596,3518,93.7,-6.7,42,615,0.00,2.17,0.00,0.000,676,0.000,0.028,2637,1519,3557,3594,3520,0,0,0,0,0,0,14.92,14.67,14.93
$GC,844,-0.82,-146.0,2637,1519,3596,3521,110.8,-7.1,76,853,0.10,2.33,0.00,0.000,5286,0.070,0.048,2566,2869,3559,3598,3520,0,0,0,0,0,0,14.59,14.57,14.64
$GC,1167,-0.82,-146.0,2566,2870,3597,3521,142.8,-10.3,87,1172,0.00,1.62,0.00,0.000,260,0.000,0.076,2558,3822,3558,3596,3520,0,0,0,0,0,0,14.95,14.62,14.97
$GC,1320,-0.82,-146.0,2559,3823,3597,3520,159.7,-10.9,109,1328,0.00,1.45,0.00,0.000,1030,0.000,0.028,2558,2829,3554,3596,3512,0,0,0,0,0,0,14.83,14.80,14.84
$GC,1671,-0.82,-146.0,2559,2823,3597,3515,197.0,-10.5,117,1678,0.00,2.03,0.00,0.000,516,0.000,0.030,2558,1566,3555,3596,3514,0,0,0,0,0,0,14.93,14.73,14.96
$GC,1733,-0.82,-146.0,2559,1566,3598,3514,203.5,-10.3,126,1741,0.10,2.28,0.00,0.000,3078,0.197,0.050,2578,2864,3555,3596,3514,0,0,0,0,0,0,14.39,14.61,14.53
$GC,2065,-0.87,-146.0,2578,2865,3597,3510,234.4,-9.4,138,2071,0.00,2.12,0.00,0.000,676,0.000,0.030,2579,1563,3552,3596,3509,0,0,0,0,0,0,14.95,14.73,14.97
$GC,2104,-0.94,-146.0,2579,1564,3598,3508,238.4,-9.5,144,2113,0.00,2.30,0.00,0.000,1190,0.000,0.049,2571,2870,3552,3597,3508,0,0,0,0,0,0,14.64,14.57,14.68
$GC,2455,-0.98,-146.0,2571,2871,3597,3502,272.2,-9.6,152,2462,0.12,2.15,0.00,0.000,4772,0.123,0.030,2510,1567,3549,3596,3502,0,0,0,0,0,0,14.73,14.72,14.78
$GC,2489,-0.93,-146.0,2509,1566,3604,3502,276.2,-11.9,157,2498,0.15,2.30,0.00,0.000,3206,0.200,0.050,2544,2872,3549,3597,3502,0,0,0,0,0,0,14.37,14.59,14.51
$GC,2847,-0.93,-146.0,2544,2873,3597,3498,315.5,-11.1,166,2853,0.00,2.15,0.00,0.000,516,0.000,0.030,2544,1558,3546,3596,3496,0,0,0,0,0,0,14.97,14.71,15.00
$GC,2874,-0.93,-146.0,2544,1560,3597,3497,318.5,-11.0,170,2882,0.00,2.33,0.00,0.000,1030,0.000,0.050,2535,2877,3546,3597,3495,0,0,0,0,0,0,14.64,14.57,14.66
$GC,3239,-0.90,-146.0,2536,2877,3597,3489,357.4,-10.9,180,3246,0.00,2.17,0.00,0.000,644,0.000,0.030,2536,1564,3543,3596,3490,0,0,0,0,0,0,14.97,14.68,15.00
$GC,3476,-0.90,-146.0,2536,1565,3594,3490,382.6,-10.4,214,3484,0.10,2.33,0.00,0.000,3078,0.197,0.050,2554,2877,3538,3593,3484,0,0,0,0,0,0,14.35,14.56,14.48
$GC,3799,-0.90,-146.0,2555,2878,3593,3486,413.2,-9.4,225,3806,0.00,2.17,0.00,0.000,548,0.000,0.030,2555,1556,3539,3593,3486,0,0,0,0,0,0,14.95,14.71,14.98
$GC,3847,-0.94,-146.0,2555,1556,3593,3486,417.6,-8.8,232,3856,0.00,2.33,0.00,0.000,1190,0.000,0.050,2548,2867,3538,3590,3486,0,0,0,0,0,0,14.60,14.54,14.64
$GC,4192,-0.94,-146.0,2548,2868,3590,3485,451.1,-9.9,239,4198,0.00,2.15,0.00,0.000,548,0.000,0.029,2547,1562,3536,3589,3483,0,0,0,0,0,0,14.93,14.70,14.96
$GC,4260,-0.97,-146.0,2548,1563,3589,3485,458.2,-10.0,249,4268,0.00,2.33,0.00,0.000,1190,0.000,0.050,2538,2866,3535,3588,3483,0,0,0,0,0,0,14.62,14.56,14.67
$GC,4584,-0.97,-146.0,2539,2867,3588,3481,492.1,-10.6,260,4590,0.00,1.67,0.00,0.000,260,0.000,0.080,2531,3822,3538,3596,3481,0,0,0,0,0,0,14.93,14.57,14.96
$GC,4617,-0.97,-146.0,2531,3824,3587,3482,496.1,-11.8,265,4625,0.00,1.40,0.00,0.000,1030,0.000,0.031,2531,2920,3534,3587,3481,0,0,0,0,0,0,14.79,14.78,14.81
$GC,4975,-0.97,-146.0,2532,2919,3587,3479,536.2,-11.3,274,4981,0.00,2.30,0.00,0.000,516,0.000,0.028,2531,1515,3532,3586,3478,0,0,0,0,0,0,14.97,14.69,15.00
$GC,5058,-0.97,-146.0,2531,1516,3586,3480,545.6,-11.0,286,5066,0.00,2.38,0.00,0.000,1030,0.000,0.049,2521,2870,3531,3585,3478,0,0,0,0,0,0,14.60,14.54,14.66
$GC,5423,-0.97,-146.0,2522,2872,3585,3477,587.0,-11.3,296,5429,0.00,2.22,0.00,0.000,516,0.000,0.030,2521,1516,3530,3584,3476,0,0,0,0,0,0,15.00,14.68,15.02
$GC,5479,-0.97,-146.0,2521,1518,3584,3477,593.2,-11.0,304,5486,0.00,2.38,0.00,0.000,1030,0.000,0.050,2511,2877,3529,3584,3475,0,0,0,0,0,0,14.69,14.57,14.73
$GC,5815,-0.92,-146.0,2510,2877,3579,3474,631.6,-11.5,317,5818,0.15,0.00,0.00,0.000,2182,0.247,0.000,2546,2879,3528,3582,3474,0,0,0,0,0,0,14.37,14.66,14.59
$GC,6151,-0.92,-146.0,2551,2878,3583,3470,663.9,-9.5,323,6158,0.00,2.28,0.00,0.000,548,0.000,0.030,2546,1509,3525,3581,3470,0,0,0,0,0,0,15.00,14.65,15.02
$GC,6263,-0.98,-146.0,2546,1509,3582,3470,674.9,-9.7,339,6270,0.00,2.40,0.00,0.000,1190,0.000,0.050,2538,2877,3525,3581,3470,0,0,0,0,0,0,14.67,14.55,14.71
$GC,6599,-0.98,-146.0,2537,2878,3580,3470,708.4,-9.9,352,6605,0.00,2.25,0.00,0.000,548,0.000,0.028,2538,1518,3524,3579,3469,0,0,0,0,0,0,14.97,14.66,15.00
$GC,6647,-1.02,-146.0,2538,1519,3579,3469,713.5,-10.1,359,6656,0.00,2.42,0.00,0.000,1158,0.000,0.050,2528,2874,3523,3578,3469,0,0,0,0,0,0,14.55,14.49,14.60
$GC,6991,-1.02,-146.0,2529,2874,3578,3467,749.0,-10.4,366,6993,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2874,3522,3577,3467,0,0,0,0,0,0,14.95,14.99,14.98
$GC,7327,-1.02,-146.0,2528,2875,3576,3466,781.9,-9.6,372,7333,0.00,2.25,0.00,0.000,548,0.000,0.029,2525,1518,3520,3576,3465,0,0,0,0,0,0,14.97,14.64,14.99
$GC,7403,-1.02,-146.0,2528,1518,3576,3465,789.2,-9.7,383,7410,0.00,2.42,0.00,0.000,1062,0.000,0.050,2518,2874,3522,3575,3470,0,0,0,0,0,0,14.52,14.45,14.57
$GC,7719,-1.02,-146.0,2519,2874,3574,3464,820.5,-9.9,393,7726,0.00,2.25,0.00,0.000,548,0.000,0.029,2518,1520,3523,3582,3464,0,0,0,0,0,0,14.86,14.57,14.89
$GC,7753,-1.02,-146.0,2519,1521,3575,3465,823.9,-9.8,398,7761,0.00,2.42,0.00,0.000,1062,0.000,0.050,2508,2868,3518,3573,3464,0,0,0,0,0,0,14.53,14.45,14.57
$STATE,7941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7941,begin apogee
$GC,7946,-0.21,0.0,2509,2630,3574,3464,842.9,-10.1,404,8156,0.98,0.00,205.93,1.528,10246,0.197,0.000,2776,2628,2968,3042,2895,0,0,0,0,0,0,14.22,14.05,13.31
$STATE,8158,end apogee,CONTROL_FINISHED_OK
$STATE,8158,begin climb
$GC,8160,0.91,146.0,2778,2629,3036,2890,848.1,0.0,407,8337,1.15,2.33,160.10,1.698,10756,0.103,0.031,3151,1305,2376,2457,2296,0,0,0,0,0,0,14.07,13.78,13.19
$GC,8428,0.75,146.0,3151,1305,2445,2280,830.9,11.9,452,8435,0.25,2.35,0.00,0.000,5254,0.239,0.042,3098,2653,2362,2444,2280,0,0,0,0,0,0,14.09,14.28,14.32
$GC,8784,0.66,146.0,3093,2653,2441,2270,794.5,10.1,461,8794,0.00,2.28,0.00,0.000,644,0.000,0.034,3101,1308,2355,2442,2269,0,0,0,0,0,0,14.78,14.52,14.81
$GC,8879,0.60,158.5,3100,1307,2433,2271,785.5,9.4,474,8887,0.17,2.35,2.67,0.799,13478,0.176,0.043,3050,2647,2333,2417,2250,0,0,0,0,0,0,14.33,14.52,13.23
$GC,9229,0.67,213.4,3051,2646,2423,2270,759.3,7.4,482,9314,0.00,2.40,73.78,1.623,8740,0.000,0.036,3059,1303,2106,2190,2023,0,0,0,0,0,0,14.87,14.26,13.50
$GC,9377,0.76,247.1,3060,1302,2179,2014,747.6,8.4,503,9420,0.12,2.35,37.17,1.651,11430,0.116,0.044,3110,2638,1984,2067,1901,0,0,0,0,0,0,14.37,14.35,13.43
$GC,9729,0.70,247.1,3114,2638,2047,1871,704.3,12.7,518,9736,0.12,2.28,0.00,0.000,4740,0.229,0.034,3085,1303,1959,2047,1872,0,0,0,0,0,0,14.33,14.47,14.45
$GC,9783,0.70,247.1,3086,1305,2044,1874,697.9,10.9,526,9790,0.00,2.35,0.00,0.000,1030,0.000,0.044,3086,2652,1958,2044,1873,0,0,0,0,0,0,14.61,14.52,14.64
$GC,10119,0.70,247.1,3086,2652,2045,1869,658.8,11.7,539,10126,0.00,2.28,0.00,0.000,516,0.000,0.037,3095,1309,1956,2043,1869,0,0,0,0,0,0,14.85,14.57,14.89
$GC,10202,0.70,247.1,3095,1310,2041,1871,649.1,11.5,551,10210,0.00,2.35,0.00,0.000,1030,0.000,0.044,3095,2641,1955,2040,1870,0,0,0,0,0,0,14.61,14.56,14.64
$GC,10568,0.67,247.1,3096,2642,2041,1867,605.0,12.1,561,10575,0.12,2.25,0.00,0.000,4740,0.221,0.036,3075,1306,1954,2041,1867,0,0,0,0,0,0,14.45,14.63,14.65
$GC,10644,0.71,247.1,3076,1308,2040,1869,596.8,10.3,572,10651,0.00,2.35,0.00,0.000,1158,0.000,0.044,3075,2640,1952,2039,1866,0,0,0,0,0,0,14.61,14.57,14.64
$GC,10960,0.71,247.1,3075,2641,2040,1868,561.6,11.2,582,10966,0.00,2.25,0.00,0.000,516,0.000,0.037,3085,1310,1952,2039,1866,0,0,0,0,0,0,14.88,14.59,14.90
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$STATE,16281,end climb,SURFACE_DEPTH_REACHED
$STATE,16281,begin surface coast
$FINISH,1.1,1.021069
$STATE,16285,end surface coast,CONTROL_FINISHED_OK
$STATE,16285,begin surface
$SM_CCo,16312,16.00,0.169,0,0,874,525.01
$SM_GC,0.75,8.98,2.80,16.00,0.055,0.052,0.169,184,2864,874,-8.25,-0.93,525.01,0,0,0,0,0,0,14.64,14.52,14.35
$IRIDIUM_FIX,951.56,-12342.01,241017,052428
$TT8_MAMPS,0.038948,0.308588
$HUMID,50.47
$INTERNAL_PRESSURE,8.68589
$TCM_TEMP,22.50
$XPDR_PINGS,27
$SC_FREEKB,3802208
$PM_FREEKB,20366016
$24V_AH,12.83,112.035
$10V_AH,12.72,0.000
$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,24.800,161.625,613.050,16.000,0.000,0.000,0.000,327.300,6.750,0.000,4.728,0.000,13160.889,857.118,2528.327,324.164,0.000,2099.720,0.000,1596.631,0.000,0.548,0.000
$DEVICE_MAMPS,352.665,80.325,1697.535,169.065,0.000,0.000,0.000,203.490,420.000,0.000,9.740,0.000,2.190,12.920,30.890,48.120,0.000,11.800,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16296.000,16314.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.185,5.259,0.000,0.000
$MEM,326260
$DATA_FILE_SIZE,33405,906
$CAP_FILE_SIZE,134751,0
$CFSIZE,1024409600,975405056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089,107.59,1
$GPS,241017,145700,947.985,-12508.006,17,1.3,17,9.0,0.1,0.0,7,5.5