version: 66.13
glider: 219
mission: 8
dive: 312
start: 10 30 117 13 16 3
data:
$ID,219
$MISSION,8
$DIVE,312
$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,127
$R_STBD_OVSHOOT,26
$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,48
$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,1.0
$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
$GPS1,301017,130639,1015.1447,-12454.6230,16,1.4,16,9.0,0.5,20.0,4,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-73.0
$GPS2,301017,131543,1015.1520,-12454.5977,1,1.5,4,9.0,0.6,146.4,4,9.0
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,291.5,12251,-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,36,end surface,CONTROL_FINISHED_OK
$STATE,36,begin dive
$GC,39,-0.91,-146.0,146,2878,912,856,0.0,0.0,0,130,0.00,0.00,-80.03,0.000,16386,0.000,0.000,141,2878,3307,3334,3281,0,0,0,0,0,0,14.73,28.83,14.78
$GC,133,-0.91,-146.0,142,2880,3335,3283,6.4,-9.2,3,164,10.98,1.88,-3.05,0.000,18692,0.355,2.061,2540,3824,3552,3591,3514,0,0,0,0,0,0,14.05,13.26,14.44
$GC,190,-0.38,-146.0,2540,3825,3593,3515,36.4,-34.7,11,204,0.68,1.45,0.00,0.000,3206,0.246,0.033,2724,2912,3553,3593,3513,0,0,0,0,0,0,14.24,14.55,14.50
$GC,533,-0.62,-146.0,2724,2912,3598,3515,67.8,-5.9,26,547,0.20,1.60,0.00,0.000,4516,0.095,0.074,2631,3829,3555,3597,3513,0,0,0,0,0,0,14.64,14.57,14.67
$GC,755,-0.72,-146.0,2632,3829,3599,3514,85.7,-7.1,57,770,0.00,1.50,0.00,0.000,1190,0.000,0.029,2632,2777,3555,3597,3513,0,0,0,0,0,0,14.78,14.74,14.80
$GC,1071,-0.84,-146.0,2632,2778,3600,3514,109.1,-7.5,67,1085,0.12,1.83,0.00,0.000,4516,0.128,0.073,2558,3824,3556,3599,3513,0,0,0,0,0,0,14.69,14.64,14.70
$GC,1118,-0.79,-146.0,2558,3825,3600,3515,113.8,-10.2,73,1132,0.15,1.50,0.00,0.000,3206,0.228,0.030,2594,2795,3556,3599,3513,0,0,0,0,0,0,14.44,14.78,14.66
$GC,1473,-0.86,-146.0,2594,2796,3598,3514,143.6,-8.0,81,1487,0.00,0.00,0.00,0.000,166,0.000,0.000,2593,2794,3556,3599,3513,0,0,0,0,0,0,15.00,15.04,15.03
$GC,1810,-0.95,-146.0,2593,2796,3598,3511,172.8,-8.8,87,1824,0.12,2.12,0.00,0.000,4772,0.122,0.029,2524,1484,3554,3599,3509,0,0,0,0,0,0,14.73,14.74,14.78
$GC,1915,-0.91,-146.0,2525,1484,3598,3509,184.5,-11.8,101,1929,0.15,2.38,0.00,0.000,3206,0.227,0.049,2550,2882,3553,3599,3508,0,0,0,0,0,0,14.45,14.67,14.66
$GC,2270,-0.91,-146.0,2550,2882,3599,3504,222.7,-10.6,109,2284,0.00,2.28,0.00,0.000,516,0.000,0.031,2550,1492,3550,3599,3502,0,0,0,0,0,0,15.02,14.75,15.04
$GC,2324,-0.91,-146.0,2551,1491,3600,3503,228.6,-10.8,116,2338,0.00,2.35,0.00,0.000,1030,0.000,0.050,2543,2876,3550,3599,3501,0,0,0,0,0,0,14.76,14.66,14.80
$GC,2667,-0.91,-146.0,2544,2875,3600,3496,266.4,-10.9,123,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2876,3547,3599,3496,0,0,0,0,0,0,15.03,15.07,15.06
$GC,3003,-0.91,-146.0,2543,2876,3599,3490,303.9,-11.2,129,3017,0.00,2.28,0.00,0.000,516,0.000,0.031,2542,1491,3544,3598,3490,0,0,0,0,0,0,15.03,14.76,15.07
$GC,3092,-0.91,-146.0,2543,1492,3599,3490,314.0,-11.3,141,3106,0.00,2.35,0.00,0.000,1030,0.000,0.050,2534,2872,3543,3598,3489,0,0,0,0,0,0,14.77,14.66,14.81
$GC,3461,-0.91,-146.0,2534,2872,3598,3488,356.4,-11.4,151,3475,0.00,2.28,0.00,0.000,516,0.000,0.031,2534,1487,3542,3597,3488,0,0,0,0,0,0,15.04,14.75,15.06
$GC,3529,-0.91,-146.0,2533,1488,3597,3488,363.9,-10.9,160,3543,0.12,2.40,0.00,0.000,3078,0.231,0.050,2551,2873,3542,3596,3488,0,0,0,0,0,0,14.40,14.60,14.61
$GC,3863,-0.91,-146.0,2552,2876,3595,3485,396.4,-9.6,172,3876,0.00,0.00,0.00,0.000,38,0.000,0.000,2551,2876,3539,3593,3485,0,0,0,0,0,0,15.03,15.07,15.06
$GC,4199,-0.91,-146.0,2552,2876,3594,3483,427.7,-9.3,178,4213,0.00,2.30,0.00,0.000,548,0.000,0.031,2551,1485,3537,3593,3481,0,0,0,0,0,0,15.03,14.71,15.06
$GC,4274,-0.96,-146.0,2551,1485,3591,3481,434.4,-8.7,188,4288,0.00,2.38,0.00,0.000,1190,0.000,0.050,2544,2872,3536,3592,3481,0,0,0,0,0,0,14.74,14.63,14.78
$GC,4601,-0.96,-146.0,2544,2872,3591,3478,463.8,-9.0,199,4615,0.00,2.28,0.00,0.000,548,0.000,0.031,2544,1488,3534,3590,3479,0,0,0,0,0,0,15.02,14.73,15.06
$GC,4669,-0.99,-146.0,2545,1488,3591,3478,470.0,-9.1,208,4683,0.00,2.38,0.00,0.000,1190,0.000,0.050,2534,2872,3534,3589,3479,0,0,0,0,0,0,14.74,14.63,14.78
$GC,5003,-0.99,-146.0,2535,2873,3589,3478,502.4,-9.7,220,5017,0.00,0.00,0.00,0.000,38,0.000,0.000,2534,2872,3532,3588,3476,0,0,0,0,0,0,15.02,15.07,15.06
$GC,5339,-0.99,-146.0,2534,2871,3588,3474,535.5,-9.8,226,5353,0.00,2.30,0.00,0.000,548,0.000,0.031,2534,1482,3530,3587,3474,0,0,0,0,0,0,15.04,14.69,15.07
$GC,5393,-0.99,-146.0,2534,1482,3588,3475,540.7,-9.6,233,5409,0.00,2.45,0.00,0.000,1062,0.000,0.050,2524,2877,3529,3586,3473,0,0,0,0,0,0,14.73,14.62,14.76
$GC,5736,-0.99,-146.0,2524,2878,3586,3473,575.3,-10.1,240,5750,0.00,2.30,0.00,0.000,516,0.000,0.031,2524,1490,3529,3586,3472,0,0,0,0,0,0,15.04,14.71,15.07
$GC,5804,-0.99,-146.0,2525,1491,3587,3472,582.1,-9.9,249,5818,0.00,2.40,0.00,0.000,1062,0.000,0.050,2514,2880,3528,3585,3471,0,0,0,0,0,0,14.73,14.62,14.76
$GC,6138,-0.99,-146.0,2515,2880,3585,3469,616.1,-10.2,261,6152,0.00,2.30,0.00,0.000,516,0.000,0.029,2514,1488,3526,3584,3469,0,0,0,0,0,0,15.02,14.71,15.05
$GC,6178,-0.99,-146.0,2512,1485,3585,3470,620.1,-10.6,266,6191,0.00,2.35,0.00,0.000,1030,0.000,0.047,2507,2871,3526,3584,3469,0,0,0,0,0,0,14.71,14.59,14.75
$GC,6540,-0.95,-146.0,2505,2871,3584,3468,659.2,-10.9,275,6554,0.12,2.30,0.00,0.000,2692,0.258,0.028,2537,1493,3525,3583,3468,0,0,0,0,0,0,14.36,14.58,14.48
$GC,6573,-0.95,-146.0,2537,1493,3584,3469,662.7,-10.8,279,6586,0.00,2.40,0.00,0.000,1030,0.000,0.050,2529,2869,3524,3582,3467,0,0,0,0,0,0,14.71,14.59,14.74
$GC,6941,-0.95,-146.0,2529,2875,3582,3466,701.2,-10.6,289,6955,0.00,2.30,0.00,0.000,516,0.000,0.031,2529,1489,3523,3581,3465,0,0,0,0,0,0,15.02,14.69,15.05
$GC,7002,-0.95,-146.0,2529,1489,3582,3465,707.7,-10.7,297,7016,0.00,2.42,0.00,0.000,1030,0.000,0.051,2518,2875,3522,3580,3465,0,0,0,0,0,0,14.69,14.57,14.73
$GC,7343,-0.95,-146.0,2518,2876,3588,3466,744.9,-10.9,310,7357,0.00,2.30,0.00,0.000,516,0.000,0.031,2518,1495,3521,3579,3464,0,0,0,0,0,0,14.99,14.71,15.04
$GC,7383,-0.95,-146.0,2519,1496,3579,3465,749.3,-11.0,315,7397,0.15,2.42,0.00,0.000,3078,0.230,0.050,2543,2880,3521,3578,3464,0,0,0,0,0,0,14.31,14.57,14.54
$GC,7745,-1.00,-146.0,2543,2882,3578,3462,783.0,-9.1,324,7759,0.00,2.33,0.00,0.000,676,0.000,0.031,2541,1490,3519,3577,3461,0,0,0,0,0,0,14.98,14.64,15.01
$GC,7834,-1.06,-146.0,2543,1490,3577,3461,791.0,-9.2,336,7848,0.00,2.45,0.00,0.000,1190,0.000,0.051,2535,2877,3519,3577,3461,0,0,0,0,0,0,14.66,14.54,14.69
$GC,8204,-1.09,-146.0,2535,2877,3576,3460,825.7,-9.3,346,8218,0.12,2.33,0.00,0.000,4772,0.129,0.028,2477,1492,3517,3576,3459,0,0,0,0,0,0,14.67,14.64,14.69
$GC,8265,-1.03,-146.0,2477,1491,3576,3459,832.8,-12.0,354,8279,0.20,2.40,0.00,0.000,3206,0.238,0.049,2513,2874,3517,3575,3459,0,0,0,0,0,0,14.19,14.53,14.47
$STATE,8380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8380,begin apogee
$GC,8385,-0.21,0.0,2515,2604,3576,3459,845.8,-11.1,363,8605,0.95,0.08,208.18,1.533,10246,0.190,0.159,2778,2651,2969,3043,2896,0,0,0,0,0,0,14.22,14.02,13.28
$STATE,8606,end apogee,CONTROL_FINISHED_OK
$STATE,8606,begin climb
$GC,8608,0.91,146.0,2778,2651,3037,2889,852.5,0.0,366,8787,1.12,2.38,162.12,1.709,10756,0.101,0.033,3149,1301,2377,2458,2297,0,0,0,0,0,0,14.08,13.76,13.14
$GC,8885,0.75,146.0,3148,1301,2443,2276,838.8,11.6,413,8901,0.22,2.38,0.00,0.000,5254,0.230,0.044,3095,2643,2359,2441,2278,0,0,0,0,0,0,14.11,14.32,14.35
$GC,9227,0.69,161.2,3094,2645,2439,2271,806.7,9.3,420,9245,0.00,2.28,4.12,1.360,8868,0.000,0.036,3103,1302,2328,2409,2247,0,0,0,0,0,0,14.81,14.50,13.21
$GC,9307,0.64,183.3,3103,1302,2416,2261,799.4,9.0,431,9354,0.17,2.33,34.67,1.743,13478,0.203,0.044,3061,2640,2238,2323,2153,0,0,0,0,0,0,14.38,14.57,13.52
$GC,9674,0.67,203.2,3062,2638,2306,2126,766.5,9.1,448,9707,0.00,2.28,19.17,1.824,8740,0.000,0.033,3070,1302,2153,2240,2067,0,0,0,0,0,0,14.81,14.25,13.60
$GC,9790,0.68,213.9,3070,1303,2227,2061,755.8,9.5,464,9809,0.00,2.30,3.55,1.206,9254,0.000,0.044,3070,2639,2117,2199,2036,0,0,0,0,0,0,14.58,14.51,13.15
$GC,10129,0.68,213.9,3070,2640,2204,2054,720.9,10.3,477,10147,0.00,2.30,1.62,0.233,8708,0.000,0.036,3080,1310,2117,2193,2041,0,0,0,0,0,0,14.84,14.54,14.31
$GC,10194,0.68,213.9,3080,1311,2201,2050,714.2,10.3,485,10208,0.00,2.30,1.25,0.249,9222,0.000,0.044,3080,2638,2114,2193,2036,0,0,0,0,0,0,14.68,14.59,14.33
$GC,10535,0.68,213.9,3081,2638,2201,2057,678.1,10.6,498,10549,0.00,2.25,1.02,0.259,8708,0.000,0.034,3089,1311,2117,2193,2041,0,0,0,0,0,0,14.90,14.33,14.31
$GC,10617,0.68,213.9,3090,1311,2196,2052,669.8,10.0,509,10631,0.00,2.30,0.00,0.000,1030,0.000,0.044,3090,2641,2123,2196,2050,0,0,0,0,0,0,14.71,14.62,14.73
$GC,10937,0.64,213.9,3090,2642,2198,2050,636.3,10.5,519,10951,0.12,2.25,0.00,0.000,4740,0.223,0.033,3065,1305,2124,2197,2052,0,0,0,0,0,0,14.43,14.62,14.53
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$STATE,16900,end climb,SURFACE_DEPTH_REACHED
$STATE,16900,begin surface coast
$FINISH,0.8,1.021107
$STATE,16907,end surface coast,CONTROL_FINISHED_OK
$STATE,16907,begin surface
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$TT8_MAMPS,0.041944,0.256907
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$XPDR_PINGS,43
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$PM_FREEKB,208448
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$10V_AH,12.64,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,326288
$DATA_FILE_SIZE,30066,846
$CAP_FILE_SIZE,150269,0
$CFSIZE,1024409600,971259904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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