version: 66.12
glider: 217
mission: 3
dive: 9
start: 9 19 114 10 9 27
data:
$ID,217
$MISSION,3
$DIVE,9
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,990
$D_NO_BLEED,50
$D_BOOST,25
$T_BOOST,2
$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,170
$T_MISSION,210
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$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,40
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52199
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,5
$N_GPS,25
$T_GPS_ALMANAC,0
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3880
$C_PITCH,3106
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,22.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,2
$ROLL_MIN,240
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2160
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2942
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$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,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.110779
$PRESSURE_SLOPE,0.0001155691
$AD7714Ch0Gain,128
$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,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043902649
$SEABIRD_T_H,0.00063436845
$SEABIRD_T_I,2.5093383e-05
$SEABIRD_T_J,2.9521423e-06
$SEABIRD_C_G,-9.69524
$SEABIRD_C_H,1.1253856
$SEABIRD_C_I,-0.0011212705
$SEABIRD_C_J,0.00015718494
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,190914,100405,6702.105,-5703.018,35,0.8,35,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-74.1
$GPS2,190914,100853,6702.123,-5703.076,6,0.8,6,-32.6
$SPEED_LIMITS,0.117,0.259
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$MHEAD_RNG_PITCHd_Wd,293.7,152198,-17.9,-9.804,-20.70,2280
$D_GRID,706
$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,-1.01,-146.0,195,2299,1486,1408,0.0,0.0,0,83,0.00,0.00,-63.42,0.000,16386,0.000,0.000,193,2299,3129,3130,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.01,-146.0,191,2299,3131,3128,4.3,-5.2,6,108,12.02,0.00,-7.07,0.000,18950,0.418,0.000,2770,2298,3540,3562,3518,0,0,0,0,0,0,14.32,28.83,14.74
$GC,425,-0.97,-146.0,2770,2299,3567,3516,74.5,-16.8,23,427,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2299,3541,3567,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,726,-0.93,-146.0,2770,2299,3568,3517,123.3,-16.0,33,734,0.12,2.50,0.00,0.000,2308,0.304,0.100,2800,3709,3542,3568,3517,0,0,0,0,0,0,14.56,14.65,28.83
$GC,808,-0.93,-146.0,2800,3709,3568,3517,135.2,-13.5,48,818,0.00,2.40,0.00,0.000,1030,0.000,0.066,2800,2296,3541,3568,3515,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1115,-0.93,-146.0,2800,2296,3567,3516,177.3,-13.7,64,1123,0.00,2.53,0.00,0.000,260,0.000,0.104,2799,3708,3542,3568,3516,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1165,-0.93,-146.0,2799,3707,3568,3516,184.4,-13.9,73,1172,0.00,2.38,0.00,0.000,1030,0.000,0.067,2799,2300,3542,3568,3516,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1484,-0.93,-146.0,2799,2298,3568,3516,228.9,-13.9,91,1491,0.00,2.53,0.00,0.000,260,0.000,0.104,2799,3709,3542,3568,3516,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1569,-0.93,-146.0,2799,3709,3567,3516,240.6,-13.5,107,1576,0.00,2.38,0.00,0.000,1030,0.000,0.066,2799,2294,3541,3567,3515,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1894,-0.93,-146.0,2799,2294,3568,3515,283.0,-13.1,126,1900,0.00,2.53,0.00,0.000,260,0.000,0.103,2799,3709,3541,3568,3515,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1973,-0.93,-146.0,2799,3709,3568,3515,293.6,-12.9,141,1980,0.00,2.38,0.00,0.000,1030,0.000,0.066,2799,2292,3541,3567,3515,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2279,-0.93,-146.0,2799,2292,3568,3515,334.3,-13.1,157,2286,0.00,2.53,0.00,0.000,260,0.000,0.104,2799,3707,3541,3568,3515,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2367,-0.93,-146.0,2799,3707,3568,3515,345.7,-12.3,173,2374,0.00,2.35,0.00,0.000,1030,0.000,0.066,2799,2299,3541,3568,3515,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2691,-0.93,-146.0,2799,2299,3568,3515,384.8,-11.7,192,2699,0.00,2.53,0.00,0.000,260,0.000,0.103,2799,3716,3541,3567,3515,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2736,-0.93,-146.0,2799,3716,3568,3515,390.2,-12.0,200,2745,0.00,2.38,0.00,0.000,1030,0.000,0.065,2799,2299,3541,3567,3515,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3062,-0.93,-146.0,2799,2299,3567,3515,428.7,-12.2,219,3069,0.00,2.50,0.00,0.000,260,0.000,0.103,2800,3707,3541,3567,3515,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3127,-0.93,-146.0,2799,3707,3568,3515,437.0,-13.2,231,3134,0.00,2.35,0.00,0.000,1030,0.000,0.065,2800,2298,3541,3567,3515,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3451,-0.93,-146.0,2799,2299,3568,3515,476.9,-12.4,250,3458,0.00,2.53,0.00,0.000,260,0.000,0.103,2799,3718,3541,3568,3515,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3565,-0.93,-146.0,2799,3718,3569,3515,491.5,-12.4,272,3573,0.00,2.38,0.00,0.000,1030,0.000,0.065,2799,2295,3542,3568,3517,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,3641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3641,begin apogee
$GC,3645,-0.22,0.0,2799,2165,3568,3516,500.5,-12.4,277,3782,0.82,0.00,125.55,1.512,10246,0.252,0.000,3028,2165,2946,3011,2881,0,0,0,0,1,0,14.65,28.83,13.41
$STATE,3784,end apogee,CONTROL_FINISHED_OK
$STATE,3784,begin climb
$GC,3785,1.01,146.0,3028,2165,3015,2883,507.0,0.0,284,3921,1.27,2.60,123.18,1.448,10756,0.171,0.083,3421,764,2336,2400,2273,0,0,0,0,0,0,14.02,13.87,13.35
$GC,3984,0.97,160.8,3421,764,2396,2270,502.0,9.1,317,4004,0.00,2.50,13.05,1.285,9222,0.000,0.069,3420,2167,2280,2346,2215,0,0,0,0,0,0,28.83,14.13,13.52
$GC,4299,0.91,160.8,3422,2166,2339,2209,470.6,10.0,335,4306,0.00,2.50,0.00,0.000,260,0.000,0.094,3420,3565,2272,2339,2205,0,0,0,0,0,0,28.83,14.39,28.83
$GC,4385,0.80,160.8,3421,3565,2334,2205,461.0,11.9,351,4393,0.25,2.42,0.00,0.000,5126,0.291,0.066,3370,2159,2273,2338,2209,0,0,0,0,0,0,14.33,14.46,28.83
$GC,4710,0.86,196.8,3370,2162,2338,2208,432.8,8.2,370,4748,0.00,2.58,30.23,1.334,8452,0.000,0.096,3370,3572,2130,2191,2069,0,0,0,0,0,0,28.83,14.36,13.87
$GC,4801,0.82,196.8,3370,3571,2186,2067,424.0,10.5,386,4808,0.00,2.42,0.00,0.000,1030,0.000,0.066,3379,2166,2126,2186,2066,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5127,0.82,196.8,3379,2164,2180,2065,390.4,10.1,405,5133,0.00,2.53,0.00,0.000,260,0.000,0.095,3379,3570,2125,2185,2065,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5166,0.77,196.8,3379,3569,2185,2065,385.9,11.2,412,5176,0.15,2.42,0.00,0.000,5126,0.296,0.067,3356,2150,2125,2185,2065,0,0,0,0,0,0,14.45,14.57,28.83
$GC,5472,0.77,202.0,3356,2149,2184,2065,356.7,9.6,428,5480,0.00,2.42,0.00,0.000,516,0.000,0.087,3367,755,2124,2184,2065,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5492,0.79,209.5,3367,755,2184,2065,354.6,9.5,431,5508,0.00,2.42,10.82,1.151,9222,0.000,0.070,3367,2170,2085,2146,2024,0,0,0,0,0,0,28.83,14.64,14.04
$GC,5825,0.79,209.5,3367,2170,2135,2015,321.2,10.1,451,5832,0.00,2.47,0.00,0.000,260,0.000,0.096,3367,3568,2075,2135,2015,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5905,0.75,209.5,3366,3569,2135,2015,312.1,11.3,466,5913,0.00,2.40,0.00,0.000,1030,0.000,0.067,3376,2158,2074,2134,2015,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6211,0.75,209.5,3377,2156,2134,2015,280.4,10.4,482,6218,0.00,2.50,0.00,0.000,260,0.000,0.096,3376,3571,2074,2134,2015,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6306,0.71,209.5,3376,3570,2134,2015,269.6,11.5,500,6315,0.17,2.40,0.00,0.000,5126,0.294,0.067,3342,2156,2074,2134,2015,0,0,0,0,0,0,14.57,14.71,28.83
$GC,6624,0.77,244.6,3342,2154,2132,2015,242.7,8.2,517,6662,0.00,2.55,29.88,1.129,8452,0.000,0.096,3342,3564,1935,1997,1874,0,0,0,0,0,0,28.83,14.54,14.07
$GC,6690,0.77,244.6,3342,3565,1990,1870,236.5,10.1,528,6700,0.00,2.40,0.00,0.000,1030,0.000,0.067,3342,2161,1929,1990,1869,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6996,0.83,262.2,3343,2160,1990,1866,208.8,9.0,544,7017,0.00,2.58,14.77,1.041,8452,0.000,0.096,3342,3563,1865,1928,1803,0,0,0,0,0,0,28.83,14.54,14.08
$GC,7038,0.83,262.2,3343,3563,1926,1800,204.5,10.0,551,7046,0.00,2.40,0.00,0.000,1030,0.000,0.067,3342,2160,1861,1923,1799,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7345,0.88,272.9,3341,2159,1922,1796,175.7,9.3,567,7361,0.10,2.58,9.30,0.946,10500,0.205,0.095,3376,3567,1823,1886,1760,0,0,0,0,0,0,14.63,14.58,14.11
$GC,7383,0.88,272.9,3376,3565,1881,1758,171.3,11.7,573,7390,0.00,2.40,0.00,0.000,1030,0.000,0.067,3383,2162,1819,1881,1758,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7697,0.88,272.9,3384,2159,1881,1756,135.2,11.1,590,7704,0.00,2.42,0.00,0.000,516,0.000,0.088,3391,756,1818,1880,1756,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7725,0.88,272.9,3391,755,1879,1756,131.9,11.4,595,7732,0.00,2.40,0.00,0.000,1030,0.000,0.070,3391,2164,1817,1878,1756,0,0,0,0,0,0,28.83,14.66,28.83
$EKF,range,-4342.6
$GC,8054,0.88,272.9,3391,2164,1878,1756,95.3,10.9,610,8061,0.00,2.45,0.00,0.000,260,0.000,0.096,3391,3565,1817,1879,1756,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8175,0.88,272.9,3391,3565,1878,1756,80.6,12.7,633,8184,0.00,2.40,0.00,0.000,1030,0.000,0.067,3394,2157,1816,1877,1755,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8480,0.88,272.9,3396,2156,1878,1756,47.2,10.2,644,8488,0.00,2.47,0.00,0.000,260,0.000,0.096,3396,3558,1817,1878,1756,0,0,0,0,0,0,28.83,14.70,28.83
$EKF,range,-3795.7
$GC,8522,0.89,282.0,3396,3561,1878,1756,43.1,9.4,651,8536,0.00,2.38,3.05,0.523,9222,0.000,0.067,3404,2155,1801,1865,1738,0,0,0,0,0,0,28.83,14.73,14.21
$GC,8844,0.98,344.2,3404,2154,1872,1745,17.7,7.0,671,8886,0.00,2.47,35.60,0.144,8708,0.000,0.089,3409,762,1540,1610,1470,0,0,0,0,0,0,28.83,14.68,14.64
$GC,8999,1.04,344.2,3409,762,1619,1478,3.9,10.4,698,9008,0.00,2.40,1.15,0.086,9222,0.000,0.071,3409,2156,1541,1612,1471,0,0,0,0,0,0,28.83,14.71,14.71
$EKF,range,-3504.2
$STATE,9025,end climb,SURFACE_DEPTH_REACHED
$STATE,9025,begin surface coast
$FINISH,1.0,1.025478
$STATE,9036,end surface coast,CONTROL_FINISHED_OK
$STATE,9036,begin surface
$SM_CCo,9053,3.42,0.088,0,0,1514,350.04
$SM_GC,3.05,9.50,0.22,3.42,0.106,0.098,0.088,202,2319,1514,-9.04,-0.82,350.04,0,0,0,0,0,0,14.66,14.73,14.69
$RAFOS_CLK,-38
$RAFOS,4,1411130009,12.566667,12.558056,91,60,56,54,53,53,702,186,147,201,233,159
$RAFOS,3,1411129503,12.433333,12.417500,136,66,62,56,54,52,954,227,146,169,210,192
$RAFOS,2,1411129022,12.300000,12.283889,76,65,63,56,53,53,1025,202,191,137,174,114
$RAFOS,1,1411128549,12.166667,12.152500,61,59,56,55,51,50,157,215,206,115,174,146
$RAFOS,0,1411128062,12.033333,12.017222,68,66,64,56,54,54,215,1131,205,176,116,152
$RAFOS_FIX,6700.517578,-5708.671875,190914,121240,3,101,0.61
$IRIDIUM_FIX,6631.12,-5655.33,190914,072406
$TT8_MAMPS,0.03745,0.03745
$HUMID,45.94
$INTERNAL_PRESSURE,8.58197
$TCM_TEMP,13.60
$XPDR_PINGS,0
$SC_FREEKB,4017184
$24V_AH,13.35,6.585
$10V_AH,12.85,0.000
$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,24.425,108.425,396.575,3.425,0.000,0.000,0.000,187.075,0.000,0.000,7.810,2078.088,5320.321,605.424,1326.594,56.252,0.000,1409.883,0.000,1039.500,1800.000,0.535,0.000
$DEVICE_MAMPS,418.455,113.220,1511.640,87.975,0.000,0.000,0.000,151.470,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9040.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.236,0.000,0.000,0.000
$MEM,143212
$DATA_FILE_SIZE,23391,702
$CAP_FILE_SIZE,115812,0
$CFSIZE,1024409600,1016496128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,9700.19,0x23769e,7,5
$SOUNDSPEED,1462.7
$EKF,9144,4022.033691,-3426.064941,0.977732,-0.308120,-0.332435,0.007252,0.000126,0.000831,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.048,248.58,1
$GPS,190914,124148,6701.927,-5706.689,15,1.4,15,-32.6