version: 66.12
glider: 217
mission: 3
dive: 65
start: 9 28 114 17 31 16
data:
$ID,217
$MISSION,3
$DIVE,65
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,360
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,140
$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,1
$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,3095
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,28
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,240
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2709
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0022
$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
$GPS1,280914,172515,6643.048,-6011.693,16,0.9,16,-32.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-73.0
$GPS2,280914,173041,6643.020,-6011.817,17,0.6,18,-32.9
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,153.8,151766,-17.5,-9.167,-20.44,2275
$D_GRID,566
$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,-0.92,-136.3,185,2456,1302,1230,0.0,0.0,0,83,0.00,0.00,-63.65,0.000,16386,0.000,0.000,181,2456,2867,2872,2863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.92,-136.3,181,2456,2873,2865,3.6,-3.2,6,117,12.43,2.50,-8.02,0.000,18948,0.431,0.101,2794,1056,3268,3295,3242,0,0,0,0,0,0,14.32,14.48,14.70
$GC,354,-0.92,-136.3,2795,1056,3300,3242,58.5,-16.2,55,362,0.00,2.42,0.00,0.000,1030,0.000,0.078,2786,2444,3271,3300,3242,0,0,0,0,0,0,28.83,14.56,28.83
$GC,686,-0.92,-136.3,2786,2444,3302,3241,109.5,-14.8,70,692,0.00,2.42,0.00,0.000,516,0.000,0.077,2786,1048,3272,3302,3242,0,0,0,0,0,0,28.83,14.62,28.83
$GC,894,-0.92,-136.3,2786,1048,3302,3242,140.1,-14.6,110,901,0.00,2.45,0.00,0.000,1030,0.000,0.078,2786,2458,3272,3302,3242,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1218,-0.92,-136.3,2786,2459,3302,3241,187.3,-14.8,129,1225,0.00,2.38,0.00,0.000,260,0.000,0.110,2786,3784,3272,3302,3242,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1252,-0.92,-136.3,2786,3784,3302,3241,192.5,-15.1,135,1260,0.00,2.25,0.00,0.000,1030,0.000,0.068,2786,2452,3271,3302,3241,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1568,-0.92,-136.3,2786,2452,3302,3240,238.4,-14.5,152,1575,0.00,2.40,0.00,0.000,516,0.000,0.078,2786,1050,3271,3302,3240,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1645,-0.92,-136.3,2786,1050,3302,3240,249.6,-14.1,166,1652,0.00,2.42,0.00,0.000,1030,0.000,0.080,2785,2451,3271,3302,3240,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1959,-0.92,-136.3,2786,2451,3302,3239,292.9,-13.6,183,1967,0.00,2.40,0.00,0.000,260,0.000,0.112,2786,3788,3270,3302,3238,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2004,-0.92,-136.3,2786,3789,3302,3239,299.1,-14.0,191,2013,0.00,2.25,0.00,0.000,1030,0.000,0.069,2786,2449,3270,3302,3238,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2330,-0.92,-136.3,2785,2449,3302,3237,340.8,-12.5,210,2337,0.00,2.40,0.00,0.000,516,0.000,0.078,2786,1051,3270,3302,3238,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2348,-0.92,-136.3,2786,1045,3302,3238,343.1,-12.1,213,2356,0.00,2.42,0.00,0.000,1030,0.000,0.080,2786,2452,3269,3302,3237,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2654,-0.92,-136.3,2786,2452,3302,3237,380.0,-12.0,229,2661,0.00,2.38,0.00,0.000,260,0.000,0.111,2786,3785,3269,3302,3237,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2704,-0.92,-136.3,2786,3785,3302,3237,386.1,-12.3,238,2711,0.00,2.25,0.00,0.000,1030,0.000,0.067,2786,2446,3269,3302,3237,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3024,-0.92,-136.3,2786,2445,3302,3237,424.6,-11.7,256,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2445,3269,3302,3237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3324,-0.92,-136.3,2785,2445,3302,3237,459.6,-11.4,271,3332,0.00,2.38,0.00,0.000,516,0.000,0.078,2786,1053,3269,3302,3237,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3364,-0.92,-136.3,2786,1053,3302,3237,464.5,-11.8,278,3372,0.00,2.40,0.00,0.000,1030,0.000,0.078,2786,2452,3267,3298,3237,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3670,-0.92,-136.3,2786,2452,3297,3237,498.6,-11.6,294,3677,0.00,2.40,0.00,0.000,516,0.000,0.076,2786,1056,3269,3302,3237,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3708,-0.92,-136.3,2786,1056,3302,3237,503.3,-12.3,301,3716,0.00,2.40,0.00,0.000,1030,0.000,0.077,2786,2452,3269,3302,3237,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4014,-0.92,-136.3,2786,2452,3302,3237,537.1,-11.2,317,4021,0.00,2.38,0.00,0.000,260,0.000,0.109,2786,3788,3269,3302,3237,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4104,-0.92,-136.3,2786,3788,3302,3237,547.0,-11.4,334,4110,0.00,2.25,0.00,0.000,1030,0.000,0.066,2786,2442,3269,3302,3237,0,0,0,0,0,0,28.83,14.79,28.83
$STATE,4282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4282,begin apogee
$GC,4286,-0.18,0.0,2786,2347,3302,3237,566.6,-11.1,345,4404,0.90,0.00,110.03,1.574,10246,0.261,0.000,3031,2346,2701,2766,2637,0,0,0,0,0,0,14.62,28.83,13.50
$STATE,4406,end apogee,CONTROL_FINISHED_OK
$STATE,4406,begin climb
$GC,4407,0.92,136.3,3031,2347,2765,2642,570.5,0.0,351,4526,1.15,2.55,110.00,1.537,10756,0.180,0.076,3381,954,2147,2218,2076,0,0,0,0,0,0,14.04,13.85,13.29
$GC,4569,0.92,136.3,3381,955,2212,2080,558.4,11.2,377,4575,0.00,2.53,0.00,0.000,1030,0.000,0.071,3381,2358,2146,2212,2081,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4883,0.92,136.3,3381,2358,2209,2079,524.3,11.5,394,4889,0.00,2.50,0.00,0.000,516,0.000,0.079,3390,946,2142,2207,2078,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4921,0.92,136.3,3391,946,2210,2078,520.0,11.5,401,4929,0.00,2.47,0.00,0.000,1030,0.000,0.070,3391,2361,2143,2208,2079,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5227,0.92,136.3,3391,2361,2208,2079,485.6,11.3,417,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2361,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5529,0.92,136.3,3391,2361,2207,2079,451.1,11.5,432,5535,0.00,2.45,0.00,0.000,516,0.000,0.080,3401,954,2143,2207,2079,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5585,0.92,136.3,3402,954,2207,2079,444.3,11.9,442,5592,0.00,2.40,0.00,0.000,1030,0.000,0.072,3402,2349,2143,2207,2079,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5899,0.92,136.3,3402,2349,2207,2079,407.5,11.4,459,5907,0.00,2.42,0.00,0.000,516,0.000,0.079,3413,946,2143,2207,2079,0,0,0,0,0,0,28.83,14.63,28.83
$GC,5939,0.92,136.3,3412,946,2207,2079,402.8,11.4,466,5947,0.00,2.40,0.00,0.000,1030,0.000,0.070,3413,2351,2145,2211,2079,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6245,0.92,136.3,3413,2351,2207,2079,367.6,11.1,482,6251,0.00,2.47,0.00,0.000,260,0.000,0.102,3412,3752,2143,2207,2079,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6279,0.92,136.3,3413,3752,2206,2079,363.5,11.9,488,6287,0.12,2.38,0.00,0.000,5126,0.287,0.064,3396,2340,2143,2207,2079,0,0,0,0,0,0,14.57,14.71,28.83
$GC,6594,0.92,136.3,3396,2340,2207,2079,333.0,9.3,505,6601,0.00,2.53,0.00,0.000,260,0.000,0.101,3396,3756,2143,2207,2079,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6719,0.92,136.3,3396,3756,2207,2079,319.2,11.3,529,6726,0.00,2.35,0.00,0.000,1030,0.000,0.065,3406,2353,2143,2207,2079,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7044,0.92,136.3,3406,2352,2214,2079,286.6,10.2,548,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2353,2143,2207,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7344,0.93,137.0,3406,2352,2212,2079,258.7,9.1,563,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2353,2143,2207,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7645,0.93,137.0,3406,2352,2207,2079,229.2,9.9,578,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2352,2143,2207,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7944,0.93,137.0,3406,2352,2207,2079,200.0,9.6,593,7950,0.00,2.40,0.00,0.000,516,0.000,0.081,3417,948,2143,2208,2079,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7988,0.93,137.0,3417,949,2208,2079,195.7,9.6,601,7995,0.00,2.40,0.00,0.000,1030,0.000,0.073,3417,2357,2144,2208,2080,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8314,0.96,154.6,3417,2358,2208,2079,166.5,8.4,620,8333,0.00,0.00,14.77,1.048,8198,0.000,0.000,3417,2358,2074,2138,2011,0,0,0,0,0,0,28.83,28.83,14.19
$GC,8634,1.00,172.9,3417,2358,2135,2010,139.6,8.3,636,8660,0.00,2.47,15.05,1.032,8708,0.000,0.082,3428,960,2002,2066,1939,0,0,0,0,0,0,28.83,14.64,14.14
$GC,8693,1.00,172.9,3428,959,2064,1939,134.0,10.1,646,8700,0.00,2.40,0.00,0.000,1030,0.000,0.073,3427,2357,2001,2064,1939,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9028,1.00,172.9,3428,2357,2062,1938,100.6,10.2,661,9034,0.00,2.45,0.00,0.000,516,0.000,0.080,3438,949,2000,2062,1938,0,0,0,0,0,0,28.83,14.68,28.83
$GC,9087,1.00,172.9,3438,949,2062,1938,94.6,10.0,672,9095,0.00,2.42,0.00,0.000,1030,0.000,0.073,3438,2354,2000,2062,1938,0,0,0,0,0,0,28.83,14.69,28.83
$EKF,range,-4743.6
$GC,9394,1.00,172.9,3438,2354,2062,1938,65.0,9.5,683,9402,0.00,2.42,0.00,0.000,516,0.000,0.082,3449,956,1999,2061,1937,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9630,1.03,185.2,3449,956,2061,1938,43.8,8.6,729,9652,0.00,2.40,10.93,0.928,9222,0.000,0.075,3449,2357,1953,2016,1891,0,0,0,0,0,0,28.83,14.71,14.19
$GC,9960,1.19,258.9,3449,2356,2014,1889,23.0,5.8,747,10008,0.00,2.45,39.60,0.168,8708,0.000,0.083,3459,955,1656,1728,1584,0,0,0,0,0,0,28.83,14.62,14.59
$GC,10187,1.19,258.9,3460,954,1719,1582,4.6,9.5,789,10193,0.00,2.42,0.00,0.000,1030,0.000,0.079,3459,2355,1650,1719,1582,0,0,0,0,0,0,28.83,14.65,28.83
$STATE,10229,end climb,SURFACE_DEPTH_REACHED
$STATE,10230,begin surface coast
$FINISH,1.2,1.013998
$STATE,10261,end surface coast,CONTROL_FINISHED_OK
$STATE,10262,begin surface
$SM_CCo,10279,42.88,0.097,0,0,1282,350.04
$SM_GC,2.45,9.75,0.15,42.88,0.110,0.145,0.097,218,2457,1282,-8.96,-0.85,350.04,0,0,0,0,0,0,14.60,14.66,14.62
$RAFOS_CLK,-83
$RAFOS,1,1411934942,20.166666,20.150555,58,53,53,52,51,50,141,157,202,132,216,1360
$RAFOS,0,1411934471,20.033333,20.019722,109,65,59,54,52,51,578,191,209,177,148,130
$RAFOS_FIX,6642.250488,-6009.267090,280914,161618,5,108,0.40
$IRIDIUM_FIX,6609.62,-6018.68,280914,142750
$TT8_MAMPS,0.039697,0.039697
$HUMID,45.31
$INTERNAL_PRESSURE,8.48431
$TCM_TEMP,12.30
$XPDR_PINGS,0
$SC_FREEKB,3999264
$24V_AH,13.29,19.892
$10V_AH,12.88,0.000
$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,24.350,101.525,300.375,42.875,0.000,0.000,0.000,205.550,0.000,0.000,19.380,2382.567,6155.508,564.715,1486.468,82.808,0.000,1430.760,0.000,1180.198,1080.000,0.535,0.000
$DEVICE_MAMPS,430.695,145.350,1574.370,97.155,0.000,0.000,0.000,150.705,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10268.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.289,0.000,0.000,0.000
$MEM,143204
$DATA_FILE_SIZE,26723,797
$CAP_FILE_SIZE,121745,0
$CFSIZE,1024409600,1010040832
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10791.30,0x23769e,7,5
$INTR,1,91.49,0x2342fa,0,24
$SOUNDSPEED,1452.8
$EKF,10402,4002.324219,-3609.276123,1.217511,-0.024851,0.039674,-0.001596,0.000146,0.000936,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.203,207.90,1
$GPS,280914,202435,6641.311,-6010.622,26,1.0,26,-32.8