version: 66.12
glider: 217
mission: 3
dive: 66
start: 9 28 114 20 30 18
data:
$ID,217
$MISSION,3
$DIVE,66
$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,45
$R_STBD_OVSHOOT,32
$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
$GPS1,280914,202435,6641.311,-6010.622,26,1.0,26,-32.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-70.8
$GPS2,280914,202941,6641.260,-6010.866,4,1.0,4,-32.8
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,70.5,151931,-17.5,-9.167,-20.44,2275
$D_GRID,564
$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
$EKF,range,-3864.0
$GC,17,-0.92,-136.3,191,2462,1302,1230,0.0,0.0,0,73,0.00,0.00,-53.33,0.000,16386,0.000,0.000,187,2463,2612,2619,2606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.92,-136.3,188,2462,2623,2604,3.4,-2.9,5,110,12.43,2.53,-14.77,0.000,18948,0.429,0.099,2789,1055,3267,3297,3238,0,0,0,0,0,0,14.32,14.50,14.71
$GC,153,-0.92,-136.3,2789,1055,3301,3238,17.9,-18.2,18,161,0.00,2.45,0.00,0.000,1030,0.000,0.080,2786,2449,3269,3301,3238,0,0,0,0,0,0,28.83,14.52,28.83
$GC,459,-0.92,-136.3,2786,2449,3303,3238,68.8,-15.4,31,466,0.00,2.40,0.00,0.000,260,0.000,0.107,2786,3783,3270,3303,3238,0,0,0,0,0,0,28.83,14.57,28.83
$EKF,range,-2361.6
$GC,549,-0.92,-136.3,2786,3783,3303,3238,82.2,-14.2,48,557,0.00,2.28,0.00,0.000,1030,0.000,0.066,2785,2440,3269,3302,3237,0,0,0,0,0,0,28.83,14.64,28.83
$GC,865,-0.92,-136.3,2786,2441,3305,3238,128.1,-14.7,60,871,0.00,2.45,0.00,0.000,260,0.000,0.109,2785,3790,3271,3305,3238,0,0,0,0,0,0,28.83,14.63,28.83
$GC,933,-0.92,-136.3,2785,3790,3305,3238,138.9,-15.8,73,941,0.00,2.28,0.00,0.000,1030,0.000,0.067,2785,2444,3271,3305,3238,0,0,0,0,0,0,28.83,14.69,28.83
$EKF,range,-4983.2
$GC,1254,-0.92,-136.3,2785,2444,3305,3238,183.8,-13.4,91,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2444,3271,3305,3238,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-7014.2
$EKF,1512,4001.451172,-3610.485840,216.620728,0.209207,0.224072,0.133273,0.000032,0.000203,0.000100,0.002025,0.002025,0.000093
$GC,1555,-0.92,-136.3,2785,2443,3305,3237,224.6,-13.4,106,1562,0.00,2.45,0.00,0.000,260,0.000,0.111,2785,3785,3271,3305,3237,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1601,-0.92,-136.3,2785,3784,3305,3237,231.0,-14.4,114,1607,0.00,2.25,0.00,0.000,1030,0.000,0.068,2785,2449,3271,3305,3238,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1925,-0.92,-136.3,2785,2449,3304,3237,273.6,-13.5,133,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2449,3271,3305,3237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2225,-0.92,-136.3,2785,2449,3305,3235,312.1,-12.6,148,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2449,3270,3305,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2525,-0.92,-136.3,2785,2449,3305,3234,350.4,-12.1,163,2532,0.00,2.40,0.00,0.000,260,0.000,0.109,2784,3784,3269,3305,3234,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2640,-0.92,-136.3,2784,3784,3305,3234,364.9,-11.3,185,2648,0.00,2.25,0.00,0.000,1030,0.000,0.069,2784,2447,3268,3303,3233,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2956,-0.92,-136.3,2784,2448,3305,3234,401.1,-11.2,202,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2448,3269,3305,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3256,-0.92,-136.3,2784,2447,3303,3234,434.3,-10.7,217,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2447,3269,3305,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3556,-0.92,-136.3,2784,2448,3305,3233,467.1,-11.2,232,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2448,3269,3305,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3856,-0.92,-136.3,2784,2448,3306,3234,500.0,-10.9,247,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2448,3269,3306,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4157,-0.92,-136.3,2784,2448,3305,3234,533.2,-10.7,262,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2448,3269,3304,3234,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4435,begin apogee
$GC,4439,-0.18,0.0,2784,2353,3305,3234,564.2,-12.6,276,4558,0.90,0.00,109.65,1.581,10246,0.265,0.000,3028,2353,2705,2767,2643,0,0,0,0,0,0,14.63,28.83,13.50
$STATE,4559,end apogee,CONTROL_FINISHED_OK
$STATE,4559,begin climb
$GC,4561,0.92,136.3,3028,2353,2767,2643,569.6,0.0,282,4680,1.17,2.62,110.07,1.540,10756,0.177,0.081,3380,956,2150,2219,2081,0,0,0,0,0,0,14.05,13.85,13.30
$GC,4783,0.92,136.3,3381,956,2208,2080,552.6,10.1,319,4790,0.00,2.50,0.00,0.000,1030,0.000,0.071,3381,2356,2146,2212,2080,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5109,0.92,136.3,3380,2357,2210,2079,517.0,10.4,338,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,2356,2144,2210,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5408,0.92,136.3,3380,2357,2210,2079,485.2,10.9,353,5416,0.00,2.45,0.00,0.000,516,0.000,0.080,3390,955,2144,2209,2079,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5488,0.92,136.3,3391,955,2209,2079,476.3,10.8,368,5496,0.00,2.42,0.00,0.000,1030,0.000,0.070,3391,2359,2144,2210,2078,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5794,0.92,136.3,3391,2359,2209,2079,441.9,10.9,384,5800,0.00,2.45,0.00,0.000,516,0.000,0.080,3402,949,2144,2210,2079,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5859,0.92,136.3,3402,949,2209,2079,434.5,11.3,396,5865,0.00,2.40,0.00,0.000,1030,0.000,0.071,3402,2351,2144,2210,2079,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6183,0.92,136.3,3402,2351,2209,2079,398.1,10.9,415,6184,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2350,2144,2209,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6484,0.92,136.3,3402,2350,2210,2079,364.9,11.0,430,6491,0.00,2.40,0.00,0.000,516,0.000,0.080,3413,951,2144,2210,2079,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6540,0.92,136.3,3413,952,2209,2079,358.7,11.0,440,6546,0.00,2.40,0.00,0.000,1030,0.000,0.071,3413,2357,2144,2210,2079,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6854,0.92,136.3,3413,2356,2209,2079,323.2,11.5,457,6862,0.00,2.42,0.00,0.000,516,0.000,0.078,3423,947,2144,2209,2079,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6939,0.92,136.3,3423,947,2210,2079,313.2,11.7,473,6949,0.12,2.40,0.00,0.000,5126,0.280,0.070,3395,2357,2144,2209,2079,0,0,0,0,0,0,14.60,14.71,28.83
$GC,7266,0.92,136.3,3396,2356,2210,2079,278.7,10.0,492,7272,0.00,2.42,0.00,0.000,516,0.000,0.078,3407,944,2144,2210,2079,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7324,0.92,136.3,3407,944,2209,2079,272.6,10.4,503,7332,0.00,2.40,0.00,0.000,1030,0.000,0.070,3407,2356,2144,2209,2080,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7631,0.93,136.7,3407,2355,2210,2079,244.5,9.1,519,7638,0.00,2.42,0.00,0.000,516,0.000,0.078,3418,947,2147,2216,2079,0,0,0,0,0,0,28.83,14.72,28.83
$GC,7681,0.94,143.5,3418,947,2209,2079,240.0,8.9,528,7696,0.00,2.38,5.95,0.966,9222,0.000,0.070,3417,2352,2121,2185,2058,0,0,0,0,0,0,28.83,14.74,14.15
$GC,8005,0.99,164.0,3418,2352,2185,2058,212.0,8.2,546,8031,0.00,2.55,17.65,1.110,8452,0.000,0.099,3418,3751,2036,2100,1973,0,0,0,0,0,0,28.83,14.62,14.12
$GC,8048,0.99,164.7,3417,3751,2098,1974,207.9,9.1,553,8057,0.00,2.38,0.00,0.000,1030,0.000,0.064,3429,2345,2036,2098,1974,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8354,0.99,164.7,3429,2345,2098,1973,178.3,9.7,569,8362,0.00,2.38,0.00,0.000,516,0.000,0.079,3439,958,2035,2097,1973,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8434,0.99,164.7,3439,958,2097,1973,169.9,11.0,584,8442,0.00,2.38,0.00,0.000,1030,0.000,0.072,3439,2348,2035,2097,1973,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8740,0.99,164.7,3439,2349,2097,1973,138.0,10.3,600,8746,0.00,2.50,0.00,0.000,260,0.000,0.102,3439,3758,2034,2096,1973,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8804,0.99,164.7,3439,3760,2097,1973,130.7,11.4,612,8812,0.15,2.38,0.00,0.000,5126,0.282,0.065,3415,2346,2035,2097,1973,0,0,0,0,0,0,14.60,14.73,28.83
$GC,9139,0.99,164.7,3415,2345,2096,1973,100.0,9.3,628,9140,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,2345,2035,2097,1973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9441,1.00,172.3,3415,2345,2096,1972,72.9,8.8,638,9454,0.00,2.60,7.72,0.913,8452,0.000,0.103,3415,3761,2003,2066,1940,0,0,0,0,0,0,28.83,14.69,14.21
$GC,9490,1.00,172.3,3415,3761,2064,1941,67.9,10.1,647,9497,0.00,2.40,0.00,0.000,1030,0.000,0.067,3424,2348,2003,2065,1941,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9810,1.14,232.7,3424,2348,2065,1940,43.0,6.4,660,9873,0.08,2.58,53.20,0.961,10500,0.226,0.102,3451,3761,1757,1824,1691,0,0,0,0,0,0,14.71,14.45,14.03
$GC,9880,1.17,248.4,3451,3761,1824,1691,37.6,8.5,667,9901,0.00,2.42,14.80,0.902,9222,0.000,0.067,3462,2348,1695,1764,1627,0,0,0,0,0,0,28.83,14.50,13.99
$GC,10209,1.17,248.4,3462,2347,1754,1619,6.8,9.9,694,10216,0.00,2.55,0.00,0.000,260,0.000,0.103,3462,3757,1687,1754,1620,0,0,0,0,0,0,28.83,14.53,28.83
$GC,10245,1.17,248.4,3462,3757,1752,1620,3.1,9.5,700,10251,0.00,2.40,0.00,0.000,1030,0.000,0.067,3472,2348,1686,1753,1619,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,10258,end climb,SURFACE_DEPTH_REACHED
$STATE,10258,begin surface coast
$FINISH,1.2,1.013632
$STATE,10279,end surface coast,CONTROL_FINISHED_OK
$STATE,10279,begin surface
$SM_CCo,10296,47.65,0.096,0,0,1281,350.04
$SM_GC,2.02,9.68,0.17,47.65,0.093,0.129,0.096,194,2452,1281,-9.02,-0.90,350.04,0,0,0,0,0,0,14.56,14.59,14.54
$RAFOS_CLK,-79
$RAFOS,6,1411937350,20.833334,20.819445,159,59,58,56,56,55,790,227,195,144,115,156
$RAFOS,5,1411936891,20.700001,20.691944,68,60,60,53,53,51,788,210,191,149,91,181
$RAFOS,4,1411936384,20.566668,20.551111,94,61,56,54,51,51,716,199,220,176,389,90
$RAFOS,2,1411935423,20.299999,20.284166,121,60,59,56,55,51,612,188,149,219,200,166
$RAFOS_FIX,6642.334961,-6007.599609,280914,202030,5,110,66.21
$IRIDIUM_FIX,6614.97,-6013.28,280914,172709
$TT8_MAMPS,0.038199,0.038199
$HUMID,44.36
$INTERNAL_PRESSURE,8.48431
$TCM_TEMP,12.20
$XPDR_PINGS,0
$SC_FREEKB,3998944
$24V_AH,13.30,20.085
$10V_AH,13.36,0.000
$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,24.525,87.625,319.050,47.650,0.000,0.000,0.000,198.500,0.000,0.000,5.520,2164.458,6559.998,554.475,1339.902,79.154,0.000,1346.792,0.000,1049.007,1080.000,0.535,0.000
$DEVICE_MAMPS,429.165,133.875,1581.255,96.390,0.000,0.000,0.000,153.000,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10276.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.259,0.000,0.000,0.000
$MEM,143152
$DATA_FILE_SIZE,23395,704
$CAP_FILE_SIZE,115258,0
$CFSIZE,1024409600,1009926144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10741.21,0x23769e,7,5
$SOUNDSPEED,1453.5
$EKF,10460,4002.362061,-3608.469482,1.210484,0.134341,0.082023,-0.007311,0.000163,0.001044,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.312,180.06,1
$GPS,280914,232435,6640.604,-6008.454,39,0.8,39,-32.8