version: 66.12
glider: 217
mission: 3
dive: 118
start: 10 7 114 13 22 16
data:
$ID,217
$MISSION,3
$DIVE,118
$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,-3
$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,2375
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,26
$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
$GPS1,071014,131542,6703.100,-5651.757,18,0.7,18,-32.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-70.9
$GPS2,071014,132141,6703.114,-5651.999,28,0.6,28,-32.6
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,144.8,2896,-17.5,-9.167,-20.44,2275
$D_GRID,555
$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,-136.3,169,2456,1296,1236,0.0,0.0,0,73,0.00,0.00,-53.42,0.000,16386,0.000,0.000,166,2457,2663,2681,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.92,-136.3,167,2457,2680,2647,3.1,-1.7,5,112,12.27,2.42,-15.25,0.000,18948,0.416,0.086,2788,1041,3265,3297,3234,0,0,0,0,0,0,14.35,14.54,14.76
$GC,342,-0.92,-136.3,2788,1041,3301,3234,49.4,-17.6,55,348,0.00,2.42,0.00,0.000,1030,0.000,0.068,2786,2455,3268,3302,3234,0,0,0,0,0,0,28.83,14.60,28.83
$GC,667,-0.92,-136.3,2786,2454,3302,3234,94.4,-13.9,69,675,0.00,2.40,0.00,0.000,516,0.000,0.067,2786,1048,3268,3302,3234,0,0,0,0,0,0,28.83,14.69,28.83
$GC,774,-0.92,-136.3,2786,1048,3302,3234,109.5,-14.7,89,782,0.00,2.40,0.00,0.000,1030,0.000,0.067,2784,2457,3268,3303,3234,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1100,-0.92,-136.3,2786,2457,3303,3234,154.0,-13.6,107,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2457,3267,3300,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1401,-0.92,-136.3,2786,2457,3303,3234,192.8,-12.9,122,1408,0.00,2.33,0.00,0.000,260,0.000,0.097,2786,3783,3268,3303,3234,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1441,-0.92,-136.3,2786,3783,3303,3234,198.4,-13.6,129,1450,0.00,2.22,0.00,0.000,1030,0.000,0.057,2786,2431,3268,3303,3233,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1747,-0.92,-136.3,2786,2430,3302,3233,237.0,-12.3,145,1755,0.00,2.40,0.00,0.000,260,0.000,0.095,2786,3786,3268,3303,3233,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1787,-0.92,-136.3,2786,3786,3303,3233,242.2,-12.8,152,1795,0.00,2.20,0.00,0.000,1030,0.000,0.056,2787,2446,3268,3303,3233,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2093,-0.92,-136.3,2786,2446,3303,3232,279.2,-12.0,168,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2446,3268,3303,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2393,-0.92,-136.3,2785,2446,3302,3232,315.1,-12.0,183,2400,0.00,2.38,0.00,0.000,260,0.000,0.095,2785,3789,3267,3302,3232,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2433,-0.92,-136.3,2785,3789,3302,3231,319.9,-12.2,190,2441,0.00,2.20,0.00,0.000,1030,0.000,0.056,2786,2448,3266,3302,3231,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2739,-0.92,-136.3,2785,2448,3302,3230,355.0,-11.5,206,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2448,3267,3303,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3039,-0.92,-136.3,2786,2447,3302,3230,389.8,-11.5,221,3047,0.00,2.35,0.00,0.000,260,0.000,0.094,2785,3783,3266,3302,3230,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3059,-0.92,-136.3,2785,3784,3302,3230,392.5,-11.6,224,3066,0.00,2.20,0.00,0.000,1030,0.000,0.057,2785,2443,3266,3302,3230,0,0,0,0,0,0,28.83,14.84,28.83
$GC,3365,-0.92,-136.3,2785,2443,3303,3229,426.7,-11.3,240,3371,0.00,2.38,0.00,0.000,260,0.000,0.095,2785,3789,3267,3303,3231,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3403,-0.92,-136.3,2785,3789,3303,3230,431.3,-11.8,247,3411,0.00,2.20,0.00,0.000,1030,0.000,0.055,2785,2444,3266,3302,3230,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3709,-0.92,-136.3,2785,2444,3302,3230,464.7,-10.9,263,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2444,3266,3303,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4011,-0.92,-136.3,2785,2444,3302,3231,497.2,-10.9,278,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2444,3266,3303,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4310,-0.92,-136.3,2785,2444,3304,3230,529.5,-10.9,293,4318,0.00,2.33,0.00,0.000,516,0.000,0.067,2785,1053,3267,3304,3230,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4341,-0.92,-136.3,2785,1053,3303,3230,533.1,-11.6,298,4348,0.00,2.35,0.00,0.000,1030,0.000,0.066,2785,2453,3266,3303,3230,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,4540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4540,begin apogee
$GC,4545,-0.18,0.0,2785,2376,3305,3230,555.5,-11.6,310,4661,0.88,0.00,106.57,1.538,10246,0.250,0.000,3028,2376,2705,2769,2642,0,0,0,0,0,0,14.66,28.83,13.63
$STATE,4662,end apogee,CONTROL_FINISHED_OK
$STATE,4663,begin climb
$GC,4664,0.92,136.3,3028,2375,2768,2642,559.6,0.0,316,4785,1.17,2.53,107.60,1.504,10756,0.171,0.069,3385,993,2148,2215,2081,0,0,0,0,0,0,14.16,13.97,13.44
$GC,4817,0.92,136.3,3386,988,2212,2081,549.0,10.8,339,4824,0.00,2.45,0.00,0.000,1030,0.000,0.060,3385,2381,2146,2212,2080,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5132,0.92,136.3,3386,2377,2208,2079,515.7,10.4,356,5138,0.00,2.42,0.00,0.000,516,0.000,0.069,3392,982,2144,2209,2080,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5170,0.92,136.3,3399,984,2209,2080,511.5,10.3,363,5178,0.00,2.40,0.00,0.000,1030,0.000,0.060,3401,2383,2144,2209,2079,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5476,0.92,136.3,3396,2383,2207,2079,477.3,11.4,379,5483,0.00,2.40,0.00,0.000,516,0.000,0.068,3407,982,2142,2206,2079,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5521,0.92,136.3,3406,984,2207,2079,472.0,11.5,387,5528,0.00,2.38,0.00,0.000,1030,0.000,0.061,3407,2377,2142,2207,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5846,0.92,136.3,3407,2377,2206,2079,431.4,12.7,406,5853,0.00,2.38,0.00,0.000,516,0.000,0.069,3418,981,2142,2205,2079,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5881,0.92,136.3,3418,981,2205,2079,426.8,12.6,412,5888,0.00,2.35,0.00,0.000,1030,0.000,0.062,3418,2375,2142,2206,2079,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6195,0.92,136.3,3418,2375,2205,2079,385.7,13.2,429,6196,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2375,2142,2205,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6496,0.92,136.3,3418,2375,2205,2079,347.0,12.8,444,6502,0.00,2.35,0.00,0.000,516,0.000,0.069,3429,981,2142,2205,2079,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6551,0.92,136.3,3429,981,2206,2079,340.0,12.7,454,6558,0.15,2.35,0.00,0.000,5126,0.269,0.061,3394,2381,2142,2205,2079,0,0,0,0,0,0,14.63,14.76,28.83
$GC,6866,0.92,136.3,3394,2381,2206,2079,304.4,11.3,471,6872,0.00,2.38,0.00,0.000,516,0.000,0.069,3404,974,2142,2206,2079,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6894,0.92,136.3,3404,974,2206,2079,301.1,11.4,476,6901,0.00,2.35,0.00,0.000,1030,0.000,0.061,3404,2381,2142,2206,2079,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7215,0.92,136.3,3405,2381,2206,2079,265.2,11.2,494,7221,0.00,2.38,0.00,0.000,516,0.000,0.068,3416,977,2146,2214,2079,0,0,0,0,0,0,28.83,14.79,28.83
$GC,7240,0.92,136.3,3415,977,2206,2079,262.6,10.6,498,7246,0.00,2.35,0.00,0.000,1030,0.000,0.060,3415,2388,2142,2206,2079,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7564,0.92,136.3,3415,2387,2206,2079,224.2,12.0,517,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2387,2142,2206,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7866,0.92,136.3,3415,2387,2207,2079,187.9,11.6,532,7873,0.00,2.38,0.00,0.000,516,0.000,0.068,3426,977,2143,2207,2079,0,0,0,0,0,0,28.83,14.80,28.83
$GC,7901,0.92,136.3,3426,977,2207,2079,183.7,12.0,538,7908,0.12,2.35,0.00,0.000,5126,0.264,0.062,3397,2383,2143,2207,2079,0,0,0,0,0,0,14.69,14.82,28.83
$GC,8216,0.92,136.3,3397,2383,2207,2079,151.9,9.7,555,8222,0.00,2.38,0.00,0.000,516,0.000,0.068,3408,972,2143,2207,2079,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8275,0.92,136.3,3408,972,2207,2079,146.1,10.0,566,8283,0.00,2.35,0.00,0.000,1030,0.000,0.062,3409,2379,2143,2207,2079,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8581,0.93,137.8,3408,2379,2206,2079,118.5,9.1,582,8588,0.00,2.38,0.00,0.000,516,0.000,0.070,3419,972,2143,2207,2079,0,0,0,0,0,0,28.83,14.82,28.83
$GC,8616,0.93,137.8,3419,976,2214,2078,115.1,9.4,588,8622,0.00,2.35,0.00,0.000,1030,0.000,0.062,3419,2382,2143,2207,2079,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8951,0.93,137.8,3419,2382,2207,2079,83.0,9.6,604,8952,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2382,2142,2206,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9251,1.00,171.1,3419,2382,2206,2079,55.7,7.7,614,9289,0.00,2.47,26.92,0.920,8452,0.000,0.093,3419,3770,2007,2071,1944,0,0,0,0,0,0,28.83,14.69,14.26
$GC,9513,1.00,171.1,3419,3770,2068,1944,31.6,9.2,663,9519,0.00,2.33,0.00,0.000,1030,0.000,0.055,3429,2360,2005,2067,1944,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9824,1.02,177.8,3429,2359,2066,1942,8.4,8.9,692,9834,0.00,0.00,2.42,0.106,8198,0.000,0.000,3429,2360,1985,2049,1921,0,0,0,0,0,0,28.83,28.83,14.71
$STATE,9902,end climb,SURFACE_DEPTH_REACHED
$STATE,9903,begin surface coast
$FINISH,1.7,1.013796
$STATE,9934,end surface coast,CONTROL_FINISHED_OK
$STATE,9934,begin surface
$SM_CCo,9951,79.70,0.088,0,0,1282,350.04
$SM_GC,2.44,9.40,0.15,79.70,0.088,0.130,0.088,194,2461,1282,-9.02,-0.99,350.04,0,0,0,0,0,0,14.73,14.76,14.70
$RAFOS_CLK,-37
$RAFOS,0,1412697665,16.033333,16.018055,65,57,55,54,51,50,155,175,216,205,134,96
$RAFOS_FIX,6707.385742,-5700.373047,071014,121244,3,94,1.28
$IRIDIUM_FIX,6631.12,-5650.71,071014,101334
$TT8_MAMPS,0.03745,0.03745
$HUMID,42.28
$INTERNAL_PRESSURE,8.57221
$TCM_TEMP,13.80
$XPDR_PINGS,0
$SC_FREEKB,3982304
$24V_AH,13.44,31.609
$10V_AH,13.52,0.000
$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,24.000,89.850,243.525,79.700,0.000,0.000,0.000,219.000,0.000,0.000,29.368,2161.008,6238.880,541.849,1367.144,104.391,0.000,1349.655,0.000,1048.997,360.000,0.535,0.000
$DEVICE_MAMPS,416.160,135.405,1537.650,87.975,0.000,0.000,0.000,145.350,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9931.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.282,0.000,0.000,0.000
$MEM,143072
$DATA_FILE_SIZE,23385,703
$CAP_FILE_SIZE,113780,0
$CFSIZE,1024409600,1003978752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11086.63,0x23769e,7,5
$SOUNDSPEED,1465.1
$EKF,10124,4022.582031,-3408.777100,1.722859,0.015344,0.041508,0.026229,0.000148,0.000971,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.260,255.45,1
$GPS,071014,161057,6702.225,-5652.311,36,0.8,40,-32.5