version: 66.12
glider: 217
mission: 3
dive: 121
start: 10 7 114 22 6 55
data:
$ID,217
$MISSION,3
$DIVE,121
$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,56
$R_STBD_OVSHOOT,38
$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
$GPS1,071014,220105,6702.579,-5648.026,19,0.8,19,-32.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-71.0
$GPS2,071014,220612,6702.584,-5647.986,5,0.6,5,-32.5
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$MHEAD_RNG_PITCHd_Wd,291.2,163162,-17.5,-9.167,-20.44,2275
$D_GRID,534
$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,-136.3,185,2464,1308,1227,0.0,0.0,0,83,0.00,0.00,-63.80,0.000,16386,0.000,0.000,183,2464,2940,2937,2944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.92,-136.3,184,2465,2943,2941,3.4,-2.4,6,114,12.35,2.33,-7.47,0.000,18692,0.423,0.122,2786,3769,3267,3295,3239,0,0,0,0,0,0,14.36,14.55,14.78
$GC,335,-0.92,-136.3,2785,3770,3297,3238,50.8,-16.2,53,343,0.00,2.20,0.00,0.000,1030,0.000,0.055,2786,2444,3267,3297,3238,0,0,0,0,0,0,28.83,14.67,28.83
$GC,640,-0.92,-136.3,2785,2443,3301,3238,95.1,-14.2,64,649,0.00,2.38,0.00,0.000,260,0.000,0.095,2785,3772,3269,3300,3238,0,0,0,0,0,0,28.83,14.68,28.83
$GC,782,-0.92,-136.3,2785,3772,3300,3237,115.3,-14.0,91,788,0.00,2.17,0.00,0.000,1030,0.000,0.055,2785,2451,3269,3300,3238,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1091,-0.92,-136.3,2785,2451,3301,3237,157.4,-13.5,108,1099,0.00,2.35,0.00,0.000,260,0.000,0.095,2785,3776,3269,3300,3238,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1126,-0.92,-136.3,2785,3776,3300,3237,162.1,-13.5,114,1132,0.00,2.17,0.00,0.000,1030,0.000,0.056,2785,2450,3269,3301,3238,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1440,-0.92,-136.3,2784,2449,3300,3237,202.7,-13.1,131,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2449,3269,3300,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1740,-0.92,-136.3,2785,2449,3300,3237,241.1,-12.6,146,1747,0.00,2.35,0.00,0.000,516,0.000,0.070,2785,1054,3268,3300,3237,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1774,-0.92,-136.3,2785,1054,3300,3236,245.8,-13.5,152,1782,0.00,2.35,0.00,0.000,1030,0.000,0.067,2785,2442,3270,3305,3236,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2091,-0.92,-136.3,2784,2442,3300,3236,283.4,-11.3,169,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2441,3267,3299,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2390,-0.92,-136.3,2785,2442,3300,3235,315.8,-10.7,184,2399,0.00,2.35,0.00,0.000,516,0.000,0.069,2785,1058,3268,3301,3235,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2416,-0.92,-136.3,2785,1057,3300,3235,318.7,-11.2,188,2424,0.00,2.35,0.00,0.000,1030,0.000,0.067,2785,2451,3267,3300,3235,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2742,-0.92,-136.3,2785,2451,3300,3234,353.3,-10.4,207,2748,0.00,2.33,0.00,0.000,260,0.000,0.096,2785,3783,3267,3300,3234,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2770,-0.92,-136.3,2785,3788,3300,3234,356.5,-11.3,212,2778,0.00,2.20,0.00,0.000,1030,0.000,0.056,2784,2439,3267,3300,3234,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3091,-0.92,-136.3,2785,2439,3300,3234,388.9,-10.1,230,3097,0.00,2.30,0.00,0.000,516,0.000,0.068,2785,1064,3267,3301,3234,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3135,-0.92,-136.3,2785,1063,3301,3234,393.5,-10.7,238,3141,0.00,2.35,0.00,0.000,1030,0.000,0.067,2784,2450,3267,3300,3234,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3460,-0.92,-136.3,2784,2451,3300,3234,427.0,-10.8,257,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2451,3267,3300,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3760,-0.92,-136.3,2785,2451,3300,3234,459.2,-10.8,272,3768,0.00,2.35,0.00,0.000,516,0.000,0.067,2782,1062,3267,3300,3234,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3791,-0.92,-136.3,2785,1062,3300,3234,462.7,-11.6,277,3797,0.00,2.35,0.00,0.000,1030,0.000,0.065,2785,2460,3267,3300,3234,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4110,-0.92,-136.3,2784,2460,3300,3234,496.0,-10.6,295,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2460,3268,3301,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4411,-0.92,-136.3,2784,2460,3302,3234,518.4,-0.8,310,4418,0.00,2.38,0.00,0.000,516,0.000,0.067,2784,1052,3268,3302,3234,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,4530,end dive,NO_VERTICAL_VELOCITY
$STATE,4530,begin apogee
$GC,4536,-0.18,0.0,2785,2383,3302,3234,518.5,0.0,333,4651,0.80,0.00,105.50,1.482,10246,0.160,0.000,3036,2383,2704,2768,2641,0,0,0,0,0,0,14.76,28.83,13.68
$STATE,4652,end apogee,CONTROL_FINISHED_OK
$STATE,4652,begin climb
$GC,4654,0.92,136.3,3037,2382,2768,2640,518.3,0.0,339,4773,1.08,2.55,106.95,1.444,10500,0.159,0.086,3369,3776,2147,2215,2080,0,0,0,0,0,0,14.19,14.00,13.49
$GC,4922,0.92,136.3,3368,3777,2209,2079,490.8,12.5,386,4930,0.00,2.38,0.00,0.000,1030,0.000,0.054,3379,2378,2144,2209,2079,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5228,0.92,136.3,3379,2377,2208,2079,454.8,11.9,402,5234,0.00,2.38,0.00,0.000,516,0.000,0.070,3390,984,2143,2208,2079,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5282,0.92,136.3,3389,983,2206,2079,448.2,12.1,412,5290,0.00,2.38,0.00,0.000,1030,0.000,0.061,3390,2381,2141,2203,2079,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5599,0.92,136.3,3390,2381,2207,2078,410.4,11.6,429,5605,0.00,2.40,0.00,0.000,516,0.000,0.070,3400,974,2142,2206,2078,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5654,0.92,136.3,3400,974,2207,2079,403.5,12.1,439,5661,0.00,2.38,0.00,0.000,1030,0.000,0.061,3400,2376,2141,2207,2075,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5968,0.92,136.3,3400,2376,2207,2079,364.8,12.6,456,5977,0.00,2.38,0.00,0.000,516,0.000,0.070,3411,977,2143,2207,2079,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6043,0.92,136.3,3411,977,2206,2079,355.3,12.4,470,6049,0.00,2.35,0.00,0.000,1030,0.000,0.060,3411,2380,2141,2204,2079,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6357,0.92,136.3,3411,2380,2207,2079,315.2,12.4,487,6364,0.00,2.38,0.00,0.000,516,0.000,0.070,3422,980,2143,2207,2079,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6402,0.92,136.3,3422,977,2207,2079,309.6,12.7,495,6408,0.00,2.35,0.00,0.000,1030,0.000,0.061,3422,2378,2143,2207,2079,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6726,0.92,136.3,3422,2378,2207,2079,269.1,12.4,514,6733,0.00,2.35,0.00,0.000,516,0.000,0.069,3433,984,2143,2207,2079,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6780,0.92,136.3,3433,984,2207,2079,262.0,13.5,524,6789,0.15,2.33,0.00,0.000,5126,0.259,0.059,3396,2380,2143,2207,2079,0,0,0,0,0,0,14.66,14.79,28.83
$GC,7098,0.92,136.3,3397,2380,2207,2079,225.9,11.2,541,7105,0.00,2.35,0.00,0.000,516,0.000,0.069,3407,984,2143,2207,2079,0,0,0,0,0,0,28.83,14.79,28.83
$GC,7165,0.92,136.3,3407,984,2207,2079,218.5,10.8,553,7172,0.00,2.33,0.00,0.000,1030,0.000,0.060,3408,2382,2143,2207,2079,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7489,0.92,136.3,3407,2382,2207,2079,183.2,10.6,572,7498,0.00,2.35,0.00,0.000,516,0.000,0.069,3418,984,2143,2207,2079,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7550,0.92,136.3,3418,984,2206,2079,176.8,11.3,583,7557,0.00,2.33,0.00,0.000,1030,0.000,0.060,3418,2380,2143,2207,2079,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7855,0.92,136.3,3422,2380,2207,2079,144.5,10.4,599,7862,0.00,2.40,0.00,0.000,260,0.000,0.089,3418,3775,2143,2207,2079,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7914,0.92,136.3,3418,3776,2207,2079,137.4,12.5,610,7922,0.15,2.30,0.00,0.000,5126,0.274,0.053,3393,2370,2143,2207,2079,0,0,0,0,0,0,14.68,14.84,28.83
$EKF,range,-2112.3
$GC,8220,0.92,136.3,3392,2370,2207,2079,107.9,9.4,624,8229,0.00,2.30,0.00,0.000,516,0.000,0.070,3402,988,2140,2202,2079,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8295,0.92,136.3,3403,988,2207,2078,101.2,9.2,637,8301,0.00,2.33,0.00,0.000,1030,0.000,0.061,3403,2382,2143,2207,2079,0,0,0,0,0,0,28.83,14.82,28.83
$GC,8625,0.95,149.5,3403,2382,2207,2079,70.7,8.6,652,8637,0.00,0.00,10.02,0.878,8198,0.000,0.000,3403,2382,2099,2163,2035,0,0,0,0,0,0,28.83,28.83,14.30
$EKF,range,-2750.1
$GC,8926,1.06,198.5,3404,2379,2159,2033,47.5,7.0,662,8972,0.00,2.53,39.90,0.909,8452,0.000,0.092,3403,3778,1896,1962,1830,0,0,0,0,0,0,28.83,14.61,14.19
$GC,9016,1.06,198.5,3403,3778,1957,1830,40.3,9.9,677,9023,0.00,2.33,0.00,0.000,1030,0.000,0.055,3410,2379,1893,1957,1830,0,0,0,0,0,0,28.83,14.63,28.83
$EKF,range,-4041.7
$GC,9327,1.10,218.4,3411,2377,1954,1827,15.7,8.3,697,9342,0.08,2.42,9.02,0.134,10756,0.208,0.070,3454,986,1820,1886,1754,0,0,0,0,0,0,14.69,14.67,14.64
$GC,9381,1.10,218.4,3454,985,1889,1754,9.4,12.5,706,9389,0.00,2.38,0.00,0.000,1030,0.000,0.061,3454,2382,1822,1889,1755,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,9447,end climb,SURFACE_DEPTH_REACHED
$STATE,9447,begin surface coast
$FINISH,1.5,1.013830
$STATE,9457,end surface coast,CONTROL_FINISHED_OK
$STATE,9457,begin surface
$SM_CCo,9475,61.72,0.090,0,0,1281,350.04
$SM_GC,2.27,9.45,0.10,61.72,0.087,0.161,0.090,209,2456,1281,-8.97,-0.90,350.04,0,0,0,0,0,0,14.68,14.69,14.67
$RAFOS_CLK,-39
$RAFOS,4,1412728387,0.566667,0.551944,112,68,61,60,56,55,859,189,122,156,140,221
$RAFOS,3,1412727903,0.433333,0.417500,81,66,61,56,50,50,990,194,115,174,205,1560
$RAFOS,2,1412727428,0.300000,0.285556,77,60,56,52,50,49,1038,187,164,208,218,123
$RAFOS,1,1412726942,0.166667,0.150556,59,58,53,51,51,50,194,203,116,145,215,174
$RAFOS,0,1412726469,0.033333,0.019167,68,63,60,59,56,56,174,195,119,139,158,204
$RAFOS_FIX,6701.801270,-5657.035156,081014,000044,3,90,0.79
$IRIDIUM_FIX,6631.12,-5757.93,071014,190914
$TT8_MAMPS,0.040446,0.040446
$HUMID,42.95
$INTERNAL_PRESSURE,8.57221
$TCM_TEMP,13.60
$XPDR_PINGS,0
$SC_FREEKB,3981344
$24V_AH,13.49,32.128
$10V_AH,13.06,0.000
$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,24.050,98.525,271.400,61.725,0.000,0.000,0.000,193.075,0.000,0.000,6.564,2156.036,5731.116,552.431,1347.968,101.521,0.000,1345.932,0.000,1063.666,2160.000,0.535,0.000
$DEVICE_MAMPS,423.045,160.650,1481.805,89.505,0.000,0.000,0.000,144.585,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9465.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.300,0.000,0.000,0.000
$MEM,143216
$DATA_FILE_SIZE,23400,714
$CAP_FILE_SIZE,113632,0
$CFSIZE,1024409600,1003683840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10433.52,0x23769e,7,5
$SOUNDSPEED,1466.5
$EKF,9667,4022.480957,-3410.811279,1.490350,-0.362975,0.060515,0.000844,0.000134,0.000879,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.151,359.04,1
$GPS,081014,004759,6703.233,-5650.825,64,0.9,64,-32.5