version: 66.12
glider: 217
mission: 3
dive: 176
start: 10 17 114 16 5 50
data:
$ID,217
$MISSION,3
$DIVE,176
$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,2375
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,37
$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
$GPS1,171014,155953,6643.342,-6011.412,23,0.7,23,-32.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-74.6
$GPS2,171014,160509,6643.302,-6011.329,5,0.8,6,-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,81.9,151297,-17.5,-9.167,-20.44,2275
$D_GRID,569
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.92,-136.3,176,2465,1303,1231,0.0,0.0,0,64,0.00,0.00,-43.70,0.000,16386,0.000,0.000,175,2465,2367,2385,2349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.92,-136.3,175,2465,2387,2349,3.0,-1.8,4,115,12.27,2.42,-26.40,0.000,18948,0.415,0.094,2788,1066,3267,3297,3237,0,0,0,0,0,0,14.26,14.51,14.72
$GC,195,-0.92,-136.3,2788,1067,3301,3236,23.1,-20.4,26,203,0.00,2.38,0.00,0.000,1030,0.000,0.070,2786,2440,3268,3301,3236,0,0,0,0,0,0,28.83,14.52,28.83
$GC,511,-0.92,-136.3,2786,2440,3303,3236,83.0,-18.0,38,520,0.00,2.40,0.00,0.000,260,0.000,0.102,2785,3783,3272,3309,3236,0,0,0,0,0,0,28.83,14.55,28.83
$GC,609,-0.92,-136.3,2785,3783,3302,3236,100.6,-17.9,56,616,0.00,2.22,0.00,0.000,1030,0.000,0.057,2786,2450,3269,3302,3236,0,0,0,0,0,0,28.83,14.65,28.83
$GC,935,-0.92,-136.3,2791,2449,3303,3236,153.7,-16.4,75,941,0.00,2.38,0.00,0.000,516,0.000,0.070,2785,1064,3269,3302,3236,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1027,-0.92,-136.3,2785,1064,3303,3236,169.0,-16.6,92,1033,0.00,2.38,0.00,0.000,1030,0.000,0.070,2785,2451,3269,3303,3236,0,0,0,0,0,0,28.83,14.65,28.83
$EKF,range,-6070.1
$GC,1346,-0.92,-136.3,2785,2450,3302,3236,217.1,-13.8,110,1354,0.00,2.38,0.00,0.000,516,0.000,0.070,2785,1064,3269,3303,3236,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1446,-0.92,-136.3,2785,1064,3303,3236,231.6,-14.4,129,1454,0.00,2.38,0.00,0.000,1030,0.000,0.069,2783,2454,3269,3303,3235,0,0,0,0,0,0,28.83,14.66,28.83
$EKF,range,-6153.9
$GC,1752,-0.92,-136.3,2785,2453,3304,3236,273.1,-13.0,145,1759,0.00,2.38,0.00,0.000,260,0.000,0.103,2785,3789,3268,3302,3235,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1780,-0.92,-136.3,2785,3788,3303,3235,277.1,-14.3,150,1788,0.00,2.22,0.00,0.000,1030,0.000,0.057,2785,2442,3268,3302,3235,0,0,0,0,0,0,28.83,14.73,28.83
$EKF,range,-4005.9
$GC,2101,-0.92,-136.3,2785,2442,3302,3234,319.1,-12.9,168,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2442,3268,3302,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2405,-0.92,-136.3,2785,2442,3302,3233,358.0,-12.9,183,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2442,3268,3303,3233,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-5371.6
$GC,2701,-0.92,-136.3,2785,2442,3302,3233,395.8,-12.4,198,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2443,3267,3302,3233,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-6601.1
$EKF,2980,4003.637939,-3610.395752,427.742584,0.212653,0.198434,0.126107,0.000045,0.000288,0.000100,0.000025,0.000025,0.000093
$GC,3001,-0.92,-136.3,2786,2441,3301,3233,432.6,-12.0,213,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2442,3267,3302,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3302,-0.92,-136.3,2785,2442,3302,3233,468.3,-12.2,228,3309,0.00,2.33,0.00,0.000,516,0.000,0.070,2786,1065,3267,3303,3232,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3417,-0.92,-136.3,2785,1065,3302,3232,482.2,-12.4,250,3426,0.00,2.35,0.00,0.000,1030,0.000,0.069,2785,2450,3267,3301,3233,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3734,-0.92,-136.3,2785,2450,3302,3233,517.1,-11.3,267,3741,0.00,2.35,0.00,0.000,516,0.000,0.069,2786,1064,3268,3303,3233,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3802,-0.92,-136.3,2786,1064,3303,3233,525.2,-11.6,279,3809,0.00,2.35,0.00,0.000,1030,0.000,0.067,2785,2451,3267,3302,3233,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4127,-0.92,-136.3,2786,2450,3302,3233,562.9,-11.5,298,4128,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2451,3267,3302,3233,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4185,begin apogee
$GC,4190,-0.18,0.0,2785,2380,3303,3234,569.8,-11.3,301,4309,0.90,0.00,110.50,1.564,10246,0.259,0.000,3029,2380,2705,2767,2643,0,0,0,0,0,0,14.53,28.83,13.53
$STATE,4310,end apogee,CONTROL_FINISHED_OK
$STATE,4310,begin climb
$GC,4312,0.92,136.3,3029,2380,2767,2643,573.8,0.0,307,4432,1.17,2.62,111.03,1.525,10756,0.178,0.073,3382,972,2149,2218,2080,0,0,0,0,0,0,14.08,13.84,13.28
$GC,4475,0.92,136.3,3382,970,2213,2079,563.2,10.0,332,4482,0.00,2.50,0.00,0.000,1030,0.000,0.063,3382,2376,2143,2208,2078,0,0,0,0,0,0,28.83,14.00,28.83
$GC,4801,0.92,136.3,3382,2376,2209,2079,530.7,9.9,351,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,2376,2144,2209,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5101,0.92,136.3,3382,2376,2209,2079,500.9,10.0,366,5109,0.00,2.42,0.00,0.000,516,0.000,0.071,3392,976,2144,2209,2079,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5153,0.92,136.3,3392,976,2208,2079,495.7,9.8,375,5159,0.00,2.40,0.00,0.000,1030,0.000,0.061,3392,2381,2144,2209,2079,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5472,0.92,136.3,3392,2380,2208,2079,463.4,9.9,393,5479,0.00,2.42,0.00,0.000,516,0.000,0.071,3404,969,2143,2208,2079,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5507,0.92,136.3,3403,969,2208,2079,460.0,10.1,399,5513,0.00,2.38,0.00,0.000,1030,0.000,0.060,3403,2376,2143,2208,2079,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5821,0.92,136.3,3403,2376,2208,2079,426.7,10.7,416,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2376,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6123,0.92,136.3,3403,2376,2208,2079,395.4,10.6,431,6130,0.00,2.38,0.00,0.000,516,0.000,0.070,3414,973,2143,2208,2079,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6184,0.92,136.3,3414,973,2209,2079,388.6,10.9,442,6193,0.00,2.38,0.00,0.000,1030,0.000,0.063,3414,2378,2143,2208,2079,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6490,0.92,136.3,3414,2379,2208,2079,354.9,11.0,458,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,2379,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6791,0.92,136.3,3414,2379,2208,2079,323.1,10.6,473,6797,0.00,2.38,0.00,0.000,516,0.000,0.070,3425,976,2143,2208,2079,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6856,0.92,136.3,3425,976,2209,2079,315.9,11.5,485,6863,0.12,2.35,0.00,0.000,5126,0.262,0.060,3393,2380,2143,2208,2079,0,0,0,0,0,0,14.57,14.71,28.83
$GC,7181,0.92,136.3,3396,2380,2208,2079,284.3,9.2,504,7188,0.00,2.45,0.00,0.000,260,0.000,0.095,3396,3780,2143,2208,2079,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7241,0.92,136.3,3396,3780,2208,2079,278.4,10.9,515,7249,0.00,2.33,0.00,0.000,1030,0.000,0.053,3407,2360,2144,2209,2079,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7547,0.92,136.3,3407,2360,2209,2079,249.1,9.3,531,7554,0.00,2.30,0.00,0.000,516,0.000,0.070,3418,987,2143,2208,2079,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7672,0.93,136.7,3417,987,2209,2079,237.4,9.1,554,7681,0.00,2.35,0.00,0.000,1030,0.000,0.060,3418,2383,2143,2209,2078,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7977,0.93,140.7,3418,2384,2209,2079,209.7,9.0,570,7987,0.00,2.50,2.55,0.512,8452,0.000,0.096,3418,3776,2138,2204,2073,0,0,0,0,0,0,28.83,14.70,13.97
$GC,8093,0.93,140.7,3418,3775,2205,2075,198.1,9.5,592,8101,0.12,2.30,0.00,0.000,5126,0.281,0.054,3400,2374,2140,2205,2075,0,0,0,0,0,0,14.58,14.77,28.83
$GC,8409,1.01,174.8,3400,2374,2206,2075,174.0,7.6,609,8448,0.00,2.38,30.10,1.071,8708,0.000,0.072,3411,985,1992,2056,1928,0,0,0,0,0,0,28.83,14.62,14.10
$GC,8523,1.01,174.8,3411,986,2053,1927,164.0,9.3,629,8530,0.00,2.35,0.00,0.000,1030,0.000,0.060,3411,2373,1990,2053,1927,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8848,1.01,174.8,3411,2373,2052,1926,133.6,9.4,648,8854,0.00,2.38,0.00,0.000,516,0.000,0.070,3421,986,1989,2052,1926,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8909,1.02,179.0,3420,986,2052,1926,128.2,9.0,659,8918,0.00,2.35,2.95,0.620,9222,0.000,0.060,3421,2381,1978,2042,1915,0,0,0,0,0,0,28.83,14.66,13.97
$GC,9233,1.04,190.7,3421,2381,2047,1916,98.6,8.6,672,9253,0.00,2.45,12.20,0.968,8708,0.000,0.071,3432,988,1928,1993,1863,0,0,0,0,0,0,28.83,14.66,14.12
$GC,9351,1.04,190.7,3432,989,1990,1863,88.0,9.5,694,9359,0.00,2.35,0.00,0.000,1030,0.000,0.061,3432,2378,1926,1990,1863,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9668,1.17,247.1,3432,2378,1990,1862,63.6,6.6,706,9721,0.08,0.00,49.65,0.953,10758,0.231,0.000,3459,2378,1700,1769,1631,0,0,0,0,0,0,14.64,28.83,14.02
$GC,9998,1.17,247.1,3459,2378,1761,1625,32.4,10.1,722,10000,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,2377,1693,1761,1626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10299,1.21,264.1,3459,2377,1758,1624,3.2,8.4,746,10311,0.00,0.00,6.70,0.094,8198,0.000,0.000,3460,2378,1633,1703,1563,0,0,0,0,0,0,28.83,28.83,14.61
$STATE,10317,end climb,SURFACE_DEPTH_REACHED
$STATE,10317,begin surface coast
$FINISH,1.7,1.022642
$STATE,10338,end surface coast,CONTROL_FINISHED_OK
$STATE,10339,begin surface
$SM_CCo,10357,41.30,0.094,0,0,1282,350.04
$SM_GC,2.53,9.55,0.10,41.30,0.090,0.166,0.094,208,2456,1282,-8.97,-1.05,350.04,0,0,0,0,0,0,14.62,14.61,14.59
$RAFOS_CLK,-90
$RAFOS,6,1413564549,16.833334,16.819166,72,65,62,60,54,51,786,200,213,147,164,99
$RAFOS,5,1413564069,16.700001,16.685833,73,69,60,53,52,51,901,219,200,163,118,137
$RAFOS,4,1413563600,16.566668,16.555555,83,65,63,61,60,56,618,195,163,212,183,129
$RAFOS,3,1413563113,16.433332,16.420279,99,57,57,52,50,50,702,191,148,92,217,205
$RAFOS,2,1413562621,16.299999,16.283611,125,64,64,56,56,55,628,223,213,189,159,200
$RAFOS,1,1413562141,16.166666,16.150278,56,56,53,53,52,50,140,184,159,194,218,174
$RAFOS_FIX,6642.347168,-6003.039551,171014,161624,5,90,3.49
$IRIDIUM_FIX,6614.97,-6015.98,171014,130458
$TT8_MAMPS,0.03745,0.03745
$HUMID,44.09
$INTERNAL_PRESSURE,8.47455
$TCM_TEMP,12.30
$XPDR_PINGS,0
$SC_FREEKB,3963744
$24V_AH,13.28,45.127
$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,24.225,85.800,325.675,41.300,0.000,0.000,0.000,193.275,0.000,0.000,7.561,2288.609,6381.961,557.798,1403.888,132.304,0.000,1375.243,0.000,1120.388,2160.000,0.535,0.000
$DEVICE_MAMPS,414.630,166.005,1563.660,94.095,0.000,0.000,0.000,146.880,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10338.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.265,0.000,0.000,0.000
$MEM,143120
$DATA_FILE_SIZE,26736,750
$CAP_FILE_SIZE,117957,0
$CFSIZE,1024409600,997163008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10608.01,0x23769e,7,5
$SOUNDSPEED,1452.6
$EKF,10511,4004.260010,-3608.494873,1.744038,0.134288,0.170059,0.001747,0.000150,0.000962,0.000099,0.003125,0.003125,0.000050
$CURRENT,0.055,258.18,1
$GPS,171014,190058,6644.209,-6009.227,40,0.9,40,-32.9