version: 66.12
glider: 217
mission: 3
dive: 301
start: 11 8 114 2 14 9
data:
$ID,217
$MISSION,3
$DIVE,301
$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,58
$R_STBD_OVSHOOT,36
$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
$GPS1,081114,020540,6642.871,-6013.564,22,0.9,28,-32.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-68.7
$GPS2,081114,021333,6642.823,-6013.643,5,0.8,5,-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,150.5,153133,-17.5,-9.167,-20.44,2275
$D_GRID,554
$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,19,-0.92,-136.3,170,2456,1309,1228,0.0,0.0,0,64,0.00,0.00,-43.38,0.000,16386,0.000,0.000,164,2456,2347,2363,2332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.92,-136.3,165,2456,2363,2332,3.1,-1.7,4,117,12.38,2.42,-29.40,0.000,18948,0.409,0.084,2789,1061,3265,3296,3234,0,0,0,0,0,0,14.13,14.43,14.70
$GC,347,-0.92,-136.3,2788,1062,3301,3234,51.5,-18.2,56,355,0.00,2.40,0.00,0.000,1030,0.000,0.063,2787,2446,3268,3301,3235,0,0,0,0,0,0,28.83,14.47,28.83
$GC,664,-0.92,-136.3,2786,2446,3301,3234,108.4,-17.0,68,672,0.00,2.40,0.00,0.000,516,0.000,0.065,2786,1058,3267,3301,3234,0,0,0,0,0,0,28.83,14.52,28.83
$GC,730,-0.92,-136.3,2786,1058,3301,3234,119.5,-16.7,80,738,0.00,2.40,0.00,0.000,1030,0.000,0.062,2786,2457,3267,3301,3234,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1047,-0.92,-136.3,2786,2457,3301,3234,170.7,-15.4,100,1055,0.00,2.38,0.00,0.000,260,0.000,0.096,2785,3783,3267,3301,3234,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1082,-0.92,-136.3,2786,3782,3302,3234,176.6,-16.8,106,1089,0.00,2.22,0.00,0.000,1030,0.000,0.054,2785,2442,3267,3301,3234,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1397,-0.92,-136.3,2786,2442,3300,3234,224.9,-15.1,123,1404,0.00,2.35,0.00,0.000,516,0.000,0.067,2785,1066,3267,3300,3234,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1426,-0.92,-136.3,2786,1066,3301,3234,229.5,-16.5,128,1434,0.00,2.38,0.00,0.000,1030,0.000,0.063,2785,2449,3267,3301,3234,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1747,-0.92,-136.3,2786,2452,3301,3234,276.1,-14.0,146,1754,0.00,2.40,0.00,0.000,260,0.000,0.098,2785,3786,3265,3301,3229,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1863,-0.92,-136.3,2786,3786,3301,3234,294.1,-15.4,168,1872,0.00,2.22,0.00,0.000,1030,0.000,0.054,2785,2442,3267,3300,3234,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2181,-0.92,-136.3,2786,2442,3301,3233,338.0,-13.8,185,2188,0.00,2.35,0.00,0.000,516,0.000,0.067,2786,1067,3267,3301,3233,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2302,-0.92,-136.3,2785,1067,3301,3233,355.0,-13.8,207,2308,0.00,2.38,0.00,0.000,1030,0.000,0.063,2786,2453,3266,3301,3232,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2617,-0.92,-136.3,2785,2454,3300,3232,396.3,-12.5,224,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2453,3266,3301,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2918,-0.92,-136.3,2786,2454,3301,3231,434.4,-12.5,239,2925,0.00,2.40,0.00,0.000,516,0.000,0.066,2785,1065,3266,3301,3231,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2943,-0.92,-136.3,2786,1064,3301,3231,437.5,-12.1,243,2949,0.00,2.38,0.00,0.000,1030,0.000,0.063,2784,2455,3266,3301,3231,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3268,-0.92,-136.3,2785,2455,3301,3231,476.2,-12.2,262,3275,0.00,2.38,0.00,0.000,260,0.000,0.096,2785,3782,3266,3301,3231,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3394,-0.92,-136.3,2786,3781,3296,3231,491.6,-12.0,286,3401,0.00,2.20,0.00,0.000,1030,0.000,0.050,2785,2435,3265,3301,3230,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3721,-0.92,-136.3,2786,2435,3300,3231,527.5,-11.7,305,3728,0.00,2.42,0.00,0.000,260,0.000,0.093,2785,3787,3266,3301,3231,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3799,-0.92,-136.3,2786,3787,3301,3231,537.0,-11.6,319,3806,0.00,2.20,0.00,0.000,1030,0.000,0.048,2785,2440,3266,3301,3231,0,0,0,0,0,0,28.83,14.66,28.83
$STATE,3952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3953,begin apogee
$GC,3958,-0.18,0.0,2786,2439,3301,3231,556.0,-11.7,328,4075,0.90,0.00,111.82,1.544,10246,0.252,0.000,3027,2439,2705,2767,2643,0,0,0,0,0,0,14.26,28.83,13.47
$STATE,4077,end apogee,CONTROL_FINISHED_OK
$STATE,4077,begin climb
$GC,4079,0.92,136.3,3027,2439,2767,2643,560.4,0.0,334,4197,1.17,0.00,113.20,1.506,10758,0.172,0.000,3374,2439,2151,2221,2081,0,0,0,0,0,0,14.05,28.83,13.16
$GC,4494,0.92,136.3,3372,2439,2209,2078,524.8,10.7,358,4501,0.00,2.53,0.00,0.000,516,0.000,0.063,3382,1002,2144,2210,2078,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4555,0.92,136.3,3383,1002,2209,2078,518.5,10.5,369,4563,0.00,2.40,0.00,0.000,1030,0.000,0.055,3382,2386,2143,2209,2078,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4861,0.92,136.3,3383,2387,2209,2078,486.9,10.2,385,4868,0.00,2.47,0.00,0.000,260,0.000,0.090,3382,3777,2143,2208,2079,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4901,0.92,136.3,3383,3777,2209,2078,481.9,12.4,392,4911,0.00,2.33,0.00,0.000,1030,0.000,0.048,3393,2386,2143,2209,2078,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5207,0.92,136.3,3393,2385,2208,2078,451.0,9.4,408,5215,0.00,2.38,0.00,0.000,516,0.000,0.066,3403,990,2143,2209,2078,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5233,0.92,136.3,3404,989,2208,2078,448.4,9.5,412,5242,0.00,2.35,0.00,0.000,1030,0.000,0.055,3404,2379,2143,2209,2078,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5560,0.92,136.3,3403,2379,2208,2079,416.7,10.0,431,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2379,2145,2212,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5861,0.92,136.3,3403,2379,2208,2078,386.9,10.0,446,5868,0.00,2.40,0.00,0.000,516,0.000,0.066,3414,986,2143,2209,2078,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5973,0.92,136.3,3414,986,2209,2079,376.0,10.2,467,5980,0.00,2.35,0.00,0.000,1030,0.000,0.056,3414,2380,2143,2209,2078,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6294,0.92,136.3,3414,2380,2209,2078,343.8,9.8,485,6301,0.00,2.38,0.00,0.000,516,0.000,0.065,3425,988,2143,2208,2079,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6365,0.92,136.3,3425,988,2209,2078,336.7,9.4,498,6372,0.00,2.33,0.00,0.000,1030,0.000,0.055,3425,2375,2143,2209,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6685,0.92,136.3,3425,2375,2209,2079,306.1,9.2,516,6693,0.00,2.35,0.00,0.000,516,0.000,0.065,3436,989,2144,2209,2079,0,0,0,0,0,0,28.83,14.59,28.83
$EKF,range,-5028.6
$GC,6883,0.92,136.3,3435,990,2210,2079,287.5,10.2,554,6891,0.17,2.33,0.00,0.000,5126,0.243,0.055,3392,2376,2144,2210,2078,0,0,0,0,0,0,14.36,14.60,28.83
$GC,7199,0.99,168.1,3392,2376,2209,2078,262.2,7.7,571,7232,0.00,2.38,25.42,1.151,8708,0.000,0.062,3402,985,2021,2087,1956,0,0,0,0,0,0,28.83,14.60,14.00
$GC,7261,1.03,183.9,3403,985,2085,1956,257.4,8.5,581,7281,0.00,2.33,14.15,1.103,9222,0.000,0.054,3403,2378,1958,2023,1893,0,0,0,0,0,0,28.83,14.56,13.93
$GC,7600,1.07,201.4,3403,2378,2019,1891,228.1,8.4,602,7621,0.08,2.45,15.43,1.092,10756,0.219,0.065,3448,989,1885,1950,1821,0,0,0,0,0,0,14.54,14.55,13.93
$GC,7659,1.07,201.4,3444,989,1948,1821,222.2,10.3,612,7667,0.00,2.38,0.00,0.000,1030,0.000,0.055,3448,2383,1884,1947,1821,0,0,0,0,0,0,28.83,14.52,28.83
$EKF,range,-5202.8
$GC,7976,1.07,201.4,3449,2383,1946,1820,188.5,11.0,629,7983,0.00,2.42,0.00,0.000,516,0.000,0.067,3457,987,1882,1946,1819,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8017,1.07,201.4,3458,987,1945,1819,183.7,10.8,636,8027,0.00,2.35,0.00,0.000,1030,0.000,0.055,3458,2377,1882,1946,1819,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8323,1.07,201.4,3458,2377,1944,1819,148.9,11.1,652,8331,0.00,2.40,0.00,0.000,516,0.000,0.065,3469,981,1882,1945,1819,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8369,1.07,201.4,3469,981,1945,1819,143.8,11.4,660,8378,0.00,2.35,0.00,0.000,1030,0.000,0.057,3469,2372,1882,1945,1819,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8687,1.07,201.4,3469,2372,1944,1819,107.9,11.2,677,8694,0.12,2.38,0.00,0.000,4612,0.272,0.063,3446,984,1881,1944,1818,0,0,0,0,0,0,14.35,14.57,28.83
$EKF,range,-2579.0
$GC,8778,1.07,201.4,3446,984,1944,1819,99.4,9.3,693,8784,0.00,2.35,0.00,0.000,1030,0.000,0.056,3447,2375,1881,1944,1818,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9093,1.07,201.4,3446,2375,1944,1818,67.7,10.2,705,9095,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2375,1880,1943,1818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9393,1.08,209.3,3446,2377,1943,1818,39.6,8.8,715,9407,0.00,2.42,7.50,0.871,8708,0.000,0.067,3457,990,1852,1916,1789,0,0,0,0,0,0,28.83,14.67,14.07
$GC,9519,1.14,232.7,3457,990,1910,1789,29.1,8.1,738,9547,0.00,2.38,20.45,0.919,9222,0.000,0.056,3457,2383,1757,1824,1691,0,0,0,0,0,0,28.83,14.55,14.04
$EKF,9671,4002.105469,-3611.161133,16.640919,-0.085188,0.233281,-0.092553,0.000135,0.000865,0.000099,0.000025,0.000025,0.000050
$STATE,9833,end climb,SURFACE_DEPTH_REACHED
$STATE,9833,begin surface coast
$FINISH,1.7,1.025780
$STATE,9854,end surface coast,CONTROL_FINISHED_OK
$STATE,9854,begin surface
$SM_CCo,9874,55.80,0.094,0,0,1281,350.04
$SM_GC,2.82,9.55,0.10,55.80,0.086,0.159,0.094,210,2460,1281,-8.97,-0.90,350.04,0,0,0,0,0,0,14.52,14.54,14.50
$RAFOS_CLK,-117
$RAFOS,6,1415422148,4.833333,4.818889,64,62,58,53,52,51,141,813,211,178,190,201
$RAFOS,5,1415421668,4.700000,4.685555,60,58,52,52,51,50,216,174,144,153,188,917
$RAFOS,4,1415421184,4.566667,4.551111,86,59,58,53,53,52,715,212,225,185,151,202
$RAFOS,3,1415420701,4.433333,4.416945,60,60,60,60,56,53,163,194,207,766,216,139
$RAFOS,2,1415420226,4.300000,4.285000,127,63,62,61,56,54,598,201,220,173,182,162
$RAFOS,1,1415419745,4.166667,4.151389,61,60,58,57,55,54,213,153,193,117,135,177
$RAFOS,0,1415419271,4.033333,4.019722,75,62,56,54,52,51,570,212,158,199,189,140
$RAFOS_FIX,6639.425781,-6011.206055,081114,040433,3,96,0.87
$IRIDIUM_FIX,6609.62,-6013.96,081114,020811
$TT8_MAMPS,0.03745,0.03745
$HUMID,43.66
$INTERNAL_PRESSURE,8.45502
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,3923712
$24V_AH,13.16,73.807
$10V_AH,13.23,0.000
$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,24.375,99.525,307.975,55.800,0.000,0.000,0.000,265.975,0.000,0.000,8.192,2349.488,5811.749,584.217,1500.042,190.660,0.000,1488.956,0.000,1151.307,2520.000,0.535,0.000
$DEVICE_MAMPS,408.510,159.120,1543.770,94.095,0.000,0.000,0.000,148.410,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9858.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.285,0.000,0.000,0.000
$MEM,143152
$DATA_FILE_SIZE,26697,772
$CAP_FILE_SIZE,119412,0
$CFSIZE,1024409600,982663168
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10394.49,0x23769e,7,5
$INTR,1,3954.51,0x23769e,2,5
$SOUNDSPEED,1450.9
$EKF,10036,4002.094482,-3611.099609,1.748574,-0.129751,0.283028,0.010210,0.000136,0.000871,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.133,272.99,1
$GPS,081114,050122,6642.119,-6012.851,37,0.8,37,-32.9