version: 66.12
glider: 217
mission: 3
dive: 303
start: 11 8 114 8 4 36
data:
$ID,217
$MISSION,3
$DIVE,303
$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,60
$R_STBD_OVSHOOT,46
$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
$GPS1,081114,075758,6640.322,-6009.909,33,0.8,33,-32.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-70.6
$GPS2,081114,080353,6640.292,-6009.866,17,0.8,17,-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,61.7,151722,-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
$GC,18,-0.92,-136.3,175,2468,1303,1227,0.0,0.0,0,53,0.00,0.00,-32.78,0.000,16386,0.000,0.000,173,2468,2092,2118,2067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55,-0.92,-136.3,173,2468,2124,2065,3.0,-2.0,3,118,12.55,2.47,-43.50,0.000,18948,0.418,0.086,2792,1067,3266,3297,3235,0,0,0,0,0,0,14.16,14.46,14.71
$GC,185,-0.92,-136.3,2793,1067,3301,3234,17.7,-18.8,24,195,0.00,2.38,0.00,0.000,1030,0.000,0.064,2786,2430,3267,3301,3234,0,0,0,0,0,0,28.83,14.45,28.83
$GC,504,-0.92,-136.3,2786,2430,3301,3234,78.4,-17.8,38,510,0.00,2.42,0.00,0.000,260,0.000,0.096,2786,3782,3268,3302,3234,0,0,0,0,0,0,28.83,14.43,28.83
$GC,548,-0.92,-136.3,2786,3782,3302,3234,86.3,-17.1,46,555,0.00,2.22,0.00,0.000,1030,0.000,0.053,2786,2451,3267,3301,3234,0,0,0,0,0,0,28.83,14.58,28.83
$GC,866,-0.92,-136.3,2786,2451,3302,3234,137.6,-16.6,61,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2451,3268,3302,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1165,-0.92,-136.3,2786,2450,3300,3234,185.0,-15.7,76,1173,0.00,2.40,0.00,0.000,260,0.000,0.096,2786,3781,3268,3302,3234,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1217,-0.92,-136.3,2785,3782,3302,3234,193.3,-15.8,85,1224,0.00,2.22,0.00,0.000,1030,0.000,0.054,2786,2445,3267,3301,3234,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1537,-0.92,-136.3,2786,2445,3301,3234,240.4,-14.0,103,1544,0.00,2.42,0.00,0.000,260,0.000,0.096,2786,3783,3267,3301,3234,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1593,-0.92,-136.3,2786,3783,3301,3234,248.4,-14.7,113,1600,0.00,2.20,0.00,0.000,1030,0.000,0.054,2786,2449,3267,3301,3234,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1908,-0.92,-136.3,2786,2448,3301,3234,292.0,-13.9,130,1915,0.00,2.42,0.00,0.000,260,0.000,0.096,2785,3781,3267,3301,3234,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1988,-0.92,-136.3,2786,3781,3302,3234,303.5,-14.5,145,1996,0.00,2.22,0.00,0.000,1030,0.000,0.053,2786,2438,3267,3301,3234,0,0,0,0,0,0,28.83,14.63,28.83
$EKF,range,-6083.1
$GC,2295,-0.92,-136.3,2791,2438,3301,3233,345.0,-13.4,161,2302,0.00,2.38,0.00,0.000,516,0.000,0.066,2785,1060,3267,3301,3233,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2345,-0.92,-136.3,2786,1060,3301,3233,352.0,-13.1,170,2351,0.00,2.38,0.00,0.000,1030,0.000,0.061,2785,2452,3267,3301,3233,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2665,-0.92,-136.3,2785,2453,3301,3232,392.7,-12.6,188,2674,0.00,2.40,0.00,0.000,260,0.000,0.096,2785,3784,3266,3301,3232,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2727,-0.92,-136.3,2786,3784,3301,3232,400.7,-12.6,199,2735,0.00,2.22,0.00,0.000,1030,0.000,0.054,2785,2441,3266,3301,3232,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3033,-0.92,-136.3,2786,2440,3301,3231,435.7,-10.9,215,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2441,3267,3302,3232,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-5840.2
$EKF,3050,4000.721680,-3609.197266,435.660858,0.251326,0.066420,0.109682,0.000051,0.000323,0.000100,0.004025,0.004025,0.000093
$GC,3333,-0.92,-136.3,2785,2440,3301,3232,468.0,-10.6,230,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2441,3266,3301,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3635,-0.92,-136.3,2786,2441,3300,3232,501.0,-10.8,245,3642,0.00,2.38,0.00,0.000,516,0.000,0.067,2785,1065,3266,3302,3231,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3686,-0.92,-136.3,2786,1065,3302,3232,507.4,-12.1,254,3692,0.00,2.38,0.00,0.000,1030,0.000,0.065,2785,2450,3266,3301,3232,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4006,-0.92,-136.3,2785,2449,3302,3231,543.9,-11.8,272,4014,0.00,2.40,0.00,0.000,260,0.000,0.096,2785,3782,3265,3300,3231,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4057,-0.92,-136.3,2786,3782,3301,3232,548.6,-10.4,281,4064,0.00,2.20,0.00,0.000,1030,0.000,0.053,2784,2448,3266,3301,3231,0,0,0,0,0,0,28.83,14.66,28.83
$STATE,4195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4195,begin apogee
$GC,4201,-0.18,0.0,2785,2391,3302,3231,565.3,-11.7,290,4318,0.90,0.00,111.68,1.571,10246,0.252,0.000,3027,2391,2706,2768,2645,0,0,0,0,0,0,14.27,28.83,13.44
$STATE,4320,end apogee,CONTROL_FINISHED_OK
$STATE,4320,begin climb
$GC,4322,0.92,136.3,3027,2391,2767,2644,570.2,0.0,296,4444,1.17,2.65,112.53,1.529,10756,0.177,0.067,3380,971,2150,2221,2080,0,0,0,0,0,0,14.04,13.74,13.11
$GC,4495,0.92,136.3,3380,970,2214,2080,558.8,9.3,322,4502,0.00,2.50,0.00,0.000,1030,0.000,0.054,3380,2377,2147,2214,2080,0,0,0,0,0,0,28.83,13.88,28.83
$GC,4815,0.98,162.1,3380,2377,2211,2079,529.7,8.0,340,4843,0.00,2.60,21.88,1.418,8452,0.000,0.089,3380,3776,2045,2111,1979,0,0,0,0,0,0,28.83,14.17,13.51
$GC,4881,0.98,162.1,3381,3776,2108,1979,522.1,12.1,351,4889,0.00,2.42,0.00,0.000,1030,0.000,0.049,3390,2357,2043,2108,1978,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5187,0.98,162.1,3390,2358,2107,1978,489.3,11.4,367,5193,0.00,2.38,0.00,0.000,516,0.000,0.067,3401,982,2042,2107,1977,0,0,0,0,0,0,28.83,14.39,28.83
$GC,5226,0.98,162.1,3401,982,2107,1977,484.2,12.4,374,5234,0.00,2.38,0.00,0.000,1030,0.000,0.054,3400,2377,2042,2107,1977,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5532,0.98,162.1,3401,2377,2107,1977,450.4,10.8,390,5539,0.00,2.40,0.00,0.000,516,0.000,0.063,3412,986,2042,2107,1977,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5607,0.98,162.1,3411,986,2107,1977,441.5,11.6,404,5615,0.00,2.35,0.00,0.000,1030,0.000,0.054,3412,2376,2042,2107,1977,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5924,0.98,162.1,3412,2376,2107,1977,404.6,11.4,421,5931,0.00,2.50,0.00,0.000,260,0.000,0.090,3412,3781,2042,2107,1977,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5959,0.98,162.1,3412,3781,2105,1977,399.9,12.9,427,5966,0.00,2.33,0.00,0.000,1030,0.000,0.048,3423,2375,2042,2107,1977,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6274,0.98,162.1,3423,2372,2107,1977,364.2,11.0,444,6283,0.00,2.38,0.00,0.000,516,0.000,0.064,3434,979,2042,2107,1977,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6355,0.98,162.1,3434,979,2107,1977,355.1,10.8,459,6363,0.00,2.35,0.00,0.000,1030,0.000,0.055,3433,2377,2042,2107,1978,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6661,0.98,162.1,3434,2377,2106,1978,319.2,11.6,475,6667,0.00,2.38,0.00,0.000,516,0.000,0.063,3445,988,2042,2107,1977,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6730,0.98,162.1,3445,988,2107,1977,311.0,11.4,488,6739,0.12,2.33,0.00,0.000,5126,0.263,0.054,3415,2376,2042,2107,1977,0,0,0,0,0,0,14.38,14.61,28.83
$GC,7052,0.98,162.1,3415,2376,2107,1977,279.0,9.4,506,7059,0.00,2.38,0.00,0.000,516,0.000,0.066,3426,987,2042,2107,1977,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7165,0.98,162.1,3426,987,2107,1977,268.0,10.5,527,7171,0.00,2.35,0.00,0.000,1030,0.000,0.055,3426,2375,2042,2107,1977,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7486,0.98,162.1,3425,2375,2107,1978,236.2,9.5,545,7487,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2375,2042,2107,1977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7786,1.04,187.4,3426,2372,2107,1977,210.4,8.0,560,7814,0.00,2.45,21.62,1.101,8708,0.000,0.067,3437,980,1945,2013,1877,0,0,0,0,0,0,28.83,14.64,14.04
$GC,7877,1.04,187.4,3436,980,2003,1877,202.6,9.3,576,7886,0.00,2.38,0.00,0.000,1030,0.000,0.058,3437,2381,1939,2003,1876,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8204,1.04,187.4,3437,2381,2002,1875,169.8,10.2,595,8211,0.00,2.47,0.00,0.000,260,0.000,0.091,3437,3778,1938,2002,1875,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8240,1.04,187.4,3437,3777,2001,1875,165.9,11.3,601,8246,0.00,2.33,0.00,0.000,1030,0.000,0.050,3447,2373,1938,2001,1876,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8555,1.04,187.4,3447,2373,2001,1875,132.8,10.5,618,8561,0.00,2.38,0.00,0.000,516,0.000,0.067,3457,981,1938,2001,1875,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8654,1.04,187.4,3457,982,2001,1875,122.3,10.3,637,8662,0.00,2.38,0.00,0.000,1030,0.000,0.057,3457,2384,1938,2001,1875,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8983,1.04,187.4,3457,2383,2000,1875,90.3,9.3,649,8985,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,2383,1937,2000,1875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9280,1.07,202.3,3457,2384,1999,1875,64.0,8.5,659,9299,0.00,2.45,13.15,0.942,8708,0.000,0.069,3467,990,1881,1945,1818,0,0,0,0,0,0,28.83,14.67,14.08
$GC,9354,1.09,210.4,3467,990,1942,1818,58.0,8.8,671,9368,0.00,2.35,8.43,0.894,9222,0.000,0.058,3466,2378,1848,1912,1785,0,0,0,0,0,0,28.83,14.59,14.02
$GC,9693,1.12,223.6,3467,2378,1911,1782,29.5,8.6,687,9708,0.00,0.00,12.93,0.907,8198,0.000,0.000,3467,2379,1796,1861,1731,0,0,0,0,0,0,28.83,28.83,14.04
$STATE,9960,end climb,SURFACE_DEPTH_REACHED
$STATE,9960,begin surface coast
$FINISH,1.6,1.025801
$STATE,9971,end surface coast,CONTROL_FINISHED_OK
$STATE,9971,begin surface
$SM_CCo,9990,59.67,0.093,0,0,1281,350.04
$SM_GC,2.60,9.48,0.10,59.67,0.078,0.160,0.093,211,2456,1281,-8.96,-1.05,350.04,0,0,0,0,0,0,14.54,14.55,14.52
$RAFOS_CLK,-119
$RAFOS,6,1415436545,8.833333,8.818055,66,63,55,53,51,50,823,161,214,127,191,181
$RAFOS,5,1415436068,8.700000,8.685555,58,55,51,51,50,46,222,176,198,121,186,148
$RAFOS,4,1415435581,8.566667,8.550278,121,61,60,58,57,56,717,163,216,189,131,114
$RAFOS,3,1415435104,8.433333,8.417778,66,60,60,59,58,56,219,184,171,207,739,133
$RAFOS,2,1415434626,8.300000,8.285000,56,55,54,54,51,50,129,172,163,152,190,82
$RAFOS,1,1415434166,8.166667,8.157222,59,59,59,57,55,54,161,189,218,114,145,123
$RAFOS_FIX,6644.649902,-6006.663086,081114,080840,2,94,3.62
$IRIDIUM_FIX,6609.62,-6013.96,081114,050351
$TT8_MAMPS,0.03745,0.03745
$HUMID,43.85
$INTERNAL_PRESSURE,8.45502
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3923072
$24V_AH,13.11,74.191
$10V_AH,13.19,0.000
$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,24.225,100.100,302.200,59.675,0.000,0.000,0.000,194.450,0.000,0.000,18.455,2174.782,6148.208,570.333,1361.213,193.747,0.000,1374.608,0.000,1061.737,2160.000,0.535,0.000
$DEVICE_MAMPS,417.690,210.375,1571.310,93.330,0.000,0.000,0.000,155.295,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9975.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.276,0.000,0.000,0.000
$MEM,143200
$DATA_FILE_SIZE,23420,711
$CAP_FILE_SIZE,116623,0
$CFSIZE,1024409600,982450176
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10593.16,0x23769e,7,5
$INTR,1,9281.22,0x2342f8,1,24
$SOUNDSPEED,1451.9
$EKF,10159,4001.525391,-3607.921143,1.570994,0.079041,0.076801,0.003328,0.000154,0.000981,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.067,222.71,1
$GPS,081114,105352,6641.261,-6008.539,37,1.3,37,-32.8