version: 66.12
glider: 217
mission: 3
dive: 69
start: 9 29 114 5 37 35
data:
$ID,217
$MISSION,3
$DIVE,69
$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,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,33
$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
$GPS1,290914,053148,6642.154,-6004.251,16,0.8,16,-32.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-74.0
$GPS2,290914,053654,6642.051,-6004.233,4,0.7,5,-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,112.4,146924,-17.5,-9.167,-20.44,2275
$D_GRID,607
$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,16,begin dive
$GC,17,-0.92,-136.3,177,2468,1303,1230,0.0,0.0,0,73,0.00,0.00,-53.33,0.000,16386,0.000,0.000,175,2465,2599,2606,2592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.92,-136.3,175,2468,2609,2592,3.2,-2.3,5,111,12.50,2.55,-15.60,0.000,18948,0.428,0.100,2789,1049,3267,3297,3238,0,0,0,0,0,0,14.31,14.50,14.71
$GC,341,-0.92,-136.3,2789,1049,3302,3238,53.5,-16.4,55,348,0.00,2.45,0.00,0.000,1030,0.000,0.077,2785,2442,3270,3302,3238,0,0,0,0,0,0,28.83,14.56,28.83
$GC,666,-0.92,-136.3,2786,2442,3305,3238,104.2,-14.7,69,674,0.00,2.42,0.00,0.000,516,0.000,0.077,2786,1048,3271,3304,3238,0,0,0,0,0,0,28.83,14.63,28.83
$GC,767,-0.92,-136.3,2786,1048,3305,3238,120.0,-15.2,88,773,0.00,2.45,0.00,0.000,1030,0.000,0.078,2786,2458,3271,3304,3238,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1076,-0.92,-136.3,2785,2458,3305,3238,166.4,-14.9,107,1083,0.00,2.42,0.00,0.000,516,0.000,0.077,2786,1058,3271,3305,3238,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1100,-0.92,-136.3,2786,1058,3305,3238,170.0,-15.5,111,1106,0.00,2.42,0.00,0.000,1030,0.000,0.079,2786,2456,3272,3305,3239,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1425,-0.92,-136.3,2785,2456,3305,3238,219.0,-14.9,130,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2456,3271,3305,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1725,-0.92,-136.3,2786,2456,3305,3237,262.1,-13.6,145,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2456,3271,3305,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2025,-0.92,-136.3,2786,2456,3305,3236,299.4,-12.3,160,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2456,3270,3304,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2325,-0.92,-136.3,2786,2456,3305,3235,337.3,-12.7,175,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2456,3270,3305,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2626,-0.92,-136.3,2786,2456,3305,3235,373.4,-11.9,190,2633,0.00,2.40,0.00,0.000,260,0.000,0.112,2783,3786,3267,3300,3234,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2661,-0.92,-136.3,2785,3786,3304,3234,378.1,-12.5,196,2668,0.00,2.25,0.00,0.000,1030,0.000,0.068,2786,2445,3269,3304,3235,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2975,-0.92,-136.3,2781,2445,3304,3234,413.7,-11.0,213,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2445,3269,3305,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3275,-0.92,-136.3,2786,2444,3304,3234,446.5,-10.6,228,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2445,3269,3305,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3576,-0.92,-136.3,2786,2445,3304,3234,479.1,-10.7,243,3582,0.00,2.40,0.00,0.000,260,0.000,0.108,2785,3784,3269,3304,3234,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3681,-0.92,-136.3,2786,3784,3305,3234,491.5,-11.7,263,3688,0.00,2.22,0.00,0.000,1030,0.000,0.066,2785,2449,3269,3304,3234,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4006,-0.92,-136.3,2787,2449,3304,3234,527.9,-11.1,282,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2449,3269,3304,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4306,-0.92,-136.3,2786,2449,3304,3235,559.2,-10.5,297,4314,0.00,2.40,0.00,0.000,260,0.000,0.106,2786,3790,3269,3304,3234,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4341,-0.92,-136.3,2786,3791,3305,3234,563.0,-11.0,303,4347,0.00,2.25,0.00,0.000,1030,0.000,0.065,2786,2442,3269,3305,3234,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4655,-0.92,-136.3,2786,2442,3304,3234,597.3,-11.0,320,4656,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2442,3269,3305,3234,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4754,begin apogee
$GC,4758,-0.18,0.0,2786,2358,3305,3235,607.8,-10.5,325,4876,0.90,0.00,110.78,1.633,10246,0.259,0.000,3031,2357,2705,2767,2643,0,0,0,0,0,0,14.63,28.83,13.47
$STATE,4878,end apogee,CONTROL_FINISHED_OK
$STATE,4878,begin climb
$GC,4879,0.92,136.3,3031,2357,2765,2642,611.3,0.0,331,5000,1.17,2.65,111.30,1.590,10756,0.179,0.080,3382,949,2148,2217,2080,0,0,0,0,0,0,14.03,13.83,13.26
$GC,5075,0.92,136.3,3383,949,2210,2079,596.6,10.0,362,5082,0.00,2.53,0.00,0.000,1030,0.000,0.070,3383,2355,2145,2211,2079,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5390,0.92,136.3,3383,2355,2208,2079,561.7,11.2,379,5396,0.00,2.47,0.00,0.000,516,0.000,0.077,3393,953,2143,2208,2078,0,0,0,0,0,0,28.83,14.36,28.83
$GC,5424,0.92,136.3,3393,953,2208,2079,557.7,11.8,385,5432,0.00,2.45,0.00,0.000,1030,0.000,0.070,3393,2353,2143,2208,2079,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5740,0.92,136.3,3393,2353,2207,2078,520.2,12.0,402,5747,0.00,2.45,0.00,0.000,516,0.000,0.078,3404,951,2145,2208,2083,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5787,0.92,136.3,3404,950,2207,2077,514.5,12.7,410,5794,0.00,2.42,0.00,0.000,1030,0.000,0.070,3403,2350,2143,2208,2078,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6111,0.92,136.3,3404,2350,2207,2078,473.8,12.1,429,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2350,2143,2207,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6412,0.92,136.3,3404,2350,2207,2079,437.2,12.2,444,6418,0.00,2.47,0.00,0.000,260,0.000,0.101,3403,3755,2142,2206,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6436,0.92,136.3,3404,3755,2206,2078,434.1,12.9,448,6442,0.00,2.38,0.00,0.000,1030,0.000,0.064,3415,2345,2142,2207,2078,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6760,0.92,136.3,3415,2343,2207,2079,394.4,12.0,467,6767,0.00,2.38,0.00,0.000,516,0.000,0.078,3426,950,2142,2207,2078,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6819,0.92,136.3,3426,949,2207,2079,387.3,12.0,478,6828,0.12,2.40,0.00,0.000,5126,0.278,0.070,3398,2355,2143,2207,2079,0,0,0,0,0,0,14.58,14.69,28.83
$GC,7126,0.92,136.3,3399,2355,2207,2078,354.9,10.2,494,7132,0.00,2.45,0.00,0.000,260,0.000,0.099,3398,3753,2143,2207,2079,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7165,0.92,136.3,3398,3753,2207,2079,350.6,11.0,501,7174,0.00,2.35,0.00,0.000,1030,0.000,0.063,3409,2348,2142,2206,2079,0,0,0,0,0,0,28.83,14.74,28.83
$GC,7470,0.92,136.3,3410,2347,2206,2076,318.9,10.2,517,7479,0.00,2.35,0.00,0.000,516,0.000,0.077,3420,957,2143,2207,2079,0,0,0,0,0,0,28.83,14.70,28.83
$GC,7506,0.92,136.3,3420,957,2206,2083,315.2,10.4,523,7512,0.00,2.38,0.00,0.000,1030,0.000,0.070,3420,2355,2142,2207,2078,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7820,0.92,136.3,3420,2355,2207,2078,283.2,10.4,540,7821,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2355,2143,2207,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8120,0.92,136.3,3420,2355,2207,2079,252.3,9.8,555,8122,0.12,0.00,0.00,0.000,4102,0.281,0.000,3391,2355,2142,2206,2078,0,0,0,0,0,0,14.65,28.83,28.83
$GC,8421,0.93,137.7,3392,2355,2207,2078,225.1,9.1,570,8428,0.00,2.40,0.00,0.000,516,0.000,0.079,3402,957,2142,2207,2078,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8513,0.93,137.9,3402,957,2214,2079,216.7,9.2,587,8520,0.00,2.40,0.00,0.000,1030,0.000,0.072,3402,2358,2142,2207,2078,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8833,0.96,150.3,3402,2357,2207,2078,189.1,8.6,605,8846,0.00,0.00,11.27,1.043,8198,0.000,0.000,3403,2358,2095,2159,2031,0,0,0,0,0,0,28.83,28.83,14.19
$EKF,range,-5008.1
$GC,9134,0.97,154.9,3402,2357,2154,2029,161.9,9.0,620,9148,0.00,2.42,4.62,0.855,8708,0.000,0.080,3413,956,2076,2139,2013,0,0,0,0,0,0,28.83,14.71,14.17
$GC,9171,0.97,155.4,3412,956,2138,2013,158.6,9.1,626,9177,0.00,2.38,0.00,0.000,1030,0.000,0.072,3412,2349,2075,2138,2013,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9485,0.99,166.6,3411,2349,2137,2013,129.8,8.7,643,9505,0.00,2.50,11.05,1.007,8452,0.000,0.103,3413,3756,2026,2089,1964,0,0,0,0,0,0,28.83,14.65,14.17
$GC,9618,0.99,166.6,3413,3756,2087,1964,115.6,10.7,668,9625,0.00,2.38,0.00,0.000,1030,0.000,0.064,3423,2347,2026,2088,1964,0,0,0,0,0,0,28.83,14.70,28.83
$EKF,range,-7703.0
$GC,9949,0.99,167.5,3423,2346,2088,1963,84.3,9.1,683,9951,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2346,2025,2088,1963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10248,1.03,183.0,3423,2346,2094,1962,58.4,8.5,693,10265,0.00,0.00,14.85,0.965,8198,0.000,0.000,3423,2346,1960,2023,1898,0,0,0,0,0,0,28.83,28.83,14.18
$EKF,range,-6622.3
$GC,10551,1.04,187.9,3423,2346,2020,1895,31.9,8.9,703,10564,0.00,2.40,4.95,0.804,8708,0.000,0.082,3433,955,1941,2004,1879,0,0,0,0,0,0,28.83,14.68,14.16
$GC,10793,1.21,264.2,3434,955,2002,1878,15.1,5.7,750,10841,0.12,2.40,38.60,0.138,11270,0.178,0.073,3476,2352,1633,1706,1561,0,0,0,0,0,0,14.66,14.67,14.60
$EKF,range,-1183.7
$STATE,10947,end climb,SURFACE_DEPTH_REACHED
$STATE,10947,begin surface coast
$FINISH,1.2,1.025253
$STATE,10958,end surface coast,CONTROL_FINISHED_OK
$STATE,10959,begin surface
$SM_CCo,10976,40.67,0.099,0,0,1282,350.04
$SM_GC,2.10,9.82,0.15,40.67,0.110,0.143,0.099,212,2458,1282,-8.97,-0.93,350.04,0,0,0,0,0,0,14.62,14.66,14.62
$RAFOS_CLK,-81
$RAFOS,4,1411979600,8.566667,8.555555,116,60,52,52,50,50,605,164,197,173,1454,1798
$RAFOS,3,1411979120,8.433333,8.422222,132,67,65,55,50,49,637,183,215,133,148,206
$RAFOS,2,1411978625,8.300000,8.284722,108,64,62,56,56,55,584,192,201,125,115,157
$RAFOS,1,1411978146,8.166667,8.151667,60,58,57,55,53,53,216,186,120,152,138,171
$RAFOS,0,1411977665,8.033334,8.018056,136,60,55,53,51,50,631,211,199,170,145,122
$RAFOS_FIX,6639.432129,-6001.124512,290914,080852,4,123,0.54
$IRIDIUM_FIX,6609.62,-6009.24,290914,023049
$TT8_MAMPS,0.036701,0.036701
$HUMID,45.15
$INTERNAL_PRESSURE,8.47455
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3997984
$24V_AH,13.26,20.650
$10V_AH,13.34,0.000
$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,24.775,82.300,307.425,40.675,0.000,0.000,0.000,197.600,0.000,0.000,6.568,2400.603,6910.555,532.820,1444.652,85.008,0.000,1360.408,0.000,1145.147,1800.000,0.536,0.000
$DEVICE_MAMPS,428.400,146.880,1632.510,98.685,0.000,0.000,0.000,144.585,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10955.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.206,0.000,0.000,0.000
$MEM,143196
$DATA_FILE_SIZE,26719,769
$CAP_FILE_SIZE,122133,0
$CFSIZE,1024409600,1009598464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11005.44,0x23769e,7,5
$SOUNDSPEED,1453.8
$EKF,11128,4002.312500,-3600.515137,1.244930,-0.139739,0.314948,-0.023903,0.000167,0.001065,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.232,184.97,1
$GPS,290914,084300,6640.903,-6000.748,36,1.9,36,-32.8