version: 66.12
glider: 217
mission: 1
dive: 3
start: 4 23 114 18 32 44
data:
$ID,217
$MISSION,1
$DIVE,3
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$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,75
$T_MISSION,85
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51960
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,280
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-267.62408
$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,3108
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,23
$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,2000
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2749
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,50
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.840004
$PRESSURE_SLOPE,0.0001155691
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,100
$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
$DEEPGLIDERMB,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,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$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
$GPS1,230414,182537,4743.032,-12225.067,13,0.8,13,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-74.2
$GPS2,230414,183150,4743.079,-12225.084,18,0.8,18,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.104,0.219
$KALMAN_X,-140.2,-165.2,-152.1,294.3,-227.2
$KALMAN_Y,-72.6,-93.8,-82.5,843.4,-134.1
$MHEAD_RNG_PITCHd_Wd,9.1,1772,-14.9,-8.000,-18.27,2786
$D_GRID,178
$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,-0.83,-146.6,186,1995,1646,1578,0.0,0.0,0,79,0.00,0.00,-60.00,0.000,16386,0.000,0.000,186,1994,3257,3261,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.83,-146.6,185,1995,3261,3252,3.6,-7.7,11,106,12.43,2.53,-1.65,0.000,18692,0.438,0.128,2830,3402,3349,3370,3328,0,0,0,0,0,0,14.66,14.83,15.04
$GC,572,-0.83,-146.6,2830,3402,3370,3327,76.2,-14.1,108,579,0.00,2.35,0.00,0.000,1030,0.000,0.068,2834,1989,3349,3371,3327,0,0,0,0,0,0,28.83,14.94,28.83
$GC,700,-0.83,-146.6,2834,1986,3372,3325,93.5,-15.1,133,707,0.00,2.47,0.00,0.000,260,0.000,0.098,2826,3408,3348,3372,3325,0,0,0,0,0,0,28.83,14.92,28.83
$GC,792,-0.83,-146.6,2827,3408,3372,3325,105.4,-13.0,150,798,0.00,2.35,0.00,0.000,1030,0.000,0.068,2826,1992,3348,3372,3325,0,0,0,0,0,0,28.83,14.95,28.83
$GC,925,-0.83,-146.6,2826,1990,3372,3325,123.0,-12.7,174,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1990,3348,3372,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1105,-0.83,-146.6,2826,1989,3372,3325,145.0,-11.9,192,1110,0.00,2.47,0.00,0.000,260,0.000,0.100,2825,3407,3349,3373,3325,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1171,-0.83,-146.6,2826,3407,3372,3325,151.9,-10.6,198,1177,0.00,2.35,0.00,0.000,1030,0.000,0.067,2826,1988,3349,3373,3325,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1357,-0.83,-146.6,2826,1988,3373,3324,173.5,-12.5,217,1362,0.00,2.47,0.00,0.000,260,0.000,0.102,2826,3404,3348,3373,3324,0,0,0,0,0,0,28.83,14.95,28.83
$STATE,1397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1397,begin apogee
$GC,1403,-0.22,0.0,2826,2048,3373,3323,179.0,-13.0,221,1519,0.73,0.00,106.53,0.991,10246,0.259,0.000,3029,2044,2742,2802,2683,0,0,0,0,0,0,14.85,28.83,14.12
$STATE,1520,end apogee,CONTROL_FINISHED_OK
$STATE,1520,begin climb
$GC,1521,0.83,146.6,3031,2044,2801,2683,184.1,0.0,233,1633,1.05,0.00,106.95,0.951,10246,0.194,0.000,3350,2044,2150,2215,2086,0,0,0,0,0,0,14.47,28.83,13.98
$GC,1809,0.83,146.6,3350,2044,2205,2079,162.0,10.2,262,1814,0.00,2.42,0.00,0.000,516,0.000,0.093,3360,644,2142,2205,2079,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1835,0.83,146.6,3360,643,2204,2079,159.9,9.8,264,1841,0.00,2.40,0.00,0.000,1030,0.000,0.073,3360,2056,2142,2205,2079,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2021,0.83,146.6,3361,2057,2204,2079,140.0,10.2,283,2026,0.00,2.42,0.00,0.000,260,0.000,0.098,3361,3456,2141,2203,2079,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2052,0.83,146.6,3360,3456,2204,2078,136.2,11.6,286,2058,0.00,2.38,0.00,0.000,1030,0.000,0.070,3371,2044,2141,2203,2079,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2239,0.83,146.6,3371,2043,2203,2079,115.7,9.9,308,2245,0.00,2.45,0.00,0.000,260,0.000,0.096,3371,3454,2140,2202,2079,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2312,0.83,146.6,3371,3454,2203,2079,108.1,10.6,322,2318,0.00,2.35,0.00,0.000,1030,0.000,0.070,3382,2046,2141,2203,2079,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2440,0.83,146.6,3381,2045,2202,2079,95.6,10.3,347,2446,0.00,2.38,0.00,0.000,516,0.000,0.091,3392,642,2140,2202,2078,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2518,0.83,146.6,3392,642,2202,2079,87.1,11.3,362,2524,0.00,2.35,0.00,0.000,1030,0.000,0.073,3392,2052,2140,2201,2079,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2646,0.83,146.6,3392,2053,2202,2079,72.3,12.3,387,2652,0.00,2.40,0.00,0.000,260,0.000,0.096,3392,3452,2140,2202,2079,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2678,0.83,146.6,3392,3452,2202,2079,68.3,12.6,393,2685,0.00,2.35,0.00,0.000,1030,0.000,0.070,3402,2046,2140,2202,2079,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2806,0.83,146.6,3402,2044,2202,2079,53.2,10.1,418,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2044,2140,2203,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2933,0.83,146.6,3402,2044,2202,2079,40.4,9.5,443,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2044,2140,2202,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3000,0.83,146.6,3402,2044,2202,2078,33.7,9.9,456,3007,0.00,2.35,0.00,0.000,516,0.000,0.093,3413,645,2138,2202,2075,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3063,0.83,146.6,3412,645,2201,2078,27.4,10.8,468,3071,0.15,2.38,0.00,0.000,5126,0.319,0.073,3381,2055,2139,2201,2078,0,0,0,0,0,0,14.81,14.95,28.83
$GC,3132,0.83,146.6,3381,2056,2201,2079,20.9,9.1,481,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,2056,2140,2202,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3199,0.89,195.4,3379,2056,2202,2078,16.4,6.2,494,3228,0.00,2.50,23.15,0.148,8708,0.000,0.093,3391,638,1955,2019,1892,0,0,0,0,0,0,28.83,14.92,14.88
$GC,3260,0.89,195.4,3391,638,2026,1896,11.8,8.1,505,3267,0.00,2.38,1.17,0.106,9222,0.000,0.073,3390,2060,1954,2019,1890,0,0,0,0,0,0,28.83,14.93,14.90
$GC,3329,0.90,206.9,3392,2060,2026,1897,6.7,7.6,518,3342,0.00,2.40,6.60,0.112,8452,0.000,0.096,3391,3461,1908,1971,1845,0,0,0,0,0,0,28.83,14.91,14.90
$STATE,3396,end climb,SURFACE_DEPTH_REACHED
$STATE,3397,begin surface coast
$FINISH,0.4,1.009784
$STATE,3423,end surface coast,CONTROL_FINISHED_OK
$STATE,3423,begin surface
$SM_CCo,3441,34.70,0.096,0,0,1606,280.13
$SM_GC,1.28,9.40,2.50,34.70,0.123,0.068,0.096,212,1987,1606,-9.01,0.85,280.13,0,0,0,0,0,0,14.91,14.94,14.92
$IRIDIUM_FIX,4726.11,-12222.38,230414,181812
$TT8_MAMPS,0.035952,0.035952
$HUMID,32.59
$INTERNAL_PRESSURE,9.00191
$TCM_TEMP,15.70
$XPDR_PINGS,25
$ALTIM_BOTTOM_PING,140.3,59.3
$SC_FREEKB,4019104
$24V_AH,14.0,0.470
$10V_AH,14.0,0.161
$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,23.750,57.700,244.400,34.700,0.000,0.000,0.000,0.000,8.750,0.000,20.254,1215.814,1027.302,376.435,904.826,28.004,31.299,852.537,0.000,853.707,0.000,18.142,0.000
$DEVICE_MAMPS,438.345,127.755,990.675,96.390,0.000,0.000,0.000,0.000,420.000,0.000,19.470,21.700,2.190,21.700,40.430,53.160,56.900,15.000,0.000,0.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3405.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.031,0.000,0.000,0.000
$MEM,322864
$DATA_FILE_SIZE,13431,536
$CAP_FILE_SIZE,104708,0
$CFSIZE,1024409600,1022263296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230414,193153,4743.288,-12224.817,37,0.9,37,16.3