version: 66.12
glider: 217
mission: 3
dive: 3
start: 9 18 114 18 35 15
data:
$ID,217
$MISSION,3
$DIVE,3
$N_DIVES,3
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,500
$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,120
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$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,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,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$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,3106
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,22.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,2
$ROLL_MIN,240
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2942
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$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
$GPS1,180914,183105,6703.400,-5645.062,2,0.8,2,-32.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-69.2
$GPS2,180914,183441,6703.425,-5645.081,4,0.9,4,-32.5
$SPEED_LIMITS,0.119,0.261
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,263.1,2250,-18.2,-10.000,-20.96,2235
$D_GRID,486
$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,-1.03,-146.0,181,2157,594,498,0.0,0.0,0,123,0.00,0.00,-103.72,0.000,16386,0.000,0.000,180,2158,3217,3221,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-1.03,-146.0,180,2158,3222,3213,3.4,-4.5,10,148,11.62,2.47,-5.68,0.000,19204,0.409,0.113,2758,3544,3539,3562,3516,0,0,0,0,0,0,14.56,14.76,15.00
$GC,376,-0.99,-146.0,2758,3544,3565,3515,56.7,-16.3,58,383,0.00,2.35,0.00,0.000,1030,0.000,0.062,2758,2135,3540,3565,3515,0,0,0,0,0,0,28.83,14.81,28.83
$GC,711,-0.96,-146.0,2758,2132,3566,3515,110.9,-15.6,74,718,0.12,2.45,0.00,0.000,2308,0.321,0.089,2786,3543,3540,3566,3515,0,0,0,0,0,0,14.67,14.81,28.83
$GC,946,-0.96,-146.0,2786,3543,3566,3515,143.1,-13.3,120,954,0.00,2.33,0.00,0.000,1030,0.000,0.063,2786,2150,3540,3566,3515,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1263,-0.96,-146.0,2786,2146,3566,3515,184.9,-14.0,137,1269,0.00,2.45,0.00,0.000,260,0.000,0.093,2786,3547,3540,3566,3515,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1508,-0.96,-146.0,2786,3546,3566,3515,221.2,-15.1,183,1514,0.00,2.33,0.00,0.000,1030,0.000,0.064,2786,2151,3540,3566,3515,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1821,-0.96,-146.0,2786,2148,3566,3515,266.7,-14.7,200,1830,0.00,2.45,0.00,0.000,260,0.000,0.095,2785,3547,3540,3565,3516,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1996,-0.96,-146.0,2785,3547,3566,3515,291.6,-13.5,234,2002,0.00,2.33,0.00,0.000,1030,0.000,0.063,2786,2150,3540,3566,3514,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2309,-0.96,-146.0,2786,2146,3566,3514,332.5,-13.1,251,2316,0.00,2.45,0.00,0.000,260,0.000,0.094,2786,3547,3540,3566,3514,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2440,-0.96,-146.0,2786,3547,3566,3514,350.0,-12.9,276,2448,0.00,2.33,0.00,0.000,1030,0.000,0.064,2785,2150,3540,3567,3514,0,0,0,0,0,0,28.83,14.88,28.83
$STATE,2519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2519,begin apogee
$GC,2523,-0.22,0.0,2786,2048,3566,3514,360.5,-13.0,282,2644,0.85,0.00,116.93,1.297,10246,0.244,0.000,3026,2048,2941,3001,2881,0,0,0,0,0,0,14.69,28.83,13.83
$STATE,2645,end apogee,CONTROL_FINISHED_OK
$STATE,2645,begin climb
$GC,2646,1.03,146.0,3026,2048,2993,2872,365.3,0.0,288,2769,1.25,2.55,114.20,1.261,10756,0.164,0.089,3423,669,2338,2400,2277,0,0,0,0,0,0,14.29,14.13,13.67
$GC,2806,1.00,178.0,3425,669,2390,2269,361.2,8.5,314,2839,0.00,2.42,26.62,1.196,9222,0.000,0.067,3423,2052,2211,2277,2146,0,0,0,0,0,0,28.83,14.31,13.76
$GC,3147,0.94,178.0,3423,2052,2256,2134,321.2,11.8,335,3154,0.00,2.45,0.00,0.000,260,0.000,0.089,3423,3461,2192,2251,2134,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3233,0.85,178.0,3423,3461,2261,2133,310.2,13.6,351,3240,0.17,2.38,0.00,0.000,5126,0.314,0.067,3384,2075,2194,2255,2133,0,0,0,0,0,0,14.53,14.68,28.83
$GC,3558,0.87,194.3,3384,2072,2255,2134,277.9,9.3,370,3578,0.00,2.50,12.93,1.050,8452,0.000,0.089,3383,3461,2141,2202,2080,0,0,0,0,0,0,28.83,14.70,14.24
$GC,3663,0.83,194.3,3384,3461,2189,2074,267.0,11.1,389,3670,0.00,2.38,0.00,0.000,1030,0.000,0.065,3392,2055,2133,2192,2075,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3967,0.83,197.2,3391,2054,2192,2074,236.9,9.9,405,3974,0.00,2.47,0.00,0.000,260,0.000,0.089,3392,3468,2133,2192,2074,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4038,0.77,197.2,3392,3468,2193,2074,228.8,11.5,418,4046,0.17,2.38,0.00,0.000,5126,0.304,0.066,3356,2060,2132,2192,2073,0,0,0,0,0,0,14.62,14.79,28.83
$GC,4358,0.83,231.7,3356,2058,2192,2073,200.9,8.4,436,4398,0.00,2.50,31.55,1.039,8452,0.000,0.090,3356,3466,1985,2046,1925,0,0,0,0,0,0,28.83,14.67,14.23
$GC,4425,0.83,237.9,3356,3466,2042,1920,194.8,9.7,447,4433,0.00,2.40,0.00,0.000,1030,0.000,0.066,3358,2051,1980,2041,1919,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4731,0.84,243.8,3357,2051,2040,1916,165.7,9.7,463,4746,0.00,2.55,9.35,0.913,8452,0.000,0.090,3358,3468,1941,2003,1880,0,0,0,0,0,0,28.83,14.73,14.28
$GC,4813,0.84,243.8,3358,3468,1996,1875,156.4,11.7,478,4821,0.00,2.38,0.00,0.000,1030,0.000,0.067,3358,2062,1933,1996,1871,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5120,0.91,267.2,3358,2062,1996,1873,127.3,8.9,494,5148,0.10,2.53,20.77,0.959,10500,0.210,0.090,3392,3460,1842,1904,1780,0,0,0,0,0,0,14.77,14.70,14.26
$GC,5252,0.91,267.2,3392,3460,1895,1774,112.3,11.8,518,5258,0.00,2.38,0.00,0.000,1030,0.000,0.067,3396,2055,1834,1895,1773,0,0,0,0,0,0,28.83,14.73,28.83
$EKF,range,-2559.5
$GC,5586,0.91,267.2,3396,2055,1896,1771,78.8,10.2,534,5592,0.00,2.45,0.00,0.000,260,0.000,0.090,3396,3461,1833,1896,1771,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5654,0.91,267.2,3396,3460,1895,1771,70.0,13.0,547,5661,0.00,2.38,0.00,0.000,1030,0.000,0.067,3396,2053,1833,1895,1771,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5984,0.93,279.2,3396,2052,1894,1770,34.8,9.5,562,5997,0.00,2.50,3.20,0.521,8452,0.000,0.091,3396,3454,1810,1872,1748,0,0,0,0,0,0,28.83,14.80,14.34
$GC,6116,0.95,294.7,3396,3453,1884,1760,22.6,9.3,587,6132,0.00,2.35,10.65,0.146,9222,0.000,0.068,3396,2061,1741,1805,1678,0,0,0,0,0,0,28.83,14.82,14.73
$STATE,6348,end climb,SURFACE_DEPTH_REACHED
$STATE,6348,begin surface coast
$FINISH,0.6,1.011375
$STATE,6370,end surface coast,CONTROL_FINISHED_OK
$STATE,6371,begin surface
$SM_CCo,6387,77.88,0.086,0,0,1105,450.13
$SM_GC,1.49,9.32,0.15,77.88,0.104,0.130,0.086,211,2155,1105,-9.01,-1.05,450.13,0,0,0,0,0,0,14.77,14.81,14.77
$RAFOS_CLK,-2
$RAFOS,1,1411070942,20.166666,20.150555,59,56,56,55,55,53,167,130,193,183,211,112
$RAFOS,0,1411070468,20.033333,20.018888,62,60,57,56,51,48,1161,193,181,210,221,154
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5644.66,180914,182712
$TT8_MAMPS,0.039697,0.039697
$HUMID,47.67
$INTERNAL_PRESSURE,8.61127
$TCM_TEMP,14.10
$XPDR_PINGS,0
$SC_FREEKB,4019104
$24V_AH,13.67,5.321
$10V_AH,13.14,0.000
$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,23.625,68.125,346.200,77.875,0.000,0.000,0.000,0.000,0.000,0.000,5.920,1724.552,3248.237,581.645,964.567,34.138,0.000,1092.793,0.000,903.312,1080.000,0.537,0.000
$DEVICE_MAMPS,408.510,134.640,1296.675,85.680,0.000,0.000,0.000,0.000,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6354.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.583,0.000,0.000,0.000
$MEM,144328
$DATA_FILE_SIZE,20078,613
$CAP_FILE_SIZE,95202,0
$CFSIZE,1024409600,1017200640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3021.55,0x23769e,7,5
$SOUNDSPEED,1465.8
$EKF,6534,4023.338867,-3406.393311,0.565322,0.072312,-0.463480,-0.026065,0.000076,0.000502,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.147,324.94,1
$GPS,180914,202406,6703.773,-5647.272,16,1.1,16,-32.5