version: 66.12
glider: 217
mission: 3
dive: 4
start: 9 18 114 20 38 23
data:
$ID,217
$MISSION,3
$DIVE,4
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,990
$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,170
$T_MISSION,210
$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,350
$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,2300
$C_ROLL_CLIMB,2160
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,49
$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
$GPS1,180914,203400,6703.816,-5647.360,17,1.1,17,-32.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-73.3
$GPS2,180914,203749,6703.834,-5647.407,18,1.1,18,-32.5
$SPEED_LIMITS,0.117,0.259
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$MHEAD_RNG_PITCHd_Wd,257.9,164078,-17.9,-9.804,-20.70,2280
$D_GRID,495
$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,-1.01,-146.0,183,2328,1140,1076,0.0,0.0,0,103,0.00,0.00,-83.80,0.000,16386,0.000,0.000,182,2323,3317,3317,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-1.01,-146.0,182,2323,3317,3318,4.5,-6.2,8,128,11.88,2.45,-3.65,0.000,19204,0.415,0.099,2771,895,3538,3558,3519,0,0,0,0,0,0,14.46,14.68,14.90
$GC,135,-0.41,-146.0,2771,895,3559,3519,18.8,-42.1,12,143,0.77,2.38,0.00,0.000,3078,0.278,0.072,2966,2287,3539,3560,3518,0,0,0,0,0,0,14.51,14.68,28.83
$GC,461,-0.55,-146.0,2965,2287,3563,3515,43.2,-6.1,27,468,0.08,2.42,0.00,0.000,4612,0.249,0.080,2939,889,3539,3563,3515,0,0,0,0,0,0,14.70,14.73,28.83
$EKF,range, -343.4
$GC,568,-0.67,-146.0,2939,890,3564,3515,51.1,-7.4,47,575,0.12,2.40,0.00,0.000,5126,0.168,0.071,2886,2302,3539,3564,3515,0,0,0,0,0,0,14.75,14.75,28.83
$GC,894,-0.75,-146.0,2886,2301,3565,3515,82.5,-9.4,61,902,0.00,2.45,0.00,0.000,260,0.000,0.098,2882,3701,3540,3565,3515,0,0,0,0,0,0,28.83,14.75,28.83
$EKF,1018,4023.874023,-3407.405273,94.746056,-0.014942,-0.332684,0.116756,0.000031,0.000203,0.000095,0.001025,0.001025,0.000034
$GC,1052,-0.82,-146.0,2882,3701,3566,3515,98.4,-10.5,91,1060,0.10,2.35,0.00,0.000,5126,0.190,0.064,2846,2287,3540,3566,3515,0,0,0,0,0,0,14.76,14.78,28.83
$GC,1378,-0.86,-146.0,2847,2286,3565,3515,137.0,-11.4,109,1386,0.00,2.50,0.00,0.000,260,0.000,0.099,2842,3701,3540,3565,3515,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1453,-0.90,-146.0,2842,3702,3565,3515,145.9,-11.7,123,1460,0.00,2.35,0.00,0.000,1030,0.000,0.065,2842,2293,3540,3565,3515,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1767,-0.94,-146.0,2842,2293,3566,3515,182.1,-11.4,140,1774,0.10,2.47,0.00,0.000,4356,0.203,0.097,2800,3703,3540,3565,3515,0,0,0,0,0,0,14.80,14.77,28.83
$GC,1823,-0.94,-146.0,2800,3703,3568,3514,189.3,-13.2,150,1829,0.00,2.35,0.00,0.000,1030,0.000,0.066,2800,2296,3539,3565,3514,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2137,-0.94,-146.0,2800,2293,3565,3513,229.8,-12.5,167,2143,0.00,2.50,0.00,0.000,260,0.000,0.100,2800,3707,3539,3565,3513,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2200,-0.94,-146.0,2800,3707,3565,3512,237.9,-12.5,179,2207,0.00,2.35,0.00,0.000,1030,0.000,0.066,2800,2296,3539,3565,3513,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2526,-0.94,-146.0,2800,2295,3565,3513,280.2,-13.4,198,2532,0.00,2.50,0.00,0.000,260,0.000,0.100,2800,3709,3539,3565,3513,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2585,-0.94,-146.0,2800,3709,3565,3513,288.3,-13.0,209,2595,0.00,2.35,0.00,0.000,1030,0.000,0.066,2800,2297,3538,3565,3512,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2891,-0.94,-146.0,2801,2297,3565,3512,327.2,-12.6,225,2900,0.00,2.47,0.00,0.000,260,0.000,0.100,2800,3702,3538,3565,3512,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2977,-0.94,-146.0,2800,3702,3565,3512,337.9,-13.0,241,2985,0.00,2.35,0.00,0.000,1030,0.000,0.066,2800,2296,3538,3565,3512,0,0,0,0,0,0,28.83,14.84,28.83
$GC,3302,-0.94,-146.0,2800,2296,3565,3512,376.5,-11.4,260,3309,0.00,2.50,0.00,0.000,260,0.000,0.100,2800,3710,3538,3565,3512,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3381,-0.94,-146.0,2800,3710,3565,3513,385.8,-11.2,275,3388,0.00,2.35,0.00,0.000,1030,0.000,0.065,2800,2297,3538,3565,3512,0,0,0,0,0,0,28.83,14.84,28.83
$GC,3687,-0.94,-146.0,2800,2297,3565,3512,421.7,-11.8,291,3694,0.00,2.47,0.00,0.000,260,0.000,0.099,2800,3700,3538,3565,3512,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3766,-0.94,-146.0,2800,3700,3565,3512,431.5,-12.2,306,3774,0.00,2.33,0.00,0.000,1030,0.000,0.064,2800,2300,3538,3565,3512,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4073,-0.94,-146.0,2800,2299,3566,3512,467.4,-11.7,322,4079,0.00,2.47,0.00,0.000,260,0.000,0.099,2800,3702,3539,3566,3512,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4154,-0.94,-146.0,2800,3702,3566,3512,477.4,-11.8,337,4163,0.00,2.33,0.00,0.000,1030,0.000,0.064,2800,2299,3539,3566,3512,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,4420,end dive,NO_VERTICAL_VELOCITY
$STATE,4420,begin apogee
$GC,4424,-0.22,0.0,2800,2156,3566,3512,485.7,0.0,351,4562,0.75,0.00,130.02,1.386,10246,0.167,0.000,3035,2155,2932,2994,2870,0,0,0,0,0,0,14.75,28.83,13.62
$STATE,4564,end apogee,CONTROL_FINISHED_OK
$STATE,4564,begin climb
$GC,4565,1.01,146.0,3035,2155,2992,2868,485.5,0.0,358,4698,1.23,2.58,117.93,1.409,10756,0.158,0.084,3424,765,2332,2396,2268,0,0,0,0,0,0,14.16,13.99,13.48
$GC,4870,0.95,146.0,3424,765,2386,2262,470.2,10.8,410,4877,0.00,2.42,0.00,0.000,1030,0.000,0.069,3424,2160,2325,2388,2262,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5195,0.87,146.0,3424,2160,2388,2260,436.3,10.5,429,5203,0.12,2.47,0.00,0.000,4356,0.304,0.090,3392,3574,2324,2388,2260,0,0,0,0,0,0,14.49,14.58,28.83
$GC,5261,0.79,146.0,3389,3574,2387,2261,429.1,11.0,441,5270,0.17,2.40,0.00,0.000,5126,0.297,0.065,3362,2156,2323,2387,2260,0,0,0,0,0,0,14.50,14.63,28.83
$GC,5589,0.82,164.8,3361,2156,2387,2261,399.5,9.0,460,5609,0.00,2.58,15.35,1.196,8452,0.000,0.093,3362,3573,2262,2327,2197,0,0,0,0,0,0,28.83,14.60,14.12
$GC,5647,0.77,164.8,3362,3574,2317,2189,393.7,10.1,470,5654,0.00,2.40,0.00,0.000,1030,0.000,0.065,3371,2164,2253,2317,2189,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5962,0.78,168.7,3371,2163,2317,2187,363.4,9.6,487,5969,0.00,2.47,0.00,0.000,260,0.000,0.092,3371,3564,2252,2317,2187,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6016,0.72,168.7,3371,3564,2317,2187,357.5,10.6,497,6025,0.17,2.38,0.00,0.000,5126,0.291,0.064,3340,2156,2252,2317,2187,0,0,0,0,0,0,14.56,14.71,28.83
$GC,6334,0.77,202.6,3340,2156,2317,2187,330.9,8.3,514,6371,0.00,2.53,23.42,1.110,8452,0.000,0.092,3340,3559,2121,2185,2058,0,0,0,0,1,0,28.83,14.64,14.07
$GC,6389,0.81,228.1,3337,3559,2191,2069,326.1,8.7,523,6421,0.00,2.38,22.52,1.122,9222,0.000,0.064,3351,2157,2013,2077,1949,0,0,0,0,1,0,28.83,14.66,13.95
$GC,6734,0.82,237.5,3348,2157,2100,1973,294.3,9.4,545,6761,0.00,2.55,17.30,1.114,8452,0.000,0.093,3347,3560,1962,2025,1899,0,0,0,0,0,0,28.83,14.54,14.09
$GC,6833,0.82,237.5,3348,3560,2020,1895,284.0,11.1,563,6840,0.00,2.40,0.00,0.000,1030,0.000,0.065,3357,2160,1957,2020,1894,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7147,0.82,237.5,3356,2158,2020,1893,250.7,10.9,580,7148,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2159,1957,2020,1894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7447,0.82,237.5,3356,2156,2020,1893,219.5,10.1,595,7454,0.00,2.47,0.00,0.000,260,0.000,0.093,3356,3569,1953,2014,1893,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7521,0.82,237.5,3357,3569,2020,1893,211.1,10.5,609,7529,0.00,2.38,0.00,0.000,1030,0.000,0.067,3358,2160,1956,2020,1893,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7837,0.82,237.5,3358,2159,2020,1893,179.9,10.0,626,7844,0.00,2.40,0.00,0.000,516,0.000,0.088,3358,758,1956,2018,1895,0,0,0,0,0,0,28.83,14.72,28.83
$GC,7862,0.82,237.5,3358,759,2021,1893,177.5,9.9,630,7869,0.00,2.38,0.00,0.000,1030,0.000,0.070,3358,2163,1956,2019,1893,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8186,0.83,242.8,3358,2163,2019,1893,146.6,9.6,649,8195,0.00,2.45,0.00,0.000,260,0.000,0.094,3358,3568,1956,2019,1893,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8281,0.83,242.8,3358,3568,2019,1893,136.1,11.1,667,8287,0.00,2.38,0.00,0.000,1030,0.000,0.067,3357,2160,1956,2019,1893,0,0,0,0,0,0,28.83,14.80,28.83
$GC,8606,0.84,251.5,3357,2157,2019,1893,104.2,9.4,682,8625,0.00,2.47,12.05,0.903,8452,0.000,0.091,3358,3564,1906,1969,1843,0,0,0,0,0,0,28.83,14.74,14.31
$GC,8683,0.84,251.5,3358,3564,1962,1838,96.6,10.2,696,8690,0.00,2.38,0.00,0.000,1030,0.000,0.067,3357,2158,1900,1962,1838,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9009,0.92,279.8,3358,2154,1962,1836,70.6,8.5,710,9040,0.10,2.55,25.10,0.924,10500,0.210,0.094,3392,3565,1791,1855,1728,0,0,0,0,0,0,14.76,14.66,14.26
$GC,9087,0.92,279.8,3391,3564,1845,1719,61.1,13.1,720,9094,0.00,2.40,0.00,0.000,1030,0.000,0.067,3396,2153,1781,1845,1718,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9407,0.93,288.4,3396,2150,1844,1715,28.0,9.4,733,9416,0.00,2.50,1.70,0.082,8452,0.000,0.092,3397,3564,1772,1840,1704,0,0,0,0,0,0,28.83,14.71,14.73
$GC,9453,0.97,314.2,3396,3564,1840,1711,24.2,8.6,741,9474,0.00,2.38,15.38,0.159,9222,0.000,0.067,3396,2158,1662,1730,1595,0,0,0,0,0,0,28.83,14.75,14.65
$STATE,9720,end climb,SURFACE_DEPTH_REACHED
$STATE,9720,begin surface coast
$FINISH,0.8,1.022841
$STATE,9742,end surface coast,CONTROL_FINISHED_OK
$STATE,9742,begin surface
$SM_CCo,9758,19.83,0.086,0,0,1514,350.04
$SM_GC,1.44,9.38,0.25,19.83,0.105,0.111,0.086,210,2305,1514,-9.01,-0.85,350.04,0,0,0,0,0,0,14.72,14.77,14.74
$RAFOS_CLK,-25
$RAFOS,6,1411073354,20.833334,20.820555,65,63,59,54,54,50,216,193,765,148,205,126
$RAFOS,5,1411072871,20.700001,20.686388,78,65,63,58,57,53,638,221,193,118,142,153
$RAFOS,2,1411071423,20.299999,20.284166,67,63,63,57,52,52,167,211,1072,185,110,128
$RAFOS_FIX,42654.054688,138312.312500,180914,202032,2,70,0.02
$IRIDIUM_FIX,6631.12,-5640.04,180914,202928
$TT8_MAMPS,0.03745,0.03745
$HUMID,47.91
$INTERNAL_PRESSURE,8.64057
$TCM_TEMP,14.00
$XPDR_PINGS,0
$SC_FREEKB,4018784
$24V_AH,13.48,5.533
$10V_AH,13.00,0.000
$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,24.975,112.225,380.775,19.825,0.000,0.000,0.000,0.000,0.000,0.000,19.773,2285.815,5720.982,634.279,1224.979,47.524,0.000,1286.358,0.000,1138.991,720.000,0.537,0.000
$DEVICE_MAMPS,415.395,110.925,1409.130,86.445,0.000,0.000,0.000,0.000,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9726.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.367,0.000,0.000,0.000
$MEM,143256
$DATA_FILE_SIZE,26680,771
$CAP_FILE_SIZE,130302,0
$CFSIZE,1024409600,1017069568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,7386.68,0x23769e,7,5
$SOUNDSPEED,1468.3
$EKF,9903,4023.169434,-3409.562500,0.766330,0.000117,-0.001185,0.022310,0.000146,0.000963,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.168,324.40,1
$GPS,180914,232323,6703.904,-5650.912,39,0.9,39,-32.6