version: 66.12
glider: 217
mission: 3
dive: 7
start: 9 19 114 4 50 33
data:
$ID,217
$MISSION,3
$DIVE,7
$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,36
$R_STBD_OVSHOOT,29
$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
$GPS1,190914,044529,6702.628,-5656.682,37,1.1,37,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-73.7
$GPS2,190914,044958,6702.619,-5656.634,5,1.1,5,-32.6
$SPEED_LIMITS,0.117,0.259
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$MHEAD_RNG_PITCHd_Wd,297.3,156998,-17.9,-9.804,-20.70,2280
$D_GRID,639
$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,16,-1.01,-146.0,201,2291,1554,1487,0.0,0.0,0,73,0.00,0.00,-54.10,0.000,16386,0.000,0.000,199,2292,2915,2911,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-1.01,-146.0,199,2292,2913,2919,3.2,-2.8,5,105,12.10,2.60,-12.18,0.000,18692,0.423,0.120,2762,3706,3540,3566,3515,0,0,0,0,0,0,14.35,14.53,14.76
$GC,343,-0.97,-146.0,2762,3706,3568,3513,59.4,-16.7,54,352,0.12,2.40,0.00,0.000,3078,0.306,0.064,2786,2288,3544,3574,3515,0,0,0,0,0,0,14.50,14.64,28.83
$GC,675,-0.97,-146.0,2789,2287,3570,3515,109.1,-14.6,69,682,0.00,2.55,0.00,0.000,260,0.000,0.102,2786,3712,3542,3570,3515,0,0,0,0,0,0,28.83,14.66,28.83
$GC,885,-0.97,-146.0,2786,3712,3570,3514,141.1,-14.5,109,892,0.00,2.38,0.00,0.000,1030,0.000,0.065,2786,2300,3541,3570,3512,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1209,-0.97,-146.0,2786,2299,3570,3514,188.6,-14.5,128,1216,0.00,2.53,0.00,0.000,260,0.000,0.103,2786,3710,3542,3570,3514,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1297,-0.97,-146.0,2786,3710,3570,3513,201.8,-15.1,145,1304,0.00,2.38,0.00,0.000,1030,0.000,0.067,2786,2298,3541,3570,3513,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1617,-0.97,-146.0,2786,2296,3569,3513,248.5,-14.7,163,1624,0.00,2.50,0.00,0.000,260,0.000,0.103,2785,3703,3541,3570,3512,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1711,-0.97,-146.0,2792,3703,3570,3512,262.8,-14.7,180,1718,0.00,2.35,0.00,0.000,1030,0.000,0.066,2786,2300,3541,3570,3513,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2030,-0.97,-146.0,2786,2300,3570,3512,307.8,-13.6,198,2038,0.00,2.50,0.00,0.000,260,0.000,0.103,2786,3710,3539,3570,3508,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2136,-0.97,-146.0,2786,3710,3569,3512,322.5,-13.4,218,2144,0.00,2.38,0.00,0.000,1030,0.000,0.066,2786,2290,3541,3570,3512,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2461,-0.97,-146.0,2786,2290,3570,3512,365.9,-13.2,237,2468,0.00,2.53,0.00,0.000,260,0.000,0.100,2785,3711,3540,3569,3511,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2541,-0.97,-146.0,2786,3712,3570,3512,376.7,-13.8,252,2549,0.00,2.35,0.00,0.000,1030,0.000,0.065,2786,2299,3541,3570,3512,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2847,-0.97,-146.0,2785,2300,3570,3512,417.0,-13.1,268,2854,0.00,2.47,0.00,0.000,260,0.000,0.102,2786,3703,3541,3570,3512,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2912,-0.97,-146.0,2785,3703,3570,3512,425.6,-13.6,280,2918,0.00,2.35,0.00,0.000,1030,0.000,0.064,2786,2293,3541,3570,3512,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3237,-0.97,-146.0,2786,2293,3570,3512,467.9,-12.8,299,3244,0.00,2.50,0.00,0.000,260,0.000,0.100,2786,3705,3541,3570,3512,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3318,-0.97,-146.0,2786,3705,3570,3512,478.7,-13.0,314,3328,0.00,2.35,0.00,0.000,1030,0.000,0.064,2786,2293,3541,3570,3512,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,3504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3504,begin apogee
$GC,3508,-0.22,0.0,2786,2162,3570,3512,502.1,-12.4,324,3633,0.88,0.00,122.18,1.434,10246,0.249,0.000,3030,2162,2943,3005,2881,0,0,0,0,0,0,14.66,28.83,13.57
$STATE,3635,end apogee,CONTROL_FINISHED_OK
$STATE,3635,begin climb
$GC,3636,1.01,146.0,3030,2161,2997,2872,506.1,0.0,330,3767,1.27,2.55,119.05,1.424,10756,0.164,0.080,3427,760,2333,2397,2270,0,0,0,0,0,0,14.08,13.91,13.39
$GC,3804,0.94,146.0,3426,760,2390,2265,499.6,10.6,357,3812,0.00,2.50,0.00,0.000,1030,0.000,0.067,3427,2163,2327,2390,2264,0,0,0,0,0,0,28.83,14.11,28.83
$GC,4110,0.87,146.0,3427,2163,2389,2261,465.5,11.0,373,4117,0.15,2.50,0.00,0.000,4356,0.299,0.090,3389,3571,2324,2388,2261,0,0,0,0,0,0,14.34,14.43,28.83
$GC,4177,0.78,146.0,3388,3571,2388,2261,458.1,11.1,385,4184,0.17,2.42,0.00,0.000,5126,0.295,0.065,3360,2156,2324,2388,2261,0,0,0,0,0,0,14.35,14.50,28.83
$GC,4502,0.83,174.2,3360,2155,2388,2261,429.3,8.5,404,4534,0.00,2.58,23.25,1.284,8452,0.000,0.093,3359,3564,2217,2281,2154,0,0,0,0,0,0,28.83,14.44,13.95
$GC,4588,0.78,174.2,3360,3564,2273,2149,420.9,10.6,419,4596,0.00,2.40,0.00,0.000,1030,0.000,0.064,3370,2164,2210,2273,2148,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4894,0.79,177.3,3371,2161,2273,2148,390.9,9.7,435,4900,0.00,2.50,0.00,0.000,260,0.000,0.093,3371,3565,2210,2273,2148,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4954,0.74,177.3,3371,3565,2272,2148,384.3,11.0,446,4964,0.15,2.40,0.00,0.000,5126,0.288,0.064,3346,2149,2210,2272,2148,0,0,0,0,0,0,14.50,14.62,28.83
$GC,5260,0.78,209.3,3346,2148,2273,2148,357.5,8.4,462,5295,0.00,2.60,29.35,1.209,8452,0.000,0.093,3345,3564,2077,2139,2016,0,0,0,0,0,0,28.83,14.48,14.01
$GC,5341,0.78,209.3,3346,3563,2127,2008,349.3,11.7,476,5348,0.00,2.40,0.00,0.000,1030,0.000,0.065,3355,2166,2067,2126,2008,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5655,0.78,209.3,3355,2163,2126,2007,317.7,10.2,493,5662,0.00,2.47,0.00,0.000,260,0.000,0.093,3355,3562,2066,2126,2006,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5700,0.78,209.3,3354,3562,2127,2007,312.7,11.8,501,5707,0.00,2.40,0.00,0.000,1030,0.000,0.065,3361,2149,2065,2125,2006,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6024,0.78,209.3,3361,2147,2125,2006,280.5,10.0,520,6031,0.00,2.50,0.00,0.000,260,0.000,0.092,3361,3568,2066,2126,2007,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6074,0.75,209.3,3361,3568,2125,2006,275.1,11.6,529,6081,0.00,2.38,0.00,0.000,1030,0.000,0.064,3370,2161,2065,2125,2006,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6394,0.75,209.3,3370,2158,2125,2006,241.0,10.7,547,6401,0.00,2.40,0.00,0.000,260,0.000,0.092,3371,3567,2065,2125,2006,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6466,0.71,209.3,3370,3567,2124,2006,232.5,11.7,560,6473,0.17,2.38,0.00,0.000,5126,0.285,0.064,3337,2155,2065,2125,2006,0,0,0,0,0,0,14.62,14.76,28.83
$GC,6786,0.73,221.6,3337,2153,2125,2005,202.1,9.3,578,6795,0.00,2.55,3.08,0.552,8452,0.000,0.093,3338,3567,2043,2103,1984,0,0,0,0,0,0,28.83,14.72,14.20
$GC,6842,0.73,221.6,3338,3567,2115,1996,196.3,10.5,588,6849,0.00,2.38,2.12,0.217,9222,0.000,0.065,3342,2157,2038,2097,1979,0,0,0,0,0,0,28.83,14.77,14.04
$GC,7157,0.76,239.1,3342,2156,2117,1996,167.4,9.0,605,7190,0.00,2.55,23.23,0.995,8452,0.000,0.093,3342,3567,1954,2014,1894,0,0,0,0,0,0,28.83,14.63,14.21
$GC,7263,0.76,239.1,3342,3566,2007,1889,157.1,10.2,624,7271,0.00,2.40,0.00,0.000,1030,0.000,0.065,3342,2152,1948,2007,1889,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7570,0.84,268.5,3342,2151,2007,1886,130.5,8.5,640,7603,0.08,2.53,24.38,0.963,10500,0.237,0.094,3369,3564,1836,1898,1775,0,0,0,0,0,0,14.69,14.57,14.16
$GC,7685,0.84,268.5,3369,3564,1890,1767,118.0,11.3,661,7692,0.00,2.40,0.00,0.000,1030,0.000,0.066,3371,2157,1828,1890,1767,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8004,0.84,268.5,3371,2155,1890,1764,86.6,10.1,674,8013,0.00,2.42,0.00,0.000,516,0.000,0.086,3378,749,1827,1889,1765,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8044,0.88,268.5,3378,749,1888,1765,82.5,10.6,681,8051,0.00,2.40,0.00,0.000,1030,0.000,0.069,3378,2161,1826,1888,1765,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8374,0.88,268.5,3375,2161,1888,1764,49.4,9.9,696,8380,0.00,2.45,0.00,0.000,260,0.000,0.097,3377,3564,1823,1882,1764,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8609,0.92,300.9,3378,3564,1887,1764,26.5,8.3,742,8644,0.00,2.38,28.33,0.866,9222,0.000,0.067,3383,2157,1709,1774,1645,0,0,0,0,0,0,28.83,14.74,14.21
$STATE,8930,end climb,SURFACE_DEPTH_REACHED
$STATE,8930,begin surface coast
$FINISH,0.8,1.013629
$STATE,8952,end surface coast,CONTROL_FINISHED_OK
$STATE,8952,begin surface
$SM_CCo,8969,21.15,0.088,0,0,1514,350.04
$SM_GC,1.66,9.45,0.25,21.15,0.108,0.114,0.088,202,2300,1514,-9.03,-0.99,350.04,0,0,0,0,0,0,14.64,14.68,14.66
$RAFOS_CLK,-44
$RAFOS,5,1411101669,4.700000,4.685833,62,59,59,57,51,47,220,181,618,158,194,126
$RAFOS_FIX,6701.323730,-5657.908203,190914,040444,2,68,0.58
$IRIDIUM_FIX,6631.12,-5647.69,190914,020611
$TT8_MAMPS,0.03745,0.03745
$HUMID,46.37
$INTERNAL_PRESSURE,8.62104
$TCM_TEMP,13.90
$XPDR_PINGS,0
$SC_FREEKB,4017824
$24V_AH,13.39,6.157
$10V_AH,12.91,0.000
$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,24.550,103.350,374.950,21.150,0.000,0.000,0.000,173.550,0.000,0.000,5.844,2279.051,4967.479,578.154,1413.833,54.994,0.000,1401.573,0.000,1150.139,0.000,0.535,0.000
$DEVICE_MAMPS,423.045,120.105,1434.375,87.975,0.000,0.000,0.000,151.470,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8957.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.342,0.000,0.000,0.000
$MEM,143200
$DATA_FILE_SIZE,26635,779
$CAP_FILE_SIZE,115036,0
$CFSIZE,1024409600,1016725504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9630.52,0x23769e,7,5
$SOUNDSPEED,1466.8
$EKF,9113,4022.598389,-3419.419678,0.782731,-1.418836,0.165485,-0.028065,0.000115,0.000758,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.050,178.00,1
$GPS,190914,072223,6702.221,-5659.359,64,0.8,64,-32.6