version: 66.12
glider: 217
mission: 3
dive: 10
start: 9 19 114 12 47 40
data:
$ID,217
$MISSION,3
$DIVE,10
$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,38
$R_STBD_OVSHOOT,44
$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
$GPS1,190914,124148,6701.927,-5706.689,15,1.4,15,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-73.0
$GPS2,190914,124706,6701.954,-5706.692,18,0.9,18,-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,291.3,149549,-17.9,-9.804,-20.70,2280
$D_GRID,727
$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,-146.0,190,2323,1561,1485,0.0,0.0,0,73,0.00,0.00,-53.65,0.000,16386,0.000,0.000,189,2323,2940,2936,2945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-1.01,-146.0,189,2323,2937,2946,3.9,-5.0,5,105,12.02,0.00,-11.30,0.000,18950,0.421,0.000,2769,2323,3540,3566,3515,0,0,0,0,0,0,14.35,28.83,14.76
$GC,404,-0.97,-146.0,2769,2323,3569,3515,68.9,-17.3,23,410,0.00,2.47,0.00,0.000,516,0.000,0.080,2769,902,3542,3570,3515,0,0,0,0,0,0,28.83,14.62,28.83
$GC,432,-0.94,-146.0,2769,902,3569,3515,74.1,-18.0,28,440,0.12,2.38,0.00,0.000,3078,0.321,0.073,2797,2284,3542,3569,3515,0,0,0,0,0,0,14.50,14.62,28.83
$EKF,range,-7741.3
$EKF,466,4021.927002,-3426.777100,74.868973,-0.171539,-0.369162,0.159650,0.000016,0.000107,0.000095,0.001025,0.001025,0.000034
$GC,739,-0.94,-146.0,2796,2284,3570,3515,120.7,-15.0,39,746,0.00,2.53,0.00,0.000,260,0.000,0.101,2786,3705,3543,3571,3515,0,0,0,0,0,0,28.83,14.65,28.83
$GC,895,-0.94,-146.0,2786,3705,3570,3515,145.2,-16.0,68,902,0.00,2.38,0.00,0.000,1030,0.000,0.066,2786,2295,3542,3570,3515,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1215,-0.94,-146.0,2786,2293,3565,3514,191.9,-14.0,86,1223,0.00,2.53,0.00,0.000,260,0.000,0.103,2786,3705,3542,3570,3515,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1320,-0.94,-146.0,2786,3704,3571,3515,207.0,-14.2,106,1329,0.00,2.38,0.00,0.000,1030,0.000,0.066,2786,2292,3543,3571,3515,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1646,-0.94,-146.0,2786,2291,3570,3514,252.5,-14.1,125,1653,0.00,2.53,0.00,0.000,260,0.000,0.103,2786,3705,3542,3571,3514,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1681,-0.94,-146.0,2786,3704,3570,3514,257.5,-14.2,131,1687,0.00,2.38,0.00,0.000,1030,0.000,0.067,2786,2293,3542,3571,3514,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1994,-0.94,-146.0,2786,2291,3570,3514,301.2,-13.6,148,2001,0.00,2.53,0.00,0.000,260,0.000,0.103,2786,3706,3542,3571,3513,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2099,-0.94,-146.0,2786,3706,3570,3514,315.6,-13.3,168,2105,0.00,2.35,0.00,0.000,1030,0.000,0.066,2785,2302,3542,3571,3514,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2424,-0.94,-146.0,2786,2299,3570,3514,360.7,-13.8,187,2431,0.00,2.50,0.00,0.000,260,0.000,0.103,2786,3707,3544,3571,3518,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2506,-0.94,-146.0,2786,3707,3571,3513,372.3,-14.1,202,2515,0.00,2.38,0.00,0.000,1030,0.000,0.065,2786,2289,3542,3571,3514,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2812,-0.94,-146.0,2786,2288,3570,3514,412.4,-12.7,218,2820,0.00,2.53,0.00,0.000,260,0.000,0.103,2785,3707,3541,3570,3513,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2882,-0.94,-146.0,2786,3707,3570,3514,421.5,-13.1,231,2889,0.00,2.35,0.00,0.000,1030,0.000,0.065,2786,2299,3542,3571,3514,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3201,-0.94,-146.0,2786,2297,3571,3514,462.0,-12.9,249,3208,0.00,2.50,0.00,0.000,260,0.000,0.103,2786,3704,3542,3570,3514,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3290,-0.94,-146.0,2786,3704,3570,3514,473.7,-13.0,266,3299,0.00,2.35,0.00,0.000,1030,0.000,0.065,2786,2297,3542,3571,3514,0,0,0,0,0,0,28.83,14.80,28.83
$STATE,3511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3511,begin apogee
$GC,3515,-0.22,0.0,2786,2168,3572,3514,502.1,-12.8,279,3652,0.88,0.00,121.90,1.649,10246,0.255,0.000,3028,2168,2945,3009,2881,0,0,0,0,1,0,14.64,28.83,13.38
$STATE,3653,end apogee,CONTROL_FINISHED_OK
$STATE,3654,begin climb
$GC,3655,1.01,146.0,3028,2167,3012,2881,507.5,0.0,286,3784,1.27,2.65,120.97,1.440,10756,0.171,0.084,3419,761,2339,2405,2274,0,0,0,0,0,0,14.00,13.85,13.34
$GC,3903,0.95,146.0,3419,761,2397,2272,495.2,10.2,329,3910,0.00,2.47,0.00,0.000,1030,0.000,0.070,3419,2161,2333,2396,2271,0,0,0,0,0,0,28.83,14.20,28.83
$GC,4207,0.89,146.0,3419,2161,2396,2269,463.8,10.2,345,4214,0.00,2.50,0.00,0.000,260,0.000,0.096,3419,3566,2332,2396,2269,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4307,0.78,146.0,3419,3566,2397,2270,452.2,12.1,364,4316,0.28,2.42,0.00,0.000,5126,0.287,0.067,3363,2154,2333,2396,2270,0,0,0,0,0,0,14.36,14.50,28.83
$GC,4613,0.84,184.1,3363,2154,2396,2269,426.3,8.1,380,4651,0.00,2.58,30.83,1.326,8452,0.000,0.094,3363,3567,2182,2245,2120,0,0,0,0,0,0,28.83,14.36,13.88
$GC,4695,0.81,192.2,3363,3567,2243,2120,419.0,9.4,394,4711,0.00,2.42,7.32,1.134,9222,0.000,0.067,3373,2164,2153,2214,2092,0,0,0,0,0,0,28.83,14.42,13.85
$GC,5005,0.82,197.1,3373,2164,2212,2090,388.9,9.6,411,5018,0.00,2.58,3.12,0.735,8452,0.000,0.096,3373,3568,2141,2202,2080,0,0,0,0,0,0,28.83,14.50,13.95
$GC,5074,0.77,197.1,3373,3568,2203,2084,381.5,10.9,423,5081,0.00,2.42,0.00,0.000,1030,0.000,0.067,3383,2154,2144,2204,2084,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5398,0.77,197.1,3383,2153,2204,2084,347.8,10.3,442,5407,0.00,2.55,0.00,0.000,260,0.000,0.096,3383,3578,2143,2204,2083,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5450,0.72,197.1,3383,3578,2204,2084,342.4,11.0,451,5458,0.22,2.42,0.00,0.000,5126,0.285,0.067,3338,2154,2146,2204,2089,0,0,0,0,0,0,14.50,14.64,28.83
$GC,5770,0.78,236.5,3338,2151,2204,2083,316.0,8.0,469,5813,0.00,2.62,35.03,1.232,8452,0.000,0.096,3338,3571,1973,2035,1911,0,0,0,0,0,0,28.83,14.46,13.95
$GC,5857,0.78,236.5,3338,3571,2032,1910,308.3,10.0,483,5864,0.00,2.42,0.00,0.000,1030,0.000,0.067,3347,2165,1971,2032,1910,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6172,0.79,248.6,3348,2160,2031,1907,278.9,9.3,500,6192,0.00,2.53,10.38,1.110,8452,0.000,0.096,3347,3567,1923,1985,1862,0,0,0,0,0,0,28.83,14.52,14.03
$GC,6228,0.79,248.6,3347,3567,1986,1861,273.1,10.3,510,6236,0.00,2.45,0.00,0.000,1030,0.000,0.067,3355,2155,1922,1984,1861,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6545,0.79,248.6,3354,2154,1984,1860,242.0,10.4,527,6551,0.00,2.45,0.00,0.000,516,0.000,0.090,3364,748,1922,1984,1861,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6590,0.79,248.6,3364,748,1984,1860,237.1,10.8,535,6597,0.00,2.42,0.00,0.000,1030,0.000,0.071,3364,2167,1922,1984,1861,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6915,0.79,248.6,3364,2167,1983,1861,203.5,10.2,554,6923,0.00,2.45,0.00,0.000,260,0.000,0.096,3364,3561,1922,1983,1861,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6969,0.79,248.6,3364,3561,1983,1860,196.9,12.3,564,6976,0.00,2.40,0.00,0.000,1030,0.000,0.067,3371,2160,1921,1983,1860,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7283,0.79,248.6,3371,2159,1983,1860,163.1,10.9,581,7290,0.00,2.50,0.00,0.000,260,0.000,0.095,3371,3570,1921,1983,1860,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7311,0.79,248.6,3371,3570,1983,1860,159.9,11.6,586,7319,0.00,2.40,0.00,0.000,1030,0.000,0.067,3379,2151,1922,1984,1861,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7632,0.80,252.7,3379,2150,1983,1860,127.2,9.6,604,7645,0.00,2.58,3.00,0.633,8452,0.000,0.096,3379,3568,1914,1975,1853,0,0,0,0,0,0,28.83,14.71,14.12
$GC,7763,0.80,252.7,3379,3569,1975,1854,113.0,11.0,629,7770,0.00,2.40,0.00,0.000,1030,0.000,0.067,3387,2152,1914,1975,1854,0,0,0,0,0,0,28.83,14.74,28.83
$GC,8093,0.80,252.7,3387,2150,1975,1854,79.1,10.3,644,8100,0.00,2.50,0.00,0.000,260,0.000,0.096,3387,3562,1915,1976,1854,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8176,0.80,252.7,3387,3563,1976,1854,69.7,10.9,660,8184,0.12,2.38,0.00,0.000,5126,0.311,0.067,3369,2156,1915,1976,1854,0,0,0,0,0,0,14.62,14.76,28.83
$GC,8492,0.89,294.7,3369,2155,1975,1854,43.4,7.9,672,8538,0.00,2.50,38.53,0.943,8708,0.000,0.090,3377,762,1737,1801,1674,0,0,0,0,0,0,28.83,14.57,14.16
$GC,8631,0.96,295.7,3377,762,1797,1670,31.4,9.8,697,8638,0.08,2.40,0.00,0.000,3078,0.257,0.071,3402,2156,1733,1797,1670,0,0,0,0,0,0,14.54,14.61,28.83
$GC,8941,1.08,352.5,3402,2157,1796,1668,7.7,7.2,726,8978,0.12,2.55,28.10,0.108,10500,0.190,0.098,3450,3569,1506,1577,1435,0,0,0,0,0,0,14.64,14.62,14.61
$STATE,8999,end climb,SURFACE_DEPTH_REACHED
$STATE,8999,begin surface coast
$FINISH,0.8,1.025378
$STATE,9009,end surface coast,CONTROL_FINISHED_OK
$STATE,9009,begin surface
$SM_CCo,9087,0.00,0.000,0,0,1502,353.23
$SM_GC,2.05,9.65,2.20,0.00,0.105,0.069,0.000,207,2295,1502,-9.01,1.30,353.23,0,0,0,0,0,0,14.62,14.66,28.83
$RAFOS_CLK,-41
$RAFOS,6,1411130946,12.833333,12.818334,85,66,61,58,56,55,774,176,226,190,201,119
$RAFOS_FIX,6703.300781,-5712.666016,190914,121204,4,97,0.00
$IRIDIUM_FIX,6631.12,-5707.59,190914,100548
$TT8_MAMPS,0.03745,0.03745
$HUMID,45.58
$INTERNAL_PRESSURE,8.57221
$TCM_TEMP,14.10
$XPDR_PINGS,0
$SC_FREEKB,4016864
$24V_AH,13.34,6.800
$10V_AH,12.84,0.000
$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,24.775,108.375,399.175,0.000,0.000,0.000,0.000,205.425,0.000,0.000,19.186,2163.269,5231.326,595.986,1393.465,56.757,0.000,1438.288,0.000,1090.854,360.000,0.536,0.000
$DEVICE_MAMPS,420.750,113.220,1649.340,0.000,0.000,0.000,0.000,149.940,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9014.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.285,0.000,0.000,0.000
$MEM,143224
$DATA_FILE_SIZE,26778,737
$CAP_FILE_SIZE,115067,0
$CFSIZE,1024409600,1016381440
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,9491.89,0x23769e,7,5
$INTR,1,5788.96,0x2342fa,1,24
$SOUNDSPEED,1462.2
$EKF,9178,4021.824707,-3429.539307,0.805306,0.021145,0.194946,-0.049468,0.000125,0.000823,0.000095,0.001025,0.001025,0.000034
$CURRENT,0.136,179.42,1
$GPS,190914,152035,6701.151,-5709.475,27,1.2,27,-32.6