version: 66.12
glider: 217
mission: 3
dive: 11
start: 9 19 114 15 25 48
data:
$ID,217
$MISSION,3
$DIVE,11
$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,43
$R_STBD_OVSHOOT,27
$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
$GPS1,190914,152035,6701.151,-5709.475,27,1.2,27,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-72.2
$GPS2,190914,152513,6701.123,-5709.366,6,1.2,6,-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,320.9,147304,-17.9,-9.804,-20.70,2280
$D_GRID,740
$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,-146.0,192,2288,1528,1454,0.0,0.0,0,75,0.00,0.00,-55.67,0.000,16386,0.000,0.000,190,2288,2958,2959,2958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-1.01,-146.0,190,2288,2959,2958,3.5,-3.7,5,107,12.12,2.47,-10.68,0.000,18948,0.422,0.102,2772,900,3540,3566,3514,0,0,0,0,0,0,14.33,14.53,14.74
$GC,153,-0.96,-146.0,2772,900,3568,3514,24.3,-22.1,17,159,0.00,2.42,0.00,0.000,1030,0.000,0.076,2772,2298,3540,3566,3514,0,0,0,0,0,0,28.83,14.54,28.83
$GC,468,-0.92,-146.0,2771,2298,3570,3514,80.2,-16.9,29,470,0.15,0.00,0.00,0.000,2054,0.304,0.000,2807,2298,3542,3570,3514,0,0,0,0,0,0,14.53,28.83,28.83
$GC,767,-0.92,-146.0,2806,2298,3570,3514,122.0,-13.3,39,774,0.00,2.50,0.00,0.000,260,0.000,0.103,2799,3707,3542,3570,3514,0,0,0,0,0,0,28.83,14.65,28.83
$GC,908,-0.92,-146.0,2799,3707,3570,3514,141.9,-14.9,66,916,0.00,2.38,0.00,0.000,1030,0.000,0.066,2799,2300,3542,3570,3514,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1215,-0.92,-146.0,2799,2298,3570,3513,184.5,-13.7,82,1222,0.00,2.53,0.00,0.000,260,0.000,0.104,2799,3707,3541,3570,3513,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1324,-0.92,-146.0,2799,3707,3570,3512,199.4,-13.4,103,1330,0.00,2.38,0.00,0.000,1030,0.000,0.067,2799,2297,3541,3571,3512,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1644,-0.92,-146.0,2799,2294,3569,3513,242.0,-13.4,121,1650,0.00,2.53,0.00,0.000,260,0.000,0.103,2799,3707,3541,3570,3513,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1704,-0.92,-146.0,2799,3707,3570,3511,250.6,-13.9,132,1713,0.00,2.38,0.00,0.000,1030,0.000,0.067,2799,2294,3541,3570,3512,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2009,-0.92,-146.0,2799,2293,3570,3512,291.3,-13.3,148,2018,0.00,2.53,0.00,0.000,260,0.000,0.103,2799,3708,3541,3571,3512,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2089,-0.92,-146.0,2799,3709,3570,3512,301.9,-13.0,163,2097,0.00,2.38,0.00,0.000,1030,0.000,0.066,2798,2292,3541,3570,3512,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2395,-0.92,-146.0,2799,2292,3570,3512,340.8,-13.0,179,2402,0.00,2.53,0.00,0.000,260,0.000,0.103,2799,3707,3541,3570,3512,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2459,-0.92,-146.0,2799,3707,3571,3512,349.3,-13.3,191,2466,0.00,2.35,0.00,0.000,1030,0.000,0.066,2799,2300,3541,3570,3512,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2783,-0.92,-146.0,2799,2299,3570,3512,390.6,-12.6,210,2790,0.00,2.53,0.00,0.000,260,0.000,0.103,2799,3713,3541,3570,3512,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2877,-0.92,-146.0,2798,3713,3570,3511,403.1,-13.1,228,2885,0.00,2.38,0.00,0.000,1030,0.000,0.064,2799,2293,3539,3570,3508,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3194,-0.92,-146.0,2799,2293,3570,3511,443.2,-12.7,245,3200,0.00,2.53,0.00,0.000,260,0.000,0.102,2799,3710,3541,3570,3512,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3303,-0.92,-146.0,2799,3711,3570,3512,457.2,-13.2,265,3310,0.00,2.35,0.00,0.000,1030,0.000,0.065,2799,2300,3541,3570,3512,0,0,0,0,0,0,28.83,14.78,28.83
$EKF,range,-4978.0
$GC,3627,-0.92,-146.0,2800,2299,3570,3512,498.1,-12.6,284,3635,0.00,2.50,0.00,0.000,260,0.000,0.102,2799,3707,3541,3570,3512,0,0,0,0,0,0,28.83,14.74,28.83
$STATE,3646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3646,begin apogee
$GC,3652,-0.22,0.0,2797,2165,3570,3512,500.6,-12.8,287,3774,0.82,0.00,118.78,1.477,10246,0.251,0.000,3027,2161,2941,3003,2880,0,0,0,0,0,0,14.64,28.83,13.52
$STATE,3776,end apogee,CONTROL_FINISHED_OK
$STATE,3776,begin climb
$GC,3777,1.01,146.0,3027,2161,2998,2874,506.3,0.0,293,3908,1.30,2.65,118.60,1.446,10756,0.176,0.085,3424,758,2336,2401,2272,0,0,0,0,0,0,14.03,13.86,13.34
$GC,3946,0.97,164.8,3425,758,2396,2270,501.4,9.0,320,3969,0.00,2.53,16.15,1.326,9222,0.000,0.068,3425,2166,2266,2333,2199,0,0,0,0,0,0,28.83,14.06,13.46
$GC,4282,0.91,164.8,3424,2166,2321,2195,467.1,10.5,340,4290,0.00,2.50,0.00,0.000,260,0.000,0.095,3424,3564,2256,2320,2192,0,0,0,0,0,0,28.83,14.37,28.83
$GC,4389,0.80,164.8,3425,3564,2320,2192,454.5,12.7,360,4398,0.28,2.42,0.00,0.000,5126,0.292,0.067,3371,2158,2256,2320,2192,0,0,0,0,0,0,14.32,14.45,28.83
$EKF,range,-2911.1
$GC,4716,0.83,181.5,3370,2158,2320,2192,424.7,9.0,379,4737,0.00,2.60,14.40,1.274,8452,0.000,0.094,3370,3567,2192,2254,2131,0,0,0,0,0,0,28.83,14.45,13.93
$GC,4789,0.78,181.5,3369,3566,2249,2129,417.2,10.9,392,4798,0.00,2.42,0.00,0.000,1030,0.000,0.066,3380,2157,2189,2249,2129,0,0,0,0,0,0,28.83,14.50,28.83
$EKF,range,-4200.9
$GC,5110,0.78,181.5,3380,2157,2249,2128,384.6,10.1,410,5116,0.00,2.50,0.00,0.000,260,0.000,0.094,3380,3564,2187,2247,2128,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5160,0.72,181.5,3380,3564,2248,2129,379.2,10.9,419,5168,0.20,2.40,0.00,0.000,5126,0.295,0.066,3343,2158,2188,2247,2129,0,0,0,0,0,0,14.46,14.60,28.83
$EKF,range,-7053.3
$EKF,5378,4021.526611,-3431.267822,361.261169,0.007966,-0.238521,-0.085335,0.000076,0.000501,0.000100,0.004025,0.004025,0.000093
$GC,5481,0.77,212.2,3343,2156,2247,2128,351.0,8.4,437,5514,0.00,2.55,24.90,1.249,8452,0.000,0.097,3343,3567,2069,2130,2008,0,0,0,0,0,0,28.83,14.47,13.97
$GC,5575,0.77,212.2,3343,3566,2125,2006,341.8,10.8,453,5582,0.00,2.42,0.00,0.000,1030,0.000,0.066,3354,2154,2066,2126,2006,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5899,0.77,212.2,3354,2151,2125,2005,309.4,10.1,472,5907,0.00,2.53,0.00,0.000,260,0.000,0.096,3354,3570,2067,2125,2010,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5951,0.77,212.2,3354,3569,2125,2005,303.9,11.1,481,5957,0.00,2.40,0.00,0.000,1030,0.000,0.066,3363,2159,2064,2124,2005,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6270,0.77,212.2,3362,2162,2125,2005,269.6,10.8,499,6276,0.00,2.50,0.00,0.000,260,0.000,0.096,3363,3569,2062,2119,2005,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6307,0.77,212.2,3363,3569,2124,2005,265.0,12.3,506,6315,0.00,2.40,0.00,0.000,1030,0.000,0.066,3371,2157,2064,2124,2005,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6614,0.77,212.2,3371,2155,2124,2004,232.2,10.6,522,6621,0.00,2.50,0.00,0.000,260,0.000,0.095,3371,3573,2064,2124,2005,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6683,0.74,212.2,3371,3573,2124,2005,224.3,11.7,535,6690,0.15,2.40,0.00,0.000,5126,0.301,0.066,3346,2153,2064,2124,2005,0,0,0,0,0,0,14.59,14.72,28.83
$GC,7004,0.79,249.7,3346,2150,2124,2005,196.6,8.1,553,7042,0.00,2.58,29.58,1.097,8452,0.000,0.096,3346,3564,1920,1981,1859,0,0,0,0,0,0,28.83,14.54,14.09
$GC,7101,0.81,259.3,3346,3564,1979,1858,187.6,9.4,570,7122,0.00,2.40,9.18,1.003,9222,0.000,0.066,3355,2162,1878,1941,1815,0,0,0,0,0,0,28.83,14.60,14.04
$GC,7418,0.84,262.6,3358,2161,1940,1815,158.3,9.7,588,7426,0.00,2.50,0.00,0.000,260,0.000,0.096,3355,3563,1877,1940,1815,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7473,0.84,262.6,3355,3563,1939,1815,152.4,11.5,598,7479,0.00,2.40,0.00,0.000,1030,0.000,0.067,3357,2158,1877,1940,1814,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7787,0.91,282.3,3358,2156,1940,1815,123.2,8.9,615,7815,0.10,2.53,18.98,1.012,10500,0.206,0.094,3398,3571,1785,1846,1724,0,0,0,0,0,0,14.66,14.57,14.13
$GC,7848,0.91,282.3,3393,3570,1849,1724,116.3,12.9,625,7855,0.00,2.42,0.00,0.000,1030,0.000,0.067,3400,2150,1786,1849,1724,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8163,0.91,282.3,3400,2149,1847,1721,79.2,12.1,637,8165,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2148,1784,1847,1721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8462,0.91,282.3,3401,2148,1847,1721,46.1,10.6,647,8469,0.00,2.53,0.00,0.000,260,0.000,0.098,3401,3567,1783,1846,1721,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8559,0.91,282.3,3401,3565,1846,1721,35.8,11.8,665,8566,0.00,2.40,0.00,0.000,1030,0.000,0.067,3409,2154,1783,1846,1721,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8874,1.00,343.3,3410,2152,1845,1720,14.0,7.1,691,8916,0.00,2.42,31.27,0.132,8964,0.000,0.090,3409,757,1543,1613,1474,0,0,0,0,0,0,28.83,14.67,14.66
$GC,8923,1.09,381.0,3409,756,1614,1474,10.1,8.1,698,8952,0.10,2.40,20.33,0.118,11270,0.199,0.070,3447,2166,1387,1461,1314,0,0,0,0,0,0,14.68,14.70,14.65
$STATE,8998,end climb,SURFACE_DEPTH_REACHED
$STATE,8998,begin surface coast
$FINISH,1.1,1.013903
$STATE,9009,end surface coast,CONTROL_FINISHED_OK
$STATE,9009,begin surface
$SM_CCo,9086,0.00,0.000,0,0,1382,382.67
$SM_GC,1.78,9.60,0.22,0.00,0.102,0.121,0.000,197,2302,1382,-9.05,-0.74,382.67,0,0,0,0,0,0,14.64,14.69,28.83
$RAFOS_CLK,-39
$RAFOS,6,1411145356,16.833334,16.821112,71,58,58,53,52,52,712,210,196,114,168,147
$RAFOS,5,1411144862,16.700001,16.683889,70,67,59,58,51,51,607,201,126,156,228,177
$RAFOS,4,1411144387,16.566668,16.551945,123,61,58,56,54,53,810,194,177,203,213,970
$RAFOS,3,1411143913,16.433332,16.420279,62,61,59,58,56,53,192,203,183,221,166,230
$RAFOS,2,1411143438,16.299999,16.288334,61,59,58,57,56,56,923,207,181,115,224,147
$RAFOS,1,1411142949,16.166666,16.152500,66,60,58,56,54,49,210,153,187,140,171,119
$RAFOS,0,1411142461,16.033333,16.016945,65,61,58,56,53,53,204,148,187,159,171,214
$RAFOS_FIX,6704.311523,-5717.267578,190914,161620,4,81,1.90
$IRIDIUM_FIX,6631.12,-5707.59,190914,124330
$TT8_MAMPS,0.03745,0.03745
$HUMID,44.92
$INTERNAL_PRESSURE,8.56244
$TCM_TEMP,13.50
$XPDR_PINGS,0
$SC_FREEKB,4016544
$24V_AH,13.34,7.002
$10V_AH,12.87,0.000
$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,24.825,108.800,402.150,0.000,0.000,0.000,0.000,178.325,0.000,0.000,6.665,2090.676,5344.294,592.110,1318.526,55.507,0.000,1386.974,0.000,1046.693,2520.000,0.535,0.000
$DEVICE_MAMPS,422.280,120.870,1477.215,0.000,0.000,0.000,0.000,153.000,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9013.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.284,0.000,0.000,0.000
$MEM,143152
$DATA_FILE_SIZE,23409,708
$CAP_FILE_SIZE,115165,0
$CFSIZE,1024409600,1016266752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,9486.70,0x23769e,7,5
$SOUNDSPEED,1461.7
$EKF,9194,4021.570801,-3432.328369,1.067860,-0.014751,0.303243,-0.020289,0.000129,0.000844,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.230,176.18,1
$GPS,190914,175859,6700.422,-5712.050,42,0.9,42,-32.6