version: 66.12
glider: 217
mission: 3
dive: 180
start: 10 18 114 4 43 58
data:
$ID,217
$MISSION,3
$DIVE,180
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,360
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,140
$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,1
$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,3095
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,28
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,240
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2375
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2709
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0022
$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
$GPS1,181014,043758,6643.180,-5959.975,38,0.9,38,-32.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-64.7
$GPS2,181014,044323,6643.127,-5959.934,5,1.0,5,-32.9
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,63.0,143408,-17.5,-9.167,-20.44,2275
$D_GRID,656
$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,-0.92,-136.3,164,2468,1302,1229,0.0,0.0,0,63,0.00,0.00,-43.62,0.000,16386,0.000,0.000,162,2468,2361,2381,2342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.92,-136.3,162,2468,2384,2342,3.0,-1.8,4,115,12.38,2.45,-29.23,0.000,19204,0.414,0.087,2790,1058,3266,3297,3236,0,0,0,0,0,0,14.26,14.48,14.72
$GC,220,-0.92,-136.3,2790,1056,3301,3238,26.9,-20.1,30,227,0.00,2.38,0.00,0.000,1030,0.000,0.068,2786,2432,3268,3301,3236,0,0,0,0,0,0,28.83,14.52,28.83
$GC,546,-0.92,-136.3,2786,2432,3302,3235,87.2,-17.8,44,552,0.00,2.42,0.00,0.000,260,0.000,0.101,2787,3788,3269,3302,3236,0,0,0,0,0,0,28.83,14.55,28.83
$GC,685,-0.92,-136.3,2786,3789,3301,3236,109.5,-15.7,70,691,0.00,2.25,0.00,0.000,1030,0.000,0.057,2786,2437,3269,3302,3236,0,0,0,0,0,0,28.83,14.65,28.83
$EKF,range,-8973.6
$EKF,701,4003.212646,-3599.743164,111.830566,0.311749,0.165075,0.093054,0.000016,0.000104,0.000099,0.001525,0.001525,0.000050
$GC,1010,-0.92,-136.3,2786,2436,3302,3235,159.6,-15.3,88,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2436,3269,3303,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1311,-0.92,-136.3,2783,2436,3302,3235,204.1,-14.3,103,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2436,3272,3302,3242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1612,-0.92,-136.3,2786,2436,3302,3235,245.3,-14.0,118,1619,0.00,2.33,0.00,0.000,516,0.000,0.072,2786,1063,3268,3302,3235,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1690,-0.92,-136.3,2786,1064,3302,3235,256.5,-14.0,132,1696,0.00,2.38,0.00,0.000,1030,0.000,0.069,2786,2454,3268,3302,3235,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2004,-0.92,-136.3,2786,2454,3302,3230,296.8,-12.2,149,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2454,3268,3302,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2305,-0.92,-136.3,2786,2454,3302,3233,332.8,-12.3,164,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2454,3270,3302,3239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2605,-0.92,-136.3,2786,2454,3302,3233,368.3,-11.6,179,2612,0.00,2.40,0.00,0.000,516,0.000,0.070,2786,1054,3267,3302,3232,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2649,-0.92,-136.3,2786,1054,3302,3232,373.8,-12.2,187,2656,0.00,2.38,0.00,0.000,1030,0.000,0.067,2785,2451,3267,3302,3232,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2975,-0.92,-136.3,2786,2450,3302,3232,410.9,-11.5,206,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2450,3267,3302,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3276,-0.92,-136.3,2786,2451,3302,3232,443.7,-10.9,221,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2450,3266,3301,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3577,-0.92,-136.3,2786,2451,3302,3232,475.1,-9.9,236,3583,0.00,2.38,0.00,0.000,516,0.000,0.070,2785,1055,3267,3302,3232,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3652,-0.92,-136.3,2786,1055,3302,3232,483.2,-10.5,250,3659,0.00,2.38,0.00,0.000,1030,0.000,0.067,2786,2453,3267,3302,3233,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3967,-0.92,-136.3,2785,2453,3302,3232,514.5,-10.2,267,3968,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2453,3266,3302,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4269,-0.92,-136.3,2786,2453,3302,3233,548.6,-12.2,282,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2453,3267,3302,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4568,-0.92,-136.3,2785,2453,3300,3231,583.2,-11.4,297,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2453,3267,3303,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4868,-0.92,-136.3,2786,2453,3303,3232,616.7,-11.0,312,4875,0.00,2.35,0.00,0.000,260,0.000,0.103,2786,3782,3267,3303,3232,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4913,-0.92,-136.3,2786,3781,3303,3232,622.4,-12.2,320,4919,0.00,2.20,0.00,0.000,1030,0.000,0.057,2786,2445,3267,3303,3232,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,5217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5217,begin apogee
$GC,5222,-0.18,0.0,2786,2389,3303,3233,657.7,-11.4,338,5338,0.88,0.00,110.75,1.669,10246,0.243,0.000,3027,2389,2707,2770,2645,0,0,0,0,0,0,14.54,28.83,13.50
$STATE,5340,end apogee,CONTROL_FINISHED_OK
$STATE,5340,begin climb
$GC,5342,0.92,136.3,3027,2389,2769,2644,662.3,0.0,344,5463,1.17,2.65,112.60,1.633,10756,0.175,0.073,3381,971,2148,2218,2079,0,0,0,0,0,0,14.06,13.80,13.21
$GC,5521,0.92,136.3,3381,971,2213,2079,650.3,9.8,372,5529,0.00,2.53,0.00,0.000,1030,0.000,0.063,3380,2383,2145,2212,2079,0,0,0,0,0,0,28.83,13.98,28.83
$GC,5827,0.92,136.3,3381,2383,2208,2078,618.7,10.7,388,5828,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,2383,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6128,0.92,136.3,3380,2384,2208,2079,587.0,10.6,403,6135,0.00,2.45,0.00,0.000,516,0.000,0.071,3391,972,2143,2208,2079,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6173,0.92,136.3,3391,971,2208,2079,582.0,10.8,411,6180,0.00,2.42,0.00,0.000,1030,0.000,0.061,3391,2384,2143,2208,2079,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6499,0.92,136.3,3391,2384,2208,2078,547.1,10.9,430,6505,0.00,2.45,0.00,0.000,260,0.000,0.094,3391,3776,2142,2206,2078,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6527,0.92,136.3,3391,3776,2207,2078,543.5,11.6,435,6534,0.00,2.35,0.00,0.000,1030,0.000,0.054,3403,2365,2143,2207,2079,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6847,0.92,136.3,3403,2362,2207,2078,506.6,11.3,453,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2363,2143,2207,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7148,0.92,136.3,3403,2362,2207,2079,471.7,11.6,468,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2363,2143,2207,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7448,0.92,136.3,3402,2363,2208,2079,438.0,11.3,483,7455,0.00,2.33,0.00,0.000,516,0.000,0.072,3413,982,2143,2208,2079,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7533,0.92,136.3,3413,981,2207,2079,428.1,12.0,499,7540,0.00,2.35,0.00,0.000,1030,0.000,0.062,3413,2376,2143,2208,2079,0,0,0,0,0,0,28.83,14.70,28.83
$GC,7859,0.92,136.3,3413,2376,2207,2079,388.4,12.2,518,7865,0.00,2.38,0.00,0.000,516,0.000,0.070,3424,977,2143,2208,2078,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7919,0.92,136.3,3424,977,2208,2078,380.6,12.9,529,7929,0.12,2.35,0.00,0.000,5126,0.262,0.060,3396,2378,2143,2207,2079,0,0,0,0,0,0,14.57,14.72,28.83
$GC,8225,0.92,136.3,3395,2378,2202,2078,345.2,11.2,545,8233,0.00,2.38,0.00,0.000,516,0.000,0.069,3407,976,2144,2210,2079,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8265,0.92,136.3,3407,975,2207,2079,340.5,11.7,552,8273,0.00,2.35,0.00,0.000,1030,0.000,0.060,3407,2378,2143,2207,2079,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8571,0.92,136.3,3406,2378,2207,2079,306.4,10.9,568,8572,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2379,2143,2208,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8872,0.92,136.3,3407,2378,2206,2078,274.9,10.3,583,8873,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2378,2143,2207,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9173,0.92,136.3,3412,2378,2207,2079,244.8,9.7,598,9180,0.00,2.38,0.00,0.000,516,0.000,0.072,3422,979,2143,2207,2079,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9208,0.92,136.3,3417,979,2207,2079,241.1,10.0,604,9215,0.00,2.35,0.00,0.000,1030,0.000,0.063,3418,2380,2144,2209,2079,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9523,0.93,138.3,3418,2380,2207,2078,211.8,9.1,621,9524,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2380,2143,2207,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9824,0.99,167.1,3417,2379,2207,2079,186.2,7.9,636,9850,0.00,0.00,24.38,1.071,8198,0.000,0.000,3417,2379,2026,2091,1962,0,0,0,0,0,0,28.83,28.83,14.14
$GC,10142,0.99,167.1,3417,2380,2086,1959,156.3,9.7,652,10149,0.00,2.40,0.00,0.000,516,0.000,0.073,3428,983,2023,2087,1959,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10222,0.99,167.1,3428,983,2086,1959,148.1,9.6,667,10230,0.00,2.35,0.00,0.000,1030,0.000,0.063,3428,2375,2022,2086,1959,0,0,0,0,0,0,28.83,14.69,28.83
$GC,10528,0.99,167.1,3428,2375,2085,1959,118.8,9.3,683,10530,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2375,2023,2084,1963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10829,1.01,176.7,3428,2375,2083,1959,92.3,8.7,693,10844,0.00,2.45,9.05,0.928,8708,0.000,0.074,3437,982,1984,2047,1922,0,0,0,0,0,0,28.83,14.71,14.16
$GC,10933,1.04,191.1,3437,982,2045,1921,83.4,8.5,712,10953,0.00,2.35,12.68,0.949,9222,0.000,0.062,3437,2375,1927,1991,1864,0,0,0,0,0,0,28.83,14.65,14.12
$GC,11267,1.10,214.9,3437,2375,1989,1861,55.0,8.1,727,11298,0.00,2.45,21.62,0.939,8708,0.000,0.072,3448,983,1830,1895,1765,0,0,0,0,0,0,28.83,14.59,14.11
$GC,11343,1.13,227.6,3447,983,1892,1766,48.6,8.6,740,11363,0.00,2.38,12.12,0.902,9222,0.000,0.060,3448,2381,1778,1845,1712,0,0,0,0,0,0,28.83,14.57,14.07
$GC,11666,1.18,253.3,3447,2381,1842,1709,21.9,8.0,756,11687,0.00,0.00,13.60,0.165,8198,0.000,0.000,3447,2381,1677,1748,1607,0,0,0,0,0,0,28.83,28.83,14.51
$STATE,11894,end climb,SURFACE_DEPTH_REACHED
$STATE,11894,begin surface coast
$FINISH,1.6,1.002905
$STATE,11915,end surface coast,CONTROL_FINISHED_OK
$STATE,11915,begin surface
$SM_CCo,11933,45.95,0.096,0,0,1282,350.04
$SM_GC,2.46,9.60,0.10,45.95,0.097,0.165,0.096,210,2459,1282,-8.98,-0.90,350.04,0,0,0,0,0,0,14.59,14.62,14.59
$RAFOS_CLK,-88
$RAFOS,6,1413607770,4.833333,4.825000,67,66,60,60,59,52,645,161,200,182,213,149
$RAFOS,4,1413606785,4.566667,4.551389,57,56,54,54,53,51,216,672,149,167,198,72
$RAFOS_FIX,6642.317871,-5958.036621,181014,040436,4,104,0.00
$IRIDIUM_FIX,6609.62,-6006.54,181014,012116
$TT8_MAMPS,0.040446,0.040446
$HUMID,44.01
$INTERNAL_PRESSURE,8.47455
$TCM_TEMP,12.30
$XPDR_PINGS,0
$SC_FREEKB,3962464
$24V_AH,13.21,45.937
$10V_AH,13.31,0.000
$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,24.150,76.500,316.800,45.950,0.000,0.000,0.000,195.000,0.000,0.000,6.479,2460.290,7751.508,536.885,1442.700,143.898,0.000,1373.472,0.000,1169.876,720.000,0.535,0.000
$DEVICE_MAMPS,413.865,214.965,1669.230,95.625,0.000,0.000,0.000,152.235,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11915.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.185,0.000,0.000,0.000
$MEM,143136
$DATA_FILE_SIZE,26764,781
$CAP_FILE_SIZE,124197,0
$CFSIZE,1024409600,996704256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,11943.93,0x23769e,7,5
$SOUNDSPEED,1454.6
$EKF,12069,4004.561279,-3597.721191,1.567346,0.183617,0.168912,0.003536,0.000187,0.001195,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.087,196.08,1
$GPS,181014,080504,6644.029,-5958.084,23,0.8,23,-32.9