version: 66.12
glider: 217
mission: 3
dive: 246
start: 10 29 114 13 10 16
data:
$ID,217
$MISSION,3
$DIVE,246
$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,-3
$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,63
$R_STBD_OVSHOOT,38
$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
$GPS1,291014,130335,6701.443,-5649.120,39,1.0,39,-32.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-71.1
$GPS2,291014,130941,6701.455,-5649.020,6,1.0,6,-32.5
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,43.1,2955,-17.5,-9.167,-20.44,2275
$D_GRID,547
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.92,-136.3,175,2466,1305,1226,0.0,0.0,0,84,0.00,0.00,-63.17,0.000,16386,0.000,0.000,174,2467,2903,2908,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.92,-136.3,174,2467,2909,2899,3.4,-2.0,6,116,12.15,2.30,-8.30,0.000,18692,0.405,0.112,2785,3769,3265,3296,3234,0,0,0,0,0,0,14.26,14.47,14.78
$GC,349,-0.92,-136.3,2785,3768,3299,3235,49.2,-18.9,55,355,0.00,2.17,0.00,0.000,1030,0.000,0.049,2786,2446,3267,3299,3235,0,0,0,0,0,0,28.83,14.64,28.83
$GC,680,-0.92,-136.3,2786,2446,3300,3234,99.2,-14.4,70,686,0.00,2.35,0.00,0.000,260,0.000,0.090,2785,3770,3267,3300,3234,0,0,0,0,0,0,28.83,14.59,28.83
$GC,760,-0.92,-136.3,2785,3770,3300,3233,111.0,-14.7,85,767,0.00,2.15,0.00,0.000,1030,0.000,0.047,2785,2448,3266,3300,3233,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1081,-0.92,-136.3,2785,2447,3301,3234,151.4,-12.4,102,1088,0.00,2.33,0.00,0.000,516,0.000,0.061,2785,1066,3267,3300,3234,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1136,-0.92,-136.3,2785,1066,3300,3234,158.8,-12.8,112,1144,0.00,2.33,0.00,0.000,1030,0.000,0.059,2785,2445,3267,3301,3233,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1453,-0.92,-136.3,2785,2445,3301,3234,196.6,-12.6,129,1459,0.00,2.35,0.00,0.000,260,0.000,0.091,2785,3783,3267,3301,3233,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1555,-0.92,-136.3,2785,3783,3301,3233,210.6,-13.0,148,1565,0.00,2.17,0.00,0.000,1030,0.000,0.050,2785,2448,3267,3301,3233,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1861,-0.92,-136.3,2785,2447,3300,3234,248.1,-12.1,164,1870,0.00,2.38,0.00,0.000,260,0.000,0.092,2785,3785,3267,3301,3233,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1907,-0.92,-136.3,2785,3784,3301,3233,253.9,-12.8,172,1916,0.00,2.20,0.00,0.000,1030,0.000,0.050,2785,2445,3266,3300,3233,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2234,-0.92,-136.3,2785,2445,3301,3232,294.2,-12.0,191,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2445,3266,3301,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2535,-0.92,-136.3,2784,2444,3300,3230,328.3,-11.2,206,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2444,3266,3301,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2837,-0.92,-136.3,2785,2444,3301,3231,360.1,-10.7,221,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2445,3265,3301,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3135,-0.92,-136.3,2786,2445,3301,3230,392.5,-10.9,236,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2444,3265,3301,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3435,-0.92,-136.3,2785,2443,3305,3230,423.1,-10.1,251,3441,0.00,2.38,0.00,0.000,260,0.000,0.091,2785,3786,3265,3301,3230,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3514,-0.92,-136.3,2785,3786,3301,3230,431.9,-10.7,266,3522,0.00,2.17,0.00,0.000,1030,0.000,0.050,2785,2447,3265,3301,3230,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3821,-0.92,-136.3,2785,2447,3301,3230,463.5,-10.3,282,3827,0.00,2.35,0.00,0.000,260,0.000,0.090,2785,3780,3265,3301,3229,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3901,-0.92,-136.3,2785,3780,3299,3230,472.3,-10.5,297,3909,0.00,2.17,0.00,0.000,1030,0.000,0.048,2785,2437,3265,3301,3230,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4208,-0.92,-136.3,2785,2445,3301,3230,501.1,-8.7,313,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2439,3265,3300,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4508,-0.92,-136.3,2785,2439,3303,3236,527.1,-3.3,328,4516,0.00,2.38,0.00,0.000,260,0.000,0.090,2785,3783,3266,3303,3230,0,0,0,0,0,0,28.83,14.65,28.83
$STATE,4632,end dive,NO_VERTICAL_VELOCITY
$STATE,4632,begin apogee
$GC,4639,-0.18,0.0,2785,2368,3303,3230,527.0,0.0,352,4755,0.80,0.00,106.50,1.488,10246,0.158,0.000,3035,2367,2704,2768,2641,0,0,0,0,0,0,14.59,28.83,13.63
$STATE,4757,end apogee,CONTROL_FINISHED_OK
$STATE,4757,begin climb
$GC,4759,0.92,136.3,3035,2368,2768,2641,527.0,0.0,358,4877,1.10,2.45,107.47,1.450,10756,0.161,0.062,3383,977,2149,2218,2080,0,0,0,0,0,0,14.19,14.01,13.43
$GC,5107,0.92,136.3,3384,977,2212,2080,493.0,10.8,421,5115,0.00,2.40,0.00,0.000,1030,0.000,0.053,3384,2381,2145,2212,2079,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5413,0.92,136.3,3383,2381,2212,2079,457.5,11.1,437,5420,0.00,2.40,0.00,0.000,516,0.000,0.062,3390,976,2145,2211,2079,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5460,0.92,136.3,3393,976,2211,2079,452.2,11.8,445,5467,0.00,2.38,0.00,0.000,1030,0.000,0.054,3393,2382,2145,2211,2079,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5785,0.92,136.3,3394,2383,2211,2079,415.4,10.7,464,5793,0.00,2.42,0.00,0.000,260,0.000,0.085,3394,3778,2144,2210,2079,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5820,0.92,136.3,3394,3778,2210,2079,411.0,12.7,470,5827,0.00,2.33,0.00,0.000,1030,0.000,0.047,3405,2360,2144,2210,2079,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6135,0.92,136.3,3405,2361,2210,2079,375.4,11.1,487,6142,0.00,2.30,0.00,0.000,516,0.000,0.062,3415,978,2144,2210,2079,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6174,0.92,136.3,3415,978,2210,2079,371.0,11.7,494,6181,0.00,2.33,0.00,0.000,1030,0.000,0.053,3415,2377,2145,2210,2080,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6480,0.92,136.3,3415,2378,2210,2079,334.8,11.9,510,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2378,2144,2210,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6782,0.92,136.3,3415,2377,2210,2079,299.3,11.5,525,6789,0.00,2.35,0.00,0.000,516,0.000,0.063,3426,980,2144,2211,2078,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6858,0.92,136.3,3426,980,2211,2079,290.0,11.3,539,6865,0.12,2.33,0.00,0.000,5126,0.252,0.054,3396,2380,2145,2211,2079,0,0,0,0,0,0,14.52,14.72,28.83
$GC,7173,0.92,136.3,3396,2380,2210,2079,258.5,9.8,556,7182,0.00,2.35,0.00,0.000,516,0.000,0.062,3407,980,2145,2212,2079,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7226,0.92,136.3,3407,980,2212,2079,253.2,11.2,565,7232,0.00,2.33,0.00,0.000,1030,0.000,0.054,3407,2383,2145,2211,2079,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7545,0.92,136.3,3407,2382,2211,2078,219.3,10.8,583,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2382,2145,2212,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7847,0.92,136.3,3407,2382,2212,2079,186.4,10.4,598,7853,0.00,2.35,0.00,0.000,516,0.000,0.062,3418,982,2145,2212,2079,0,0,0,0,0,0,28.83,14.72,28.83
$GC,7921,0.92,136.3,3418,982,2211,2079,178.5,10.8,612,7929,0.00,2.33,0.00,0.000,1030,0.000,0.054,3418,2383,2145,2212,2079,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8238,0.92,136.3,3418,2383,2212,2079,143.9,10.9,629,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2382,2145,2212,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8558,0.93,140.3,3418,2382,2212,2079,113.6,9.0,644,8567,0.00,2.38,0.00,0.000,260,0.000,0.087,3418,3779,2145,2212,2079,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8590,0.93,140.3,3418,3779,2212,2079,110.4,10.3,649,8599,0.12,2.30,0.00,0.000,5126,0.268,0.048,3399,2362,2145,2212,2079,0,0,0,0,0,0,14.52,14.78,28.83
$GC,8898,1.02,181.9,3399,2362,2212,2079,86.4,7.3,660,8935,0.00,0.00,35.20,0.939,8198,0.000,0.000,3400,2362,1965,2032,1899,0,0,0,0,0,0,28.83,28.83,14.19
$GC,9226,1.06,199.5,3399,2362,2024,1894,57.5,8.4,671,9247,0.08,2.38,14.38,0.884,10756,0.207,0.066,3450,989,1891,1956,1827,0,0,0,0,0,0,14.66,14.65,14.16
$GC,9431,1.06,199.5,3450,989,1952,1826,37.6,11.0,709,9438,0.00,2.33,0.00,0.000,1030,0.000,0.055,3450,2376,1889,1952,1826,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9746,1.06,199.5,3450,2375,1953,1825,6.3,9.4,734,9753,0.00,2.45,0.00,0.000,260,0.000,0.087,3450,3774,1888,1951,1825,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9775,1.06,199.5,3451,3774,1951,1825,3.3,10.0,739,9783,0.00,2.30,0.00,0.000,1030,0.000,0.049,3460,2374,1888,1951,1825,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,9790,end climb,SURFACE_DEPTH_REACHED
$STATE,9790,begin surface coast
$FINISH,1.5,1.026132
$STATE,9801,end surface coast,CONTROL_FINISHED_OK
$STATE,9801,begin surface
$SM_CCo,9819,69.12,0.086,0,0,1281,350.04
$SM_GC,2.57,9.27,0.12,69.12,0.070,0.136,0.086,206,2471,1281,-8.98,-0.99,350.04,0,0,0,0,0,0,14.63,14.67,14.62
$RAFOS_CLK,-37
$RAFOS_FIX,6703.349121,-5659.001465,291014,121237,5,87,0.65
$IRIDIUM_FIX,6631.12,-5650.71,291014,095720
$TT8_MAMPS,0.036701,0.036701
$HUMID,41.84
$INTERNAL_PRESSURE,8.58197
$TCM_TEMP,13.90
$XPDR_PINGS,0
$SC_FREEKB,3941344
$24V_AH,13.43,60.805
$10V_AH,13.01,0.000
$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,23.650,83.800,263.550,69.125,0.000,0.000,0.000,224.575,0.000,0.000,7.332,2246.323,5928.433,535.302,1408.866,163.332,0.000,1366.862,0.000,1107.962,0.000,0.537,0.000
$DEVICE_MAMPS,405.450,136.170,1487.925,86.445,0.000,0.000,0.000,145.350,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9811.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.252,0.000,0.000,0.000
$MEM,143152
$DATA_FILE_SIZE,26733,742
$CAP_FILE_SIZE,112679,0
$CFSIZE,1024409600,989118464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,11335.85,0x23769e,7,5
$SOUNDSPEED,1468.2
$EKF,9981,4022.638916,-3408.044678,1.498454,0.245859,0.013516,-0.000605,0.000140,0.000918,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.172,327.83,1
$GPS,291014,155634,6703.452,-5649.312,28,0.7,28,-32.5