version: 66.12
glider: 217
mission: 3
dive: 247
start: 10 29 114 16 2 52
data:
$ID,217
$MISSION,3
$DIVE,247
$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,55
$R_STBD_OVSHOOT,52
$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
$GPS1,291014,155634,6703.452,-5649.312,28,0.7,28,-32.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-71.3
$GPS2,291014,160216,6703.517,-5649.410,5,0.8,5,-32.5
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$MHEAD_RNG_PITCHd_Wd,248.3,162519,-17.5,-9.167,-20.44,2275
$D_GRID,512
$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,-136.3,174,2473,1304,1231,0.0,0.0,0,84,0.00,0.00,-63.12,0.000,16386,0.000,0.000,172,2473,2914,2918,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.92,-136.3,172,2473,2921,2912,3.5,-2.3,6,116,12.07,2.42,-7.93,0.000,18948,0.404,0.086,2789,1058,3268,3299,3237,0,0,0,0,0,0,14.26,14.53,14.79
$GC,225,-0.92,-136.3,2789,1058,3301,3236,28.7,-18.0,30,232,0.00,2.33,0.00,0.000,1030,0.000,0.059,2786,2429,3269,3302,3237,0,0,0,0,0,0,28.83,14.56,28.83
$GC,561,-0.92,-136.3,2786,2429,3301,3236,85.3,-15.2,46,568,0.00,2.38,0.00,0.000,260,0.000,0.091,2786,3778,3269,3302,3236,0,0,0,0,0,0,28.83,14.57,28.83
$GC,690,-0.92,-136.3,2785,3778,3301,3236,105.6,-14.9,70,697,0.00,2.20,0.00,0.000,1030,0.000,0.050,2786,2433,3268,3301,3235,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1015,-0.92,-136.3,2786,2432,3302,3236,150.9,-13.8,89,1022,0.00,2.30,0.00,0.000,516,0.000,0.063,2786,1064,3268,3301,3235,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1120,-0.92,-136.3,2784,1064,3303,3236,165.7,-13.3,109,1127,0.00,2.35,0.00,0.000,1030,0.000,0.060,2786,2455,3268,3301,3235,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1446,-0.92,-136.3,2786,2455,3302,3235,209.6,-14.1,128,1453,0.00,2.35,0.00,0.000,260,0.000,0.093,2786,3783,3268,3302,3235,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1545,-0.92,-136.3,2786,3782,3302,3235,224.4,-15.1,146,1552,0.00,2.17,0.00,0.000,1030,0.000,0.051,2786,2449,3268,3302,3235,0,0,0,0,0,0,28.83,14.73,28.83
$EKF,range,-2396.5
$GC,1860,-0.92,-136.3,2785,2449,3302,3233,266.4,-12.9,163,1868,0.00,2.35,0.00,0.000,260,0.000,0.092,2785,3778,3267,3301,3233,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1880,-0.92,-136.3,2786,3778,3302,3233,269.1,-13.0,166,1888,0.00,2.17,0.00,0.000,1030,0.000,0.050,2785,2442,3267,3302,3233,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2186,-0.92,-136.3,2786,2442,3302,3231,306.6,-12.1,182,2193,0.00,2.35,0.00,0.000,260,0.000,0.091,2785,3775,3266,3302,3231,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2202,-0.92,-136.3,2786,3780,3302,3231,308.3,-11.9,184,2209,0.00,2.12,0.00,0.000,1030,0.000,0.050,2786,2452,3266,3302,3231,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2517,-0.92,-136.3,2786,2451,3302,3231,347.9,-12.2,201,2524,0.00,2.33,0.00,0.000,516,0.000,0.062,2786,1068,3266,3302,3231,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2537,-0.92,-136.3,2785,1068,3302,3231,350.5,-12.2,204,2545,0.00,2.33,0.00,0.000,1030,0.000,0.059,2786,2450,3266,3302,3230,0,0,0,0,0,0,28.83,14.69,28.83
$EKF,range,-5495.3
$GC,2843,-0.92,-136.3,2785,2450,3302,3231,385.9,-11.2,220,2850,0.00,2.33,0.00,0.000,260,0.000,0.091,2785,3779,3266,3302,3231,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2890,-0.92,-136.3,2786,3779,3302,3231,391.1,-11.9,228,2897,0.00,2.15,0.00,0.000,1030,0.000,0.049,2785,2449,3266,3302,3231,0,0,0,0,0,0,28.83,14.76,28.83
$EKF,range,-9612.8
$EKF,3153,4023.263184,-3409.994873,418.208191,-0.244880,0.064914,0.105797,0.000054,0.000358,0.000100,0.006025,0.006025,0.000093
$GC,3215,-0.92,-136.3,2785,2449,3302,3231,426.6,-10.5,247,3223,0.00,2.33,0.00,0.000,516,0.000,0.061,2786,1059,3266,3302,3231,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3250,-0.92,-136.3,2786,1059,3303,3231,430.1,-10.2,253,3256,0.00,2.35,0.00,0.000,1030,0.000,0.058,2786,2458,3266,3301,3231,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3564,-0.92,-136.3,2785,2458,3302,3231,463.1,-10.8,270,3571,0.00,2.35,0.00,0.000,516,0.000,0.060,2786,1065,3267,3303,3231,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3620,-0.92,-136.3,2785,1065,3303,3231,469.3,-10.7,280,3627,0.00,2.33,0.00,0.000,1030,0.000,0.057,2785,2454,3266,3302,3231,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3935,-0.92,-136.3,2785,2453,3304,3231,503.9,-10.6,297,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2453,3267,3303,3231,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4173,end dive,NO_VERTICAL_VELOCITY
$STATE,4173,begin apogee
$GC,4178,-0.18,0.0,2785,2389,3306,3231,507.9,0.0,309,4288,0.80,0.00,106.38,1.459,10246,0.164,0.000,3034,2389,2708,2772,2644,0,0,0,0,0,0,14.57,28.83,13.64
$STATE,4290,end apogee,CONTROL_FINISHED_OK
$STATE,4290,begin climb
$GC,4292,0.92,136.3,3034,2389,2769,2640,507.7,0.0,314,4411,1.08,2.58,107.45,1.419,10500,0.155,0.083,3368,3782,2147,2216,2079,0,0,0,0,0,0,14.19,14.00,13.45
$GC,4489,0.92,136.3,3368,3783,2210,2079,490.0,12.1,347,4498,0.00,2.40,0.00,0.000,1030,0.000,0.047,3379,2370,2144,2210,2079,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4811,0.92,136.3,3379,2369,2208,2079,453.8,11.3,365,4817,0.00,2.35,0.00,0.000,516,0.000,0.063,3389,984,2144,2209,2079,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4895,0.92,136.3,3389,984,2208,2079,444.3,11.3,381,4902,0.00,2.35,0.00,0.000,1030,0.000,0.053,3389,2381,2144,2209,2079,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5222,0.92,136.3,3389,2381,2208,2079,407.9,11.4,400,5228,0.00,2.38,0.00,0.000,516,0.000,0.063,3399,980,2143,2208,2079,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5311,0.92,136.3,3399,980,2208,2075,397.5,11.7,416,5318,0.00,2.33,0.00,0.000,1030,0.000,0.054,3400,2374,2143,2208,2079,0,0,0,0,0,0,28.83,14.63,28.83
$GC,5636,0.92,136.3,3400,2374,2208,2079,358.5,12.4,435,5644,0.00,2.35,0.00,0.000,516,0.000,0.063,3411,978,2143,2208,2079,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5692,0.92,136.3,3411,978,2208,2079,351.8,11.8,445,5699,0.00,2.33,0.00,0.000,1030,0.000,0.054,3410,2378,2143,2208,2079,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6007,0.92,136.3,3410,2378,2208,2079,313.8,11.7,462,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2378,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6308,0.92,136.3,3410,2378,2208,2080,277.1,12.3,477,6315,0.00,2.35,0.00,0.000,516,0.000,0.062,3421,978,2143,2208,2078,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6357,0.92,136.3,3421,978,2208,2078,271.0,12.1,486,6364,0.00,2.33,0.00,0.000,1030,0.000,0.054,3420,2379,2143,2207,2079,0,0,0,0,0,0,28.83,14.72,28.83
$GC,6678,0.92,136.3,3421,2380,2208,2079,232.7,11.6,504,6684,0.00,2.38,0.00,0.000,516,0.000,0.063,3432,977,2143,2209,2078,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6703,0.92,136.3,3432,978,2208,2079,229.6,11.9,508,6710,0.15,2.33,0.00,0.000,5126,0.246,0.054,3395,2382,2143,2209,2078,0,0,0,0,0,0,14.52,14.73,28.83
$GC,7029,0.93,140.5,3395,2382,2209,2079,198.3,9.0,527,7037,0.00,2.38,0.00,0.000,516,0.000,0.063,3406,976,2144,2210,2079,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7044,0.94,141.6,3406,976,2210,2079,196.9,9.1,529,7052,0.00,2.33,3.05,0.613,9222,0.000,0.054,3406,2375,2133,2198,2069,0,0,0,0,0,0,28.83,14.70,14.08
$GC,7360,0.94,141.6,3406,2375,2204,2070,167.5,9.2,546,7367,0.00,2.38,0.00,0.000,260,0.000,0.086,3406,3781,2139,2208,2070,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7446,0.94,141.6,3406,3782,2204,2070,158.2,10.9,562,7453,0.00,2.30,0.00,0.000,1030,0.000,0.047,3416,2365,2137,2204,2070,0,0,0,0,0,0,28.83,14.77,28.83
$GC,7771,0.94,141.8,3416,2363,2204,2070,128.2,9.2,581,7778,0.00,2.30,0.00,0.000,516,0.000,0.065,3426,990,2137,2204,2070,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7851,0.94,141.8,3426,990,2204,2070,120.5,10.1,596,7859,0.00,2.30,0.00,0.000,1030,0.000,0.054,3426,2376,2136,2204,2069,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8158,0.94,144.9,3426,2376,2201,2070,91.7,9.0,607,8173,0.00,2.47,5.53,0.817,8452,0.000,0.086,3426,3779,2115,2180,2051,0,0,0,0,0,0,28.83,14.71,14.17
$GC,8241,0.94,144.9,3426,3780,2179,2051,83.5,9.8,622,8248,0.15,2.28,0.00,0.000,5126,0.262,0.047,3400,2374,2115,2179,2051,0,0,0,0,0,0,14.52,14.77,28.83
$GC,8563,1.12,226.9,3400,2374,2178,2050,61.8,5.5,635,8639,0.12,2.40,64.72,0.920,10756,0.145,0.065,3467,991,1779,1847,1712,0,0,0,0,0,0,14.73,14.53,14.09
$GC,8708,1.12,226.9,3467,991,1843,1710,48.9,10.9,660,8715,0.00,2.35,0.00,0.000,1030,0.000,0.054,3467,2383,1777,1844,1710,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9018,1.12,226.9,3467,2385,1841,1707,11.9,12.0,681,9024,0.00,2.42,0.00,0.000,260,0.000,0.088,3466,3774,1774,1841,1707,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9066,1.12,226.9,3467,3774,1840,1707,5.1,14.4,690,9074,0.00,2.30,0.00,0.000,1030,0.000,0.047,3478,2367,1773,1839,1707,0,0,0,0,0,0,28.83,14.67,28.83
$STATE,9090,end climb,SURFACE_DEPTH_REACHED
$STATE,9090,begin surface coast
$FINISH,1.6,1.014000
$STATE,9102,end surface coast,CONTROL_FINISHED_OK
$STATE,9102,begin surface
$SM_CCo,9121,56.38,0.086,0,0,1281,350.04
$SM_GC,2.43,9.40,0.15,56.38,0.075,0.122,0.086,209,2469,1281,-8.97,-0.79,350.04,0,0,0,0,0,0,14.61,14.64,14.59
$RAFOS_CLK,-39
$RAFOS,6,1414601352,16.833334,16.820000,85,57,54,52,49,48,774,178,201,165,784,188
$RAFOS,5,1414600866,16.700001,16.684999,84,77,69,59,57,57,638,161,194,209,138,151
$RAFOS,4,1414600389,16.566668,16.552500,71,63,56,54,51,49,213,856,184,157,196,143
$RAFOS,3,1414599916,16.433332,16.421112,97,68,63,63,52,52,926,222,149,204,195,184
$RAFOS,2,1414599424,16.299999,16.284445,65,60,58,56,55,53,202,170,184,1070,146,219
$RAFOS,1,1414598949,16.166666,16.152500,64,62,60,59,55,53,149,191,213,200,171,118
$RAFOS_FIX,6704.896484,-5659.941406,291014,161632,3,89,3.49
$IRIDIUM_FIX,6631.12,-5647.69,291014,130607
$TT8_MAMPS,0.03745,0.03745
$HUMID,42.55
$INTERNAL_PRESSURE,8.58197
$TCM_TEMP,14.00
$XPDR_PINGS,0
$SC_FREEKB,3941024
$24V_AH,13.45,60.979
$10V_AH,12.99,0.000
$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,23.775,102.825,287.125,56.375,0.000,0.000,0.000,203.500,0.000,0.000,6.362,2090.892,5432.132,551.927,1318.615,161.477,0.000,1353.113,0.000,1034.749,2160.000,0.535,0.000
$DEVICE_MAMPS,403.920,156.825,1458.855,85.680,0.000,0.000,0.000,149.175,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9112.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.255,0.000,0.000,0.000
$MEM,143188
$DATA_FILE_SIZE,23432,694
$CAP_FILE_SIZE,112921,0
$CFSIZE,1024409600,989020160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10354.92,0x23769e,7,5
$SOUNDSPEED,1467.8
$EKF,9263,4022.805420,-3411.072998,1.546870,-0.191739,-0.185986,0.016773,0.000134,0.000882,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.234,334.64,1
$GPS,291014,183712,6703.853,-5652.409,16,0.9,16,-32.6