version: 66.12
glider: 217
mission: 3
dive: 298
start: 11 7 114 17 39 14
data:
$ID,217
$MISSION,3
$DIVE,298
$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,55
$R_STBD_OVSHOOT,36
$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
$GPS1,071114,173228,6642.221,-6006.825,34,0.9,34,-32.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-71.7
$GPS2,071114,173831,6642.175,-6006.859,6,1.0,6,-32.9
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$MHEAD_RNG_PITCHd_Wd,348.5,14405,-17.5,-9.167,-20.44,2275
$D_GRID,575
$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,19,-0.92,-136.3,166,2461,1301,1227,0.0,0.0,0,64,0.00,0.00,-43.22,0.000,16386,0.000,0.000,164,2461,2342,2354,2330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.92,-136.3,164,2461,2364,2323,3.1,-1.8,4,114,12.57,2.38,-27.73,0.000,18692,0.417,0.117,2786,3776,3266,3297,3235,0,0,0,0,0,0,14.11,14.36,14.71
$GC,276,-0.92,-136.3,2785,3776,3300,3236,40.0,-19.5,41,283,0.00,2.22,0.00,0.000,1030,0.000,0.054,2785,2452,3268,3300,3236,0,0,0,0,0,0,28.83,14.53,28.83
$GC,609,-0.92,-136.3,2786,2450,3300,3236,95.8,-16.6,56,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2450,3268,3300,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,908,-0.92,-136.3,2786,2450,3301,3235,142.6,-15.7,68,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2450,3268,3301,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1208,-0.92,-136.3,2785,2450,3301,3235,191.1,-15.2,83,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2450,3268,3300,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1508,-0.92,-136.3,2786,2450,3301,3236,236.0,-14.8,98,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2449,3268,3301,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1808,-0.92,-136.3,2786,2449,3301,3235,278.4,-13.6,113,1815,0.00,2.40,0.00,0.000,260,0.000,0.099,2785,3773,3267,3300,3235,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1873,-0.92,-136.3,2786,3772,3300,3235,287.7,-13.5,125,1880,0.00,2.20,0.00,0.000,1030,0.000,0.054,2785,2445,3268,3301,3235,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2200,-0.92,-136.3,2785,2445,3301,3235,331.8,-13.0,144,2206,0.00,2.38,0.00,0.000,516,0.000,0.068,2785,1059,3267,3301,3234,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2294,-0.92,-136.3,2785,1060,3301,3235,344.3,-13.2,161,2300,0.00,2.38,0.00,0.000,1030,0.000,0.063,2785,2442,3267,3301,3234,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2614,-0.92,-136.3,2785,2442,3301,3234,383.5,-11.9,179,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2442,3267,3301,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2915,-0.92,-136.3,2785,2442,3301,3233,417.3,-10.9,194,2921,0.00,2.38,0.00,0.000,516,0.000,0.065,2785,1066,3267,3301,3233,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2964,-0.92,-136.3,2785,1065,3301,3233,423.1,-11.5,203,2972,0.00,2.40,0.00,0.000,1030,0.000,0.063,2785,2459,3267,3301,3233,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3285,-0.92,-136.3,2786,2458,3301,3233,462.5,-12.6,221,3292,0.00,2.38,0.00,0.000,260,0.000,0.097,2785,3787,3266,3300,3233,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3365,-0.92,-136.3,2785,3787,3300,3233,473.3,-13.0,236,3374,0.00,2.22,0.00,0.000,1030,0.000,0.053,2785,2445,3267,3301,3233,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3672,-0.92,-136.3,2785,2444,3301,3232,511.9,-12.3,252,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2444,3267,3301,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3972,-0.92,-136.3,2786,2444,3301,3233,546.4,-10.8,267,3980,0.00,2.42,0.00,0.000,260,0.000,0.096,2785,3781,3266,3300,3233,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4073,-0.92,-136.3,2785,3781,3301,3233,558.5,-12.3,286,4081,0.00,2.20,0.00,0.000,1030,0.000,0.052,2785,2451,3267,3301,3233,0,0,0,0,0,0,28.83,14.65,28.83
$STATE,4258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4258,begin apogee
$GC,4263,-0.18,0.0,2785,2391,3301,3233,576.7,-11.2,296,4380,0.93,0.00,111.38,1.580,10246,0.253,0.000,3031,2391,2707,2769,2645,0,0,0,0,0,0,14.22,28.83,13.45
$STATE,4381,end apogee,CONTROL_FINISHED_OK
$STATE,4381,begin climb
$GC,4383,0.92,136.3,3031,2391,2768,2643,580.1,0.0,302,4507,1.12,2.58,112.60,1.538,10756,0.161,0.067,3382,980,2149,2219,2080,0,0,0,0,0,0,14.04,13.74,13.11
$GC,4561,0.97,155.9,3382,981,2213,2080,566.1,8.3,331,4588,0.00,2.50,17.33,1.430,9222,0.000,0.055,3381,2380,2069,2138,2001,0,0,0,0,0,0,28.83,13.88,13.18
$GC,4907,0.97,155.9,3382,2379,2133,2000,529.9,10.7,353,4913,0.00,2.55,0.00,0.000,260,0.000,0.090,3382,3776,2066,2133,2000,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4969,0.97,155.9,3382,3776,2132,2000,523.0,11.6,364,4977,0.00,2.40,0.00,0.000,1030,0.000,0.049,3392,2363,2066,2132,2000,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5273,0.97,155.9,3393,2361,2132,1999,490.7,10.8,380,5280,0.00,2.38,0.00,0.000,516,0.000,0.065,3403,984,2065,2132,1999,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5355,0.97,155.9,3404,983,2132,2000,481.6,11.1,395,5365,0.00,2.38,0.00,0.000,1030,0.000,0.054,3403,2379,2066,2132,2000,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5661,0.97,155.9,3403,2379,2132,2000,444.7,11.9,411,5670,0.00,2.50,0.00,0.000,260,0.000,0.089,3403,3782,2068,2136,2000,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5697,0.97,155.9,3402,3783,2132,2000,439.9,12.9,417,5704,0.00,2.35,0.00,0.000,1030,0.000,0.048,3415,2366,2066,2132,2000,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6012,0.97,155.9,3414,2364,2132,2000,401.0,12.4,434,6019,0.00,2.35,0.00,0.000,516,0.000,0.066,3425,989,2066,2132,2000,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6082,0.97,155.9,3425,989,2132,1996,393.0,11.6,447,6090,0.00,2.33,0.00,0.000,1030,0.000,0.056,3424,2390,2066,2132,2000,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6403,0.97,155.9,3424,2389,2134,1996,359.4,10.0,465,6410,0.00,2.42,0.00,0.000,516,0.000,0.065,3435,982,2064,2132,1996,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6499,0.97,155.9,3436,982,2132,2000,349.3,10.2,483,6507,0.00,2.35,0.00,0.000,1030,0.000,0.056,3435,2376,2066,2132,2000,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6816,0.97,155.9,3436,2376,2132,2000,314.5,11.1,500,6823,0.00,2.38,0.00,0.000,516,0.000,0.063,3446,989,2066,2132,2000,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6958,0.97,155.9,3446,989,2133,2001,298.8,11.3,526,6965,0.15,2.35,0.00,0.000,5126,0.250,0.056,3410,2382,2066,2132,2000,0,0,0,0,0,0,14.38,14.61,28.83
$GC,7274,1.01,175.6,3410,2383,2133,2000,270.9,8.3,543,7301,0.00,2.42,16.65,1.156,8708,0.000,0.066,3421,989,1990,2055,1926,0,0,0,0,0,0,28.83,14.64,14.01
$GC,7374,1.01,175.6,3421,989,2053,1926,262.3,9.2,561,7381,0.00,2.35,0.00,0.000,1030,0.000,0.056,3420,2377,1989,2053,1926,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7689,1.01,175.6,3421,2376,2052,1926,232.0,9.8,578,7690,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2376,1989,2053,1926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7991,1.01,175.6,3421,2376,2053,1926,202.0,9.8,593,7997,0.00,2.40,0.00,0.000,516,0.000,0.067,3431,985,1989,2053,1926,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8025,1.01,175.6,3431,984,2053,1926,198.3,9.7,599,8033,0.00,2.35,0.00,0.000,1030,0.000,0.055,3437,2377,1989,2053,1926,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8343,1.05,192.6,3431,2377,2053,1926,169.3,8.4,616,8369,0.00,2.42,15.07,1.050,8708,0.000,0.066,3441,988,1919,1984,1855,0,0,0,0,0,0,28.83,14.64,14.03
$GC,8415,1.08,208.5,3442,988,1982,1857,163.3,8.5,628,8442,0.00,2.30,14.40,1.034,9222,0.000,0.055,3441,2380,1856,1920,1792,0,0,0,0,0,0,28.83,14.53,13.98
$GC,8734,1.08,208.5,3442,2380,1917,1790,131.5,10.1,647,8742,0.00,2.40,0.00,0.000,516,0.000,0.067,3452,992,1853,1917,1789,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8789,1.08,208.5,3452,992,1917,1790,125.5,10.6,657,8796,0.00,2.35,0.00,0.000,1030,0.000,0.057,3452,2377,1853,1917,1790,0,0,0,0,0,0,28.83,14.54,28.83
$EKF,range,-11637.2
$GC,9114,1.08,208.5,3452,2377,1916,1789,92.0,9.9,670,9120,0.00,2.40,0.00,0.000,516,0.000,0.065,3462,984,1852,1916,1789,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9153,1.08,208.5,3463,984,1916,1789,88.0,10.4,677,9160,0.00,2.35,0.00,0.000,1030,0.000,0.054,3463,2377,1851,1915,1788,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9488,1.08,208.5,3463,2377,1915,1789,56.0,10.1,692,9490,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2377,1851,1915,1788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9784,1.10,217.0,3462,2377,1915,1788,26.6,8.8,702,9791,0.00,0.00,5.57,0.815,8198,0.000,0.000,3463,2377,1823,1887,1759,0,0,0,0,0,0,28.83,28.83,14.03
$GC,10084,1.10,217.0,3463,2376,1886,1755,2.1,9.3,730,10090,0.00,2.38,0.00,0.000,516,0.000,0.061,3462,984,1820,1886,1754,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,10100,end climb,SURFACE_DEPTH_REACHED
$STATE,10100,begin surface coast
$FINISH,1.7,1.017060
$STATE,10122,end surface coast,CONTROL_FINISHED_OK
$STATE,10122,begin surface
$SM_CCo,10144,62.80,0.093,0,0,1282,350.04
$SM_GC,2.52,9.62,2.58,62.80,0.092,0.073,0.093,206,2440,1282,-8.98,-1.10,350.04,0,0,0,0,0,0,14.55,14.57,14.53
$RAFOS_CLK,-123
$RAFOS,2,1415391436,20.299999,20.287777,62,61,56,55,54,52,194,127,206,161,223,173
$RAFOS,1,1415390945,20.166666,20.151388,71,60,60,59,57,55,212,189,156,202,133,173
$RAFOS,0,1415390464,20.033333,20.017778,106,60,56,55,55,52,592,167,99,193,130,120
$RAFOS_FIX,6640.676758,-5952.055176,071114,161633,3,91,1.37
$IRIDIUM_FIX,6609.62,-6011.26,071114,142300
$TT8_MAMPS,0.040446,0.040446
$HUMID,43.54
$INTERNAL_PRESSURE,8.45502
$TCM_TEMP,12.70
$XPDR_PINGS,0
$SC_FREEKB,3924672
$24V_AH,13.11,73.211
$10V_AH,12.82,0.000
$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,24.400,90.500,293.000,62.800,0.000,0.000,0.000,215.475,0.000,0.000,6.892,2229.942,6229.396,554.617,1398.597,187.175,0.000,1389.027,0.000,1104.893,1440.000,0.536,0.000
$DEVICE_MAMPS,416.925,212.670,1580.490,93.330,0.000,0.000,0.000,149.940,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10134.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.262,0.000,0.000,0.000
$MEM,143180
$DATA_FILE_SIZE,26710,737
$CAP_FILE_SIZE,115876,0
$CFSIZE,1024409600,982974464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,11509.06,0x23769e,7,5
$SOUNDSPEED,1452.2
$EKF,10302,4003.208008,-3609.367676,1.724964,0.123549,-0.041427,-0.012520,0.000150,0.000961,0.000096,0.000625,0.000625,0.000037
$CURRENT,0.529,182.75,1
$GPS,071114,203053,6640.265,-6009.735,37,0.8,37,-32.8