version: 66.12
glider: 217
mission: 3
dive: 299
start: 11 7 114 20 37 20
data:
$ID,217
$MISSION,3
$DIVE,299
$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,57
$R_STBD_OVSHOOT,23
$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
$GPS1,071114,203053,6640.265,-6009.735,37,0.8,37,-32.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-70.3
$GPS2,071114,203644,6640.199,-6009.667,6,0.8,6,-32.8
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$MHEAD_RNG_PITCHd_Wd,18.3,13869,-17.5,-9.167,-20.44,2275
$D_GRID,559
$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,16,begin dive
$GC,18,-0.92,-136.3,164,2442,1305,1225,0.0,0.0,0,63,0.00,0.00,-42.65,0.000,16386,0.000,0.000,161,2443,2338,2351,2326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.92,-136.3,161,2443,2353,2325,3.2,-2.2,4,115,12.48,2.42,-29.00,0.000,18692,0.412,0.113,2785,3784,3264,3295,3234,0,0,0,0,0,0,14.14,14.40,14.71
$GC,203,-0.92,-136.3,2786,3785,3297,3235,23.1,-20.0,27,211,0.00,2.25,0.00,0.000,1030,0.000,0.053,2786,2444,3265,3296,3235,0,0,0,0,0,0,28.83,14.52,28.83
$GC,519,-0.92,-136.3,2786,2444,3296,3234,82.3,-18.2,39,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2443,3265,3297,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,820,-0.92,-136.3,2783,2444,3297,3234,131.9,-16.0,50,827,0.00,2.42,0.00,0.000,260,0.000,0.097,2786,3784,3266,3298,3234,0,0,0,0,0,0,28.83,14.45,28.83
$GC,861,-0.92,-136.3,2785,3784,3297,3234,138.9,-16.2,57,870,0.00,2.22,0.00,0.000,1030,0.000,0.054,2785,2447,3266,3298,3234,0,0,0,0,0,0,28.83,14.59,28.83
$EKF,1103,4000.390625,-3609.772949,174.762970,0.317782,-0.123053,0.148204,0.000031,0.000197,0.000100,0.006025,0.006025,0.000093
$GC,1166,-0.92,-136.3,2786,2448,3297,3234,187.2,-15.5,73,1175,0.00,2.38,0.00,0.000,516,0.000,0.067,2785,1064,3266,3298,3234,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1201,-0.92,-136.3,2786,1064,3298,3234,192.9,-15.9,79,1208,0.00,2.40,0.00,0.000,1030,0.000,0.063,2785,2461,3266,3298,3234,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1516,-0.92,-136.3,2785,2461,3298,3234,238.4,-14.1,96,1523,0.00,2.35,0.00,0.000,260,0.000,0.096,2785,3782,3265,3298,3233,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1566,-0.92,-136.3,2782,3781,3297,3234,245.4,-14.2,105,1575,0.00,2.20,0.00,0.000,1030,0.000,0.053,2785,2447,3266,3298,3234,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1888,-0.92,-136.3,2785,2447,3298,3233,288.6,-12.9,123,1894,0.00,2.35,0.00,0.000,516,0.000,0.066,2785,1069,3265,3297,3233,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1969,-0.92,-136.3,2785,1069,3297,3233,298.9,-12.4,138,1976,0.00,2.38,0.00,0.000,1030,0.000,0.063,2785,2453,3265,3298,3233,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2275,-0.92,-136.3,2785,2453,3298,3232,339.3,-14.0,154,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2453,3264,3297,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2575,-0.92,-136.3,2785,2453,3298,3232,378.8,-12.0,169,2576,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2453,3264,3298,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2875,-0.92,-136.3,2785,2453,3298,3231,414.2,-11.8,184,2881,0.00,2.38,0.00,0.000,260,0.000,0.098,2785,3782,3264,3297,3231,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2961,-0.92,-136.3,2785,3781,3297,3231,425.0,-13.3,200,2968,0.00,2.22,0.00,0.000,1030,0.000,0.054,2782,2446,3262,3297,3227,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3286,-0.92,-136.3,2785,2446,3298,3230,462.4,-11.6,219,3293,0.00,2.40,0.00,0.000,260,0.000,0.094,2785,3782,3264,3298,3231,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3341,-0.92,-136.3,2785,3781,3298,3231,468.3,-11.5,229,3349,0.00,2.22,0.00,0.000,1030,0.000,0.054,2785,2437,3264,3298,3231,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3658,-0.92,-136.3,2784,2437,3298,3231,508.7,-14.5,246,3665,0.00,2.42,0.00,0.000,260,0.000,0.096,2785,3781,3264,3297,3231,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3747,-0.92,-136.3,2785,3782,3298,3231,519.9,-12.4,262,3754,0.00,2.22,0.00,0.000,1030,0.000,0.053,2785,2442,3264,3297,3231,0,0,0,0,0,0,28.83,14.65,28.83
$STATE,4071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4071,begin apogee
$GC,4076,-0.18,0.0,2785,2443,3298,3231,559.2,-12.0,281,4193,0.93,0.00,110.95,1.557,10246,0.253,0.000,3032,2443,2706,2769,2644,0,0,0,0,0,0,14.25,28.83,13.45
$STATE,4195,end apogee,CONTROL_FINISHED_OK
$STATE,4195,begin climb
$GC,4197,0.92,136.3,3032,2442,2767,2643,564.2,0.0,287,4320,1.12,2.62,112.22,1.516,10756,0.172,0.063,3379,992,2148,2218,2079,0,0,0,0,0,0,14.04,13.76,13.14
$GC,4409,0.92,136.3,3379,992,2212,2079,548.2,9.7,323,4416,0.00,2.45,0.00,0.000,1030,0.000,0.054,3378,2380,2145,2212,2079,0,0,0,0,0,0,28.83,13.95,28.83
$GC,4736,1.05,194.6,3379,2379,2210,2079,517.1,6.5,342,4787,0.12,0.00,48.28,1.438,10246,0.162,0.000,3429,2379,1914,1981,1847,0,0,0,0,0,0,14.28,28.83,13.47
$GC,5075,1.05,194.6,3428,2379,1974,1843,472.4,13.3,359,5082,0.00,2.42,0.00,0.000,516,0.000,0.067,3439,996,1908,1973,1843,0,0,0,0,0,0,28.83,14.34,28.83
$GC,5110,1.05,194.6,3439,996,1973,1843,467.4,14.6,365,5118,0.00,2.38,0.00,0.000,1030,0.000,0.057,3439,2376,1908,1974,1843,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5427,1.05,194.6,3439,2376,1972,1843,421.7,13.9,382,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2377,1907,1972,1843,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5727,1.05,194.6,3439,2376,1972,1842,380.2,13.9,397,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2377,1907,1972,1843,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6027,1.05,194.6,3440,2376,1972,1843,339.7,12.8,412,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2376,1907,1972,1843,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6327,1.05,194.6,3439,2377,1972,1843,303.2,11.9,427,6334,0.00,2.38,0.00,0.000,516,0.000,0.068,3450,994,1907,1972,1843,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6443,1.05,194.6,3450,993,1972,1843,289.3,11.1,449,6451,0.00,2.35,0.00,0.000,1030,0.000,0.057,3450,2383,1907,1972,1843,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6761,1.05,194.6,3450,2383,1972,1843,254.7,10.5,466,6767,0.00,2.38,0.00,0.000,516,0.000,0.066,3460,996,1907,1972,1843,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6832,1.05,194.6,3461,996,1972,1843,246.9,11.1,479,6839,0.00,2.35,0.00,0.000,1030,0.000,0.057,3461,2378,1907,1972,1843,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7152,1.05,194.6,3460,2378,1972,1843,210.2,11.6,497,7160,0.00,2.35,0.00,0.000,516,0.000,0.064,3471,997,1907,1972,1842,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7243,1.05,194.6,3471,998,1972,1843,199.5,12.0,514,7250,0.15,2.33,0.00,0.000,5126,0.260,0.056,3436,2376,1905,1968,1843,0,0,0,0,0,0,14.37,14.62,28.83
$GC,7564,1.05,194.6,3436,2376,1972,1843,164.8,10.4,532,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2376,1907,1972,1842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7865,1.05,194.6,3436,2376,1972,1843,134.8,9.8,547,7872,0.00,2.35,0.00,0.000,516,0.000,0.067,3446,995,1907,1971,1843,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7927,1.05,194.6,3446,994,1972,1843,128.6,10.0,558,7935,0.00,2.33,0.00,0.000,1030,0.000,0.057,3446,2376,1907,1972,1843,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8242,1.05,194.6,3446,2376,1971,1843,97.8,9.6,571,8249,0.00,2.38,0.00,0.000,516,0.000,0.066,3455,988,1904,1965,1843,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8343,1.06,196.0,3455,988,1971,1843,87.9,9.1,590,8349,0.00,2.35,0.00,0.000,1030,0.000,0.056,3455,2383,1907,1971,1843,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8674,1.06,198.0,3455,2383,1970,1843,56.7,9.1,605,8682,0.00,2.47,0.00,0.000,260,0.000,0.092,3454,3779,1907,1971,1843,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8730,1.06,198.0,3456,3778,1970,1843,51.4,9.7,615,8736,0.00,2.30,0.00,0.000,1030,0.000,0.050,3465,2381,1906,1970,1842,0,0,0,0,0,0,28.83,14.68,28.83
$GC,9046,1.15,238.7,3465,2380,1970,1843,25.1,7.3,627,9091,0.00,2.42,37.25,0.910,8708,0.000,0.069,3474,992,1733,1800,1667,0,0,0,0,0,0,28.83,14.57,14.07
$GC,9151,1.15,238.7,3475,993,1796,1666,15.4,10.5,645,9159,0.00,2.35,0.00,0.000,1030,0.000,0.057,3475,2376,1731,1796,1666,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,9297,end climb,SURFACE_DEPTH_REACHED
$STATE,9297,begin surface coast
$FINISH,1.7,1.025742
$STATE,9307,end surface coast,CONTROL_FINISHED_OK
$STATE,9307,begin surface
$SM_CCo,9326,52.83,0.094,0,0,1282,350.04
$SM_GC,2.61,9.50,0.10,52.83,0.076,0.166,0.094,213,2457,1282,-8.96,-1.10,350.04,0,0,0,0,0,0,14.50,14.50,14.48
$RAFOS_CLK,-111
$RAFOS,6,1415393367,20.833334,20.824167,63,60,59,57,55,54,117,166,222,148,197,133
$RAFOS,5,1415392887,20.700001,20.690834,65,59,57,55,51,49,194,173,211,145,120,154
$RAFOS,3,1415391904,20.433332,20.417778,58,57,57,56,54,54,215,168,224,133,157,121
$RAFOS_FIX,6640.676758,-5952.055176,071114,161633,3,91,1.37
$IRIDIUM_FIX,6609.62,-6011.26,071114,173457
$TT8_MAMPS,0.03745,0.03745
$HUMID,43.30
$INTERNAL_PRESSURE,8.45502
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3924352
$24V_AH,13.14,73.404
$10V_AH,12.83,0.000
$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,24.300,80.300,308.700,52.825,0.000,0.000,0.000,205.300,0.000,0.000,6.934,1993.069,5774.715,541.591,1271.442,181.274,0.000,1309.463,0.000,988.454,720.000,0.535,0.000
$DEVICE_MAMPS,411.570,166.005,1556.775,94.095,0.000,0.000,0.000,146.880,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9319.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.328,0.000,0.000,0.000
$MEM,143180
$DATA_FILE_SIZE,23409,661
$CAP_FILE_SIZE,105360,0
$CFSIZE,1024409600,982876160
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10684.57,0x23769e,7,5
$INTR,1,4073.12,0x23769e,2,5
$SOUNDSPEED,1451.6
$EKF,9456,4001.635986,-3610.535400,1.699765,0.253504,-0.274512,0.013529,0.000145,0.000928,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.193,199.42,1
$GPS,071114,231453,6640.722,-6011.428,12,0.8,12,-32.8