version: 66.12
glider: 217
mission: 3
dive: 302
start: 11 8 114 5 8 1
data:
$ID,217
$MISSION,3
$DIVE,302
$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,56
$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
$GPS1,081114,050122,6642.119,-6012.851,37,0.8,37,-32.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-69.4
$GPS2,081114,050725,6642.108,-6012.983,5,0.8,5,-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,117.7,153001,-17.5,-9.167,-20.44,2275
$D_GRID,554
$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,-136.3,171,2464,1299,1228,0.0,0.0,0,64,0.00,0.00,-43.10,0.000,16386,0.000,0.000,168,2464,2338,2360,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.92,-136.3,167,2464,2360,2318,3.0,-1.3,4,116,12.62,2.50,-29.58,0.000,18948,0.419,0.091,2789,1064,3266,3297,3235,0,0,0,0,0,0,14.11,14.45,14.71
$GC,270,-0.92,-136.3,2789,1065,3301,3235,36.3,-20.3,41,277,0.00,2.38,0.00,0.000,1030,0.000,0.064,2786,2437,3268,3301,3235,0,0,0,0,0,0,28.83,14.46,28.83
$GC,602,-0.92,-136.3,2786,2437,3301,3235,94.5,-16.2,56,608,0.00,2.42,0.00,0.000,260,0.000,0.096,2786,3787,3268,3301,3235,0,0,0,0,0,0,28.83,14.45,28.83
$GC,653,-0.92,-136.3,2786,3787,3301,3234,103.3,-16.1,65,660,0.00,2.22,0.00,0.000,1030,0.000,0.052,2786,2447,3268,3301,3235,0,0,0,0,0,0,28.83,14.60,28.83
$GC,964,-0.92,-136.3,2786,2446,3301,3235,153.3,-16.2,81,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2446,3268,3301,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1264,-0.92,-136.3,2786,2446,3301,3235,199.4,-15.1,96,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2446,3267,3301,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1566,-0.92,-136.3,2785,2448,3301,3234,245.7,-15.6,111,1573,0.00,2.42,0.00,0.000,260,0.000,0.097,2785,3786,3267,3301,3234,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1623,-0.92,-136.3,2786,3786,3302,3234,255.1,-15.2,121,1630,0.00,2.22,0.00,0.000,1030,0.000,0.054,2785,2444,3267,3301,3234,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1938,-0.92,-136.3,2786,2443,3300,3234,300.2,-14.4,138,1947,0.00,2.35,0.00,0.000,516,0.000,0.066,2786,1069,3266,3299,3234,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1979,-0.92,-136.3,2786,1069,3301,3234,305.9,-13.5,145,1987,0.00,2.38,0.00,0.000,1030,0.000,0.063,2785,2451,3267,3301,3234,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2285,-0.92,-136.3,2785,2452,3304,3234,347.0,-13.5,161,2292,0.00,2.38,0.00,0.000,260,0.000,0.097,2786,3781,3265,3298,3233,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2335,-0.92,-136.3,2786,3781,3301,3233,353.9,-13.7,170,2344,0.00,2.20,0.00,0.000,1030,0.000,0.054,2785,2450,3267,3301,3234,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2657,-0.92,-136.3,2785,2450,3301,3233,393.6,-11.5,188,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2450,3267,3301,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2959,-0.92,-136.3,2786,2450,3300,3232,427.9,-11.6,203,2966,0.00,2.42,0.00,0.000,260,0.000,0.097,2785,3788,3267,3301,3233,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3080,-0.92,-136.3,2786,3789,3301,3232,442.9,-12.4,225,3087,0.00,2.22,0.00,0.000,1030,0.000,0.053,2786,2446,3266,3301,3232,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3395,-0.92,-136.3,2785,2446,3302,3232,479.4,-12.0,242,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2446,3266,3301,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3696,-0.92,-136.3,2785,2446,3302,3232,515.1,-12.0,257,3703,0.00,2.42,0.00,0.000,260,0.000,0.096,2785,3787,3266,3301,3232,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3838,-0.92,-136.3,2785,3787,3301,3231,533.0,-13.6,284,3846,0.00,2.22,0.00,0.000,1030,0.000,0.053,2785,2446,3266,3301,3232,0,0,0,0,0,0,28.83,14.65,28.83
$STATE,4044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4044,begin apogee
$GC,4050,-0.18,0.0,2786,2390,3301,3232,555.8,-11.0,295,4166,0.90,0.00,111.78,1.545,10246,0.252,0.000,3027,2390,2709,2771,2647,0,0,0,0,0,0,14.26,28.83,13.47
$STATE,4167,end apogee,CONTROL_FINISHED_OK
$STATE,4167,begin climb
$GC,4170,0.92,136.3,3027,2390,2769,2645,560.9,0.0,301,4289,1.15,0.00,113.40,1.512,10502,0.175,0.000,3369,2389,2149,2220,2079,0,0,0,0,0,0,14.04,28.83,13.12
$GC,4599,0.92,136.3,3365,2389,2210,2078,525.3,9.7,331,4605,0.00,2.50,0.00,0.000,516,0.000,0.069,3380,978,2143,2209,2078,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4677,0.94,145.2,3379,979,2209,2078,518.0,8.8,345,4693,0.00,2.42,7.62,1.230,9222,0.000,0.055,3380,2381,2115,2182,2048,0,0,0,0,0,0,28.83,14.26,13.54
$GC,4987,0.94,145.2,3380,2381,2180,2047,488.5,9.5,362,4995,0.00,2.42,0.00,0.000,516,0.000,0.067,3390,971,2113,2180,2047,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5018,0.94,145.2,3389,971,2180,2047,485.5,9.8,367,5025,0.00,2.40,0.00,0.000,1030,0.000,0.054,3389,2378,2113,2180,2047,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5338,0.94,145.2,3390,2377,2180,2047,451.8,10.4,385,5345,0.00,2.42,0.00,0.000,516,0.000,0.065,3400,977,2113,2180,2047,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5384,0.94,145.2,3400,977,2180,2047,447.0,10.7,393,5390,0.00,2.38,0.00,0.000,1030,0.000,0.056,3400,2377,2113,2180,2047,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5709,0.94,145.2,3400,2376,2180,2047,413.9,10.3,412,5716,0.00,2.42,0.00,0.000,516,0.000,0.065,3411,968,2113,2180,2047,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5738,0.94,145.2,3412,968,2180,2047,410.9,10.1,417,5744,0.00,2.38,0.00,0.000,1030,0.000,0.054,3411,2376,2113,2180,2047,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6059,0.94,145.2,3411,2375,2180,2047,376.9,11.2,435,6065,0.00,2.47,0.00,0.000,260,0.000,0.088,3411,3776,2113,2180,2047,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6130,0.94,145.2,3411,3775,2179,2047,367.7,12.8,448,6137,0.00,2.35,0.00,0.000,1030,0.000,0.049,3422,2353,2113,2179,2047,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6450,0.94,145.2,3422,2351,2180,2047,333.6,10.0,466,6459,0.00,2.33,0.00,0.000,516,0.000,0.065,3433,990,2113,2180,2047,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6491,0.94,145.2,3433,991,2180,2047,329.4,10.1,473,6500,0.12,2.33,0.00,0.000,5126,0.253,0.054,3404,2377,2113,2180,2047,0,0,0,0,0,0,14.38,14.59,28.83
$GC,6797,0.97,155.6,3404,2377,2180,2047,302.6,8.7,489,6812,0.00,2.53,9.98,1.131,8452,0.000,0.088,3404,3783,2072,2137,2007,0,0,0,0,0,0,28.83,14.64,13.97
$GC,6912,0.97,155.6,3404,3783,2134,2007,290.9,10.7,510,6921,0.00,2.33,0.00,0.000,1030,0.000,0.049,3414,2369,2070,2134,2007,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7234,1.00,168.7,3415,2369,2141,2002,262.0,8.6,528,7254,0.00,0.00,12.20,1.118,8198,0.000,0.000,3414,2369,2017,2081,1953,0,0,0,0,0,0,28.83,28.83,13.97
$GC,7554,1.03,183.5,3414,2370,2079,1953,234.3,8.5,544,7575,0.00,2.40,12.57,1.093,8708,0.000,0.067,3423,994,1960,2024,1896,0,0,0,0,0,0,28.83,14.62,13.98
$GC,7655,1.03,183.5,3423,994,2023,1896,225.0,10.0,562,7663,0.00,2.33,0.00,0.000,1030,0.000,0.056,3423,2374,1959,2023,1896,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7972,1.03,183.5,3423,2374,2022,1896,193.7,10.1,579,7979,0.00,2.38,0.00,0.000,516,0.000,0.066,3435,994,1959,2022,1896,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8002,1.03,183.5,3434,993,2022,1896,190.3,10.9,584,8008,0.00,2.33,0.00,0.000,1030,0.000,0.055,3434,2374,1958,2021,1895,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8322,1.03,183.5,3434,2374,2028,1895,157.8,9.7,602,8323,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2374,1957,2020,1895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8623,1.03,183.5,3434,2374,2021,1895,128.7,9.8,617,8630,0.00,2.50,0.00,0.000,260,0.000,0.092,3434,3778,1957,2020,1895,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8673,1.03,183.5,3434,3778,2020,1895,123.0,11.5,626,8682,0.00,2.33,0.00,0.000,1030,0.000,0.050,3443,2371,1957,2020,1895,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8988,1.04,189.2,3443,2370,2020,1894,93.4,8.9,639,9001,0.00,2.33,6.45,0.891,8708,0.000,0.065,3453,990,1934,1997,1871,0,0,0,0,0,0,28.83,14.68,14.01
$GC,9070,1.06,197.4,3453,991,1997,1871,86.0,8.8,654,9085,0.00,2.35,7.88,0.913,9222,0.000,0.057,3453,2382,1902,1965,1839,0,0,0,0,0,0,28.83,14.61,14.02
$GC,9396,1.07,203.6,3453,2382,1964,1838,57.3,8.9,667,9409,0.00,2.38,6.72,0.873,8708,0.000,0.064,3464,989,1877,1941,1814,0,0,0,0,0,0,28.83,14.64,14.03
$GC,9496,1.07,203.6,3462,989,1939,1814,47.6,9.4,685,9503,0.00,2.35,0.00,0.000,1030,0.000,0.057,3463,2382,1876,1939,1814,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9812,1.16,243.1,3462,2380,1939,1813,21.9,7.4,701,9841,0.00,0.00,21.15,0.161,8198,0.000,0.000,3463,2380,1721,1791,1652,0,0,0,0,0,0,28.83,28.83,14.39
$STATE,10019,end climb,SURFACE_DEPTH_REACHED
$STATE,10019,begin surface coast
$FINISH,1.6,1.025349
$STATE,10040,end surface coast,CONTROL_FINISHED_OK
$STATE,10040,begin surface
$SM_CCo,10060,50.92,0.093,0,0,1281,350.04
$SM_GC,2.82,9.62,0.10,50.92,0.092,0.154,0.093,210,2466,1281,-8.97,-0.96,350.04,0,0,0,0,0,0,14.56,14.57,14.52
$RAFOS_CLK,-121
$RAFOS_FIX,6639.425781,-6011.206055,081114,040433,3,96,0.87
$IRIDIUM_FIX,6609.62,-6026.10,081114,021019
$TT8_MAMPS,0.03745,0.03745
$HUMID,44.44
$INTERNAL_PRESSURE,8.45502
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3923392
$24V_AH,13.12,73.996
$10V_AH,12.81,0.000
$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,24.425,90.250,309.750,50.925,0.000,0.000,0.000,212.250,0.000,0.000,6.917,2225.184,6146.269,564.335,1363.578,193.931,0.000,1382.903,0.000,1084.232,0.000,0.535,0.000
$DEVICE_MAMPS,419.220,210.375,1545.300,93.330,0.000,0.000,0.000,152.235,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10052.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.286,0.000,0.000,0.000
$MEM,143152
$DATA_FILE_SIZE,26657,724
$CAP_FILE_SIZE,114895,0
$CFSIZE,1024409600,982548480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10430.95,0x23769e,7,5
$SOUNDSPEED,1451.4
$EKF,10200,4002.155029,-3609.474609,1.633379,0.008752,0.080294,-0.003065,0.000146,0.000936,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.333,185.57,1
$GPS,081114,075758,6640.322,-6009.909,33,0.8,33,-32.8