version: 66.12
glider: 217
mission: 3
dive: 304
start: 11 8 114 11 2 17
data:
$ID,217
$MISSION,3
$DIVE,304
$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,39
$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
$GPS1,081114,105352,6641.261,-6008.539,37,1.3,37,-32.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-71.1
$GPS2,081114,110144,6641.266,-6008.485,7,0.7,7,-32.8
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,99.0,150271,-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,-136.3,161,2460,1303,1225,0.0,0.0,0,74,0.00,0.00,-53.08,0.000,16386,0.000,0.000,159,2460,2581,2591,2572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.92,-136.3,159,2460,2592,2573,3.1,-1.3,5,119,12.68,2.47,-18.12,0.000,18948,0.421,0.090,2788,1061,3267,3299,3236,0,0,0,0,0,0,14.12,14.43,14.71
$GC,270,-0.92,-136.3,2788,1061,3302,3236,37.8,-20.9,39,277,0.00,2.40,0.00,0.000,1030,0.000,0.065,2786,2445,3269,3302,3236,0,0,0,0,0,0,28.83,14.45,28.83
$GC,585,-0.92,-136.3,2786,2445,3302,3236,95.5,-17.9,51,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2445,3269,3302,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,895,-0.92,-136.3,2786,2445,3302,3235,148.9,-16.5,64,904,0.00,2.42,0.00,0.000,260,0.000,0.097,2786,3785,3268,3302,3235,0,0,0,0,0,0,28.83,14.47,28.83
$GC,968,-0.92,-136.3,2786,3784,3309,3235,160.6,-16.5,77,975,0.00,2.22,0.00,0.000,1030,0.000,0.053,2786,2444,3268,3302,3235,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1288,-0.92,-136.3,2786,2443,3303,3235,209.0,-15.0,95,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2443,3269,3302,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1590,-0.92,-136.3,2786,2444,3303,3235,251.9,-13.6,110,1596,0.00,2.42,0.00,0.000,260,0.000,0.097,2785,3785,3268,3302,3235,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1665,-0.92,-136.3,2786,3784,3302,3234,262.8,-13.5,124,1673,0.00,2.22,0.00,0.000,1030,0.000,0.053,2786,2443,3268,3302,3235,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1982,-0.92,-136.3,2786,2443,3302,3235,307.7,-14.7,141,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2443,3268,3302,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2282,-0.92,-136.3,2786,2447,3302,3235,351.6,-14.4,156,2291,0.00,2.35,0.00,0.000,516,0.000,0.067,2786,1070,3268,3302,3234,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2328,-0.92,-136.3,2783,1070,3302,3234,358.3,-13.9,164,2337,0.00,2.38,0.00,0.000,1030,0.000,0.063,2785,2450,3268,3302,3234,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2655,-0.92,-136.3,2786,2450,3302,3233,402.4,-12.6,183,2662,0.00,2.35,0.00,0.000,260,0.000,0.096,2786,3785,3267,3302,3233,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2732,-0.92,-136.3,2785,3786,3302,3233,412.2,-13.1,197,2738,0.00,2.22,0.00,0.000,1030,0.000,0.054,2785,2442,3267,3302,3232,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3046,-0.92,-136.3,2785,2447,3302,3232,449.9,-11.9,214,3053,0.00,2.35,0.00,0.000,516,0.000,0.066,2785,1069,3267,3302,3232,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3115,-0.92,-136.3,2786,1068,3302,3232,458.8,-13.0,227,3122,0.00,2.40,0.00,0.000,1030,0.000,0.062,2785,2460,3267,3302,3232,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3437,-0.92,-136.3,2785,2459,3302,3232,495.9,-11.3,245,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2459,3267,3302,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3737,-0.92,-136.3,2785,2459,3302,3232,526.5,-11.0,260,3745,0.00,2.35,0.00,0.000,260,0.000,0.095,2785,3780,3267,3302,3232,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3783,-0.92,-136.3,2785,3780,3302,3232,532.9,-13.2,268,3792,0.00,2.20,0.00,0.000,1030,0.000,0.051,2785,2444,3267,3302,3232,0,0,0,0,0,0,28.83,14.66,28.83
$EKF,range,-6112.5
$GC,4110,-0.92,-136.3,2785,2444,3302,3232,571.4,-11.1,287,4117,0.00,2.40,0.00,0.000,260,0.000,0.095,2785,3780,3267,3302,3232,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4135,-0.92,-136.3,2785,3780,3302,3232,574.4,-12.5,291,4142,0.00,2.17,0.00,0.000,1030,0.000,0.050,2786,2452,3267,3302,3232,0,0,0,0,0,0,28.83,14.67,28.83
$STATE,4147,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4147,begin apogee
$GC,4153,-0.18,0.0,2785,2393,3302,3232,576.1,-11.8,293,4271,0.90,0.00,111.38,1.580,10246,0.252,0.000,3027,2392,2708,2770,2646,0,0,0,0,0,0,14.27,28.83,13.43
$STATE,4272,end apogee,CONTROL_FINISHED_OK
$STATE,4272,begin climb
$GC,4274,0.92,136.3,3027,2393,2769,2646,582.4,0.0,299,4397,1.17,2.65,112.95,1.542,10756,0.168,0.068,3384,979,2152,2224,2080,0,0,0,0,0,0,14.04,13.72,13.08
$GC,4477,0.92,136.3,3384,979,2212,2079,566.2,9.5,331,4484,0.00,2.50,0.00,0.000,1030,0.000,0.054,3384,2385,2145,2212,2079,0,0,0,0,0,0,28.83,13.90,28.83
$GC,4781,0.92,136.3,3384,2385,2209,2079,534.4,10.5,347,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2385,2144,2210,2079,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-3817.5
$GC,5081,0.92,136.3,3384,2385,2209,2079,505.5,9.4,362,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2385,2143,2209,2078,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-3957.1
$GC,5382,0.95,149.0,3385,2385,2209,2079,477.3,8.6,377,5401,0.00,2.47,10.68,1.287,8452,0.000,0.092,3385,3780,2098,2163,2033,0,0,0,0,0,0,28.83,14.51,13.83
$GC,5435,0.95,149.0,3385,3780,2162,2033,472.2,9.8,386,5442,0.00,2.35,0.00,0.000,1030,0.000,0.049,3395,2366,2097,2162,2033,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5755,0.95,149.0,3395,2364,2161,2033,441.2,9.8,404,5763,0.00,2.35,0.00,0.000,516,0.000,0.067,3405,988,2097,2161,2033,0,0,0,0,0,0,28.83,14.48,28.83
$EKF,range,-7087.9
$GC,5872,0.95,149.0,3406,988,2161,2033,429.6,9.8,426,5879,0.00,2.38,0.00,0.000,1030,0.000,0.056,3403,2385,2100,2169,2032,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6187,0.95,149.0,3406,2386,2161,2033,397.7,10.4,443,6194,0.00,2.40,0.00,0.000,516,0.000,0.065,3416,989,2097,2161,2033,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6273,0.95,149.0,3416,989,2162,2033,387.9,11.0,459,6280,0.00,2.35,0.00,0.000,1030,0.000,0.054,3417,2386,2097,2161,2033,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6598,0.95,149.0,3416,2385,2161,2033,351.4,11.5,478,6605,0.00,2.40,0.00,0.000,516,0.000,0.063,3427,986,2099,2161,2037,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6693,0.95,149.0,3427,985,2162,2034,340.6,11.8,496,6701,0.00,2.35,0.00,0.000,1030,0.000,0.055,3427,2382,2097,2161,2033,0,0,0,0,0,0,28.83,14.59,28.83
$EKF,range,-10783.6
$EKF,6787,4001.611084,-3606.010254,332.494629,0.071290,0.274812,-0.115961,0.000094,0.000601,0.000100,0.000025,0.000025,0.000093
$GC,7011,0.95,149.0,3427,2381,2162,2033,308.4,9.4,513,7017,0.00,2.40,0.00,0.000,516,0.000,0.066,3437,985,2097,2162,2033,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7152,0.95,150.1,3437,985,2159,2034,295.7,9.1,539,7159,0.12,2.35,0.00,0.000,5126,0.257,0.055,3407,2381,2098,2163,2033,0,0,0,0,0,0,14.41,14.62,28.83
$GC,7467,1.07,202.0,3407,2381,2162,2033,272.9,6.8,556,7514,0.00,0.00,44.12,1.177,8198,0.000,0.000,3407,2381,1885,1951,1819,0,0,0,0,0,0,28.83,28.83,13.92
$GC,7808,1.07,202.0,3407,2381,1943,1815,244.9,9.5,573,7815,0.00,2.42,0.00,0.000,516,0.000,0.067,3417,984,1879,1943,1815,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7964,1.07,202.0,3418,984,1942,1815,228.9,10.1,602,7971,0.00,2.35,0.00,0.000,1030,0.000,0.057,3414,2373,1878,1942,1815,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8284,1.07,202.0,3418,2372,1942,1815,193.8,11.3,620,8292,0.00,2.40,0.00,0.000,516,0.000,0.066,3428,987,1878,1942,1815,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8320,1.07,202.0,3428,987,1942,1815,189.6,12.5,626,8326,0.00,2.35,0.00,0.000,1030,0.000,0.055,3428,2377,1878,1941,1815,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8634,1.07,202.0,3428,2378,1937,1814,154.6,10.4,643,8641,0.00,2.40,0.00,0.000,516,0.000,0.063,3438,980,1877,1941,1814,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8704,1.07,202.0,3438,980,1941,1814,147.7,9.5,656,8712,0.00,2.35,0.00,0.000,1030,0.000,0.055,3438,2376,1877,1941,1814,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9035,1.08,205.0,3439,2375,1940,1814,115.4,9.0,674,9037,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2375,1877,1940,1814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9336,1.14,232.8,3438,2375,1940,1813,89.2,7.9,684,9367,0.00,0.00,26.67,0.981,8198,0.000,0.000,3438,2375,1756,1822,1690,0,0,0,0,0,0,28.83,28.83,14.06
$GC,9666,1.15,238.0,3438,2375,1818,1687,60.9,8.9,695,9672,0.00,0.00,4.80,0.786,8198,0.000,0.000,3438,2375,1738,1804,1673,0,0,0,0,0,0,28.83,28.83,14.00
$GC,9967,1.17,246.5,3439,2375,1801,1669,34.5,8.8,705,9985,0.00,2.53,9.32,0.890,8452,0.000,0.095,3438,3768,1700,1767,1633,0,0,0,0,0,0,28.83,14.57,14.02
$GC,10049,1.17,246.5,3438,3768,1767,1633,26.0,9.6,720,10057,0.00,2.33,0.00,0.000,1030,0.000,0.053,3449,2375,1700,1767,1633,0,0,0,0,0,0,28.83,14.61,28.83
$STATE,10318,end climb,SURFACE_DEPTH_REACHED
$STATE,10318,begin surface coast
$FINISH,1.6,1.008131
$STATE,10340,end surface coast,CONTROL_FINISHED_OK
$STATE,10340,begin surface
$SM_CCo,10361,49.00,0.094,0,0,1282,350.04
$SM_GC,2.60,9.38,0.12,49.00,0.076,0.133,0.094,211,2466,1282,-8.96,-0.96,350.04,0,0,0,0,0,0,14.54,14.57,14.52
$RAFOS_CLK,1022
$RAFOS,6,1415450952,12.833333,12.820000,98,55,55,53,53,51,756,218,188,137,207,152
$RAFOS,5,1415450461,12.700000,12.683611,63,60,60,57,57,56,206,217,929,185,164,129
$RAFOS,4,1415449983,12.566667,12.550834,84,66,65,59,56,55,692,216,193,166,175,134
$RAFOS,3,1415449515,12.433333,12.420834,87,63,57,55,55,51,682,204,173,148,184,213
$RAFOS,2,1415449035,12.300000,12.287500,72,63,58,55,54,52,544,120,202,141,157,216
$RAFOS,1,1415448545,12.166667,12.151389,73,66,59,58,57,56,215,201,156,182,125,138
$RAFOS,0,1415448070,12.033333,12.019444,77,62,58,56,56,55,583,175,190,162,115,201
$RAFOS_FIX,6641.596191,-6003.343750,081114,121231,5,84,0.74
$IRIDIUM_FIX,6609.62,-6011.26,081114,105625
$TT8_MAMPS,0.036701,0.036701
$HUMID,44.09
$INTERNAL_PRESSURE,8.45502
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3922752
$24V_AH,13.08,74.395
$10V_AH,13.18,0.000
$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,24.250,85.600,319.925,49.000,0.000,0.000,0.000,260.475,0.000,0.000,14.002,2315.097,6381.557,568.732,1459.863,190.695,0.000,1449.317,0.000,1131.106,2520.000,0.535,0.000
$DEVICE_MAMPS,420.750,212.670,1580.490,94.095,0.000,0.000,0.000,147.645,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10343.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.286,0.000,0.000,0.000
$MEM,143168
$DATA_FILE_SIZE,26717,750
$CAP_FILE_SIZE,118369,1
$CFSIZE,1024409600,982335488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10660.57,0x23769e,7,5
$SOUNDSPEED,1452.1
$EKF,10520,4001.731934,-3604.916992,1.644143,0.029089,0.230386,-0.018652,0.000158,0.001009,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.281,338.21,1
$GPS,081114,135734,6643.222,-6006.364,36,0.8,36,-32.9