version: 66.12
glider: 217
mission: 3
dive: 306
start: 11 8 114 17 18 29
data:
$ID,217
$MISSION,3
$DIVE,306
$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,62
$R_STBD_OVSHOOT,40
$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
$GPS1,081114,171204,6642.691,-6006.091,24,0.8,24,-32.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-72.3
$GPS2,081114,171753,6642.675,-6006.205,5,0.9,5,-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,131.4,148000,-17.5,-9.167,-20.44,2275
$D_GRID,600
$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,15,begin dive
$GC,18,-0.92,-136.3,178,2462,1305,1226,0.0,0.0,0,73,0.00,0.00,-52.53,0.000,16386,0.000,0.000,175,2463,2570,2583,2558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.92,-136.3,175,2463,2583,2559,3.2,-1.5,5,117,12.50,2.45,-19.05,0.000,18948,0.415,0.090,2791,1065,3266,3297,3236,0,0,0,0,0,0,14.15,14.45,14.71
$GC,273,-0.92,-136.3,2790,1066,3301,3236,37.6,-19.0,41,280,0.00,2.38,0.00,0.000,1030,0.000,0.064,2786,2435,3268,3301,3236,0,0,0,0,0,0,28.83,14.47,28.83
$GC,609,-0.92,-136.3,2786,2435,3302,3236,96.6,-16.8,57,616,0.00,2.42,0.00,0.000,260,0.000,0.097,2786,3784,3268,3301,3236,0,0,0,0,0,0,28.83,14.46,28.83
$GC,706,-0.92,-136.3,2781,3784,3301,3236,112.9,-16.2,75,714,0.00,2.22,0.00,0.000,1030,0.000,0.053,2786,2444,3268,3301,3235,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1033,-0.92,-136.3,2786,2444,3301,3235,162.7,-15.6,95,1041,0.00,2.35,0.00,0.000,516,0.000,0.067,2786,1072,3268,3301,3236,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1085,-0.92,-136.3,2786,1072,3302,3236,171.0,-16.5,104,1092,0.00,2.38,0.00,0.000,1030,0.000,0.063,2785,2452,3269,3302,3236,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1405,-0.92,-136.3,2786,2452,3302,3236,223.6,-16.0,122,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2452,3268,3301,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1706,-0.92,-136.3,2786,2452,3301,3235,267.5,-14.0,137,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2452,3269,3302,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2007,-0.92,-136.3,2786,2452,3302,3235,306.6,-12.5,152,2014,0.00,2.40,0.00,0.000,516,0.000,0.067,2785,1065,3268,3301,3236,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2097,-0.92,-136.3,2785,1065,3302,3235,318.9,-14.2,168,2103,0.00,2.38,0.00,0.000,1030,0.000,0.064,2785,2450,3269,3302,3236,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2422,-0.92,-136.3,2786,2450,3301,3234,363.0,-13.8,187,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2450,3267,3301,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2724,-0.92,-136.3,2785,2450,3301,3234,402.7,-12.9,202,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2450,3267,3301,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3023,-0.92,-136.3,2786,2450,3302,3234,438.9,-11.9,217,3030,0.00,2.40,0.00,0.000,516,0.000,0.067,2785,1060,3267,3302,3233,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3059,-0.92,-136.3,2785,1060,3302,3233,443.4,-12.2,223,3067,0.00,2.40,0.00,0.000,1030,0.000,0.064,2785,2457,3267,3301,3233,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3376,-0.92,-136.3,2785,2457,3301,3233,479.6,-11.4,240,3383,0.00,2.38,0.00,0.000,260,0.000,0.096,2786,3784,3266,3301,3232,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3571,-0.92,-136.3,2785,3781,3302,3233,502.8,-11.4,276,3577,0.00,2.20,0.00,0.000,1030,0.000,0.053,2785,2454,3267,3301,3233,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3896,-0.92,-136.3,2786,2453,3302,3233,540.9,-12.6,295,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2453,3267,3302,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4197,-0.92,-136.3,2786,2453,3302,3233,572.4,-10.3,310,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2453,3267,3302,3233,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4454,begin apogee
$GC,4460,-0.18,0.0,2786,2384,3302,3233,601.8,-10.2,323,4577,0.88,0.00,111.68,1.611,10246,0.232,0.000,3027,2384,2710,2771,2649,0,0,0,0,0,0,14.30,28.83,13.44
$STATE,4578,end apogee,CONTROL_FINISHED_OK
$STATE,4578,begin climb
$GC,4580,0.92,136.3,3028,2384,2770,2646,605.1,0.0,329,4699,1.15,0.00,114.10,1.570,10502,0.171,0.000,3369,2384,2150,2221,2080,0,0,0,0,0,0,14.03,28.83,13.08
$GC,4996,1.02,179.3,3369,2384,2211,2079,574.0,7.2,353,5042,0.12,2.50,35.75,1.497,10756,0.157,0.072,3434,983,1979,2043,1915,0,0,0,0,0,0,14.14,14.02,13.37
$GC,5131,1.02,179.3,3434,984,2038,1909,557.4,13.1,377,5138,0.00,2.45,0.00,0.000,1030,0.000,0.057,3434,2381,1973,2038,1909,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5457,1.02,179.3,3434,2381,2036,1908,513.0,14.1,396,5464,0.00,2.45,0.00,0.000,516,0.000,0.066,3445,981,1972,2036,1908,0,0,0,0,0,0,28.83,14.37,28.83
$GC,5514,1.02,179.3,3445,981,2036,1908,505.0,13.7,406,5521,0.00,2.40,0.00,0.000,1030,0.000,0.055,3445,2380,1971,2036,1907,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5829,1.02,179.3,3445,2380,2035,1908,462.6,13.6,423,5837,0.00,2.42,0.00,0.000,516,0.000,0.066,3456,980,1972,2036,1908,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5855,1.02,179.3,3456,980,2035,1908,458.7,13.9,427,5864,0.12,2.38,0.00,0.000,5126,0.270,0.055,3427,2377,1971,2035,1908,0,0,0,0,0,0,14.29,14.51,28.83
$GC,6183,1.02,179.3,3428,2376,2036,1908,414.4,13.3,446,6189,0.00,2.50,0.00,0.000,260,0.000,0.090,3429,3783,1971,2035,1908,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6212,1.02,179.3,3428,3783,2035,1908,410.1,14.3,451,6220,0.00,2.38,0.00,0.000,1030,0.000,0.049,3438,2353,1971,2035,1908,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6533,1.02,179.3,3438,2352,2035,1908,367.6,13.5,469,6540,0.00,2.35,0.00,0.000,516,0.000,0.066,3449,988,1972,2036,1908,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6599,1.02,179.3,3449,987,2043,1914,358.4,13.9,481,6605,0.00,2.35,0.00,0.000,1030,0.000,0.055,3449,2380,1972,2036,1908,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6925,1.02,179.3,3448,2380,2036,1908,315.2,13.3,500,6932,0.00,2.47,0.00,0.000,260,0.000,0.090,3449,3778,1971,2035,1908,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6951,1.02,179.3,3449,3777,2036,1908,311.5,14.0,504,6959,0.15,2.33,0.00,0.000,5126,0.269,0.049,3425,2367,1972,2036,1908,0,0,0,0,0,0,14.35,14.66,28.83
$GC,7277,1.02,179.3,3425,2366,2035,1908,274.5,10.2,523,7285,0.00,2.38,0.00,0.000,516,0.000,0.066,3435,982,1972,2036,1908,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7333,1.02,179.3,3435,982,2035,1908,268.5,11.1,533,7339,0.00,2.35,0.00,0.000,1030,0.000,0.056,3435,2374,1972,2036,1908,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7647,1.02,179.3,3435,2375,2036,1908,235.0,10.5,550,7654,0.00,2.38,0.00,0.000,516,0.000,0.065,3446,993,1972,2036,1908,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7698,1.02,179.3,3447,992,2036,1908,230.0,10.6,559,7706,0.00,2.35,0.00,0.000,1030,0.000,0.056,3446,2383,1972,2036,1908,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8019,1.02,179.3,3448,2383,2036,1908,196.1,10.6,577,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2383,1972,2036,1908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8321,1.02,179.3,3446,2383,2036,1908,163.4,11.5,592,8328,0.00,2.40,0.00,0.000,516,0.000,0.068,3457,994,1972,2036,1908,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8442,1.02,179.3,3457,994,2036,1908,149.8,11.6,614,8449,0.12,2.35,0.00,0.000,5126,0.266,0.057,3427,2381,1972,2036,1908,0,0,0,0,0,0,14.38,14.62,28.83
$GC,8757,1.05,193.1,3427,2381,2035,1908,120.7,8.5,631,8778,0.00,2.50,11.90,0.986,8452,0.000,0.092,3427,3773,1918,1981,1856,0,0,0,0,0,0,28.83,14.64,14.06
$GC,8805,1.05,193.1,3428,3773,1981,1856,116.0,10.2,639,8814,0.00,2.30,0.00,0.000,1030,0.000,0.050,3438,2372,1918,1981,1856,0,0,0,0,0,0,28.83,14.68,28.83
$GC,9133,1.05,193.1,3438,2372,1981,1855,85.6,9.5,653,9140,0.00,2.35,0.00,0.000,516,0.000,0.066,3449,995,1917,1981,1854,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9218,1.05,193.1,3449,995,1981,1854,77.0,9.9,669,9224,0.00,2.35,0.00,0.000,1030,0.000,0.058,3449,2381,1918,1981,1855,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9533,1.08,207.2,3449,2381,1980,1854,48.7,8.5,681,9549,0.00,0.00,13.35,0.930,8198,0.000,0.000,3449,2381,1865,1929,1801,0,0,0,0,0,0,28.83,28.83,14.07
$GC,9833,1.12,224.5,3448,2381,1925,1796,26.2,8.4,691,9854,0.00,2.47,14.65,0.908,8708,0.000,0.069,3459,985,1790,1856,1724,0,0,0,0,0,0,28.83,14.61,14.07
$GC,9907,1.13,230.6,3459,985,1854,1723,19.7,8.9,704,9916,0.00,2.38,2.42,0.155,9222,0.000,0.057,3459,2381,1771,1838,1704,0,0,0,0,0,0,28.83,14.52,14.43
$STATE,10082,end climb,SURFACE_DEPTH_REACHED
$STATE,10082,begin surface coast
$FINISH,1.7,1.014245
$STATE,10105,end surface coast,CONTROL_FINISHED_OK
$STATE,10105,begin surface
$SM_CCo,10124,57.38,0.093,0,0,1283,350.04
$SM_GC,2.53,9.57,0.10,57.38,0.086,0.155,0.093,202,2464,1283,-9.00,-0.90,350.04,0,0,0,0,0,0,14.49,14.54,14.50
$RAFOS_CLK,-124
$RAFOS_FIX,6641.757324,-5954.744629,081114,161636,4,104,1.05
$IRIDIUM_FIX,6614.97,-5929.30,081114,140553
$TT8_MAMPS,0.039697,0.039697
$HUMID,43.58
$INTERNAL_PRESSURE,8.45502
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,3922112
$24V_AH,13.08,74.810
$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,24.625,86.050,303.850,57.375,0.000,0.000,0.000,197.750,0.000,0.000,6.927,2221.219,6231.250,557.948,1349.453,189.884,0.000,1353.348,0.000,1082.051,360.000,0.536,0.000
$DEVICE_MAMPS,415.395,161.415,1611.090,92.565,0.000,0.000,0.000,151.470,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10118.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.263,0.000,0.000,0.000
$MEM,143116
$DATA_FILE_SIZE,26699,724
$CAP_FILE_SIZE,114246,0
$CFSIZE,1024409600,982122496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,11390.24,0x23769e,7,5
$SOUNDSPEED,1451.7
$EKF,10252,4002.314453,-3602.587158,1.729895,-0.000201,0.001728,-0.025378,0.000150,0.000960,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.466,190.90,1
$GPS,081114,200918,6639.771,-6003.826,14,0.7,14,-32.8