version: 66.12
glider: 217
mission: 3
dive: 6
start: 9 19 114 2 10 1
data:
$ID,217
$MISSION,3
$DIVE,6
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$D_ABORT,990
$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,170
$T_MISSION,210
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,9
$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,3106
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,22.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,2
$ROLL_MIN,240
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2160
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2942
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$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
$GPS1,190914,020429,6703.412,-5654.077,36,0.9,36,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-74.8
$GPS2,190914,020927,6703.418,-5654.046,4,0.9,4,-32.6
$SPEED_LIMITS,0.117,0.259
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$MHEAD_RNG_PITCHd_Wd,263.0,159173,-17.9,-9.804,-20.70,2280
$D_GRID,564
$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,17,-1.01,-146.0,202,2306,1555,1489,0.0,0.0,0,83,0.00,0.00,-63.58,0.000,16386,0.000,0.000,200,2307,3212,3215,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.01,-146.0,199,2307,3215,3211,4.2,-5.1,6,114,12.02,2.45,-5.47,0.000,18948,0.422,0.103,2771,898,3539,3561,3517,0,0,0,0,0,0,14.37,14.57,14.79
$GC,164,-0.97,-146.0,2771,898,3563,3517,29.2,-21.0,19,170,0.00,2.42,0.00,0.000,1030,0.000,0.073,2769,2306,3540,3563,3517,0,0,0,0,0,0,28.83,14.59,28.83
$GC,495,-0.94,-146.0,2769,2305,3565,3515,85.7,-16.2,34,502,0.12,2.47,0.00,0.000,2308,0.311,0.098,2799,3712,3540,3565,3516,0,0,0,0,0,0,14.55,14.64,28.83
$GC,603,-0.94,-146.0,2799,3712,3565,3516,101.5,-14.5,54,610,0.00,2.40,0.00,0.000,1030,0.000,0.065,2800,2288,3540,3566,3515,0,0,0,0,0,0,28.83,14.70,28.83
$GC,927,-0.94,-146.0,2799,2286,3565,3516,145.9,-13.8,71,934,0.00,2.53,0.00,0.000,260,0.000,0.101,2800,3706,3540,3565,3516,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1017,-0.94,-146.0,2799,3705,3565,3516,158.7,-14.5,88,1024,0.00,2.38,0.00,0.000,1030,0.000,0.066,2799,2292,3541,3566,3516,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1337,-0.94,-146.0,2799,2292,3566,3515,202.6,-13.6,106,1344,0.00,2.53,0.00,0.000,260,0.000,0.101,2799,3709,3540,3565,3515,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1418,-0.94,-146.0,2799,3709,3566,3515,213.7,-13.8,121,1427,0.00,2.38,0.00,0.000,1030,0.000,0.066,2799,2292,3540,3566,3515,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1724,-0.94,-146.0,2799,2292,3566,3515,255.4,-13.6,137,1732,0.00,2.53,0.00,0.000,260,0.000,0.102,2799,3711,3540,3566,3515,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1819,-0.94,-146.0,2799,3711,3566,3515,268.1,-12.9,155,1825,0.00,2.38,0.00,0.000,1030,0.000,0.066,2799,2292,3540,3566,3515,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2133,-0.94,-146.0,2799,2291,3566,3515,309.5,-13.3,172,2139,0.00,2.53,0.00,0.000,260,0.000,0.101,2799,3713,3540,3566,3515,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2243,-0.94,-146.0,2799,3713,3566,3515,324.8,-13.8,193,2251,0.00,2.38,0.00,0.000,1030,0.000,0.065,2799,2290,3540,3565,3515,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2564,-0.94,-146.0,2799,2290,3566,3515,364.9,-11.8,211,2570,0.00,2.50,0.00,0.000,260,0.000,0.099,2799,3706,3540,3566,3515,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2653,-0.94,-146.0,2799,3706,3566,3515,375.5,-12.1,228,2660,0.00,2.35,0.00,0.000,1030,0.000,0.064,2799,2295,3540,3566,3514,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2973,-0.94,-146.0,2799,2294,3566,3515,412.4,-11.7,246,2980,0.00,2.50,0.00,0.000,260,0.000,0.099,2799,3707,3540,3566,3514,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3062,-0.94,-146.0,2799,3707,3566,3515,423.1,-11.9,262,3068,0.00,2.35,0.00,0.000,1030,0.000,0.064,2799,2297,3540,3566,3515,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3386,-0.94,-146.0,2799,2296,3567,3515,463.2,-12.7,281,3394,0.00,2.50,0.00,0.000,260,0.000,0.099,2799,3709,3540,3566,3515,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3452,-0.94,-146.0,2799,3709,3566,3515,471.8,-13.6,293,3460,0.00,2.35,0.00,0.000,1030,0.000,0.063,2799,2293,3540,3566,3515,0,0,0,0,0,0,28.83,14.82,28.83
$STATE,3677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3677,begin apogee
$GC,3681,-0.22,0.0,2799,2164,3567,3515,500.3,-12.7,307,3820,0.82,0.00,123.25,1.506,10246,0.246,0.000,3030,2163,2948,3014,2882,0,0,0,0,1,0,14.66,28.83,13.46
$STATE,3821,end apogee,CONTROL_FINISHED_OK
$STATE,3821,begin climb
$GC,3822,1.01,146.0,3030,2163,3015,2884,506.4,0.0,314,3954,1.25,2.62,121.07,1.440,10756,0.162,0.083,3422,761,2337,2401,2274,0,0,0,0,0,0,14.08,13.92,13.40
$GC,4051,0.94,146.0,3422,761,2395,2272,497.9,10.0,352,4058,0.00,2.47,0.00,0.000,1030,0.000,0.067,3422,2166,2333,2395,2271,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4366,0.87,146.0,3423,2166,2395,2269,465.8,10.2,369,4374,0.12,2.47,0.00,0.000,4356,0.298,0.090,3390,3567,2332,2395,2270,0,0,0,0,0,0,14.39,14.48,28.83
$GC,4447,0.78,146.0,3390,3567,2395,2270,457.3,10.3,384,4455,0.17,2.40,0.00,0.000,5126,0.290,0.065,3361,2160,2333,2396,2270,0,0,0,0,0,0,14.42,14.54,28.83
$GC,4752,0.83,177.0,3361,2160,2393,2270,431.7,8.4,400,4785,0.00,2.53,25.33,1.318,8452,0.000,0.090,3361,3573,2210,2273,2147,0,0,0,0,0,0,28.83,14.45,13.95
$GC,4828,0.78,177.0,3362,3574,2268,2146,424.4,11.0,413,4837,0.00,2.42,0.00,0.000,1030,0.000,0.064,3370,2160,2207,2268,2146,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5149,0.78,177.0,3371,2159,2267,2146,392.2,10.0,431,5155,0.00,2.50,0.00,0.000,260,0.000,0.092,3371,3566,2206,2266,2146,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5218,0.73,177.0,3371,3566,2267,2146,384.4,11.5,444,5225,0.15,2.40,0.00,0.000,5126,0.288,0.065,3345,2151,2206,2267,2146,0,0,0,0,0,0,14.51,14.64,28.83
$GC,5539,0.75,194.0,3346,2149,2267,2146,354.7,9.0,462,5566,0.00,2.55,14.15,1.193,8452,0.000,0.093,3346,3562,2139,2198,2081,0,0,0,0,0,0,28.83,14.59,14.08
$GC,5614,0.75,194.0,3344,3561,2197,2080,347.1,10.8,475,5620,0.00,2.38,0.00,0.000,1030,0.000,0.065,3355,2164,2138,2197,2080,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5933,0.77,205.0,3354,2162,2196,2079,317.2,9.3,493,5948,0.00,2.55,9.57,1.093,8452,0.000,0.093,3355,3567,2099,2159,2040,0,0,0,0,0,0,28.83,14.62,14.11
$GC,6026,0.77,205.0,3356,3567,2153,2036,307.6,11.1,510,6033,0.00,2.40,0.00,0.000,1030,0.000,0.066,3357,2162,2094,2153,2036,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6345,0.79,222.2,3358,2159,2153,2036,277.9,9.0,528,6366,0.00,2.58,15.00,1.131,8452,0.000,0.093,3354,3575,2028,2088,1969,0,0,0,0,0,0,28.83,14.61,14.12
$GC,6439,0.79,222.2,3357,3574,2081,1965,268.0,11.0,545,6447,0.00,2.40,0.00,0.000,1030,0.000,0.064,3366,2157,2022,2081,1964,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6760,0.79,222.2,3367,2156,2081,1964,235.1,10.3,563,6766,0.00,2.47,0.00,0.000,260,0.000,0.093,3366,3566,2022,2081,1964,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6828,0.79,222.2,3366,3565,2081,1964,227.1,11.6,576,6835,0.00,2.38,0.00,0.000,1030,0.000,0.066,3374,2160,2022,2081,1964,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7151,0.79,222.2,3375,2158,2081,1963,193.0,10.3,594,7157,0.00,2.47,0.00,0.000,260,0.000,0.092,3374,3570,2022,2081,1963,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7211,0.76,222.2,3375,3569,2080,1963,185.9,11.2,605,7221,0.12,2.38,0.00,0.000,5126,0.309,0.065,3355,2159,2022,2081,1963,0,0,0,0,0,0,14.61,14.75,28.83
$GC,7517,0.78,236.5,3355,2159,2081,1963,157.7,9.2,621,7538,0.00,2.50,12.10,0.974,8452,0.000,0.093,3355,3573,1970,2028,1912,0,0,0,0,0,0,28.83,14.69,14.23
$GC,7591,0.78,236.5,3356,3573,2024,1907,150.2,11.5,634,7597,0.00,2.40,0.00,0.000,1030,0.000,0.066,3358,2157,1965,2024,1907,0,0,0,0,0,0,28.83,14.72,28.83
$GC,7910,0.81,257.6,3358,2155,2025,1906,120.4,8.9,652,7936,0.00,2.50,17.98,0.970,8452,0.000,0.092,3358,3567,1880,1941,1820,0,0,0,0,0,0,28.83,14.64,14.19
$EKF,range, -669.8
$GC,8012,0.81,257.6,3358,3567,1938,1817,110.2,10.8,670,8019,0.00,2.40,0.00,0.000,1030,0.000,0.066,3358,2160,1877,1937,1817,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8349,0.85,260.8,3358,2158,1937,1815,78.2,9.7,686,8356,0.00,2.50,0.00,0.000,260,0.000,0.094,3358,3570,1876,1937,1815,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8414,0.85,260.8,3358,3570,1937,1815,71.2,10.8,698,8421,0.00,2.40,0.00,0.000,1030,0.000,0.067,3358,2152,1876,1937,1816,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8751,0.95,301.8,3358,2150,1937,1815,43.2,8.0,714,8795,0.12,2.50,37.88,0.911,10756,0.188,0.089,3410,755,1702,1766,1638,0,0,0,0,0,0,14.72,14.57,14.18
$GC,8839,0.95,301.8,3411,754,1758,1629,34.9,10.5,729,8848,0.00,2.42,0.00,0.000,1030,0.000,0.071,3411,2165,1694,1759,1630,0,0,0,0,0,0,28.83,14.59,28.83
$EKF,range,-1677.5
$GC,9150,0.97,315.1,3411,2164,1758,1626,4.3,9.2,755,9164,0.00,2.53,4.22,0.090,8452,0.000,0.100,3411,3561,1661,1727,1595,0,0,0,0,0,0,28.83,14.62,14.65
$STATE,9175,end climb,SURFACE_DEPTH_REACHED
$STATE,9175,begin surface coast
$FINISH,0.8,1.025697
$STATE,9196,end surface coast,CONTROL_FINISHED_OK
$STATE,9197,begin surface
$SM_CCo,9215,18.10,0.087,0,0,1514,350.04
$SM_GC,1.63,9.43,2.20,18.10,0.099,0.068,0.087,212,2298,1514,-9.00,1.13,350.04,0,0,0,0,0,0,14.63,14.67,14.64
$RAFOS_CLK,-38
$RAFOS,4,1411101198,4.566667,4.555000,70,59,58,56,53,50,793,148,207,112,179,124
$RAFOS,3,1411100706,4.433333,4.418334,62,61,57,56,55,53,190,200,213,966,230,145
$RAFOS,2,1411100229,4.300000,4.285833,67,58,58,56,55,52,1024,221,117,208,192,147
$RAFOS,1,1411099746,4.166667,4.151667,59,57,56,55,52,52,203,217,154,116,127,179
$RAFOS,0,1411099279,4.033333,4.021945,60,55,55,54,54,51,194,146,216,113,1071,156
$RAFOS_FIX,6701.323730,-5657.908203,190914,040444,2,68,0.58
$IRIDIUM_FIX,6631.12,-5647.69,180914,232509
$TT8_MAMPS,0.040446,0.040446
$HUMID,46.53
$INTERNAL_PRESSURE,8.61127
$TCM_TEMP,13.50
$XPDR_PINGS,0
$SC_FREEKB,4018144
$24V_AH,13.40,5.953
$10V_AH,12.91,0.000
$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,24.350,112.800,380.550,18.100,0.000,0.000,0.000,198.975,0.000,0.000,5.858,2248.263,5223.675,614.846,1418.025,57.261,0.000,1463.089,0.000,1127.668,2160.000,0.536,0.000
$DEVICE_MAMPS,421.515,112.455,1505.520,87.210,0.000,0.000,0.000,147.645,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9200.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.284,0.000,0.000,0.000
$MEM,143188
$DATA_FILE_SIZE,26721,763
$CAP_FILE_SIZE,118625,0
$CFSIZE,1024409600,1016840192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,9688.06,0x23769e,7,5
$SOUNDSPEED,1468.1
$EKF,9331,4022.823486,-3416.448486,0.806972,0.021853,0.078198,-0.008485,0.000130,0.000855,0.000095,0.000525,0.000525,0.000034
$CURRENT,0.043,206.22,1
$GPS,190914,044529,6702.628,-5656.682,37,1.1,37,-32.6