version: 66.12
glider: 217
mission: 3
dive: 8
start: 9 19 114 7 27 46
data:
$ID,217
$MISSION,3
$DIVE,8
$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,37
$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
$GPS1,190914,072223,6702.221,-5659.359,64,0.8,64,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-73.9
$GPS2,190914,072712,6702.188,-5659.364,6,0.8,6,-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,300.9,154874,-17.9,-9.804,-20.70,2280
$D_GRID,679
$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,-146.0,190,2304,1556,1488,0.0,0.0,0,73,0.00,0.00,-53.83,0.000,16386,0.000,0.000,190,2304,2928,2929,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-1.01,-146.0,190,2304,2928,2928,3.3,-3.4,5,110,12.07,2.50,-11.65,0.000,18948,0.421,0.106,2770,901,3540,3567,3514,0,0,0,0,0,0,14.35,14.54,14.76
$GC,213,-0.98,-146.0,2770,900,3569,3514,35.5,-20.3,30,219,0.00,2.42,0.00,0.000,1030,0.000,0.073,2769,2302,3541,3568,3514,0,0,0,0,0,0,28.83,14.58,28.83
$GC,542,-0.94,-146.0,2769,2302,3569,3515,88.3,-15.4,45,551,0.12,2.47,0.00,0.000,2308,0.312,0.099,2799,3706,3542,3569,3515,0,0,0,0,0,0,14.54,14.64,28.83
$GC,640,-0.94,-146.0,2800,3706,3570,3514,102.4,-14.0,63,647,0.00,2.38,0.00,0.000,1030,0.000,0.064,2801,2293,3542,3571,3514,0,0,0,0,0,0,28.83,14.69,28.83
$GC,965,-0.94,-146.0,2799,2292,3570,3514,149.2,-14.5,82,972,0.00,2.55,0.00,0.000,260,0.000,0.103,2798,3716,3541,3569,3514,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1025,-0.94,-146.0,2799,3716,3570,3514,158.1,-14.4,93,1035,0.00,2.38,0.00,0.000,1030,0.000,0.065,2799,2299,3541,3569,3514,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1332,-0.94,-146.0,2799,2299,3570,3513,199.6,-13.1,109,1340,0.00,2.50,0.00,0.000,260,0.000,0.103,2799,3706,3542,3570,3514,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1427,-0.94,-146.0,2799,3706,3570,3513,212.3,-13.7,127,1433,0.00,2.38,0.00,0.000,1030,0.000,0.066,2799,2291,3541,3569,3513,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1741,-0.94,-146.0,2799,2289,3569,3513,253.7,-13.5,144,1747,0.00,2.53,0.00,0.000,260,0.000,0.102,2799,3708,3542,3572,3513,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1826,-0.94,-146.0,2799,3708,3570,3513,265.6,-13.8,160,1833,0.00,2.38,0.00,0.000,1030,0.000,0.066,2800,2299,3540,3569,3512,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2150,-0.94,-146.0,2798,2298,3570,3512,308.8,-13.0,179,2157,0.00,2.50,0.00,0.000,260,0.000,0.103,2799,3706,3540,3569,3512,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2224,-0.94,-146.0,2799,3706,3570,3511,318.8,-13.5,193,2232,0.00,2.35,0.00,0.000,1030,0.000,0.066,2799,2299,3541,3570,3512,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2541,-0.94,-146.0,2798,2299,3569,3512,359.0,-12.6,210,2547,0.00,2.50,0.00,0.000,260,0.000,0.103,2799,3706,3541,3570,3512,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2621,-0.94,-146.0,2799,3706,3570,3512,369.5,-13.3,225,2631,0.00,2.35,0.00,0.000,1030,0.000,0.065,2799,2298,3541,3570,3512,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2928,-0.94,-146.0,2799,2298,3569,3511,407.3,-12.1,241,2936,0.00,2.50,0.00,0.000,260,0.000,0.101,2799,3712,3541,3570,3512,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2989,-0.94,-146.0,2799,3707,3569,3512,414.9,-11.7,252,2996,0.00,2.35,0.00,0.000,1030,0.000,0.065,2799,2297,3541,3570,3512,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3294,-0.94,-146.0,2799,2297,3569,3512,452.4,-12.2,268,3301,0.00,2.50,0.00,0.000,260,0.000,0.101,2799,3707,3540,3569,3512,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3353,-0.94,-146.0,2799,3707,3569,3511,460.0,-13.1,279,3361,0.00,2.35,0.00,0.000,1030,0.000,0.064,2799,2295,3540,3569,3512,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3660,-0.94,-146.0,2799,2294,3570,3512,498.1,-12.2,295,3666,0.00,2.50,0.00,0.000,260,0.000,0.101,2799,3707,3541,3570,3512,0,0,0,0,0,0,28.83,14.76,28.83
$STATE,3678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3678,begin apogee
$EKF,range,-2159.2
$GC,3684,-0.22,0.0,2799,2169,3570,3511,500.7,-12.3,298,3827,0.82,0.00,134.38,1.438,10246,0.247,0.000,3029,2165,2942,3004,2880,0,0,0,0,1,0,14.65,28.83,13.42
$STATE,3829,end apogee,CONTROL_FINISHED_OK
$STATE,3829,begin climb
$GC,3830,1.01,146.0,3029,2165,3013,2881,507.0,0.0,305,3961,1.27,2.62,122.35,1.450,10756,0.165,0.082,3424,763,2339,2404,2274,0,0,0,0,0,0,14.02,13.88,13.35
$GC,4099,0.95,146.0,3424,763,2395,2269,493.9,10.4,352,4106,0.00,2.47,0.00,0.000,1030,0.000,0.068,3424,2167,2332,2395,2269,0,0,0,0,0,0,28.83,14.26,28.83
$EKF,range,-2533.9
$GC,4407,0.88,146.0,3424,2167,2394,2268,461.5,10.7,368,4414,0.12,2.45,0.00,0.000,4356,0.301,0.091,3392,3572,2331,2394,2269,0,0,0,0,0,0,14.38,14.47,28.83
$GC,4473,0.80,146.0,3392,3573,2394,2269,454.0,10.2,380,4481,0.17,2.42,0.00,0.000,5126,0.288,0.066,3363,2156,2331,2394,2269,0,0,0,0,0,0,14.39,14.52,28.83
$GC,4798,0.85,181.6,3363,2154,2393,2268,426.5,8.2,399,4830,0.00,0.00,29.40,1.313,8198,0.000,0.000,3363,2155,2199,2263,2136,0,0,0,0,0,0,28.83,28.83,13.90
$GC,5119,0.86,187.1,3363,2154,2245,2126,397.2,9.6,415,5125,0.00,2.53,0.00,0.000,260,0.000,0.095,3363,3564,2185,2246,2125,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5179,0.82,187.1,3363,3564,2245,2125,391.0,10.6,426,5187,0.00,2.40,0.00,0.000,1030,0.000,0.067,3374,2159,2185,2245,2125,0,0,0,0,0,0,28.83,14.59,28.83
$EKF,range,-7192.8
$EKF,5261,4022.329102,-3421.332275,384.393005,0.021793,-0.240522,-0.096371,0.000074,0.000488,0.000100,0.000025,0.000025,0.000093
$GC,5484,0.83,193.8,3373,2159,2245,2125,361.3,9.5,442,5503,0.00,2.55,9.88,1.130,8452,0.000,0.096,3373,3560,2144,2203,2086,0,0,0,0,0,0,28.83,14.57,14.06
$GC,5532,0.78,193.8,3373,3560,2199,2084,356.4,10.2,450,5539,0.00,2.38,0.00,0.000,1030,0.000,0.067,3383,2165,2142,2201,2084,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5856,0.78,193.8,3383,2163,2200,2083,323.3,10.2,469,5865,0.00,2.47,0.00,0.000,260,0.000,0.096,3384,3564,2141,2199,2083,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5943,0.72,193.8,3384,3564,2199,2083,313.5,11.4,485,5952,0.20,2.40,0.00,0.000,5126,0.284,0.067,3344,2147,2140,2199,2082,0,0,0,0,0,0,14.54,14.68,28.83
$GC,6270,0.76,221.8,3344,2146,2199,2083,284.7,8.5,504,6302,0.00,2.58,24.15,1.164,8452,0.000,0.096,3344,3557,2027,2088,1967,0,0,0,0,0,0,28.83,14.54,14.07
$GC,6324,0.77,227.9,3345,3557,2082,1964,279.7,9.5,513,6333,0.00,2.38,1.17,0.083,9222,0.000,0.066,3355,2164,2015,2076,1954,0,0,0,0,0,0,28.83,14.59,14.59
$GC,6646,0.79,239.5,3354,2163,2082,1960,248.9,9.3,531,6667,0.00,2.58,15.30,1.085,8452,0.000,0.096,3354,3565,1957,2019,1896,0,0,0,0,0,0,28.83,14.56,14.06
$GC,6714,0.79,239.5,3354,3565,2012,1892,241.6,11.8,543,6721,0.00,2.40,0.00,0.000,1030,0.000,0.068,3358,2163,1951,2012,1891,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7040,0.79,239.5,3358,2161,2011,1890,208.7,9.8,562,7046,0.00,2.50,0.00,0.000,260,0.000,0.095,3357,3573,1950,2011,1889,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7090,0.79,239.5,3358,3573,2011,1889,203.2,11.1,571,7097,0.00,2.42,0.00,0.000,1030,0.000,0.067,3359,2149,1950,2011,1889,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7410,0.81,251.9,3358,2147,2011,1889,172.1,9.2,589,7430,0.00,2.58,10.48,0.967,8452,0.000,0.095,3357,3566,1905,1966,1845,0,0,0,0,0,0,28.83,14.64,14.17
$GC,7486,0.81,251.9,3358,3567,1962,1842,164.3,10.1,603,7493,0.00,2.40,0.00,0.000,1030,0.000,0.067,3357,2159,1899,1957,1842,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7801,0.83,264.1,3358,2157,1962,1841,135.5,9.3,620,7821,0.00,2.55,10.88,0.939,8452,0.000,0.096,3358,3564,1856,1918,1795,0,0,0,0,0,0,28.83,14.63,14.18
$GC,7859,0.83,264.1,3357,3564,1913,1793,129.4,11.1,630,7866,0.00,2.42,0.00,0.000,1030,0.000,0.067,3365,2152,1853,1913,1793,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8193,0.83,264.1,3366,2150,1912,1791,94.3,10.4,644,8200,0.00,2.42,0.00,0.000,516,0.000,0.088,3375,754,1851,1912,1790,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8230,0.87,266.6,3375,754,1912,1791,90.8,9.7,650,8236,0.00,2.40,0.00,0.000,1030,0.000,0.070,3375,2164,1851,1912,1791,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8565,0.88,273.7,3375,2164,1912,1790,57.4,9.5,666,8578,0.00,2.50,3.20,0.553,8452,0.000,0.098,3375,3561,1836,1898,1774,0,0,0,0,0,0,28.83,14.69,14.22
$GC,8801,0.95,322.3,3375,3561,1904,1780,34.2,7.6,711,8859,0.00,2.38,50.17,0.912,9222,0.000,0.067,3383,2152,1621,1688,1554,0,0,0,0,0,0,28.83,14.75,14.09
$GC,9148,1.07,365.9,3383,2154,1675,1540,6.2,7.8,744,9177,0.15,2.42,19.98,0.100,10756,0.175,0.087,3448,761,1450,1520,1381,0,0,0,0,0,0,14.59,14.59,14.59
$STATE,9193,end climb,SURFACE_DEPTH_REACHED
$STATE,9193,begin surface coast
$FINISH,0.9,1.025504
$STATE,9205,end surface coast,CONTROL_FINISHED_OK
$STATE,9205,begin surface
$SM_CCo,9284,0.00,0.000,0,0,1454,364.76
$SM_GC,1.97,9.57,2.70,0.00,0.100,0.073,0.000,215,2295,1454,-9.00,-1.05,364.76,0,0,0,0,0,0,14.58,14.61,28.83
$RAFOS_CLK,-40
$RAFOS,6,1411116542,8.833333,8.817223,98,62,60,57,52,50,810,216,169,186,151,128
$RAFOS,5,1411116068,8.700000,8.685555,62,61,60,59,53,52,190,153,213,171,232,119
$RAFOS,4,1411115583,8.566667,8.550834,63,57,56,55,54,53,859,212,227,191,181,166
$RAFOS,3,1411115104,8.433333,8.417778,93,58,58,57,54,53,965,216,188,202,139,114
$RAFOS,2,1411114621,8.300000,8.283611,78,71,67,60,55,52,192,1051,215,171,144,205
$RAFOS,1,1411114144,8.166667,8.151111,65,62,55,50,49,48,189,171,208,225,155,132
$RAFOS,0,1411113674,8.033334,8.020555,72,71,58,57,56,51,209,1089,189,117,160,221
$RAFOS_FIX,6704.020508,-5707.896484,190914,080841,3,85,1.66
$IRIDIUM_FIX,6631.12,-5658.34,190914,044711
$TT8_MAMPS,0.03745,0.03745
$HUMID,45.94
$INTERNAL_PRESSURE,8.56244
$TCM_TEMP,14.00
$XPDR_PINGS,0
$SC_FREEKB,4017504
$24V_AH,13.35,6.377
$10V_AH,12.85,0.000
$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,24.525,113.325,431.325,0.000,0.000,0.000,0.000,188.025,0.000,0.000,6.717,2212.888,5308.509,630.232,1396.996,56.793,0.000,1466.254,0.000,1113.161,2520.000,0.535,0.000
$DEVICE_MAMPS,420.750,105.570,1449.675,0.000,0.000,0.000,0.000,152.235,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9209.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.264,0.000,0.000,0.000
$MEM,143172
$DATA_FILE_SIZE,26759,753
$CAP_FILE_SIZE,118293,0
$CFSIZE,1024409600,1016610816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,9432.19,0x23769e,7,5
$SOUNDSPEED,1463.2
$EKF,9382,4022.201172,-3422.433838,0.870546,0.419630,-0.119187,0.005545,0.000126,0.000829,0.000095,0.001625,0.001625,0.000034
$CURRENT,0.050,237.58,1
$GPS,190914,100405,6702.105,-5703.018,35,0.8,35,-32.6