version: 66.12
glider: 217
mission: 3
dive: 119
start: 10 7 114 16 16 49
data:
$ID,217
$MISSION,3
$DIVE,119
$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,-3
$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,42
$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
$GPS1,071014,161057,6702.225,-5652.311,36,0.8,40,-32.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-69.5
$GPS2,071014,161615,6702.227,-5652.397,5,0.7,5,-32.5
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,108.5,3484,-17.5,-9.167,-20.44,2275
$D_GRID,567
$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,-0.92,-136.3,167,2463,1303,1231,0.0,0.0,0,63,0.00,0.00,-43.05,0.000,16386,0.000,0.000,164,2464,2398,2415,2381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.92,-136.3,164,2463,2417,2381,3.0,-2.4,4,114,12.25,2.40,-28.98,0.000,18948,0.416,0.089,2788,1064,3265,3297,3234,0,0,0,0,0,0,14.39,14.58,14.80
$GC,218,-0.92,-136.3,2788,1063,3301,3233,22.8,-16.7,30,225,0.00,2.35,0.00,0.000,1030,0.000,0.069,2786,2435,3267,3301,3233,0,0,0,0,0,0,28.83,14.62,28.83
$EKF,range,  733.1
$GC,534,-0.92,-136.3,2786,2435,3301,3233,74.2,-14.2,42,541,0.00,2.38,0.00,0.000,260,0.000,0.096,2786,3782,3267,3301,3233,0,0,0,0,0,0,28.83,14.66,28.83
$GC,636,-0.92,-136.3,2786,3782,3301,3233,88.3,-14.8,61,644,0.00,2.20,0.00,0.000,1030,0.000,0.056,2785,2451,3267,3301,3233,0,0,0,0,0,0,28.83,14.73,28.83
$GC,958,-0.92,-136.3,2786,2451,3302,3233,130.9,-12.9,77,966,0.00,2.38,0.00,0.000,260,0.000,0.095,2786,3790,3267,3302,3233,0,0,0,0,0,0,28.83,14.71,28.83
$GC,999,-0.92,-136.3,2785,3790,3302,3234,136.3,-12.4,84,1006,0.00,2.20,0.00,0.000,1030,0.000,0.055,2785,2452,3267,3302,3233,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1304,-0.92,-136.3,2785,2452,3302,3233,176.4,-13.2,100,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2452,3267,3302,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1604,-0.92,-136.3,2785,2452,3303,3237,218.6,-13.9,115,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2452,3267,3302,3233,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-2592.4
$GC,1905,-0.92,-136.3,2785,2452,3302,3232,257.3,-12.8,130,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2452,3267,3302,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2205,-0.92,-136.3,2785,2456,3302,3231,293.5,-12.0,145,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2452,3267,3302,3232,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-5548.0
$EKF,2322,4022.298828,-3411.497314,305.548065,-0.016269,0.268937,0.118329,0.000045,0.000297,0.000100,0.000025,0.000025,0.000093
$GC,2504,-0.92,-136.3,2785,2452,3302,3231,328.4,-11.1,160,2511,0.00,2.35,0.00,0.000,260,0.000,0.097,2785,3782,3266,3302,3230,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2570,-0.92,-136.3,2785,3782,3302,3231,336.0,-11.8,172,2577,0.00,2.20,0.00,0.000,1030,0.000,0.057,2785,2442,3266,3302,3231,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2895,-0.92,-136.3,2785,2445,3302,3230,371.6,-11.0,191,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2445,3266,3302,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3196,-0.92,-136.3,2785,2445,3302,3230,405.2,-11.1,206,3197,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2445,3266,3302,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3495,-0.92,-136.3,2785,2445,3306,3230,439.4,-11.4,221,3504,0.00,2.38,0.00,0.000,260,0.000,0.096,2785,3790,3266,3302,3230,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3546,-0.92,-136.3,2785,3790,3302,3230,445.3,-11.8,230,3552,0.00,2.20,0.00,0.000,1030,0.000,0.056,2785,2448,3266,3302,3230,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3865,-0.92,-136.3,2785,2448,3302,3229,481.7,-11.2,248,3866,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2448,3266,3302,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4166,-0.92,-136.3,2785,2448,3302,3230,515.4,-11.0,263,4172,0.00,2.38,0.00,0.000,260,0.000,0.095,2785,3789,3266,3302,3230,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4210,-0.92,-136.3,2785,3788,3302,3230,520.8,-11.3,271,4217,0.00,2.20,0.00,0.000,1030,0.000,0.055,2785,2442,3266,3302,3230,0,0,0,0,0,0,28.83,14.86,28.83
$GC,4536,-0.92,-136.3,2785,2442,3303,3230,556.0,-10.4,290,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2442,3266,3302,3231,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4653,begin apogee
$GC,4658,-0.18,0.0,2785,2390,3303,3230,568.7,-10.5,296,4768,0.88,0.00,106.20,1.551,10246,0.251,0.000,3027,2390,2708,2772,2644,0,0,0,0,0,0,14.66,28.83,13.63
$STATE,4769,end apogee,CONTROL_FINISHED_OK
$STATE,4769,begin climb
$GC,4771,0.92,136.3,3028,2390,2768,2642,572.4,0.0,301,4890,1.15,2.58,107.53,1.517,10756,0.172,0.072,3381,983,2148,2216,2080,0,0,0,0,0,0,14.15,13.98,13.44
$GC,4982,0.92,136.3,3381,983,2212,2080,555.7,11.4,337,4991,0.00,2.45,0.00,0.000,1030,0.000,0.062,3381,2384,2145,2211,2080,0,0,0,0,0,0,28.83,14.25,28.83
$GC,5308,0.92,136.3,3380,2384,2208,2079,519.1,11.4,356,5315,0.00,2.45,0.00,0.000,516,0.000,0.070,3391,968,2144,2209,2079,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5353,0.92,136.3,3391,968,2209,2079,514.2,11.2,364,5360,0.00,2.40,0.00,0.000,1030,0.000,0.060,3391,2378,2144,2209,2079,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5678,0.92,136.3,3391,2378,2208,2079,475.6,11.9,383,5684,0.00,2.40,0.00,0.000,516,0.000,0.070,3402,976,2143,2207,2079,0,0,0,0,0,0,28.83,14.63,28.83
$GC,5717,0.92,136.3,3402,976,2207,2079,471.0,12.1,390,5725,0.00,2.38,0.00,0.000,1030,0.000,0.061,3402,2379,2143,2207,2079,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6023,0.92,136.3,3402,2379,2207,2079,433.6,12.2,406,6030,0.00,2.40,0.00,0.000,516,0.000,0.070,3413,970,2143,2207,2079,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6074,0.92,136.3,3413,970,2207,2079,426.9,13.2,415,6081,0.00,2.38,0.00,0.000,1030,0.000,0.062,3412,2379,2143,2207,2079,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6394,0.92,136.3,3410,2380,2206,2079,385.4,13.0,433,6402,0.00,2.40,0.00,0.000,516,0.000,0.070,3424,966,2143,2207,2079,0,0,0,0,0,0,28.83,14.74,28.83
$GC,6429,0.92,136.3,3423,966,2207,2079,380.6,13.1,439,6436,0.12,2.38,0.00,0.000,5126,0.266,0.060,3396,2383,2143,2207,2079,0,0,0,0,0,0,14.63,14.76,28.83
$GC,6744,0.92,136.3,3396,2384,2207,2079,343.3,11.5,456,6750,0.00,2.40,0.00,0.000,516,0.000,0.069,3406,964,2143,2207,2079,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6788,0.92,136.3,3406,964,2207,2079,338.2,11.6,464,6795,0.00,2.38,0.00,0.000,1030,0.000,0.060,3407,2377,2143,2207,2079,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7113,0.92,136.3,3407,2376,2207,2079,302.3,10.9,483,7119,0.00,2.38,0.00,0.000,516,0.000,0.070,3417,972,2143,2207,2079,0,0,0,0,0,0,28.83,14.79,28.83
$GC,7172,0.92,136.3,3418,970,2207,2079,295.8,11.1,494,7179,0.00,2.35,0.00,0.000,1030,0.000,0.061,3417,2377,2143,2207,2079,0,0,0,0,0,0,28.83,14.80,28.83
$GC,7478,0.92,136.3,3418,2377,2206,2079,260.5,11.9,510,7485,0.00,2.38,0.00,0.000,516,0.000,0.070,3428,970,2143,2207,2079,0,0,0,0,0,0,28.83,14.80,28.83
$GC,7534,0.92,136.3,3429,970,2208,2079,253.5,12.1,520,7541,0.15,2.38,0.00,0.000,5126,0.264,0.061,3393,2384,2143,2207,2079,0,0,0,0,0,0,14.71,14.81,28.83
$GC,7849,0.92,136.3,3393,2385,2208,2079,218.5,11.0,537,7857,0.00,2.38,0.00,0.000,516,0.000,0.070,3403,974,2143,2207,2079,0,0,0,0,0,0,28.83,14.82,28.83
$GC,7884,0.92,136.3,3404,974,2208,2079,214.6,11.3,543,7890,0.00,2.35,0.00,0.000,1030,0.000,0.062,3404,2381,2143,2208,2079,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8198,0.92,136.3,3403,2381,2207,2079,180.0,10.9,560,8199,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2381,2143,2207,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8499,0.92,136.3,3403,2381,2207,2079,149.7,10.1,575,8505,0.00,2.42,0.00,0.000,260,0.000,0.091,3403,3785,2143,2207,2079,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8552,0.92,136.3,3403,3785,2207,2079,143.3,11.7,585,8561,0.00,2.35,0.00,0.000,1030,0.000,0.055,3413,2351,2143,2207,2079,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8878,0.92,136.3,3412,2351,2207,2079,111.0,9.8,601,8879,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2351,2143,2207,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9178,0.92,136.3,3413,2351,2207,2079,81.8,9.5,611,9185,0.00,2.28,0.00,0.000,516,0.000,0.072,3423,989,2142,2205,2079,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9269,0.92,136.3,3423,989,2207,2079,72.7,9.9,628,9278,0.12,2.33,0.00,0.000,5126,0.263,0.064,3394,2378,2143,2207,2079,0,0,0,0,0,0,14.71,14.83,28.83
$GC,9575,1.08,208.9,3394,2378,2206,2079,52.9,5.9,639,9643,0.12,2.50,57.55,0.916,10500,0.160,0.092,3445,3770,1853,1918,1788,0,0,0,0,0,0,14.85,14.57,14.17
$GC,9711,1.08,208.9,3445,3769,1913,1786,39.3,12.9,655,9717,0.00,2.33,0.00,0.000,1030,0.000,0.056,3454,2379,1849,1913,1786,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,10024,end climb,SURFACE_DEPTH_REACHED
$STATE,10024,begin surface coast
$FINISH,1.5,1.015844
$STATE,10035,end surface coast,CONTROL_FINISHED_OK
$STATE,10035,begin surface
$SM_CCo,10053,64.32,0.089,0,0,1282,350.04
$SM_GC,2.49,9.40,0.12,64.32,0.085,0.142,0.089,211,2462,1282,-8.97,-0.96,350.04,0,0,0,0,0,0,14.66,14.70,14.65
$RAFOS_CLK,-32
$RAFOS,6,1412700551,16.833334,16.819723,73,65,57,55,54,54,793,184,195,219,135,170
$RAFOS,5,1412700071,16.700001,16.686388,96,61,54,53,53,51,616,205,182,122,851,156
$RAFOS,4,1412699584,16.566668,16.551111,61,60,55,54,53,50,196,879,218,230,172,141
$RAFOS,3,1412699109,16.433332,16.419167,61,61,59,55,53,50,152,203,176,194,226,130
$RAFOS,2,1412698640,16.299999,16.288889,78,61,60,60,54,53,979,210,115,168,191,179
$RAFOS_FIX,6704.763672,-5658.470703,071014,161641,3,82,5.00
$IRIDIUM_FIX,6631.12,-5655.33,071014,131744
$TT8_MAMPS,0.03745,0.03745
$HUMID,43.22
$INTERNAL_PRESSURE,8.57221
$TCM_TEMP,13.60
$XPDR_PINGS,0
$SC_FREEKB,3981984
$24V_AH,13.44,31.785
$10V_AH,13.05,0.000
$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,24.200,85.150,271.275,64.325,0.000,0.000,0.000,206.275,0.000,0.000,5.544,2125.418,6407.063,534.602,1305.662,100.321,0.000,1313.764,0.000,1017.309,1800.000,0.536,0.000
$DEVICE_MAMPS,416.160,218.790,1551.420,88.740,0.000,0.000,0.000,146.880,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10042.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.203,0.000,0.000,0.000
$MEM,143152
$DATA_FILE_SIZE,23388,681
$CAP_FILE_SIZE,112340,0
$CFSIZE,1024409600,1003880448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10472.29,0x23769e,7,5
$SOUNDSPEED,1466.3
$EKF,10218,4022.465576,-3408.625244,1.510301,0.039883,0.343854,0.011398,0.000158,0.001035,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.231,184.31,1
$GPS,071014,190704,6701.196,-5648.780,35,0.8,35,-32.5