version: 66.12
glider: 217
mission: 3
dive: 120
start: 10 7 114 19 13 0
data:
$ID,217
$MISSION,3
$DIVE,120
$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,51
$R_STBD_OVSHOOT,41
$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
$GPS1,071014,190704,6701.196,-5648.780,35,0.8,35,-32.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-70.0
$GPS2,071014,191226,6701.192,-5648.739,4,1.0,4,-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,37.1,3391,-17.5,-9.167,-20.44,2275
$D_GRID,547
$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,-136.3,186,2464,1303,1229,0.0,0.0,0,85,0.00,0.00,-65.18,0.000,16386,0.000,0.000,183,2465,2994,2992,2997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.92,-136.3,183,2464,2996,2993,3.4,-2.3,6,112,12.27,0.00,-5.65,0.000,18438,0.422,0.000,2788,2465,3265,3292,3239,0,0,0,0,0,0,14.35,28.83,14.78
$GC,431,-0.92,-136.3,2788,2465,3297,3234,67.5,-16.7,25,433,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2465,3267,3297,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,732,-0.92,-136.3,2788,2465,3297,3239,110.0,-14.5,35,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2465,3268,3298,3239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1041,-0.92,-136.3,2788,2465,3299,3239,151.4,-12.8,49,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2465,3269,3299,3239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1342,-0.92,-136.3,2788,2465,3299,3238,190.1,-12.6,64,1349,0.00,2.40,0.00,0.000,516,0.000,0.070,2788,1053,3268,3299,3238,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1386,-0.92,-136.3,2788,1053,3299,3238,195.7,-12.3,72,1393,0.00,2.35,0.00,0.000,1030,0.000,0.069,2786,2437,3268,3299,3237,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1712,-0.92,-136.3,2786,2437,3299,3237,233.4,-11.6,91,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2437,3268,3299,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2012,-0.92,-136.3,2786,2436,3299,3237,268.0,-11.5,106,2020,0.00,2.38,0.00,0.000,260,0.000,0.097,2785,3781,3268,3299,3237,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2058,-0.92,-136.3,2786,3781,3299,3237,273.8,-12.6,114,2066,0.00,2.20,0.00,0.000,1030,0.000,0.057,2786,2443,3267,3299,3236,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2384,-0.92,-136.3,2786,2443,3299,3236,311.1,-11.2,133,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2444,3267,3299,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2684,-0.92,-136.3,2786,2444,3299,3236,345.6,-11.3,148,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2443,3267,3298,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2985,-0.92,-136.3,2786,2444,3299,3236,380.6,-11.6,163,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2444,3267,3299,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3284,-0.92,-136.3,2786,2443,3299,3236,413.6,-10.7,178,3285,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2444,3267,3299,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3584,-0.92,-136.3,2786,2443,3299,3236,445.0,-10.4,193,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2443,3267,3299,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3884,-0.92,-136.3,2786,2443,3298,3236,476.4,-10.6,208,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2443,3267,3299,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4185,-0.92,-136.3,2786,2443,3299,3236,508.1,-10.5,223,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2443,3268,3299,3237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4484,-0.92,-136.3,2786,2443,3301,3236,539.6,-10.4,238,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2443,3268,3300,3236,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4682,end dive,NO_VERTICAL_VELOCITY
$STATE,4682,begin apogee
$GC,4687,-0.18,0.0,2785,2390,3301,3236,540.0,0.0,248,4796,0.80,0.00,105.95,1.509,10246,0.184,0.000,3030,2387,2708,2772,2645,0,0,0,0,0,0,14.73,28.83,13.66
$STATE,4798,end apogee,CONTROL_FINISHED_OK
$STATE,4798,begin climb
$GC,4799,0.92,136.3,3030,2389,2768,2642,539.9,0.0,253,4918,1.12,2.60,107.47,1.470,11012,0.171,0.073,3380,972,2148,2216,2081,0,0,0,0,0,0,14.19,14.00,13.47
$GC,4946,0.92,136.3,3379,971,2213,2080,529.5,10.3,269,4954,0.00,2.47,0.00,0.000,1030,0.000,0.062,3380,2375,2145,2212,2079,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5252,0.92,136.3,3380,2375,2209,2079,495.2,11.4,285,5258,0.00,2.42,0.00,0.000,516,0.000,0.070,3390,972,2144,2210,2079,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5321,0.92,136.3,3390,972,2209,2079,487.1,11.7,298,5330,0.00,2.42,0.00,0.000,1030,0.000,0.061,3390,2382,2144,2209,2080,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5642,0.92,136.3,3390,2382,2208,2079,449.4,11.8,316,5649,0.00,2.42,0.00,0.000,516,0.000,0.070,3401,967,2143,2208,2079,0,0,0,0,0,0,28.83,14.62,28.83
$EKF,range,-4731.8
$GC,5702,0.92,136.3,3401,967,2208,2079,442.1,12.2,327,5710,0.00,2.38,0.00,0.000,1030,0.000,0.060,3401,2376,2143,2208,2079,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6008,0.92,136.3,3401,2376,2208,2079,404.4,12.4,343,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2376,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-9124.0
$EKF,6145,4022.031494,-3408.621338,389.584290,0.271449,0.104873,-0.121236,0.000101,0.000663,0.000100,0.004025,0.004025,0.000093
$GC,6307,0.92,136.3,3401,2376,2208,2079,368.0,12.0,358,6316,0.00,2.38,0.00,0.000,516,0.000,0.070,3411,973,2143,2208,2079,0,0,0,0,0,0,28.83,14.74,28.83
$GC,6378,0.92,136.3,3412,973,2208,2079,359.6,11.7,371,6385,0.00,2.35,0.00,0.000,1030,0.000,0.061,3412,2377,2143,2208,2079,0,0,0,0,0,0,28.83,14.75,28.83
$GC,6697,0.92,136.3,3412,2377,2204,2079,320.3,12.3,389,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,3412,2377,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6998,0.92,136.3,3412,2377,2208,2079,284.4,12.0,404,7005,0.00,2.38,0.00,0.000,516,0.000,0.070,3422,973,2144,2208,2080,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7072,0.92,136.3,3423,973,2208,2079,275.3,11.6,418,7081,0.12,2.35,0.00,0.000,5126,0.269,0.061,3394,2378,2143,2208,2079,0,0,0,0,0,0,14.68,14.81,28.83
$GC,7390,0.92,136.3,3394,2379,2208,2079,241.8,10.3,435,7396,0.00,2.38,0.00,0.000,516,0.000,0.070,3405,972,2143,2208,2079,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7436,0.92,136.3,3405,972,2209,2079,236.8,10.6,443,7443,0.00,2.35,0.00,0.000,1030,0.000,0.062,3405,2376,2143,2208,2079,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7760,0.92,136.3,3405,2376,2209,2079,202.1,10.5,462,7761,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2376,2144,2209,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8061,0.92,136.3,3405,2376,2204,2079,171.8,9.9,477,8062,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2376,2144,2209,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8361,0.92,136.6,3405,2376,2209,2080,143.9,9.2,492,8368,0.00,2.35,0.00,0.000,516,0.000,0.070,3416,974,2144,2209,2079,0,0,0,0,0,0,28.83,14.82,28.83
$GC,8401,0.92,136.6,3416,973,2209,2079,140.0,9.8,499,8409,0.00,2.35,0.00,0.000,1030,0.000,0.063,3415,2380,2144,2209,2080,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8727,0.92,136.6,3416,2379,2209,2079,108.2,9.6,514,8735,0.00,2.40,0.00,0.000,516,0.000,0.072,3426,966,2144,2209,2080,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8779,0.92,136.6,3427,966,2209,2080,103.2,10.1,523,8786,0.12,2.35,0.00,0.000,5126,0.263,0.061,3397,2375,2144,2209,2080,0,0,0,0,0,0,14.71,14.83,28.83
$GC,9101,0.94,144.8,3397,2375,2208,2079,74.4,8.8,536,9114,0.00,2.50,6.93,0.839,8452,0.000,0.091,3398,3781,2117,2181,2053,0,0,0,0,0,0,28.83,14.80,14.31
$GC,9157,0.94,144.8,3397,3781,2178,2053,69.1,9.4,546,9166,0.00,2.33,0.00,0.000,1030,0.000,0.053,3408,2359,2116,2179,2053,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9474,1.07,202.1,3408,2358,2178,2051,43.8,6.6,558,9531,0.00,2.38,46.55,0.912,8708,0.000,0.072,3418,994,1880,1945,1815,0,0,0,0,0,0,28.83,14.60,14.20
$GC,9624,1.13,229.8,3418,995,1941,1814,32.9,7.9,585,9657,0.10,2.35,22.73,0.881,11270,0.177,0.062,3456,2382,1771,1836,1707,0,0,0,0,0,0,14.65,14.65,14.12
$STATE,9909,end climb,SURFACE_DEPTH_REACHED
$STATE,9909,begin surface coast
$FINISH,1.5,1.003659
$STATE,9930,end surface coast,CONTROL_FINISHED_OK
$STATE,9930,begin surface
$SM_CCo,9947,55.33,0.089,0,0,1281,350.04
$SM_GC,2.33,9.40,0.10,55.33,0.080,0.163,0.089,211,2460,1281,-8.96,-0.90,350.04,0,0,0,0,0,0,14.63,14.64,14.63
$RAFOS_CLK,-26
$RAFOS,6,1412714945,20.833334,20.818056,84,73,63,57,52,51,820,189,213,198,166,107
$RAFOS,5,1412714463,20.700001,20.684166,86,64,60,58,56,55,659,180,218,205,192,140
$RAFOS,4,1412713986,20.566668,20.551666,55,55,55,54,54,52,150,192,237,219,180,228
$RAFOS,3,1412713501,20.433332,20.416945,65,63,57,56,47,46,178,193,215,156,165,127
$RAFOS,2,1412713021,20.299999,20.283611,62,57,55,53,53,52,165,205,178,153,123,192
$RAFOS,1,1412712541,20.166666,20.150278,62,59,59,55,54,54,168,152,192,746,205,116
$RAFOS,0,1412712061,20.033333,20.016945,56,53,52,51,48,45,219,149,195,182,110,121
$RAFOS_FIX,6705.674805,-5658.040039,071014,202000,2,85,1.86
$IRIDIUM_FIX,6631.12,-5647.69,071014,161251
$TT8_MAMPS,0.03745,0.03745
$HUMID,43.58
$INTERNAL_PRESSURE,8.57221
$TCM_TEMP,13.60
$XPDR_PINGS,0
$SC_FREEKB,3981664
$24V_AH,13.47,31.959
$10V_AH,13.06,0.000
$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,23.950,57.375,289.625,55.325,0.000,0.000,0.000,208.150,0.000,0.000,5.490,1953.851,6590.460,502.483,1216.176,96.208,0.000,1227.905,0.000,925.648,2520.000,0.535,0.000
$DEVICE_MAMPS,421.515,219.555,1509.345,88.740,0.000,0.000,0.000,142.290,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9937.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.276,0.000,0.000,0.000
$MEM,143252
$DATA_FILE_SIZE,20082,617
$CAP_FILE_SIZE,103744,0
$CFSIZE,1024409600,1003782144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10569.63,0x23769e,7,5
$SOUNDSPEED,1466.6
$EKF,10088,4022.527832,-3408.352783,1.538442,0.512720,0.035493,-0.002671,0.000158,0.001040,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.023,87.27,1
$GPS,071014,220105,6702.579,-5648.026,19,0.8,19,-32.5