version: 66.12
glider: 217
mission: 3
dive: 122
start: 10 8 114 0 53 55
data:
$ID,217
$MISSION,3
$DIVE,122
$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,52
$R_STBD_OVSHOOT,33
$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
$GPS1,081014,004759,6703.233,-5650.825,64,0.9,64,-32.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-70.9
$GPS2,081014,005317,6703.254,-5650.926,4,0.9,5,-32.5
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$MHEAD_RNG_PITCHd_Wd,252.6,161330,-17.5,-9.167,-20.44,2275
$D_GRID,555
$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
$EKF,range,-7165.6
$GC,17,-0.92,-136.3,176,2461,1301,1229,0.0,0.0,0,73,0.00,0.00,-53.70,0.000,16386,0.000,0.000,176,2460,2664,2675,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.92,-136.3,177,2461,2676,2653,3.1,-1.6,5,113,12.15,2.40,-17.08,0.000,19204,0.415,0.119,2785,3775,3265,3298,3232,0,0,0,0,0,0,14.41,14.56,14.79
$GC,342,-0.92,-136.3,2785,3775,3301,3234,49.2,-17.3,55,349,0.00,2.20,0.00,0.000,1030,0.000,0.055,2785,2448,3267,3301,3234,0,0,0,0,0,0,28.83,14.69,28.83
$GC,668,-0.92,-136.3,2784,2446,3302,3234,97.6,-14.0,69,676,0.00,2.38,0.00,0.000,260,0.000,0.096,2785,3781,3267,3302,3233,0,0,0,0,0,0,28.83,14.68,28.83
$GC,841,-0.92,-136.3,2785,3776,3302,3234,123.1,-14.6,102,847,0.00,2.20,0.00,0.000,1030,0.000,0.056,2784,2442,3267,3303,3232,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1160,-0.92,-136.3,2784,2442,3302,3233,167.1,-13.7,120,1167,0.00,2.38,0.00,0.000,260,0.000,0.093,2775,3785,3268,3303,3234,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1240,-0.92,-136.3,2774,3784,3302,3233,179.3,-15.6,135,1248,0.00,2.20,0.00,0.000,1030,0.000,0.056,2775,2448,3268,3302,3234,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1546,-0.92,-136.3,2774,2448,3302,3233,221.6,-13.0,151,1553,0.00,2.35,0.00,0.000,516,0.000,0.070,2774,1052,3267,3302,3233,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1570,-0.92,-136.3,2774,1052,3302,3233,224.8,-13.1,155,1577,0.00,2.38,0.00,0.000,1030,0.000,0.068,2773,2453,3267,3302,3233,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1897,-0.92,-136.3,2773,2453,3302,3232,265.4,-12.4,174,1903,0.00,2.35,0.00,0.000,260,0.000,0.096,2772,3790,3266,3302,3231,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1922,-0.92,-136.3,2772,3790,3302,3231,268.5,-12.8,178,1928,0.00,2.20,0.00,0.000,1030,0.000,0.055,2772,2442,3267,3303,3231,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2246,-0.92,-136.3,2772,2445,3302,3231,306.2,-11.5,197,2254,0.00,2.33,0.00,0.000,516,0.000,0.069,2771,1060,3265,3301,3230,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2267,-0.92,-136.3,2772,1060,3302,3230,308.6,-11.5,200,2274,0.00,2.35,0.00,0.000,1030,0.000,0.067,2772,2451,3266,3302,3230,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2572,-0.92,-136.3,2772,2450,3302,3230,342.3,-11.0,216,2579,0.00,2.33,0.00,0.000,260,0.000,0.096,2772,3781,3266,3302,3230,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2596,-0.92,-136.3,2771,3781,3302,3230,344.9,-10.8,220,2603,0.00,2.17,0.00,0.000,1030,0.000,0.056,2772,2452,3266,3302,3230,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2921,-0.92,-136.3,2772,2452,3302,3230,379.3,-10.7,239,2928,0.00,2.33,0.00,0.000,516,0.000,0.067,2772,1063,3266,3302,3230,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2961,-0.92,-136.3,2772,1063,3302,3230,383.8,-10.7,246,2969,0.00,2.35,0.00,0.000,1030,0.000,0.066,2773,2454,3266,3302,3230,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3267,-0.92,-136.3,2770,2455,3302,3230,417.1,-10.9,262,3273,0.00,2.33,0.00,0.000,260,0.000,0.095,2772,3790,3266,3302,3230,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3285,-0.92,-136.3,2772,3790,3302,3230,419.4,-10.8,265,3295,0.00,2.17,0.00,0.000,1030,0.000,0.054,2773,2448,3265,3301,3230,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3591,-0.92,-136.3,2772,2448,3302,3230,454.3,-11.7,281,3599,0.00,2.33,0.00,0.000,516,0.000,0.067,2772,1056,3266,3302,3230,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3626,-0.92,-136.3,2772,1056,3303,3230,458.5,-12.3,287,3632,0.00,2.35,0.00,0.000,1030,0.000,0.065,2772,2454,3266,3302,3230,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3940,-0.92,-136.3,2772,2454,3302,3230,493.9,-11.1,304,3946,0.00,2.30,0.00,0.000,260,0.000,0.094,2772,3782,3266,3302,3231,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3964,-0.92,-136.3,2772,3782,3303,3230,496.7,-11.7,308,3971,0.00,2.17,0.00,0.000,1030,0.000,0.054,2772,2445,3266,3302,3230,0,0,0,0,0,0,28.83,14.87,28.83
$GC,4288,-0.92,-136.3,2772,2444,3303,3230,532.7,-11.1,327,4295,0.00,2.33,0.00,0.000,516,0.000,0.066,2772,1058,3266,3303,3230,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,4484,end dive,NO_VERTICAL_VELOCITY
$STATE,4485,begin apogee
$GC,4491,-0.18,0.0,2772,2386,3307,3229,538.5,0.0,365,4600,0.85,0.00,105.80,1.506,10246,0.188,0.000,3030,2387,2709,2773,2646,0,0,0,0,0,0,14.71,28.83,13.66
$STATE,4602,end apogee,CONTROL_FINISHED_OK
$STATE,4602,begin climb
$GC,4603,0.92,136.3,3030,2387,2770,2643,538.3,0.0,370,4722,1.12,2.55,107.72,1.468,10500,0.170,0.087,3370,3778,2147,2215,2080,0,0,0,0,0,0,14.16,13.99,13.47
$GC,4904,0.92,136.3,3370,3779,2208,2079,508.8,12.1,422,4911,0.00,2.38,0.00,0.000,1030,0.000,0.053,3380,2377,2143,2208,2079,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5229,0.92,136.3,3380,2375,2206,2079,473.0,11.0,441,5237,0.00,2.35,0.00,0.000,516,0.000,0.070,3390,985,2143,2207,2079,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5294,0.92,136.3,3390,985,2206,2079,465.7,11.7,453,5303,0.00,2.35,0.00,0.000,1030,0.000,0.060,3390,2374,2142,2206,2079,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5621,0.92,136.3,3390,2374,2205,2078,428.0,11.6,472,5627,0.00,2.38,0.00,0.000,516,0.000,0.070,3401,974,2141,2205,2078,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5669,0.92,136.3,3401,974,2204,2079,422.1,12.0,481,5677,0.00,2.38,0.00,0.000,1030,0.000,0.061,3401,2384,2142,2206,2078,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5990,0.92,136.3,3401,2383,2205,2079,383.0,12.1,499,5997,0.00,2.40,0.00,0.000,516,0.000,0.070,3412,981,2142,2205,2079,0,0,0,0,0,0,28.83,14.72,28.83
$GC,6076,0.92,136.3,3412,981,2205,2079,372.4,12.5,515,6083,0.00,2.35,0.00,0.000,1030,0.000,0.061,3412,2384,2141,2204,2078,0,0,0,0,0,0,28.83,14.72,28.83
$GC,6402,0.92,136.3,3412,2383,2205,2078,333.0,12.0,534,6408,0.00,2.38,0.00,0.000,516,0.000,0.069,3422,977,2143,2205,2082,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6457,0.92,136.3,3424,977,2200,2079,325.9,12.1,544,6465,0.10,2.35,0.00,0.000,5126,0.285,0.060,3399,2382,2142,2205,2079,0,0,0,0,0,0,14.64,14.77,28.83
$GC,6772,0.92,136.3,3399,2382,2205,2079,290.2,11.2,561,6781,0.00,2.38,0.00,0.000,516,0.000,0.069,3410,974,2142,2205,2079,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6818,0.92,136.3,3410,974,2207,2079,285.4,10.2,569,6827,0.00,2.38,0.00,0.000,1030,0.000,0.061,3409,2385,2142,2205,2079,0,0,0,0,0,0,28.83,14.80,28.83
$GC,7145,0.92,136.3,3409,2385,2205,2079,249.8,10.8,588,7151,0.00,2.38,0.00,0.000,516,0.000,0.069,3421,976,2142,2205,2079,0,0,0,0,0,0,28.83,14.80,28.83
$GC,7169,0.92,136.3,3420,976,2205,2079,247.1,10.9,592,7175,0.00,2.33,0.00,0.000,1030,0.000,0.060,3420,2376,2142,2205,2079,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7493,0.92,136.3,3421,2377,2205,2079,210.3,11.6,611,7500,0.00,2.35,0.00,0.000,516,0.000,0.068,3431,983,2145,2206,2084,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7533,0.92,136.3,3432,982,2206,2079,205.7,11.3,618,7542,0.15,2.33,0.00,0.000,5126,0.261,0.060,3395,2379,2142,2206,2079,0,0,0,0,0,0,14.69,14.82,28.83
$GC,7839,0.92,136.3,3396,2379,2206,2079,172.3,10.8,634,7846,0.00,2.35,0.00,0.000,516,0.000,0.070,3407,982,2142,2205,2079,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7857,0.92,136.3,3407,982,2206,2079,170.1,10.8,637,7867,0.00,2.33,0.00,0.000,1030,0.000,0.060,3406,2378,2142,2205,2079,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8163,0.92,136.3,3407,2378,2205,2079,138.1,10.5,653,8172,0.00,2.42,0.00,0.000,260,0.000,0.092,3406,3780,2141,2205,2078,0,0,0,0,0,0,28.83,14.80,28.83
$GC,8194,0.92,136.3,3406,3781,2205,2079,134.8,11.5,658,8201,0.00,2.30,0.00,0.000,1030,0.000,0.053,3417,2369,2141,2205,2078,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8504,0.92,136.3,3416,2368,2207,2079,102.8,10.2,673,8512,0.00,2.30,0.00,0.000,516,0.000,0.070,3433,987,2141,2205,2078,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8605,0.92,136.3,3428,987,2205,2078,92.5,9.9,692,8612,0.12,2.33,0.00,0.000,5126,0.265,0.061,3397,2381,2141,2205,2078,0,0,0,0,0,0,14.69,14.83,28.83
$GC,8935,0.95,148.9,3397,2381,2205,2078,62.6,8.6,707,8955,0.00,2.40,9.65,0.869,8708,0.000,0.069,3408,993,2097,2161,2034,0,0,0,0,0,0,28.83,14.79,14.31
$GC,9068,1.07,201.6,3408,989,2159,2034,52.4,6.8,732,9119,0.00,2.33,42.60,0.910,9222,0.000,0.062,3408,2382,1883,1948,1818,0,0,0,0,0,0,28.83,14.80,14.19
$GC,9438,1.12,223.6,3408,2382,1941,1814,22.8,8.2,753,9455,0.10,2.45,10.38,0.161,10756,0.179,0.070,3459,988,1800,1868,1732,0,0,0,0,0,0,14.68,14.69,14.60
$GC,9502,1.12,223.6,3460,988,1870,1734,16.2,10.2,764,9510,0.00,2.35,0.00,0.000,1030,0.000,0.060,3460,2383,1802,1870,1734,0,0,0,0,0,0,28.83,14.70,28.83
$STATE,9627,end climb,SURFACE_DEPTH_REACHED
$STATE,9627,begin surface coast
$FINISH,1.5,1.026048
$STATE,9638,end surface coast,CONTROL_FINISHED_OK
$STATE,9638,begin surface
$SM_CCo,9656,59.30,0.089,0,0,1282,350.04
$SM_GC,2.29,9.50,0.10,59.30,0.090,0.172,0.089,206,2457,1282,-8.98,-0.85,350.04,0,0,0,0,0,0,14.69,14.69,14.67
$RAFOS_CLK,-45
$RAFOS,5,1412728869,0.700000,0.685833,61,58,58,55,54,54,613,201,186,174,113,130
$RAFOS_FIX,6702.217285,-5657.764160,081014,000028,4,83,0.00
$IRIDIUM_FIX,6631.12,-5652.31,071014,220307
$TT8_MAMPS,0.03745,0.03745
$HUMID,43.03
$INTERNAL_PRESSURE,8.58197
$TCM_TEMP,13.80
$XPDR_PINGS,0
$SC_FREEKB,3981024
$24V_AH,13.47,32.304
$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,24.100,116.750,276.150,59.300,0.000,0.000,0.000,201.400,0.000,0.000,5.508,2340.229,5606.364,581.414,1437.845,106.068,0.000,1437.810,0.000,1156.906,0.000,0.535,0.000
$DEVICE_MAMPS,415.395,172.125,1506.285,88.740,0.000,0.000,0.000,146.880,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9646.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.230,0.000,0.000,0.000
$MEM,143188
$DATA_FILE_SIZE,26744,778
$CAP_FILE_SIZE,119866,0
$CFSIZE,1024409600,1003569152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10019.04,0x23769e,7,5
$SOUNDSPEED,1465.8
$EKF,9822,4022.668457,-3412.860840,1.474162,-0.423937,-0.694965,0.018804,0.000130,0.000858,0.000099,0.000025,0.000025,0.000050
$CURRENT,0.167,322.40,1
$GPS,081014,033734,6703.329,-5654.436,40,0.7,40,-32.6