version: 66.12
glider: 217
mission: 3
dive: 171
start: 10 17 114 0 44 45
data:
$ID,217
$MISSION,3
$DIVE,171
$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,-2
$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,58
$R_STBD_OVSHOOT,31
$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
$GPS1,171014,003828,6643.031,-6001.679,40,0.8,40,-32.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-74.1
$GPS2,171014,004409,6643.036,-6001.652,5,0.9,5,-32.9
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$MHEAD_RNG_PITCHd_Wd,353.6,17901,-17.5,-9.167,-20.44,2275
$D_GRID,616
$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,-4538.4
$GC,17,-0.92,-136.3,185,2457,1301,1229,0.0,0.0,0,63,0.00,0.00,-43.35,0.000,16386,0.000,0.000,183,2459,2361,2381,2342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.92,-136.3,183,2458,2383,2342,3.1,-1.9,4,113,12.95,2.42,-26.40,0.000,18948,0.442,0.094,2794,1059,3266,3298,3235,0,0,0,0,0,0,14.23,14.50,14.72
$GC,217,-0.92,-136.3,2794,1058,3302,3235,28.1,-20.2,30,224,0.00,2.40,0.00,0.000,1030,0.000,0.068,2785,2445,3269,3303,3235,0,0,0,0,0,0,28.83,14.50,28.83
$GC,542,-0.92,-136.3,2785,2445,3302,3235,85.8,-17.0,44,549,0.00,2.38,0.00,0.000,516,0.000,0.068,2791,1066,3269,3303,3235,0,0,0,0,0,0,28.83,14.59,28.83
$GC,578,-0.92,-136.3,2791,1066,3303,3235,91.4,-15.9,50,585,0.00,2.38,0.00,0.000,1030,0.000,0.067,2786,2452,3269,3303,3235,0,0,0,0,0,0,28.83,14.59,28.83
$EKF,range,-6032.2
$EKF,640,4003.099365,-3601.843506,96.840561,0.226053,-0.175529,0.185844,0.000014,0.000088,0.000095,0.001025,0.001025,0.000034
$GC,892,-0.92,-136.3,2786,2451,3303,3235,136.8,-14.1,67,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2451,3268,3303,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1194,-0.92,-136.3,2786,2452,3303,3235,181.1,-14.6,82,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2451,3269,3303,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1493,-0.92,-136.3,2785,2451,3303,3234,224.9,-14.4,97,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2451,3269,3303,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1793,-0.92,-136.3,2782,2451,3303,3234,265.4,-13.7,112,1800,0.00,2.38,0.00,0.000,516,0.000,0.070,2786,1065,3268,3303,3234,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1853,-0.92,-136.3,2786,1065,3303,3233,273.9,-13.8,123,1861,0.00,2.38,0.00,0.000,1030,0.000,0.070,2785,2453,3268,3303,3233,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2159,-0.92,-136.3,2785,2454,3303,3232,315.6,-13.7,139,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2453,3267,3303,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2462,-0.92,-136.3,2781,2453,3303,3232,355.1,-12.1,154,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2450,3267,3303,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2760,-0.92,-136.3,2785,2453,3303,3238,391.5,-12.5,169,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2453,3268,3304,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3060,-0.92,-136.3,2785,2453,3303,3232,428.2,-12.2,184,3067,0.00,2.38,0.00,0.000,516,0.000,0.070,2786,1062,3267,3303,3231,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3098,-0.92,-136.3,2785,1063,3303,3231,433.2,-12.8,191,3106,0.00,2.38,0.00,0.000,1030,0.000,0.070,2785,2455,3267,3303,3231,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3405,-0.92,-136.3,2785,2455,3303,3231,468.3,-11.2,207,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2455,3267,3304,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3707,-0.92,-136.3,2788,2455,3303,3231,501.4,-11.0,222,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2455,3267,3303,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4006,-0.92,-136.3,2785,2455,3303,3231,535.2,-11.2,237,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2455,3267,3303,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4307,-0.92,-136.3,2785,2455,3304,3232,568.8,-11.7,252,4314,0.00,2.35,0.00,0.000,260,0.000,0.103,2785,3783,3265,3298,3232,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4352,-0.92,-136.3,2785,3783,3304,3232,574.3,-11.8,260,4359,0.00,2.20,0.00,0.000,1030,0.000,0.058,2784,2449,3267,3303,3231,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4677,-0.92,-136.3,2785,2449,3304,3231,609.8,-10.6,279,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2449,3268,3304,3232,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4736,begin apogee
$GC,4741,-0.18,0.0,2785,2381,3304,3232,616.6,-11.1,282,4858,0.90,0.00,111.30,1.614,10246,0.250,0.000,3031,2381,2705,2768,2643,0,0,0,0,0,0,14.53,28.83,13.52
$STATE,4860,end apogee,CONTROL_FINISHED_OK
$STATE,4860,begin climb
$GC,4861,0.92,136.3,3030,2381,2767,2643,620.5,0.0,288,4983,1.17,0.00,111.95,1.577,10758,0.175,0.000,3373,2380,2148,2217,2080,0,0,0,0,0,0,14.07,28.83,13.25
$GC,5278,0.92,136.3,3373,2380,2209,2079,584.3,9.7,318,5285,0.00,2.45,0.00,0.000,516,0.000,0.072,3383,978,2144,2209,2079,0,0,0,0,0,0,28.83,14.27,28.83
$GC,5312,0.92,136.3,3383,977,2209,2079,580.7,10.3,324,5319,0.00,2.45,0.00,0.000,1030,0.000,0.062,3383,2387,2144,2209,2079,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5627,0.92,136.3,3383,2387,2209,2079,547.1,10.5,341,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,2387,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5928,0.92,136.3,3383,2386,2208,2079,516.0,10.2,356,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,2387,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6228,0.92,136.3,3383,2387,2208,2079,484.5,10.8,371,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,2387,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6529,0.92,136.3,3384,2387,2208,2079,453.0,10.3,386,6530,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,2387,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6828,0.92,136.3,3383,2387,2208,2079,423.2,9.9,401,6836,0.00,2.40,0.00,0.000,516,0.000,0.070,3394,976,2143,2208,2079,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6894,0.92,136.3,3395,976,2208,2079,416.5,10.1,413,6902,0.00,2.35,0.00,0.000,1030,0.000,0.061,3394,2378,2143,2208,2079,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7220,0.92,136.3,3394,2378,2208,2079,383.2,10.0,432,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2378,2143,2208,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7521,0.92,136.3,3394,2378,2208,2079,353.3,10.1,447,7528,0.00,2.38,0.00,0.000,516,0.000,0.069,3405,976,2143,2208,2079,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7581,0.92,136.3,3405,976,2208,2078,347.1,10.0,458,7589,0.00,2.35,0.00,0.000,1030,0.000,0.060,3405,2377,2143,2208,2079,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7887,0.92,136.3,3405,2377,2208,2078,315.8,10.2,474,7889,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2377,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8187,0.92,136.3,3405,2377,2208,2078,285.6,9.9,489,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2377,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8489,0.92,136.3,3405,2377,2208,2079,256.6,9.7,504,8495,0.00,2.45,0.00,0.000,260,0.000,0.096,3405,3778,2143,2208,2079,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8527,0.92,136.3,3405,3778,2208,2079,252.2,11.2,511,8535,0.00,2.33,0.00,0.000,1030,0.000,0.054,3416,2360,2143,2208,2079,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8834,0.93,137.4,3416,2360,2207,2079,221.8,9.1,527,8841,0.00,2.30,0.00,0.000,516,0.000,0.070,3425,990,2146,2215,2078,0,0,0,0,0,0,28.83,14.74,28.83
$GC,8964,0.93,137.4,3426,988,2208,2079,209.4,9.4,552,8971,0.12,2.33,0.00,0.000,5126,0.258,0.061,3396,2379,2143,2208,2079,0,0,0,0,0,0,14.59,14.75,28.83
$GC,9285,1.00,172.9,3397,2378,2208,2079,183.4,7.6,570,9324,0.00,2.53,28.95,1.069,8452,0.000,0.096,3396,3777,2001,2066,1936,0,0,0,0,0,0,28.83,14.60,14.12
$GC,9444,1.00,172.9,3396,3777,2062,1936,168.8,9.2,598,9451,0.00,2.35,0.00,0.000,1030,0.000,0.054,3407,2365,1998,2061,1936,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9769,1.05,191.3,3407,2364,2061,1934,141.0,8.3,617,9790,0.00,2.40,15.77,1.009,8708,0.000,0.071,3417,990,1925,1990,1861,0,0,0,0,0,0,28.83,14.62,14.09
$GC,9847,1.05,191.3,3418,990,1988,1861,134.1,9.4,631,9853,0.00,2.35,0.00,0.000,1030,0.000,0.062,3417,2378,1924,1988,1860,0,0,0,0,0,0,28.83,14.62,28.83
$GC,10183,1.05,194.0,3418,2378,1987,1860,103.3,9.0,646,10184,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2378,1923,1986,1860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10482,1.08,205.7,3417,2378,1985,1859,77.0,8.6,656,10502,0.00,2.38,13.00,0.946,8708,0.000,0.070,3426,986,1866,1931,1802,0,0,0,0,0,0,28.83,14.66,14.13
$GC,10552,1.11,220.7,3426,986,1929,1802,71.3,8.5,668,10572,0.00,2.35,13.98,0.940,9222,0.000,0.060,3426,2380,1806,1872,1741,0,0,0,0,0,0,28.83,14.64,14.11
$GC,10890,1.12,224.9,3426,2380,1868,1738,40.4,9.0,684,10896,0.00,0.00,3.22,0.650,8198,0.000,0.000,3426,2379,1792,1858,1727,0,0,0,0,0,0,28.83,28.83,14.07
$GC,11192,1.22,269.2,3426,2380,1860,1727,18.7,7.2,698,11222,0.12,2.45,23.42,0.148,10756,0.165,0.073,3486,993,1614,1686,1542,0,0,0,0,0,0,14.64,14.64,14.57
$GC,11358,1.25,282.8,3487,993,1682,1543,2.5,8.6,727,11367,0.00,2.35,4.47,0.094,9218,0.000,0.065,3487,2376,1572,1647,1497,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,11368,end climb,SURFACE_DEPTH_REACHED
$STATE,11368,begin surface coast
$FINISH,1.6,1.014235
$STATE,11391,end surface coast,CONTROL_FINISHED_OK
$STATE,11391,begin surface
$SM_CCo,11410,33.88,0.095,0,0,1281,350.04
$SM_GC,2.45,9.77,0.10,33.88,0.102,0.168,0.095,217,2455,1281,-8.97,-1.10,350.04,0,0,0,0,0,0,14.55,14.63,14.61
$RAFOS_CLK,-97
$RAFOS,6,1413506954,0.833333,0.820556,97,63,59,57,53,53,747,217,187,139,149,203
$RAFOS,4,1413505982,0.566667,0.550556,73,65,61,60,58,58,691,164,123,147,212,178
$RAFOS_FIX,6642.136230,-5957.858398,171014,000018,5,87,0.00
$IRIDIUM_FIX,6614.97,-6003.82,161014,212605
$TT8_MAMPS,0.038199,0.038199
$HUMID,44.92
$INTERNAL_PRESSURE,8.47455
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,3965344
$24V_AH,13.25,44.168
$10V_AH,13.34,0.000
$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,25.050,66.725,326.075,33.875,0.000,0.000,0.000,212.150,0.000,0.000,5.750,2331.857,7457.475,510.565,1383.080,135.375,0.000,1328.491,0.000,1096.249,360.000,0.536,0.000
$DEVICE_MAMPS,442.170,168.300,1614.150,94.860,0.000,0.000,0.000,150.705,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11391.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.208,0.000,0.000,0.000
$MEM,143140
$DATA_FILE_SIZE,26776,732
$CAP_FILE_SIZE,119030,0
$CFSIZE,1024409600,997720064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,11688.65,0x23769e,7,5
$SOUNDSPEED,1453.1
$EKF,11542,4004.162109,-3604.169434,1.584754,0.061481,-0.077873,-0.020747,0.000184,0.001178,0.000095,0.001025,0.001025,0.000034
$CURRENT,0.316,183.63,1
$GPS,171014,035704,6642.191,-6004.504,29,0.8,29,-32.9