version: 66.12
glider: 217
mission: 3
dive: 173
start: 10 17 114 7 10 50
data:
$ID,217
$MISSION,3
$DIVE,173
$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,55
$R_STBD_OVSHOOT,35
$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
$GPS1,171014,070504,6642.687,-6007.442,36,0.9,36,-32.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-74.7
$GPS2,171014,071015,6642.636,-6007.455,5,0.8,5,-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,345.8,13800,-17.5,-9.167,-20.44,2275
$D_GRID,575
$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,-136.3,203,2461,1303,1230,0.0,0.0,0,63,0.00,0.00,-43.55,0.000,16386,0.000,0.000,203,2461,2363,2381,2346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.92,-136.3,203,2461,2382,2346,3.1,-1.6,4,113,12.60,2.42,-26.48,0.000,18948,0.434,0.093,2793,1058,3267,3297,3237,0,0,0,0,0,0,14.25,14.50,14.73
$GC,210,-0.92,-136.3,2793,1058,3301,3237,27.4,-19.5,29,217,0.00,2.40,0.00,0.000,1030,0.000,0.067,2786,2447,3269,3301,3237,0,0,0,0,0,0,28.83,14.52,28.83
$GC,542,-0.92,-136.3,2786,2447,3302,3237,86.1,-16.9,44,549,0.00,2.38,0.00,0.000,260,0.000,0.100,2783,3783,3269,3302,3236,0,0,0,0,0,0,28.83,14.57,28.83
$GC,650,-0.92,-136.3,2783,3783,3301,3236,104.4,-16.8,64,656,0.00,2.22,0.00,0.000,1030,0.000,0.057,2783,2445,3268,3300,3237,0,0,0,0,0,0,28.83,14.66,28.83
$GC,965,-0.92,-136.3,2783,2445,3302,3237,153.6,-15.2,81,972,0.00,2.40,0.00,0.000,260,0.000,0.098,2772,3781,3269,3302,3236,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1045,-0.92,-136.3,2772,3781,3302,3237,167.1,-16.7,96,1053,0.00,2.20,0.00,0.000,1030,0.000,0.057,2772,2449,3269,3302,3237,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1351,-0.92,-136.3,2772,2448,3302,3237,215.8,-15.9,112,1358,0.00,2.40,0.00,0.000,260,0.000,0.102,2772,3785,3269,3302,3237,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1454,-0.92,-136.3,2771,3785,3302,3237,231.9,-15.5,131,1463,0.00,2.22,0.00,0.000,1030,0.000,0.057,2772,2441,3269,3302,3236,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1760,-0.92,-136.3,2771,2441,3302,3236,275.9,-14.3,147,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2441,3269,3302,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2060,-0.92,-136.3,2772,2441,3302,3235,317.3,-13.6,162,2067,0.00,2.40,0.00,0.000,260,0.000,0.102,2772,3782,3268,3302,3235,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2140,-0.92,-136.3,2771,3782,3302,3235,328.6,-14.5,177,2148,0.00,2.20,0.00,0.000,1030,0.000,0.058,2770,2450,3268,3302,3235,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2446,-0.92,-136.3,2771,2450,3302,3234,368.3,-13.1,193,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2450,3268,3303,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2748,-0.92,-136.3,2771,2450,3302,3234,406.7,-12.7,208,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2450,3268,3302,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3047,-0.92,-136.3,2771,2450,3302,3234,443.7,-12.3,223,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2450,3268,3302,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3348,-0.92,-136.3,2770,2450,3302,3234,479.0,-12.1,238,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2450,3268,3302,3234,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-7749.5
$GC,3646,-0.92,-136.3,2771,2450,3302,3234,516.2,-12.1,253,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2450,3268,3302,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3948,-0.92,-136.3,2771,2450,3303,3234,551.5,-11.0,268,3950,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2450,3268,3303,3234,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4145,begin apogee
$GC,4150,-0.18,0.0,2772,2383,3303,3234,576.2,-12.3,278,4269,0.95,0.00,111.25,1.559,10246,0.259,0.000,3028,2383,2704,2766,2643,0,0,0,0,0,0,14.52,28.83,13.54
$STATE,4270,end apogee,CONTROL_FINISHED_OK
$STATE,4270,begin climb
$EKF,range,-3653.7
$GC,4272,0.92,136.3,3029,2382,2766,2642,580.9,0.0,284,4395,1.17,2.65,111.62,1.528,10500,0.172,0.093,3374,3780,2147,2216,2079,0,0,0,0,0,0,14.09,13.83,13.28
$GC,4442,0.92,136.3,3374,3780,2211,2078,567.8,12.1,310,4449,0.00,2.47,0.00,0.000,1030,0.000,0.054,3384,2368,2144,2210,2079,0,0,0,0,0,0,28.83,14.03,28.83
$GC,4764,0.92,136.3,3384,2365,2202,2078,535.0,10.2,328,4770,0.00,2.40,0.00,0.000,516,0.000,0.070,3395,979,2142,2206,2078,0,0,0,0,0,0,28.83,14.33,28.83
$EKF,range,-3326.6
$GC,4845,0.92,136.3,3395,979,2207,2078,526.4,10.6,343,4855,0.00,2.42,0.00,0.000,1030,0.000,0.060,3395,2386,2143,2207,2079,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5151,0.92,136.3,3395,2386,2207,2078,493.3,10.8,359,5152,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2386,2142,2207,2078,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-4747.7
$GC,5451,0.92,136.3,3395,2386,2207,2079,461.3,10.6,374,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2386,2142,2207,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5752,0.92,136.3,3395,2386,2206,2078,429.3,10.7,389,5759,0.00,2.42,0.00,0.000,516,0.000,0.070,3406,980,2142,2207,2078,0,0,0,0,0,0,28.83,14.60,28.83
$EKF,range,-4364.9
$GC,5802,0.92,136.3,3406,980,2205,2080,424.1,10.6,398,5809,0.00,2.38,0.00,0.000,1030,0.000,0.061,3406,2384,2142,2206,2078,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6123,0.92,136.3,3406,2384,2207,2078,388.7,11.0,416,6130,0.00,2.42,0.00,0.000,516,0.000,0.069,3417,972,2142,2207,2078,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6178,0.92,136.3,3417,971,2207,2079,382.2,11.6,426,6185,0.00,2.38,0.00,0.000,1030,0.000,0.060,3417,2380,2143,2207,2079,0,0,0,0,0,0,28.83,14.67,28.83
$EKF,range,-7110.9
$EKF,6270,4003.303955,-3609.044189,373.681580,0.083212,-0.154664,-0.109627,0.000098,0.000630,0.000100,0.006025,0.006025,0.000093
$GC,6493,0.92,136.3,3417,2376,2207,2079,345.8,11.4,443,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2380,2142,2207,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6793,0.92,136.3,3417,2380,2207,2078,313.6,10.1,458,6800,0.00,2.45,0.00,0.000,260,0.000,0.095,3417,3781,2143,2207,2079,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6844,0.92,136.3,3416,3781,2207,2078,308.1,11.0,467,6853,0.15,2.33,0.00,0.000,5126,0.271,0.052,3392,2360,2143,2207,2079,0,0,0,0,0,0,14.55,14.75,28.83
$GC,7166,0.93,137.1,3392,2360,2207,2079,278.5,9.1,485,7173,0.00,2.30,0.00,0.000,516,0.000,0.067,3402,986,2142,2207,2078,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7235,0.93,137.1,3403,986,2207,2078,272.1,9.5,498,7242,0.00,2.33,0.00,0.000,1030,0.000,0.058,3402,2379,2142,2207,2078,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7555,0.93,137.1,3402,2378,2207,2078,241.1,9.7,516,7562,0.00,2.47,0.00,0.000,260,0.000,0.094,3401,3777,2142,2206,2079,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7595,0.93,137.1,3402,3777,2207,2079,236.8,10.6,523,7604,0.00,2.30,0.00,0.000,1030,0.000,0.050,3413,2368,2142,2206,2079,0,0,0,0,0,0,28.83,14.77,28.83
$GC,7901,0.95,149.3,3413,2368,2206,2079,208.8,8.6,539,7921,0.00,2.35,10.45,1.041,8708,0.000,0.067,3423,995,2097,2161,2033,0,0,0,0,0,0,28.83,14.70,14.14
$GC,7965,0.96,153.3,3423,995,2160,2033,203.5,9.0,550,7974,0.00,2.33,4.07,0.812,9222,0.000,0.060,3422,2380,2086,2150,2023,0,0,0,0,0,0,28.83,14.70,14.11
$GC,8269,0.96,154.6,3423,2379,2146,2020,175.7,9.1,566,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2380,2083,2146,2020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8570,0.97,155.1,3423,2378,2146,2020,147.3,9.1,581,8577,0.00,2.47,0.00,0.000,260,0.000,0.097,3423,3783,2083,2146,2020,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8615,0.97,155.1,3423,3782,2145,2020,142.8,9.6,589,8622,0.00,2.33,0.00,0.000,1030,0.000,0.055,3433,2376,2082,2145,2019,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8940,1.00,169.6,3433,2380,2146,2020,113.7,8.5,607,8961,0.00,2.55,15.02,0.996,8452,0.000,0.097,3432,3777,2014,2077,1951,0,0,0,0,0,0,28.83,14.65,14.15
$GC,9014,1.00,169.6,3433,3777,2075,1951,106.7,9.2,620,9021,0.00,2.30,0.00,0.000,1030,0.000,0.054,3444,2381,2013,2075,1951,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9346,1.06,199.1,3444,2378,2075,1950,78.5,7.8,635,9379,0.00,2.45,25.17,0.972,8708,0.000,0.072,3454,982,1894,1959,1830,0,0,0,0,0,0,28.83,14.60,14.11
$GC,9406,1.07,200.4,3454,982,1957,1830,73.4,9.1,645,9412,0.00,2.35,0.00,0.000,1030,0.000,0.060,3454,2373,1893,1956,1830,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9722,1.09,210.0,3454,2373,1954,1828,44.5,8.7,657,9741,0.00,2.50,10.43,0.906,8452,0.000,0.098,3454,3781,1850,1914,1786,0,0,0,0,0,0,28.83,14.57,14.10
$GC,9908,1.09,213.2,3454,3781,1912,1786,27.5,9.0,692,9917,0.00,2.33,1.20,0.172,9222,0.000,0.054,3465,2377,1841,1906,1776,0,0,0,0,0,0,28.83,14.66,14.52
$GC,10212,1.19,257.4,3465,2377,1906,1777,3.7,7.2,721,10240,0.00,2.38,20.88,0.094,8708,0.000,0.070,3475,980,1660,1732,1589,0,0,0,0,0,0,28.83,14.63,14.62
$STATE,10245,end climb,SURFACE_DEPTH_REACHED
$STATE,10246,begin surface coast
$FINISH,1.7,1.012776
$STATE,10278,end surface coast,CONTROL_FINISHED_OK
$STATE,10278,begin surface
$SM_CCo,10299,43.95,0.096,0,0,1282,350.04
$SM_GC,2.27,9.73,2.55,43.95,0.099,0.061,0.096,207,2453,1282,-8.98,-0.85,350.04,0,0,0,0,0,0,14.61,14.65,14.60
$RAFOS_CLK,-90
$RAFOS,6,1413535749,8.833333,8.819167,107,65,63,61,59,56,783,173,158,122,213,186
$RAFOS,5,1413535279,8.700000,8.688611,93,61,59,57,52,51,847,196,151,214,139,1146
$RAFOS,4,1413534798,8.566667,8.555000,120,65,62,62,60,55,622,201,215,183,192,168
$RAFOS,3,1413534303,8.433333,8.417500,87,61,55,53,52,52,761,198,155,145,124,180
$RAFOS,2,1413533834,8.300000,8.287222,100,60,59,56,56,53,562,227,169,114,191,210
$RAFOS,1,1413533354,8.166667,8.153889,65,59,57,56,54,52,210,196,158,139,123,174
$RAFOS,0,1413532874,8.033334,8.020555,108,58,57,55,54,52,554,220,189,153,123,170
$RAFOS_FIX,6641.980469,-6003.259277,171014,080813,6,102,0.69
$IRIDIUM_FIX,6609.62,-5959.11,171014,035912
$TT8_MAMPS,0.036701,0.036701
$HUMID,43.85
$INTERNAL_PRESSURE,8.46478
$TCM_TEMP,13.00
$XPDR_PINGS,0
$SC_FREEKB,3964704
$24V_AH,13.28,44.551
$10V_AH,13.37,0.000
$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,24.600,85.925,310.100,43.950,0.000,0.000,0.000,184.200,0.000,0.000,6.537,2274.057,6392.478,536.785,1361.296,131.520,0.000,1331.793,0.000,1092.057,2520.000,0.535,0.000
$DEVICE_MAMPS,433.755,166.770,1559.070,95.625,0.000,0.000,0.000,150.705,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10279.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.284,0.000,0.000,0.000
$MEM,143204
$DATA_FILE_SIZE,26709,732
$CAP_FILE_SIZE,117283,0
$CFSIZE,1024409600,997490688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,11288.75,0x23769e,7,5
$SOUNDSPEED,1452.2
$EKF,10434,4003.582764,-3609.858887,1.655581,0.023045,0.015609,0.001707,0.000154,0.000983,0.000095,0.000025,0.000025,0.000034
$CURRENT,0.073,232.95,1
$GPS,171014,100441,6643.337,-6010.688,15,0.8,15,-32.9