version: 66.12
glider: 217
mission: 3
dive: 175
start: 10 17 114 13 9 1
data:
$ID,217
$MISSION,3
$DIVE,175
$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,60
$R_STBD_OVSHOOT,38
$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
$GPS1,171014,130252,6642.851,-6013.488,40,0.7,40,-32.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-73.8
$GPS2,171014,130826,6642.865,-6013.493,6,0.8,6,-32.9
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,68.5,153009,-17.5,-9.167,-20.44,2275
$D_GRID,554
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.92,-136.3,189,2469,1301,1229,0.0,0.0,0,63,0.00,0.00,-43.10,0.000,16386,0.000,0.000,186,2469,2351,2370,2333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.92,-136.3,186,2469,2371,2333,3.1,-2.1,4,115,12.38,2.42,-28.25,0.000,18948,0.421,0.088,2783,1059,3262,3294,3231,0,0,0,0,0,0,14.25,14.49,14.72
$GC,183,-0.92,-136.3,2788,1060,3297,3230,21.1,-22.1,24,190,0.00,2.40,0.00,0.000,1030,0.000,0.070,2786,2438,3263,3297,3230,0,0,0,0,0,0,28.83,14.52,28.83
$GC,508,-0.92,-136.3,2786,2438,3299,3230,77.6,-16.3,37,515,0.00,2.40,0.00,0.000,260,0.000,0.103,2786,3781,3264,3298,3230,0,0,0,0,0,0,28.83,14.57,28.83
$GC,610,-0.92,-136.3,2785,3781,3298,3230,94.6,-16.7,56,617,0.00,2.20,0.00,0.000,1030,0.000,0.057,2786,2454,3264,3298,3230,0,0,0,0,0,0,28.83,14.66,28.83
$GC,931,-0.92,-136.3,2786,2455,3299,3230,145.1,-15.8,73,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2455,3265,3300,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1231,-0.92,-136.3,2786,2455,3299,3230,192.1,-16.1,88,1237,0.00,2.40,0.00,0.000,260,0.000,0.103,2785,3789,3264,3299,3230,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1290,-0.92,-136.3,2785,3787,3299,3230,201.7,-15.7,99,1298,0.00,2.22,0.00,0.000,1030,0.000,0.057,2785,2444,3264,3299,3230,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1596,-0.92,-136.3,2786,2443,3299,3230,245.1,-13.8,115,1603,0.00,2.35,0.00,0.000,516,0.000,0.070,2785,1057,3264,3299,3230,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1667,-0.92,-136.3,2786,1057,3299,3230,255.1,-13.8,128,1674,0.00,2.38,0.00,0.000,1030,0.000,0.067,2785,2448,3264,3300,3229,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1987,-0.92,-136.3,2785,2450,3299,3229,296.3,-12.6,146,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2450,3264,3299,3229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2288,-0.92,-136.3,2785,2449,3300,3228,335.0,-13.1,161,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2450,3263,3299,3228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2588,-0.92,-136.3,2785,2450,3299,3228,372.8,-12.6,176,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2450,3263,3299,3227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2889,-0.92,-136.3,2785,2450,3299,3226,408.3,-11.4,191,2895,0.00,2.35,0.00,0.000,516,0.000,0.070,2785,1065,3263,3299,3227,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2935,-0.92,-136.3,2785,1064,3300,3227,413.6,-11.4,199,2941,0.00,2.35,0.00,0.000,1030,0.000,0.068,2785,2452,3263,3299,3227,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3259,-0.92,-136.3,2785,2452,3299,3227,449.2,-11.1,218,3267,0.00,2.38,0.00,0.000,260,0.000,0.102,2785,3793,3263,3299,3227,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3320,-0.92,-136.3,2785,3793,3299,3227,456.4,-11.9,229,3327,0.00,2.22,0.00,0.000,1030,0.000,0.056,2792,2440,3263,3299,3227,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3625,-0.92,-136.3,2785,2439,3299,3227,489.7,-10.6,245,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2439,3263,3299,3227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3926,-0.92,-136.3,2785,2439,3300,3227,521.8,-10.8,260,3933,0.00,2.33,0.00,0.000,516,0.000,0.069,2785,1062,3263,3300,3227,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3960,-0.92,-136.3,2785,1062,3300,3227,525.8,-11.6,266,3968,0.00,2.38,0.00,0.000,1030,0.000,0.067,2785,2462,3263,3300,3227,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,4235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4235,begin apogee
$GC,4240,-0.18,0.0,2785,2387,3300,3227,555.7,-10.9,281,4358,0.90,0.00,109.40,1.550,10246,0.260,0.000,3028,2387,2706,2768,2644,0,0,0,0,0,0,14.52,28.83,13.54
$STATE,4360,end apogee,CONTROL_FINISHED_OK
$STATE,4360,begin climb
$GC,4362,0.92,136.3,3028,2387,2768,2645,559.2,0.0,287,4485,1.15,2.58,111.00,1.509,11012,0.181,0.071,3379,987,2152,2221,2084,0,0,0,0,0,0,14.09,13.85,13.29
$GC,4536,0.92,136.3,3378,987,2214,2083,547.6,10.0,315,4543,0.00,2.45,0.00,0.000,1030,0.000,0.059,3378,2377,2148,2214,2082,0,0,0,0,0,0,28.83,14.02,28.83
$GC,4860,0.92,136.3,3378,2377,2212,2081,513.8,10.4,334,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2376,2146,2212,2081,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5161,0.92,136.3,3378,2377,2211,2081,482.3,10.7,349,5168,0.00,2.42,0.00,0.000,516,0.000,0.069,3388,977,2146,2211,2081,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5226,0.92,136.3,3388,977,2211,2081,475.2,10.7,361,5233,0.00,2.38,0.00,0.000,1030,0.000,0.060,3389,2377,2146,2212,2080,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5551,0.92,136.3,3389,2377,2216,2081,440.0,11.1,380,5558,0.00,2.42,0.00,0.000,516,0.000,0.069,3399,971,2146,2211,2081,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5591,0.92,136.3,3399,970,2211,2081,435.5,11.0,387,5599,0.00,2.38,0.00,0.000,1030,0.000,0.060,3399,2375,2146,2211,2081,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5897,0.92,136.3,3399,2375,2210,2080,401.1,11.1,403,5903,0.00,2.38,0.00,0.000,516,0.000,0.069,3410,977,2146,2211,2081,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5957,0.92,136.3,3410,976,2210,2081,394.1,11.1,414,5967,0.00,2.35,0.00,0.000,1030,0.000,0.057,3410,2376,2146,2211,2081,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6263,0.92,136.3,3410,2376,2211,2081,359.2,11.2,430,6271,0.00,2.38,0.00,0.000,516,0.000,0.066,3421,974,2146,2211,2081,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6309,0.92,136.3,3421,977,2211,2081,353.9,11.8,438,6317,0.00,2.35,0.00,0.000,1030,0.000,0.060,3421,2379,2146,2211,2081,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6635,0.92,136.3,3421,2379,2211,2081,317.0,11.5,457,6642,0.00,2.42,0.00,0.000,260,0.000,0.096,3421,3780,2146,2211,2081,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6664,0.92,136.3,3421,3783,2211,2081,313.4,12.5,462,6673,0.15,2.33,0.00,0.000,5126,0.271,0.052,3396,2360,2146,2211,2081,0,0,0,0,0,0,14.54,14.73,28.83
$GC,6986,0.92,136.3,3397,2360,2210,2081,281.9,9.2,480,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2360,2146,2211,2081,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7287,0.92,136.3,3397,2360,2211,2081,253.4,9.3,495,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2360,2145,2211,2080,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7587,0.98,162.1,3397,2360,2211,2081,228.2,8.0,510,7610,0.00,0.00,21.25,1.113,8198,0.000,0.000,3397,2361,2047,2112,1983,0,0,0,0,0,0,28.83,28.83,14.12
$GC,7906,1.00,172.4,3397,2360,2107,1980,200.5,8.7,526,7921,0.00,2.40,9.20,1.017,8708,0.000,0.071,3406,984,2004,2068,1940,0,0,0,0,0,0,28.83,14.64,14.08
$GC,8063,1.03,182.5,3408,984,2066,1939,187.0,8.7,556,8078,0.00,2.35,9.85,1.014,9222,0.000,0.063,3407,2376,1965,2029,1901,0,0,0,0,0,0,28.83,14.65,14.06
$GC,8375,1.04,188.9,3407,2376,2024,1897,159.2,8.9,573,8389,0.00,2.38,6.40,0.929,8708,0.000,0.068,3417,985,1936,1999,1873,0,0,0,0,0,0,28.83,14.64,14.07
$GC,8454,1.07,201.0,3418,985,1999,1873,152.1,8.6,587,8473,0.00,2.35,11.43,1.006,9222,0.000,0.059,3418,2380,1886,1950,1822,0,0,0,0,0,0,28.83,14.61,14.04
$GC,8791,1.07,201.0,3418,2380,1947,1821,120.2,9.2,608,8798,0.00,2.38,0.00,0.000,516,0.000,0.070,3427,992,1883,1947,1820,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8860,1.07,201.0,3428,992,1947,1820,113.7,10.2,621,8867,0.00,2.33,0.00,0.000,1030,0.000,0.061,3427,2373,1883,1947,1820,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9191,1.08,208.7,3428,2373,1946,1820,84.1,8.8,636,9204,0.00,2.42,7.28,0.906,8708,0.000,0.070,3437,990,1855,1919,1791,0,0,0,0,0,0,28.83,14.66,14.12
$GC,9248,1.09,212.3,3436,990,1918,1792,79.0,9.0,646,9257,0.00,2.33,4.65,0.800,9222,0.000,0.059,3437,2376,1842,1906,1778,0,0,0,0,0,0,28.83,14.66,14.10
$GC,9566,1.09,212.3,3437,2376,1904,1774,49.6,9.3,658,9567,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2376,1839,1904,1775,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9865,1.16,244.2,3437,2376,1902,1774,25.7,7.7,668,9903,0.00,2.53,26.80,0.926,8452,0.000,0.098,3437,3770,1711,1778,1644,0,0,0,0,0,0,28.83,14.56,14.12
$GC,9920,1.22,271.8,3437,3770,1778,1644,21.2,7.9,677,9943,0.10,2.33,14.65,0.159,11270,0.198,0.053,3480,2366,1603,1675,1532,0,0,0,0,0,0,14.56,14.63,14.51
$STATE,10100,end climb,SURFACE_DEPTH_REACHED
$STATE,10100,begin surface coast
$FINISH,1.7,1.025138
$STATE,10121,end surface coast,CONTROL_FINISHED_OK
$STATE,10121,begin surface
$SM_CCo,10140,37.22,0.095,0,0,1281,350.04
$SM_GC,2.43,9.73,0.15,37.22,0.093,0.138,0.095,197,2461,1281,-9.01,-0.85,350.04,0,0,0,0,0,0,14.59,14.61,14.57
$RAFOS_CLK,-90
$RAFOS_FIX,6641.297852,-6010.329102,171014,121236,4,112,0.46
$IRIDIUM_FIX,6614.97,-6008.55,171014,100649
$TT8_MAMPS,0.038199,0.038199
$HUMID,44.05
$INTERNAL_PRESSURE,8.46478
$TCM_TEMP,12.20
$XPDR_PINGS,0
$SC_FREEKB,3964064
$24V_AH,13.29,44.932
$10V_AH,12.96,0.000
$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,24.400,85.625,331.900,37.225,0.000,0.000,0.000,211.050,0.000,0.000,6.525,2127.019,6404.367,548.838,1329.147,127.742,0.000,1355.098,0.000,1045.107,0.000,0.536,0.000
$DEVICE_MAMPS,420.750,137.700,1549.890,94.860,0.000,0.000,0.000,147.645,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10130.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.303,0.000,0.000,0.000
$MEM,143136
$DATA_FILE_SIZE,23418,698
$CAP_FILE_SIZE,113630,0
$CFSIZE,1024409600,997277696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10678.87,0x23769e,7,5
$SOUNDSPEED,1452.5
$EKF,10255,4003.998047,-3611.234375,1.664584,0.096328,0.288813,-0.005685,0.000159,0.001020,0.000099,0.003025,0.003025,0.000050
$CURRENT,0.120,187.90,1
$GPS,171014,155953,6643.342,-6011.412,23,0.7,23,-32.9