version: 66.12
glider: 217
mission: 3
dive: 242
start: 10 29 114 0 42 53
data:
$ID,217
$MISSION,3
$DIVE,242
$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,63
$R_STBD_OVSHOOT,40
$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
$GPS1,291014,003558,6701.137,-5654.120,41,0.9,41,-32.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-73.3
$GPS2,291014,004217,6701.118,-5654.045,18,0.9,18,-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,75.2,5586,-17.5,-9.167,-20.44,2275
$D_GRID,615
$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,-136.3,189,2462,1303,1232,0.0,0.0,0,73,0.00,0.00,-53.22,0.000,16386,0.000,0.000,189,2462,2634,2646,2623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.92,-136.3,188,2462,2646,2623,3.1,-1.6,5,118,11.93,2.38,-19.25,0.000,18692,0.399,0.115,2786,3770,3267,3301,3234,0,0,0,0,0,0,14.26,14.47,14.77
$GC,216,-0.92,-136.3,2786,3770,3302,3234,23.7,-17.7,30,224,0.00,2.17,0.00,0.000,1030,0.000,0.049,2786,2449,3268,3302,3234,0,0,0,0,0,0,28.83,14.57,28.83
$GC,533,-0.92,-136.3,2786,2449,3302,3234,76.6,-15.1,42,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2449,3268,3302,3234,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-6714.4
$EKF,770,4021.192139,-3413.847656,104.204659,0.168288,0.216165,0.141758,0.000024,0.000160,0.000100,0.009025,0.009025,0.000139
$GC,832,-0.92,-136.3,2786,2449,3302,3233,116.1,-13.3,52,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2449,3268,3302,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1143,-0.92,-136.3,2786,2449,3302,3234,157.9,-13.1,67,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2449,3268,3302,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1444,-0.92,-136.3,2786,2449,3303,3234,197.3,-13.1,82,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2449,3268,3303,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1744,-0.92,-136.3,2786,2449,3303,3234,234.9,-12.3,97,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2449,3269,3304,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2045,-0.92,-136.3,2785,2449,3304,3234,272.2,-12.4,112,2051,0.00,2.35,0.00,0.000,260,0.000,0.093,2786,3771,3271,3309,3234,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2105,-0.92,-136.3,2785,3771,3303,3234,280.3,-12.3,123,2113,0.00,2.15,0.00,0.000,1030,0.000,0.051,2785,2452,3268,3304,3233,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2411,-0.92,-136.3,2785,2452,3304,3234,318.3,-12.5,139,2417,0.00,2.33,0.00,0.000,516,0.000,0.063,2785,1065,3268,3303,3233,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2440,-0.92,-136.3,2785,1065,3304,3233,322.1,-12.3,144,2447,0.00,2.33,0.00,0.000,1030,0.000,0.060,2785,2444,3268,3304,3233,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2761,-0.92,-136.3,2785,2444,3304,3232,360.7,-11.7,162,2767,0.00,2.35,0.00,0.000,260,0.000,0.093,2785,3781,3267,3303,3232,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2795,-0.92,-136.3,2785,3782,3303,3232,365.1,-12.7,168,2802,0.00,2.17,0.00,0.000,1030,0.000,0.050,2785,2445,3267,3303,3232,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3110,-0.92,-136.3,2786,2445,3303,3231,401.4,-11.4,185,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2445,3266,3303,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3411,-0.92,-136.3,2785,2444,3301,3231,433.9,-10.4,200,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2445,3267,3304,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3711,-0.92,-136.3,2789,2445,3303,3230,464.0,-9.8,215,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2444,3267,3303,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4012,-0.92,-136.3,2785,2444,3305,3231,493.5,-10.0,230,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2445,3267,3303,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4312,-0.92,-136.3,2785,2445,3304,3231,523.3,-10.0,245,4320,0.00,2.38,0.00,0.000,260,0.000,0.092,2785,3786,3267,3304,3231,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4352,-0.92,-136.3,2785,3786,3304,3231,527.8,-10.5,252,4360,0.00,2.17,0.00,0.000,1030,0.000,0.050,2785,2449,3267,3304,3231,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4658,-0.92,-136.3,2785,2449,3305,3231,558.1,-10.1,268,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2449,3268,3305,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4959,-0.92,-136.3,2785,2449,3306,3231,588.2,-10.2,283,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2449,3268,3306,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5260,-0.92,-136.3,2785,2449,3307,3230,600.2,-0.1,298,5267,0.00,2.35,0.00,0.000,260,0.000,0.090,2785,3781,3269,3307,3231,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,5278,end dive,NO_VERTICAL_VELOCITY
$STATE,5278,begin apogee
$GC,5285,-0.18,0.0,2785,2367,3307,3231,600.0,0.0,301,5401,0.80,0.00,108.78,1.575,10246,0.152,0.000,3037,2365,2708,2772,2644,0,0,0,0,0,0,14.59,28.83,13.57
$STATE,5403,end apogee,CONTROL_FINISHED_OK
$STATE,5403,begin climb
$GC,5405,0.92,136.3,3038,2366,2771,2643,599.8,0.0,307,5524,1.08,2.50,109.22,1.548,10756,0.155,0.062,3380,987,2149,2218,2080,0,0,0,0,0,0,14.16,13.95,13.35
$GC,5641,0.92,136.3,3380,987,2212,2079,578.8,10.0,348,5648,0.00,2.42,0.00,0.000,1030,0.000,0.054,3380,2382,2145,2212,2079,0,0,0,0,0,0,28.83,14.20,28.83
$GC,5962,0.92,136.3,3380,2382,2210,2079,542.9,11.2,366,5969,0.00,2.40,0.00,0.000,516,0.000,0.063,3390,986,2144,2210,2079,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6014,0.92,136.3,3390,986,2210,2078,536.8,12.4,375,6021,0.00,2.35,0.00,0.000,1030,0.000,0.054,3390,2376,2144,2210,2078,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6334,0.92,136.3,3390,2376,2207,2079,499.6,11.8,393,6335,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2376,2143,2209,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6635,0.92,136.3,3390,2376,2208,2079,464.4,11.7,408,6642,0.00,2.38,0.00,0.000,516,0.000,0.065,3399,977,2143,2208,2079,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6694,0.92,136.3,3401,977,2208,2079,457.1,12.1,419,6702,0.00,2.35,0.00,0.000,1030,0.000,0.055,3401,2381,2143,2208,2079,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7001,0.92,136.3,3401,2381,2208,2079,420.4,12.0,435,7007,0.00,2.35,0.00,0.000,516,0.000,0.065,3412,985,2143,2208,2079,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7030,0.92,136.3,3412,985,2208,2079,416.7,12.0,440,7037,0.00,2.33,0.00,0.000,1030,0.000,0.053,3412,2381,2143,2208,2079,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7351,0.92,136.3,3413,2381,2207,2079,376.8,12.3,458,7357,0.00,2.35,0.00,0.000,516,0.000,0.063,3423,986,2143,2208,2079,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7422,0.92,136.3,3423,986,2208,2079,367.5,12.8,471,7429,0.12,2.33,0.00,0.000,5126,0.259,0.054,3394,2385,2143,2208,2079,0,0,0,0,0,0,14.50,14.70,28.83
$GC,7742,0.92,136.3,3394,2384,2207,2079,329.9,11.6,489,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2384,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8043,0.92,136.3,3394,2385,2208,2079,294.8,11.5,504,8050,0.00,2.35,0.00,0.000,516,0.000,0.064,3405,986,2143,2207,2079,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8123,0.92,136.3,3405,989,2207,2079,285.4,11.6,519,8131,0.00,2.33,0.00,0.000,1030,0.000,0.055,3405,2383,2143,2208,2079,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8430,0.92,136.3,3405,2383,2209,2079,251.1,11.2,535,8437,0.00,2.35,0.00,0.000,516,0.000,0.064,3416,985,2144,2209,2080,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8475,0.92,136.3,3415,985,2209,2079,245.8,11.9,543,8482,0.00,2.33,0.00,0.000,1030,0.000,0.054,3415,2381,2144,2209,2079,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8801,0.92,136.3,3416,2381,2209,2079,208.6,11.3,562,8808,0.00,2.35,0.00,0.000,516,0.000,0.063,3426,986,2144,2209,2079,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8835,0.92,136.3,3426,986,2210,2079,204.3,11.8,568,8843,0.12,2.30,0.00,0.000,5126,0.251,0.054,3396,2376,2145,2209,2081,0,0,0,0,0,0,14.53,14.73,28.83
$GC,9151,0.92,136.3,3396,2375,2209,2080,171.9,10.1,585,9152,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,2376,2144,2209,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9452,0.93,136.6,3396,2376,2209,2079,144.4,9.1,600,9459,0.00,2.38,0.00,0.000,516,0.000,0.066,3407,977,2144,2209,2079,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9529,0.93,136.6,3407,977,2209,2079,137.0,9.7,614,9535,0.00,2.33,0.00,0.000,1030,0.000,0.056,3407,2374,2144,2209,2079,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9845,0.93,138.2,3408,2374,2209,2079,108.1,9.1,629,9853,0.00,2.45,0.00,0.000,260,0.000,0.088,3407,3778,2143,2208,2079,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9891,0.93,138.2,3407,3778,2208,2079,103.4,10.2,637,9899,0.00,2.33,0.00,0.000,1030,0.000,0.047,3418,2358,2143,2208,2078,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10218,0.93,138.2,3418,2358,2208,2079,74.1,9.4,651,10220,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2358,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10518,1.01,173.7,3418,2358,2206,2079,50.0,7.6,661,10558,0.00,2.35,29.25,0.908,8708,0.000,0.067,3429,987,1998,2063,1934,0,0,0,0,0,0,28.83,14.69,14.22
$GC,10632,1.03,186.6,3429,987,2060,1934,40.6,8.6,681,10653,0.00,2.35,11.45,0.864,9222,0.000,0.056,3428,2389,1947,2012,1882,0,0,0,0,0,0,28.83,14.66,14.14
$GC,10961,1.03,186.6,3428,2389,2008,1876,9.9,9.6,705,10969,0.00,2.38,0.00,0.000,516,0.000,0.065,3437,994,1944,2008,1881,0,0,0,0,0,0,28.83,14.64,28.83
$GC,10997,1.05,194.2,3438,994,2008,1880,6.8,8.8,711,11005,0.00,2.33,2.97,0.098,9222,0.000,0.055,3438,2384,1917,1981,1854,0,0,0,0,0,0,28.83,14.64,14.62
$STATE,11051,end climb,SURFACE_DEPTH_REACHED
$STATE,11051,begin surface coast
$FINISH,1.6,1.014200
$STATE,11074,end surface coast,CONTROL_FINISHED_OK
$STATE,11074,begin surface
$SM_CCo,11093,72.78,0.086,0,0,1281,350.04
$SM_GC,2.57,9.32,0.10,72.78,0.079,0.158,0.086,213,2468,1281,-8.96,-0.85,350.04,0,0,0,0,0,0,14.60,14.64,14.61
$RAFOS_CLK,-33
$RAFOS,6,1414543753,0.833333,0.820278,82,69,62,60,54,50,774,191,154,205,170,219
$RAFOS_FIX,6702.091797,-5706.265625,291014,000028,2,108,0.00
$IRIDIUM_FIX,6631.12,-5705.96,281014,211928
$TT8_MAMPS,0.03745,0.03745
$HUMID,42.32
$INTERNAL_PRESSURE,8.56244
$TCM_TEMP,13.70
$XPDR_PINGS,0
$SC_FREEKB,3942624
$24V_AH,13.35,60.094
$10V_AH,12.99,0.000
$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,23.375,84.200,261.675,72.775,0.000,0.000,0.000,224.775,0.000,0.000,20.042,2277.439,7209.888,527.621,1387.925,169.739,0.000,1356.093,0.000,1076.216,360.000,0.536,0.000
$DEVICE_MAMPS,398.565,157.590,1575.135,86.445,0.000,0.000,0.000,146.115,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11086.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.181,0.000,0.000,0.000
$MEM,143200
$DATA_FILE_SIZE,23368,719
$CAP_FILE_SIZE,119468,0
$CFSIZE,1024409600,989528064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,11965.75,0x23769e,7,5
$SOUNDSPEED,1466.8
$EKF,11264,4022.143799,-3411.109375,1.556726,0.326983,0.326174,-0.018263,0.000176,0.001154,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.131,336.60,1
$GPS,291014,035034,6702.914,-5651.835,35,0.9,35,-32.5