version: 66.12
glider: 217
mission: 3
dive: 300
start: 11 7 114 23 20 54
data:
$ID,217
$MISSION,3
$DIVE,300
$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,39
$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
$GPS1,071114,231453,6640.722,-6011.428,12,0.8,12,-32.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-71.6
$GPS2,071114,232016,6640.695,-6011.354,4,1.4,5,-32.8
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$MHEAD_RNG_PITCHd_Wd,17.5,12339,-17.5,-9.167,-20.44,2275
$D_GRID,553
$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,18,-0.92,-136.3,174,2461,1302,1230,0.0,0.0,0,63,0.00,0.00,-42.88,0.000,16386,0.000,0.000,170,2462,2333,2359,2308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.92,-136.3,169,2461,2355,2313,3.0,-1.2,4,113,12.38,0.00,-31.52,0.000,18694,0.409,0.000,2791,2462,3264,3292,3236,0,0,0,0,0,0,14.18,28.83,14.71
$GC,431,-0.92,-136.3,2792,2462,3299,3235,64.2,-18.2,28,438,0.00,2.35,0.00,0.000,260,0.000,0.096,2786,3767,3267,3299,3235,0,0,0,0,0,0,28.83,14.42,28.83
$GC,538,-0.92,-136.3,2786,3767,3299,3235,84.5,-19.1,48,545,0.00,2.20,0.00,0.000,1030,0.000,0.053,2785,2450,3267,3299,3235,0,0,0,0,0,0,28.83,14.57,28.83
$GC,855,-0.92,-136.3,2786,2449,3299,3235,137.0,-16.3,63,861,0.00,2.38,0.00,0.000,516,0.000,0.067,2786,1063,3267,3299,3235,0,0,0,0,0,0,28.83,14.53,28.83
$GC,889,-0.92,-136.3,2786,1063,3299,3235,143.1,-16.8,69,897,0.00,2.38,0.00,0.000,1030,0.000,0.063,2786,2444,3267,3299,3235,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1206,-0.92,-136.3,2786,2443,3299,3235,192.0,-15.4,86,1213,0.00,2.38,0.00,0.000,260,0.000,0.096,2785,3780,3267,3299,3235,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1246,-0.92,-136.3,2785,3779,3299,3235,198.6,-15.7,93,1256,0.00,2.22,0.00,0.000,1030,0.000,0.054,2785,2441,3267,3299,3235,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1552,-0.92,-136.3,2785,2441,3299,3235,245.6,-15.7,109,1560,0.00,2.42,0.00,0.000,260,0.000,0.096,2786,3783,3267,3299,3235,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1587,-0.92,-136.3,2785,3783,3299,3235,251.1,-14.8,115,1594,0.00,2.22,0.00,0.000,1030,0.000,0.054,2786,2441,3266,3299,3234,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1902,-0.92,-136.3,2786,2441,3298,3234,297.9,-14.7,132,1909,0.00,2.35,0.00,0.000,516,0.000,0.067,2785,1066,3266,3299,3234,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1941,-0.92,-136.3,2785,1066,3299,3234,303.9,-14.9,139,1948,0.00,2.38,0.00,0.000,1030,0.000,0.063,2786,2451,3266,3299,3234,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2247,-0.92,-136.3,2785,2451,3299,3235,345.5,-13.3,155,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2450,3266,3298,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2550,-0.92,-136.3,2786,2451,3299,3233,383.2,-12.4,170,2551,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2451,3265,3299,3232,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-9038.7
$GC,2847,-0.92,-136.3,2785,2450,3299,3232,419.0,-11.8,185,2856,0.00,2.38,0.00,0.000,260,0.000,0.099,2785,3779,3265,3299,3232,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2967,-0.92,-136.3,2786,3778,3298,3232,433.9,-12.6,207,2974,0.00,2.20,0.00,0.000,1030,0.000,0.054,2786,2451,3265,3299,3232,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3282,-0.92,-136.3,2786,2451,3299,3232,471.7,-11.4,224,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2452,3265,3299,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3583,-0.92,-136.3,2785,2451,3299,3232,508.2,-12.1,239,3590,0.00,2.40,0.00,0.000,260,0.000,0.095,2786,3780,3265,3298,3232,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3672,-0.92,-136.3,2785,3780,3299,3231,520.2,-12.9,256,3679,0.00,2.20,0.00,0.000,1030,0.000,0.053,2785,2449,3265,3299,3232,0,0,0,0,0,0,28.83,14.63,28.83
$STATE,3950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3950,begin apogee
$GC,3956,-0.18,0.0,2786,2391,3299,3232,553.4,-12.2,272,4074,0.90,0.00,112.50,1.529,10246,0.250,0.000,3026,2391,2707,2769,2646,0,0,0,0,0,0,14.26,28.83,13.45
$STATE,4076,end apogee,CONTROL_FINISHED_OK
$STATE,4076,begin climb
$GC,4078,0.92,136.3,3027,2391,2768,2644,559.4,0.0,278,4195,1.15,0.00,113.10,1.507,10502,0.174,0.000,3369,2391,2152,2222,2082,0,0,0,0,0,0,14.04,28.83,13.13
$GC,4492,0.96,154.0,3369,2391,2209,2078,528.7,8.4,308,4513,0.08,2.55,14.88,1.368,10756,0.216,0.068,3408,979,2078,2145,2011,0,0,0,0,0,0,14.16,14.17,13.46
$GC,4614,0.96,154.0,3409,979,2142,2011,515.9,11.3,330,4621,0.00,2.42,0.00,0.000,1030,0.000,0.057,3408,2377,2076,2142,2011,0,0,0,0,0,0,28.83,14.23,28.83
$EKF,range,-6616.9
$GC,4929,0.96,154.0,3409,2377,2141,2011,482.5,10.4,347,4930,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2377,2076,2141,2011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5231,0.96,154.0,3409,2377,2140,2006,451.4,10.5,362,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2377,2075,2140,2011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5530,0.96,154.0,3409,2377,2141,2011,416.8,11.7,377,5539,0.00,2.45,0.00,0.000,516,0.000,0.067,3420,970,2075,2140,2011,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5577,0.96,154.0,3420,971,2140,2011,410.9,11.9,385,5585,0.00,2.38,0.00,0.000,1030,0.000,0.055,3420,2377,2076,2141,2011,0,0,0,0,0,0,28.83,14.54,28.83
$EKF,range,-10784.9
$EKF,5681,4001.564209,-3611.827393,400.641388,0.268040,-0.177831,-0.128937,0.000079,0.000507,0.000100,0.004025,0.004025,0.000093
$GC,5904,0.96,154.0,3420,2377,2141,2011,372.3,11.8,404,5910,0.00,2.47,0.00,0.000,260,0.000,0.090,3420,3777,2076,2141,2011,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5943,0.96,154.0,3420,3777,2140,2011,367.0,13.0,411,5951,0.00,2.35,0.00,0.000,1030,0.000,0.049,3431,2355,2075,2140,2011,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6250,0.96,154.0,3431,2355,2141,2011,330.8,11.3,427,6256,0.00,2.33,0.00,0.000,516,0.000,0.065,3442,988,2075,2141,2010,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6330,0.96,154.0,3442,988,2141,2011,321.5,11.7,442,6339,0.15,2.38,0.00,0.000,5126,0.256,0.055,3405,2386,2076,2141,2011,0,0,0,0,0,0,14.33,14.56,28.83
$GC,6637,0.99,168.2,3406,2386,2141,2011,293.0,8.5,458,6655,0.00,2.50,12.75,1.148,8452,0.000,0.090,3406,3776,2020,2084,1956,0,0,0,0,0,0,28.83,14.62,14.00
$GC,6765,0.99,168.2,3406,3775,2082,1956,279.9,10.9,481,6774,0.00,2.33,0.00,0.000,1030,0.000,0.048,3417,2367,2019,2082,1956,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7071,1.00,169.4,3417,2367,2081,1956,252.0,9.1,497,7079,0.00,2.35,0.00,0.000,516,0.000,0.065,3428,983,2019,2082,1956,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7184,1.00,169.4,3427,981,2082,1956,242.1,9.4,518,7190,0.00,2.35,0.00,0.000,1030,0.000,0.054,3427,2380,2019,2082,1956,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7504,1.03,183.9,3427,2380,2082,1956,215.0,8.5,536,7524,0.00,0.00,14.10,1.086,8198,0.000,0.000,3428,2380,1956,2020,1893,0,0,0,0,0,0,28.83,28.83,14.02
$GC,7824,1.03,183.9,3427,2380,2018,1892,185.5,9.7,552,7825,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2380,1955,2018,1892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8125,1.03,183.9,3427,2380,2017,1892,156.4,9.8,567,8132,0.00,2.40,0.00,0.000,516,0.000,0.068,3437,988,1954,2017,1891,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8180,1.03,183.9,3437,988,2018,1892,150.6,10.5,577,8188,0.00,2.35,0.00,0.000,1030,0.000,0.057,3437,2378,1954,2017,1892,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8498,1.09,211.3,3437,2378,2023,1891,122.8,7.9,594,8530,0.00,2.53,23.50,1.014,8452,0.000,0.093,3437,3777,1842,1909,1775,0,0,0,0,0,0,28.83,14.57,14.04
$GC,8606,1.09,211.3,3436,3778,1906,1780,112.5,9.9,613,8614,0.00,2.33,0.00,0.000,1030,0.000,0.050,3447,2376,1842,1906,1779,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8939,1.09,211.3,3447,2376,1906,1777,80.0,10.1,628,8940,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2376,1841,1906,1777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9238,1.15,240.5,3447,2375,1905,1776,54.0,7.9,638,9270,0.00,2.42,26.58,0.939,8708,0.000,0.070,3456,993,1725,1793,1658,0,0,0,0,0,0,28.83,14.58,14.04
$GC,9362,1.27,294.6,3457,993,1788,1657,44.5,6.7,660,9420,0.12,2.35,50.62,0.919,11270,0.175,0.057,3503,2378,1504,1576,1432,0,0,0,0,0,0,14.49,14.54,13.90
$STATE,9708,end climb,SURFACE_DEPTH_REACHED
$STATE,9708,begin surface coast
$FINISH,1.7,1.025772
$STATE,9719,end surface coast,CONTROL_FINISHED_OK
$STATE,9719,begin surface
$SM_CCo,9739,25.05,0.094,0,0,1281,350.04
$SM_GC,2.91,9.70,0.10,25.05,0.083,0.165,0.094,212,2452,1281,-8.96,-1.07,350.04,0,0,0,0,0,0,14.44,14.46,14.46
$RAFOS_CLK,-117
$RAFOS,6,1415407760,0.833333,0.822222,75,56,54,53,53,52,724,194,217,141,205,115
$RAFOS,5,1415407280,0.700000,0.688889,59,57,55,52,51,50,207,139,221,113,176,127
$RAFOS,4,1415406783,0.566667,0.550833,65,64,61,59,56,51,708,214,717,163,174,139
$RAFOS,3,1415406303,0.433333,0.417500,75,61,52,51,50,50,212,191,169,137,149,235
$RAFOS,2,1415405833,0.300000,0.286944,57,56,55,53,53,49,116,214,195,152,560,135
$RAFOS,1,1415405345,0.166667,0.151389,60,59,55,54,54,53,211,200,170,158,179,137
$RAFOS,0,1415404878,0.033333,0.021667,72,59,57,56,55,54,516,207,161,218,123,141
$RAFOS_FIX,6641.255859,-6013.421875,081114,000052,3,71,0.44
$IRIDIUM_FIX,6609.62,-6009.24,071114,203321
$TT8_MAMPS,0.03745,0.03745
$HUMID,44.60
$INTERNAL_PRESSURE,8.45502
$TCM_TEMP,11.90
$XPDR_PINGS,0
$SC_FREEKB,3924032
$24V_AH,13.13,73.609
$10V_AH,12.83,0.000
$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,24.475,75.825,368.025,25.050,0.000,0.000,0.000,179.900,0.000,0.000,5.954,2136.414,5974.269,558.641,1300.780,181.984,0.000,1325.749,0.000,1040.365,2520.000,0.535,0.000
$DEVICE_MAMPS,409.275,207.315,1529.235,94.095,0.000,0.000,0.000,149.175,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9730.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.250,0.000,0.000,0.000
$MEM,143132
$DATA_FILE_SIZE,23441,695
$CAP_FILE_SIZE,109024,0
$CFSIZE,1024409600,982777856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9812.85,0x23769e,7,5
$SOUNDSPEED,1451.2
$EKF,9889,4002.039795,-3612.221191,1.736859,0.641582,0.138025,0.031502,0.000142,0.000904,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.176,324.75,1
$GPS,081114,020540,6642.871,-6013.564,22,0.9,28,-32.9