version: 66.12
glider: 217
mission: 3
dive: 58
start: 9 27 114 20 21 51
data:
$ID,217
$MISSION,3
$DIVE,58
$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,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,270914,201605,6640.892,-6001.353,30,0.9,30,-32.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-74.7
$GPS2,270914,202119,6640.875,-6001.470,3,0.9,3,-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,3.2,18855,-17.5,-9.167,-20.44,2275
$D_GRID,603
$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,-136.3,197,2445,1303,1227,0.0,0.0,0,83,0.00,0.00,-63.20,0.000,16386,0.000,0.000,196,2445,2862,2867,2857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.92,-136.3,196,2445,2868,2858,3.6,-2.9,6,115,12.40,2.42,-8.27,0.000,18692,0.430,0.128,2786,3778,3267,3291,3243,0,0,0,0,0,0,14.31,14.47,14.71
$GC,344,-0.92,-136.3,2786,3779,3297,3243,55.2,-16.8,55,350,0.00,2.28,0.00,0.000,1030,0.000,0.065,2786,2441,3269,3296,3242,0,0,0,0,0,0,28.83,14.59,28.83
$EKF,range,-1828.7
$GC,676,-0.92,-136.3,2786,2441,3299,3242,107.6,-15.8,70,683,0.00,2.40,0.00,0.000,516,0.000,0.080,2786,1049,3270,3298,3242,0,0,0,0,0,0,28.83,14.62,28.83
$GC,810,-0.92,-136.3,2786,1049,3299,3242,127.7,-14.7,96,818,0.00,2.42,0.00,0.000,1030,0.000,0.080,2785,2439,3271,3300,3242,0,0,0,0,0,0,28.83,14.63,28.83
$EKF,range,-2795.4
$GC,1127,-0.92,-136.3,2785,2439,3299,3242,172.2,-14.0,113,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2439,3271,3300,3242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1426,-0.92,-136.3,2786,2439,3299,3241,214.3,-14.1,128,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2439,3270,3299,3241,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-4030.8
$GC,1726,-0.92,-136.3,2791,2439,3299,3240,256.5,-13.9,143,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2439,3269,3299,3240,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-5863.4
$EKF,2024,4001.148926,-3601.856689,292.840973,0.196552,-0.198469,0.121894,0.000038,0.000240,0.000100,0.000025,0.000025,0.000093
$GC,2028,-0.92,-136.3,2786,2444,3299,3239,295.4,-12.6,158,2035,0.00,2.40,0.00,0.000,516,0.000,0.082,2785,1058,3268,3299,3238,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2082,-0.92,-136.3,2785,1058,3299,3239,302.8,-12.9,168,2090,0.00,2.38,0.00,0.000,1030,0.000,0.081,2785,2432,3269,3300,3239,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2399,-0.92,-136.3,2785,2432,3299,3234,343.1,-12.9,185,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2431,3268,3299,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2698,-0.92,-136.3,2785,2431,3300,3237,379.5,-11.5,200,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2432,3268,3299,3237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2999,-0.92,-136.3,2786,2432,3300,3237,413.8,-11.8,215,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2432,3268,3300,3237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3298,-0.92,-136.3,2785,2432,3299,3237,446.8,-10.7,230,3305,0.00,2.38,0.00,0.000,516,0.000,0.080,2786,1057,3268,3299,3237,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3357,-0.92,-136.3,2787,1058,3299,3237,453.6,-11.0,241,3365,0.00,2.38,0.00,0.000,1030,0.000,0.080,2785,2436,3268,3300,3237,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3664,-0.92,-136.3,2786,2436,3299,3237,486.6,-10.6,257,3670,0.00,2.40,0.00,0.000,260,0.000,0.109,2786,3784,3268,3299,3237,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3702,-0.92,-136.3,2785,3784,3299,3236,491.0,-11.4,264,3712,0.00,2.28,0.00,0.000,1030,0.000,0.068,2786,2430,3268,3299,3237,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4009,-0.92,-136.3,2786,2430,3299,3236,522.8,-10.5,280,4017,0.00,2.35,0.00,0.000,516,0.000,0.079,2786,1052,3268,3300,3237,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4054,-0.92,-136.3,2785,1052,3300,3237,528.0,-11.1,288,4063,0.00,2.40,0.00,0.000,1030,0.000,0.079,2785,2441,3268,3300,3236,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4380,-0.92,-136.3,2786,2441,3300,3237,564.0,-11.0,307,4387,0.00,2.40,0.00,0.000,260,0.000,0.109,2786,3789,3268,3300,3237,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4459,-0.92,-136.3,2785,3790,3300,3237,572.9,-11.3,322,4467,0.00,2.28,0.00,0.000,1030,0.000,0.067,2785,2432,3268,3300,3237,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,4746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4746,begin apogee
$GC,4750,-0.18,0.0,2785,2275,3300,3236,604.1,-10.6,337,4867,0.90,0.00,109.65,1.633,10244,0.258,0.000,3032,2275,2705,2767,2644,0,0,0,0,0,0,14.62,28.83,13.47
$STATE,4868,end apogee,CONTROL_FINISHED_OK
$STATE,4869,begin climb
$GC,4870,0.92,136.3,3032,2275,2766,2644,608.0,0.0,343,4993,1.15,2.50,110.90,1.586,10756,0.192,0.079,3366,885,2148,2218,2079,0,0,0,0,0,0,14.02,14.08,13.27
$GC,5072,0.92,136.3,3366,885,2207,2080,593.1,9.9,377,5079,0.00,2.50,0.00,0.000,1030,0.000,0.070,3362,2279,2145,2212,2078,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5387,0.92,136.3,3366,2279,2211,2075,560.4,10.2,394,5393,0.00,2.55,0.00,0.000,260,0.000,0.101,3366,3688,2142,2210,2075,0,0,0,0,0,0,28.83,14.34,28.83
$GC,5527,0.92,136.3,3366,3687,2209,2075,544.1,11.4,421,5535,0.00,2.45,0.00,0.000,1030,0.000,0.065,3377,2265,2142,2210,2075,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5833,0.92,136.3,3377,2263,2209,2074,512.1,10.5,437,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,2262,2142,2210,2075,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6133,0.92,136.3,3377,2259,2210,2075,478.0,11.8,452,6141,0.00,2.40,0.00,0.000,516,0.000,0.083,3387,876,2144,2213,2075,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6204,0.92,136.3,3387,877,2210,2075,469.6,11.6,465,6210,0.00,2.40,0.00,0.000,1030,0.000,0.071,3387,2270,2142,2210,2075,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6523,0.92,136.3,3386,2270,2210,2074,432.3,11.7,483,6529,0.00,2.50,0.00,0.000,260,0.000,0.100,3387,3684,2142,2209,2075,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6557,0.92,136.3,3387,3684,2209,2075,427.9,12.8,489,6564,0.00,2.42,0.00,0.000,1030,0.000,0.065,3398,2252,2142,2209,2075,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6871,0.92,136.3,3397,2250,2209,2075,389.7,11.8,506,6878,0.00,2.35,0.00,0.000,516,0.000,0.081,3408,876,2141,2209,2074,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6951,0.92,136.3,3408,876,2209,2075,380.3,12.0,521,6958,0.00,2.35,0.00,0.000,1030,0.000,0.070,3409,2253,2142,2210,2074,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7257,0.92,136.3,3409,2253,2210,2075,346.0,11.0,537,7264,0.00,2.50,0.00,0.000,260,0.000,0.099,3409,3680,2142,2209,2075,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7324,0.92,136.3,3408,3681,2209,2075,337.8,12.5,549,7331,0.00,2.42,0.00,0.000,1030,0.000,0.065,3420,2242,2142,2209,2075,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7649,0.92,136.3,3421,2238,2210,2075,302.2,10.4,568,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2239,2142,2209,2075,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7949,0.92,136.3,3420,2239,2209,2075,271.5,10.1,583,7955,0.00,2.55,0.00,0.000,260,0.000,0.099,3420,3677,2141,2209,2073,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8045,0.92,136.3,3420,3677,2209,2075,260.7,11.4,601,8052,0.15,2.40,0.00,0.000,5126,0.279,0.066,3396,2249,2142,2209,2075,0,0,0,0,0,0,14.64,14.76,28.83
$GC,8360,0.94,141.3,3395,2248,2209,2075,232.6,8.9,618,8368,0.00,2.40,2.62,0.555,8708,0.000,0.083,3406,882,2137,2205,2069,0,0,0,0,0,0,28.83,14.74,14.04
$GC,8481,0.94,142.1,3407,882,2206,2069,221.5,9.1,641,8490,0.00,2.33,2.83,0.633,9222,0.000,0.070,3406,2249,2130,2198,2062,0,0,0,0,0,0,28.83,14.75,14.04
$GC,8787,1.00,170.1,3407,2249,2200,2064,196.3,7.9,657,8820,0.00,2.55,24.58,1.119,8452,0.000,0.103,3406,3678,2011,2080,1943,0,0,0,0,0,0,28.83,14.58,14.12
$GC,8852,1.00,170.1,3407,3678,2079,1943,190.4,9.5,668,8862,0.00,2.42,0.00,0.000,1030,0.000,0.066,3417,2250,2010,2078,1943,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9159,1.01,173.7,3417,2250,2078,1940,162.9,9.0,684,9164,0.00,0.00,2.95,0.650,8198,0.000,0.000,3417,2250,2001,2068,1934,0,0,0,0,0,0,28.83,28.83,14.01
$GC,9458,1.01,173.7,3417,2250,2071,1935,135.5,9.4,699,9465,0.00,2.58,0.00,0.000,260,0.000,0.103,3417,3684,2003,2071,1935,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9544,1.01,173.7,3417,3683,2071,1934,126.1,11.1,715,9550,0.00,2.42,0.00,0.000,1030,0.000,0.068,3427,2258,2002,2071,1934,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9878,1.01,173.7,3428,2256,2071,1934,92.7,9.6,730,9880,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2256,2002,2070,1934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10178,1.04,189.1,3428,2255,2069,1934,66.1,8.5,740,10199,0.00,2.45,14.93,0.983,8708,0.000,0.086,3439,879,1935,2004,1866,0,0,0,0,0,0,28.83,14.66,14.19
$GC,10301,1.04,189.1,3438,880,2001,1867,54.2,10.4,763,10309,0.00,2.35,0.00,0.000,1030,0.000,0.074,3438,2246,1933,2001,1866,0,0,0,0,0,0,28.83,14.67,28.83
$GC,10608,1.09,211.8,3439,2246,2000,1865,27.0,8.1,774,10634,0.00,2.40,18.25,0.947,8708,0.000,0.086,3449,881,1842,1911,1774,0,0,0,0,0,0,28.83,14.60,14.16
$GC,10712,1.17,248.8,3449,881,1909,1774,19.8,7.5,793,10740,0.00,2.38,19.60,0.156,9222,0.000,0.073,3449,2257,1697,1770,1624,0,0,0,0,0,0,28.83,14.61,14.53
$STATE,10927,end climb,SURFACE_DEPTH_REACHED
$STATE,10927,begin surface coast
$FINISH,1.4,1.025333
$STATE,10948,end surface coast,CONTROL_FINISHED_OK
$STATE,10948,begin surface
$SM_CCo,10965,48.28,0.096,0,0,1281,350.04
$SM_GC,2.27,9.62,0.32,48.28,0.100,0.119,0.096,210,2448,1281,-8.97,-0.85,350.04,0,0,0,0,0,0,14.62,14.63,14.60
$RAFOS_CLK,1042
$RAFOS,6,1411850954,20.833334,20.820555,115,64,58,57,56,55,758,211,196,165,134,177
$RAFOS,5,1411850474,20.700001,20.687222,91,68,63,57,57,55,861,218,201,167,148,187
$RAFOS,4,1411849982,20.566668,20.550556,78,57,56,54,50,50,703,205,148,118,220,127
$RAFOS,3,1411849505,20.433332,20.418056,68,65,61,59,58,58,731,197,178,217,121,161
$RAFOS,1,1411848541,20.166666,20.150278,67,57,56,56,55,54,185,145,168,115,224,198
$RAFOS_FIX,6642.211914,-6000.475098,270914,202012,5,89,4.00
$IRIDIUM_FIX,6609.62,-6001.83,270914,170828
$TT8_MAMPS,0.038199,0.038199
$HUMID,45.15
$INTERNAL_PRESSURE,8.47455
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,4001504
$24V_AH,13.27,18.564
$10V_AH,13.35,0.000
$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,24.225,92.275,306.300,48.275,0.000,0.000,0.000,206.375,0.000,0.000,10.740,2477.118,6748.151,547.677,1505.646,79.529,0.000,1422.957,0.000,1214.097,1440.000,0.535,0.000
$DEVICE_MAMPS,429.930,127.755,1632.510,95.625,0.000,0.000,0.000,150.705,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10954.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.238,0.000,0.000,0.000
$MEM,143124
$DATA_FILE_SIZE,26754,818
$CAP_FILE_SIZE,125114,1
$CFSIZE,1024409600,1010827264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11544.81,0x23769e,7,5
$SOUNDSPEED,1453.6
$EKF,11117,4002.010742,-3603.194580,1.421991,1.176560,-0.734749,0.009769,0.000163,0.001040,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.310,178.55,1
$GPS,270914,232705,6640.253,-6003.252,37,0.8,37,-32.8