version: 66.12
glider: 217
mission: 3
dive: 62
start: 9 28 114 8 42 2
data:
$ID,217
$MISSION,3
$DIVE,62
$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,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,32
$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
$GPS1,280914,083635,6640.493,-6008.867,27,0.9,27,-32.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-73.7
$GPS2,280914,084129,6640.473,-6008.992,3,0.9,3,-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,15.5,14053,-17.5,-9.167,-20.44,2275
$D_GRID,564
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-0.92,-136.3,194,2462,1307,1226,0.0,0.0,0,72,0.00,0.00,-53.20,0.000,16386,0.000,0.000,193,2462,2583,2599,2568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.92,-136.3,194,2462,2599,2570,3.0,-2.0,5,111,12.38,2.45,-17.27,0.000,18692,0.427,0.130,2785,3776,3266,3295,3238,0,0,0,0,0,0,14.31,14.47,14.70
$GC,169,-0.92,-136.3,2785,3776,3304,3239,21.1,-22.4,21,177,0.00,2.28,0.00,0.000,1030,0.000,0.068,2785,2448,3268,3297,3239,0,0,0,0,0,0,28.83,14.54,28.83
$GC,496,-0.92,-136.3,2785,2446,3302,3238,78.4,-16.0,34,502,0.00,2.42,0.00,0.000,260,0.000,0.109,2785,3777,3269,3301,3238,0,0,0,0,0,0,28.83,14.57,28.83
$GC,657,-0.92,-136.3,2785,3777,3301,3239,103.9,-16.1,65,665,0.00,2.25,0.00,0.000,1030,0.000,0.066,2785,2448,3269,3301,3238,0,0,0,0,0,0,28.83,14.65,28.83
$EKF,range,-7740.0
$EKF,816,4000.610107,-3609.031982,125.713348,0.330180,-0.027145,0.151659,0.000019,0.000121,0.000100,0.000025,0.000025,0.000096
$GC,978,-0.92,-136.3,2785,2447,3302,3238,153.5,-15.1,83,985,0.00,2.40,0.00,0.000,260,0.000,0.106,2774,3776,3270,3302,3238,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1063,-0.92,-136.3,2775,3776,3302,3238,167.0,-16.5,99,1069,0.00,2.25,0.00,0.000,1030,0.000,0.068,2774,2445,3270,3302,3238,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1388,-0.92,-136.3,2774,2445,3304,3238,214.1,-13.9,118,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2445,3270,3302,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1687,-0.92,-136.3,2774,2445,3302,3238,255.4,-13.4,133,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2445,3270,3302,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1987,-0.92,-136.3,2774,2445,3303,3237,294.5,-12.9,148,1994,0.00,2.40,0.00,0.000,516,0.000,0.082,2774,1047,3267,3297,3237,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2022,-0.92,-136.3,2774,1047,3300,3237,299.1,-13.2,154,2029,0.00,2.42,0.00,0.000,1030,0.000,0.081,2773,2445,3269,3302,3236,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2336,-0.92,-136.3,2773,2445,3302,3236,338.7,-13.0,171,2343,0.00,2.40,0.00,0.000,516,0.000,0.079,2773,1056,3269,3302,3236,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2404,-0.92,-136.3,2773,1056,3302,3235,347.9,-13.2,184,2411,0.00,2.42,0.00,0.000,1030,0.000,0.081,2773,2458,3268,3301,3235,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2725,-0.92,-136.3,2773,2458,3302,3235,387.7,-12.4,202,2731,0.00,2.42,0.00,0.000,516,0.000,0.080,2773,1055,3268,3302,3235,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2780,-0.92,-136.3,2773,1054,3302,3234,395.0,-12.8,212,2786,0.00,2.40,0.00,0.000,1030,0.000,0.080,2772,2450,3267,3301,3233,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3094,-0.92,-136.3,2772,2451,3302,3234,434.0,-12.5,229,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2450,3267,3302,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3394,-0.92,-136.3,2773,2451,3302,3234,470.7,-12.5,244,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2451,3268,3302,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3694,-0.92,-136.3,2773,2451,3302,3234,507.5,-12.2,259,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2451,3268,3302,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3995,-0.92,-136.3,2773,2451,3302,3234,541.2,-10.5,274,4002,0.00,2.38,0.00,0.000,260,0.000,0.109,2772,3793,3268,3302,3235,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4093,-0.92,-136.3,2772,3793,3301,3234,552.7,-12.5,292,4100,0.00,2.25,0.00,0.000,1030,0.000,0.067,2772,2447,3268,3302,3234,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,4187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4187,begin apogee
$GC,4191,-0.18,0.0,2772,2352,3302,3235,564.3,-12.6,298,4309,0.95,0.00,108.90,1.583,10246,0.260,0.000,3032,2351,2706,2768,2645,0,0,0,0,0,0,14.62,28.83,13.50
$STATE,4310,end apogee,CONTROL_FINISHED_OK
$STATE,4310,begin climb
$GC,4311,0.92,136.3,3032,2351,2768,2645,567.8,0.0,304,4429,1.15,0.00,110.65,1.532,10758,0.177,0.000,3372,2351,2149,2219,2080,0,0,0,0,0,0,14.04,28.83,13.30
$GC,4728,0.92,136.3,3372,2352,2209,2078,529.5,11.2,334,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,2352,2141,2204,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5028,0.92,136.3,3372,2351,2209,2079,495.4,10.9,349,5029,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,2351,2144,2209,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5328,0.92,136.3,3372,2351,2209,2079,462.5,10.8,364,5334,0.00,2.42,0.00,0.000,516,0.000,0.081,3382,949,2143,2208,2079,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5407,0.92,136.3,3382,949,2208,2079,453.6,11.4,379,5414,0.00,2.42,0.00,0.000,1030,0.000,0.072,3383,2355,2144,2209,2079,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5713,0.92,136.3,3382,2355,2208,2079,419.7,10.8,395,5720,0.00,2.47,0.00,0.000,260,0.000,0.102,3382,3753,2143,2208,2079,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5742,0.92,136.3,3382,3753,2208,2079,416.2,12.3,400,5748,0.00,2.38,0.00,0.000,1030,0.000,0.065,3392,2346,2143,2208,2079,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6062,0.92,136.3,3393,2344,2209,2079,380.7,11.1,418,6069,0.00,2.38,0.00,0.000,516,0.000,0.078,3403,956,2143,2208,2079,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6150,0.92,136.3,3402,956,2208,2079,370.9,11.0,434,6157,0.00,2.38,0.00,0.000,1030,0.000,0.071,3403,2346,2144,2209,2079,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6474,0.92,136.3,3403,2346,2208,2079,335.3,11.0,453,6482,0.00,2.50,0.00,0.000,260,0.000,0.100,3403,3766,2143,2208,2079,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6534,0.92,136.3,3403,3766,2207,2079,328.0,12.8,464,6542,0.00,2.40,0.00,0.000,1030,0.000,0.064,3411,2339,2143,2208,2079,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6840,0.92,136.3,3414,2339,2208,2079,293.9,10.9,480,6846,0.00,2.35,0.00,0.000,516,0.000,0.079,3425,957,2143,2208,2079,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6915,0.92,136.3,3425,956,2207,2079,285.6,11.2,494,6922,0.12,2.40,0.00,0.000,5126,0.276,0.072,3397,2364,2143,2208,2079,0,0,0,0,0,0,14.61,14.72,28.83
$GC,7230,0.92,136.3,3397,2363,2208,2079,254.4,10.1,511,7237,0.00,2.45,0.00,0.000,260,0.000,0.103,3396,3755,2143,2208,2079,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7270,0.92,136.3,3397,3756,2208,2079,249.8,12.5,518,7277,0.00,2.35,0.00,0.000,1030,0.000,0.065,3408,2350,2143,2208,2079,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7575,0.92,136.3,3408,2350,2208,2079,218.7,9.7,534,7582,0.00,2.38,0.00,0.000,516,0.000,0.080,3419,950,2143,2208,2079,0,0,0,0,0,0,28.83,14.74,28.83
$GC,7635,0.92,136.3,3419,951,2208,2079,212.5,9.7,545,7645,0.00,2.38,0.00,0.000,1030,0.000,0.071,3419,2350,2144,2208,2080,0,0,0,0,0,0,28.83,14.75,28.83
$GC,7942,0.92,136.3,3419,2351,2208,2079,182.6,9.6,561,7943,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2351,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8242,0.95,149.4,3419,2351,2208,2079,156.4,8.6,576,8262,0.00,2.45,10.77,1.013,8708,0.000,0.080,3430,961,2096,2159,2033,0,0,0,0,0,0,28.83,14.69,14.21
$GC,8321,0.95,149.4,3430,960,2158,2033,149.2,9.2,590,8328,0.00,2.38,0.00,0.000,1030,0.000,0.072,3430,2351,2095,2158,2033,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8635,1.01,175.6,3430,2351,2156,2032,123.2,8.0,607,8663,0.00,2.58,21.88,1.032,8452,0.000,0.103,3431,3757,1989,2052,1926,0,0,0,0,0,0,28.83,14.59,14.14
$GC,8736,1.01,175.6,3430,3757,2049,1926,113.7,10.8,625,8744,0.00,2.40,0.00,0.000,1030,0.000,0.067,3440,2349,1987,2049,1926,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9073,1.01,175.6,3440,2348,2048,1925,78.9,10.5,641,9074,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2348,1986,2048,1925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9372,1.01,176.7,3441,2348,2047,1925,50.5,9.1,651,9379,0.00,2.40,0.00,0.000,516,0.000,0.083,3451,953,1985,2047,1924,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9558,1.02,179.8,3451,953,2047,1924,33.4,9.0,687,9571,0.00,2.40,3.05,0.630,9222,0.000,0.074,3452,2353,1977,2041,1914,0,0,0,0,0,0,28.83,14.71,14.14
$GC,9874,1.20,259.9,3451,2354,2038,1914,12.3,5.5,715,9922,0.00,2.58,39.85,0.127,8452,0.000,0.107,3451,3757,1649,1722,1577,0,0,0,0,0,0,28.83,14.64,14.64
$GC,9965,1.20,259.9,3451,3757,1728,1577,5.2,10.4,730,9973,0.00,2.38,0.00,0.000,1030,0.000,0.068,3461,2350,1649,1720,1578,0,0,0,0,0,0,28.83,14.70,28.83
$STATE,10000,end climb,SURFACE_DEPTH_REACHED
$STATE,10000,begin surface coast
$FINISH,1.3,1.018431
$STATE,10010,end surface coast,CONTROL_FINISHED_OK
$STATE,10010,begin surface
$SM_CCo,10028,42.30,0.096,0,0,1282,350.04
$SM_GC,1.97,9.68,0.17,42.30,0.106,0.130,0.096,211,2455,1282,-8.97,-0.82,350.04,0,0,0,0,0,0,14.64,14.70,14.64
$RAFOS_CLK,1045
$RAFOS,6,1411894154,8.833333,8.820556,101,64,62,61,57,50,767,140,199,220,183,231
$RAFOS,4,1411893183,8.566667,8.550834,61,59,58,57,57,54,140,216,201,115,150,191
$RAFOS_FIX,6640.957031,-6006.081543,280914,080836,4,111,0.00
$IRIDIUM_FIX,6609.62,-6006.54,280914,053943
$TT8_MAMPS,0.03745,0.03745
$HUMID,44.68
$INTERNAL_PRESSURE,8.47455
$TCM_TEMP,12.30
$XPDR_PINGS,0
$SC_FREEKB,4000224
$24V_AH,13.30,19.331
$10V_AH,12.88,0.000
$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,24.275,86.650,295.100,42.300,0.000,0.000,0.000,187.450,0.000,0.000,10.743,2249.118,6183.126,529.714,1358.505,76.723,0.000,1328.076,0.000,1091.227,360.000,0.535,0.000
$DEVICE_MAMPS,426.870,130.050,1582.785,96.390,0.000,0.000,0.000,149.940,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10017.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.261,0.000,0.000,0.000
$MEM,143104
$DATA_FILE_SIZE,26713,735
$CAP_FILE_SIZE,114184,1
$CFSIZE,1024409600,1010384896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10711.87,0x23769e,7,5
$SOUNDSPEED,1453.0
$EKF,10169,4001.789062,-3609.892334,1.288791,0.419503,-0.003688,0.024814,0.000146,0.000934,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.229,194.72,1
$GPS,280914,113128,6640.608,-6010.703,33,0.8,33,-32.8