version: 66.12
glider: 217
mission: 3
dive: 67
start: 9 28 114 23 30 24
data:
$ID,217
$MISSION,3
$DIVE,67
$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,46
$R_STBD_OVSHOOT,29
$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
$GPS1,280914,232435,6640.604,-6008.454,39,0.8,39,-32.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-72.2
$GPS2,280914,232950,6640.570,-6008.472,4,0.8,4,-32.8
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,61.8,150612,-17.5,-9.167,-20.44,2275
$D_GRID,575
$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,-136.3,171,2454,1300,1231,0.0,0.0,0,73,0.00,0.00,-53.65,0.000,16386,0.000,0.000,169,2453,2619,2627,2612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.92,-136.3,168,2454,2627,2612,3.2,-2.5,5,110,12.65,2.53,-14.57,0.000,18948,0.432,0.101,2793,1051,3268,3297,3239,0,0,0,0,0,0,14.29,14.47,14.69
$GC,217,-0.92,-136.3,2793,1051,3301,3239,31.9,-19.7,31,223,0.00,2.45,0.00,0.000,1030,0.000,0.079,2789,2445,3269,3299,3239,0,0,0,0,0,0,28.83,14.50,28.83
$GC,541,-0.92,-136.3,2786,2445,3302,3239,84.4,-15.8,45,550,0.00,2.40,0.00,0.000,260,0.000,0.107,2786,3785,3270,3302,3238,0,0,0,0,0,0,28.83,14.58,28.83
$GC,663,-0.92,-136.3,2786,3785,3297,3239,103.6,-14.5,68,670,0.00,2.28,0.00,0.000,1030,0.000,0.066,2785,2440,3270,3302,3239,0,0,0,0,0,0,28.83,14.65,28.83
$GC,970,-0.92,-136.3,2786,2439,3303,3239,150.0,-15.0,82,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2439,3270,3303,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1269,-0.92,-136.3,2785,2439,3303,3238,194.0,-14.3,97,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2439,3270,3302,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1570,-0.92,-136.3,2786,2439,3303,3238,236.4,-14.5,112,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2439,3271,3303,3239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1869,-0.92,-136.3,2786,2439,3298,3238,277.0,-12.7,127,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2439,3273,3310,3237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2170,-0.92,-136.3,2786,2440,3303,3236,313.0,-11.9,142,2176,0.00,2.38,0.00,0.000,516,0.000,0.081,2786,1055,3269,3303,3236,0,0,0,0,0,0,28.83,14.73,28.83
$EKF,range,-4638.8
$GC,2208,-0.92,-136.3,2786,1055,3299,3236,318.0,-11.4,149,2220,0.00,2.42,0.00,0.000,1030,0.000,0.080,2786,2458,3269,3303,3236,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2514,-0.92,-136.3,2786,2457,3304,3236,353.7,-11.7,165,2523,0.00,2.42,0.00,0.000,516,0.000,0.078,2786,1054,3272,3303,3241,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2554,-0.92,-136.3,2786,1054,3302,3236,358.7,-12.2,172,2562,0.00,2.42,0.00,0.000,1030,0.000,0.079,2785,2458,3269,3303,3235,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2860,-0.92,-136.3,2786,2458,3303,3235,393.7,-11.0,188,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2458,3269,3303,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3161,-0.92,-136.3,2786,2458,3303,3235,427.1,-11.4,203,3162,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2459,3269,3303,3235,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-3091.6
$GC,3461,-0.92,-136.3,2786,2458,3303,3234,462.1,-11.6,218,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2458,3269,3303,3236,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-3553.4
$GC,3761,-0.92,-136.3,2786,2458,3303,3235,495.0,-10.9,233,3763,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2458,3269,3303,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4061,-0.92,-136.3,2786,2458,3303,3236,527.2,-10.3,248,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2458,3270,3304,3236,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-3307.9
$GC,4360,-0.92,-136.3,2786,2458,3303,3235,561.7,-11.2,263,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2458,3269,3303,3236,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4479,begin apogee
$GC,4483,-0.18,0.0,2786,2358,3303,3236,576.7,-13.0,269,4601,0.88,0.00,110.32,1.585,10246,0.255,0.000,3027,2358,2704,2766,2643,0,0,0,0,0,0,14.63,28.83,13.49
$STATE,4603,end apogee,CONTROL_FINISHED_OK
$STATE,4603,begin climb
$GC,4605,0.92,136.3,3027,2358,2766,2642,581.8,0.0,275,4726,1.17,2.62,110.55,1.551,10756,0.182,0.081,3383,945,2148,2217,2080,0,0,0,0,0,0,14.03,13.84,13.28
$GC,4803,0.92,136.3,3383,944,2211,2079,568.2,10.7,308,4810,0.00,2.53,0.00,0.000,1030,0.000,0.070,3383,2354,2145,2211,2079,0,0,0,0,0,0,28.83,14.09,28.83
$EKF,range,-6451.1
$EKF,5100,4001.232910,-3607.552490,538.647644,0.206939,0.137619,-0.122725,0.000079,0.000504,0.000100,0.004025,0.004025,0.000093
$GC,5123,0.92,136.3,3383,2354,2208,2079,533.6,12.2,326,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,2354,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5423,0.92,136.3,3383,2354,2208,2079,502.1,10.6,341,5431,0.00,2.47,0.00,0.000,516,0.000,0.080,3393,943,2143,2208,2079,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5468,0.92,136.3,3394,943,2207,2079,497.1,10.4,349,5477,0.00,2.45,0.00,0.000,1030,0.000,0.070,3393,2358,2140,2203,2078,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5795,0.92,136.3,3393,2358,2207,2078,460.6,11.1,368,5801,0.00,2.47,0.00,0.000,260,0.000,0.101,3393,3753,2143,2207,2079,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5839,0.92,136.3,3393,3753,2207,2079,455.1,12.5,376,5846,0.00,2.40,0.00,0.000,1030,0.000,0.064,3404,2338,2143,2207,2079,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6164,0.92,136.3,3404,2335,2207,2078,418.1,11.3,395,6171,0.00,2.38,0.00,0.000,516,0.000,0.079,3415,948,2143,2207,2079,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6204,0.92,136.3,3415,947,2207,2079,413.4,11.8,402,6211,0.00,2.40,0.00,0.000,1030,0.000,0.070,3415,2351,2143,2207,2079,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6509,0.92,136.3,3415,2351,2207,2079,377.5,11.6,418,6511,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2351,2143,2207,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6809,0.92,136.3,3414,2351,2207,2079,343.8,10.8,433,6817,0.00,2.40,0.00,0.000,516,0.000,0.080,3425,954,2142,2206,2079,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6880,0.92,136.3,3426,954,2207,2078,336.2,11.0,446,6887,0.12,2.38,0.00,0.000,5126,0.279,0.072,3397,2350,2143,2207,2079,0,0,0,0,0,0,14.60,14.71,28.83
$GC,7200,0.92,136.3,3397,2349,2206,2079,305.4,9.2,464,7201,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2350,2143,2207,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7500,0.92,136.3,3397,2350,2207,2079,277.6,9.5,479,7506,0.00,2.45,0.00,0.000,260,0.000,0.101,3397,3753,2141,2205,2078,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7550,0.92,136.3,3397,3753,2206,2079,272.1,11.4,488,7557,0.00,2.35,0.00,0.000,1030,0.000,0.064,3404,2346,2143,2207,2079,0,0,0,0,0,0,28.83,14.77,28.83
$GC,7870,0.92,136.3,3409,2346,2207,2079,240.1,10.0,506,7877,0.00,2.35,0.00,0.000,516,0.000,0.078,3419,957,2143,2207,2079,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7917,0.92,136.3,3419,957,2207,2079,235.6,9.9,514,7923,0.00,2.38,0.00,0.000,1030,0.000,0.071,3419,2356,2143,2207,2079,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8241,0.92,136.3,3419,2357,2207,2079,203.9,9.6,533,8249,0.00,2.40,0.00,0.000,516,0.000,0.079,3430,955,2143,2207,2080,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8281,0.92,136.3,3430,955,2207,2079,200.0,10.4,540,8290,0.15,2.38,0.00,0.000,5126,0.274,0.071,3395,2354,2143,2207,2079,0,0,0,0,0,0,14.65,14.76,28.83
$GC,8587,0.96,153.9,3394,2354,2208,2079,173.0,8.4,556,8608,0.00,2.40,13.85,1.045,8708,0.000,0.076,3406,957,2080,2144,2016,0,0,0,0,0,0,28.83,14.70,14.19
$GC,8646,0.98,163.2,3405,957,2141,2016,167.8,8.7,566,8661,0.00,2.40,8.93,0.996,9222,0.000,0.072,3406,2352,2041,2104,1978,0,0,0,0,0,0,28.83,14.69,14.14
$GC,8956,1.01,174.9,3406,2353,2100,1976,140.7,8.6,583,8976,0.00,2.50,10.68,1.005,8452,0.000,0.103,3406,3754,1991,2054,1929,0,0,0,0,0,0,28.83,14.61,14.14
$GC,9061,1.01,174.9,3407,3754,2057,1929,130.3,11.0,602,9068,0.00,2.38,0.00,0.000,1030,0.000,0.066,3416,2351,1991,2053,1929,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9376,1.03,185.4,3416,2351,2053,1928,101.5,8.7,615,9396,0.00,2.45,9.12,0.961,8708,0.000,0.082,3425,953,1952,2015,1889,0,0,0,0,0,0,28.83,14.64,14.14
$GC,9561,1.03,186.6,3426,953,2012,1889,85.3,9.1,650,9569,0.00,2.40,0.00,0.000,1030,0.000,0.072,3425,2354,1950,2012,1889,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9864,1.03,186.6,3425,2354,2012,1887,58.3,9.3,661,9873,0.00,2.42,0.00,0.000,516,0.000,0.082,3436,957,1949,2012,1887,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9980,1.03,186.6,3437,957,2012,1887,47.2,9.5,683,9987,0.00,2.40,0.00,0.000,1030,0.000,0.074,3436,2356,1949,2011,1887,0,0,0,0,0,0,28.83,14.70,28.83
$GC,10295,1.22,272.9,3436,2356,2012,1886,24.7,5.3,695,10351,0.12,2.50,47.78,0.174,10756,0.177,0.082,3490,958,1598,1671,1525,0,0,0,0,0,0,14.71,14.66,14.60
$GC,10404,1.22,272.9,3490,958,1666,1525,15.5,10.1,713,10413,0.00,2.40,0.00,0.000,1030,0.000,0.075,3490,2354,1595,1666,1525,0,0,0,0,0,0,28.83,14.67,28.83
$STATE,10530,end climb,SURFACE_DEPTH_REACHED
$STATE,10530,begin surface coast
$FINISH,1.4,1.025105
$STATE,10540,end surface coast,CONTROL_FINISHED_OK
$STATE,10540,begin surface
$SM_CCo,10558,35.95,0.097,0,0,1281,350.04
$SM_GC,2.48,9.77,0.15,35.95,0.105,0.153,0.097,213,2447,1281,-8.97,-0.88,350.04,0,0,0,0,0,0,14.64,14.68,14.65
$RAFOS_CLK,-73
$RAFOS,6,1411951744,0.833333,0.817778,127,71,65,57,56,56,820,211,174,192,118,153
$RAFOS,5,1411951262,0.700000,0.683889,60,58,56,56,55,54,215,189,160,941,171,206
$RAFOS,4,1411950782,0.566667,0.550556,105,65,53,51,50,49,716,203,190,146,213,111
$RAFOS,3,1411950302,0.433333,0.417222,81,62,56,53,53,51,754,205,165,155,196,221
$RAFOS,2,1411949822,0.300000,0.283889,81,65,58,57,55,52,615,181,170,146,202,222
$RAFOS,1,1411949356,0.166667,0.154444,55,52,51,50,49,47,209,175,187,218,1628,163
$RAFOS,0,1411948870,0.033333,0.019444,104,63,60,58,57,55,585,206,216,158,167,121
$RAFOS_FIX,6641.037598,-6005.883789,290914,000018,5,100,0.61
$IRIDIUM_FIX,6609.62,-6013.96,280914,202625
$TT8_MAMPS,0.038199,0.038199
$HUMID,44.88
$INTERNAL_PRESSURE,8.47455
$TCM_TEMP,12.10
$XPDR_PINGS,0
$SC_FREEKB,3998624
$24V_AH,13.28,20.269
$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,24.875,82.650,311.225,35.950,0.000,0.000,0.000,207.700,0.000,0.000,5.508,2252.801,6696.645,532.761,1384.573,80.290,0.000,1351.264,0.000,1085.370,2520.000,0.535,0.000
$DEVICE_MAMPS,432.225,153.000,1585.080,97.155,0.000,0.000,0.000,142.290,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10547.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.261,0.000,0.000,0.000
$MEM,143200
$DATA_FILE_SIZE,23429,727
$CAP_FILE_SIZE,117238,0
$CFSIZE,1024409600,1009827840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10804.59,0x23769e,7,5
$SOUNDSPEED,1453.3
$EKF,10718,4001.821045,-3606.657959,1.339644,0.676579,-0.410170,0.040003,0.000156,0.000999,0.000099,0.001025,0.001025,0.000050
$CURRENT,0.044,220.28,1
$GPS,290914,022859,6641.694,-6007.179,54,0.9,54,-32.8