version: 66.12
glider: 217
mission: 3
dive: 63
start: 9 28 114 11 38 11
data:
$ID,217
$MISSION,3
$DIVE,63
$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,47
$R_STBD_OVSHOOT,31
$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
$GPS1,280914,113128,6640.608,-6010.703,33,0.8,33,-32.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-72.1
$GPS2,280914,113737,6640.635,-6010.641,5,1.0,5,-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,16.8,12849,-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,17,-0.92,-136.3,188,2457,1302,1229,0.0,0.0,0,83,0.00,0.00,-63.90,0.000,16386,0.000,0.000,185,2458,2877,2880,2874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.92,-136.3,185,2458,2881,2874,3.6,-3.2,6,113,12.50,2.40,-7.85,0.000,18692,0.430,0.130,2786,3776,3265,3291,3240,0,0,0,0,0,0,14.30,14.45,14.69
$GC,215,-0.92,-136.3,2786,3776,3295,3239,34.0,-19.9,29,221,0.00,2.28,0.00,0.000,1030,0.000,0.067,2786,2444,3267,3295,3239,0,0,0,0,0,0,28.83,14.55,28.83
$GC,529,-0.92,-136.3,2786,2443,3298,3239,82.9,-15.7,41,536,0.00,2.40,0.00,0.000,516,0.000,0.079,2786,1053,3268,3298,3239,0,0,0,0,0,0,28.83,14.60,28.83
$GC,761,-0.92,-136.3,2786,1053,3300,3240,121.8,-15.6,85,768,0.00,2.42,0.00,0.000,1030,0.000,0.080,2785,2448,3269,3300,3239,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1085,-0.92,-136.3,2785,2448,3300,3240,168.9,-14.2,104,1092,0.00,2.40,0.00,0.000,260,0.000,0.110,2785,3786,3269,3300,3239,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1159,-0.92,-136.3,2785,3786,3300,3239,180.0,-14.5,118,1167,0.00,2.28,0.00,0.000,1030,0.000,0.068,2785,2440,3269,3300,3239,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1476,-0.92,-136.3,2786,2439,3300,3239,222.6,-13.0,135,1482,0.00,2.40,0.00,0.000,516,0.000,0.080,2785,1050,3269,3300,3239,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1543,-0.92,-136.3,2786,1051,3301,3238,232.1,-14.5,147,1550,0.00,2.42,0.00,0.000,1030,0.000,0.081,2785,2451,3269,3300,3238,0,0,0,0,0,0,28.83,14.69,28.83
$EKF,range,-8958.0
$GC,1870,-0.92,-136.3,2786,2450,3300,3237,275.3,-12.8,166,1878,0.00,2.42,0.00,0.000,516,0.000,0.080,2786,1053,3268,3300,3237,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1904,-0.92,-136.3,2785,1053,3300,3238,280.1,-13.1,172,1911,0.00,2.42,0.00,0.000,1030,0.000,0.080,2785,2456,3268,3300,3237,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2218,-0.92,-136.3,2785,2456,3301,3236,318.3,-12.2,189,2225,0.00,2.38,0.00,0.000,260,0.000,0.110,2785,3784,3268,3300,3236,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2277,-0.92,-136.3,2785,3784,3301,3236,325.7,-12.2,200,2285,0.00,2.25,0.00,0.000,1030,0.000,0.069,2787,2447,3266,3300,3233,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2583,-0.92,-136.3,2785,2448,3300,3235,362.9,-12.1,216,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2448,3268,3300,3236,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-2287.6
$GC,2884,-0.92,-136.3,2785,2448,3298,3236,399.4,-12.0,231,2891,0.00,2.38,0.00,0.000,516,0.000,0.079,2786,1058,3268,3300,3236,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2930,-0.92,-136.3,2785,1059,3300,3236,405.2,-12.6,239,2937,0.00,2.40,0.00,0.000,1030,0.000,0.079,2785,2451,3268,3300,3236,0,0,0,0,0,0,28.83,14.73,28.83
$EKF,range,-2170.2
$GC,3255,-0.92,-136.3,2785,2451,3300,3235,444.8,-12.2,258,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2451,3267,3301,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3555,-0.92,-136.3,2784,2451,3300,3235,481.2,-11.9,273,3561,0.00,2.38,0.00,0.000,260,0.000,0.106,2785,3788,3267,3300,3235,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3640,-0.92,-136.3,2786,3788,3300,3235,491.9,-11.5,289,3647,0.00,2.25,0.00,0.000,1030,0.000,0.067,2785,2445,3267,3300,3235,0,0,0,0,0,0,28.83,14.78,28.83
$EKF,range,-4176.8
$GC,3964,-0.92,-136.3,2785,2445,3300,3235,527.9,-10.5,308,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2445,3267,3300,3235,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4203,begin apogee
$GC,4207,-0.18,0.0,2785,2350,3300,3236,554.7,-12.1,320,4325,0.90,0.00,109.30,1.567,10246,0.264,0.000,3029,2350,2704,2766,2643,0,0,0,0,0,0,14.62,28.83,13.50
$STATE,4327,end apogee,CONTROL_FINISHED_OK
$STATE,4327,begin climb
$GC,4328,0.92,136.3,3030,2350,2765,2643,559.2,0.0,326,4446,1.17,2.62,109.97,1.523,10756,0.181,0.081,3385,953,2149,2218,2080,0,0,0,0,0,0,14.04,13.85,13.30
$GC,4514,0.92,136.3,3385,949,2211,2079,544.3,10.5,357,4521,0.00,2.53,0.00,0.000,1030,0.000,0.071,3385,2359,2145,2211,2079,0,0,0,0,0,0,28.83,14.07,28.83
$EKF,4637,4001.321533,-3611.178467,533.438660,0.272398,-0.080857,-0.119753,0.000066,0.000421,0.000100,0.000025,0.000025,0.000093
$GC,4820,0.92,136.3,3386,2359,2208,2079,512.0,10.4,373,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,2360,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5120,0.92,136.3,3385,2356,2208,2079,479.2,11.1,388,5127,0.00,2.47,0.00,0.000,516,0.000,0.080,3395,947,2143,2207,2079,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5160,0.92,136.3,3395,947,2208,2079,474.9,10.8,395,5168,0.00,2.45,0.00,0.000,1030,0.000,0.070,3396,2362,2143,2208,2079,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5466,0.92,136.3,3396,2362,2207,2079,439.2,12.0,411,5472,0.00,2.47,0.00,0.000,260,0.000,0.100,3396,3754,2143,2207,2079,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5517,0.92,136.3,3396,3754,2207,2078,432.6,12.8,420,5524,0.00,2.40,0.00,0.000,1030,0.000,0.064,3407,2342,2143,2207,2079,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5836,0.92,136.3,3407,2339,2207,2078,396.5,10.7,438,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2345,2143,2207,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6136,0.92,136.3,3407,2339,2203,2078,363.7,11.3,453,6143,0.00,2.38,0.00,0.000,516,0.000,0.080,3417,950,2143,2207,2079,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6193,0.92,136.3,3417,950,2207,2079,357.4,11.0,463,6199,0.00,2.40,0.00,0.000,1030,0.000,0.071,3418,2354,2142,2206,2079,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6507,0.92,136.3,3417,2354,2207,2079,320.6,11.3,480,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2354,2143,2207,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6808,0.92,136.3,3417,2354,2207,2079,289.5,9.9,495,6815,0.00,2.47,0.00,0.000,260,0.000,0.101,3417,3758,2143,2207,2079,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6854,0.92,136.3,3417,3758,2207,2079,284.3,11.6,503,6862,0.15,2.38,0.00,0.000,5126,0.282,0.065,3393,2342,2143,2207,2079,0,0,0,0,0,0,14.61,14.74,28.83
$GC,7179,0.92,136.3,3393,2341,2206,2079,254.3,9.2,522,7188,0.00,2.35,0.00,0.000,516,0.000,0.079,3403,959,2143,2207,2079,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7259,0.92,136.3,3403,959,2207,2079,246.9,9.4,537,7267,0.00,2.38,0.00,0.000,1030,0.000,0.071,3403,2356,2143,2207,2079,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7565,0.93,139.5,3404,2356,2207,2079,218.8,9.0,553,7572,0.00,2.47,0.00,0.000,260,0.000,0.103,3403,3758,2143,2207,2079,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7634,0.93,139.5,3403,3757,2207,2079,211.2,11.2,566,7642,0.00,2.38,0.00,0.000,1030,0.000,0.065,3415,2341,2143,2207,2079,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7954,0.93,139.5,3415,2341,2208,2079,179.5,9.4,584,7961,0.00,2.53,0.00,0.000,260,0.000,0.100,3415,3758,2142,2207,2078,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7978,0.93,139.5,3415,3758,2207,2079,177.0,10.5,588,7985,0.12,2.35,0.00,0.000,5126,0.282,0.065,3397,2351,2143,2207,2080,0,0,0,0,0,0,14.66,14.78,28.83
$GC,8305,1.05,193.4,3397,2350,2207,2079,151.8,6.7,607,8353,0.05,0.00,45.25,1.063,10246,0.282,0.000,3426,2350,1919,1984,1854,0,0,0,0,0,0,14.75,28.83,14.04
$GC,8643,1.05,193.4,3426,2350,1975,1848,119.2,10.5,624,8650,0.00,2.53,0.00,0.000,260,0.000,0.105,3426,3753,1911,1975,1848,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8666,1.05,193.4,3426,3753,1975,1848,116.5,11.6,628,8673,0.00,2.38,0.00,0.000,1030,0.000,0.067,3436,2354,1911,1975,1848,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8981,1.05,193.4,3437,2353,1974,1848,82.7,10.2,640,8987,0.00,2.40,0.00,0.000,516,0.000,0.082,3447,953,1911,1974,1848,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9185,1.05,193.4,3448,953,1972,1848,61.7,10.2,680,9192,0.00,2.40,0.00,0.000,1030,0.000,0.075,3447,2350,1909,1972,1847,0,0,0,0,0,0,28.83,14.68,28.83
$GC,9499,1.07,202.5,3448,2349,1971,1847,32.8,8.8,692,9512,0.00,2.42,6.20,0.841,8708,0.000,0.080,3458,953,1880,1943,1818,0,0,0,0,0,0,28.83,14.66,14.20
$GC,9697,1.21,264.8,3458,953,1941,1817,18.6,6.4,730,9739,0.00,2.40,32.55,0.149,9222,0.000,0.075,3458,2351,1631,1703,1559,0,0,0,0,0,0,28.83,14.69,14.61
$STATE,9886,end climb,SURFACE_DEPTH_REACHED
$STATE,9886,begin surface coast
$FINISH,1.2,1.003162
$STATE,9906,end surface coast,CONTROL_FINISHED_OK
$STATE,9907,begin surface
$SM_CCo,9924,40.33,0.096,0,0,1282,350.04
$SM_GC,2.16,9.70,0.15,40.33,0.106,0.144,0.096,212,2455,1282,-8.97,-0.93,350.04,0,0,0,0,0,0,14.64,14.68,14.64
$RAFOS_CLK,-69
$RAFOS,6,1411908553,12.833333,12.820278,65,65,57,54,54,51,203,216,141,125,116,235
$RAFOS,5,1411908073,12.700000,12.686944,61,59,59,58,56,51,163,127,202,891,190,139
$RAFOS,4,1411907583,12.566667,12.550834,129,60,57,57,54,52,716,216,118,139,154,172
$RAFOS,3,1411907112,12.433333,12.420000,84,60,58,58,52,48,712,214,160,193,123,133
$RAFOS,2,1411906632,12.300000,12.286667,136,61,57,51,51,51,568,181,115,194,212,133
$RAFOS,1,1411906156,12.166667,12.154445,64,61,56,56,53,52,152,206,126,224,138,163
$RAFOS,0,1411905663,12.033333,12.017500,119,66,61,58,56,50,599,191,220,208,140,175
$RAFOS_FIX,6639.538086,-6010.782715,280914,121220,4,117,0.78
$IRIDIUM_FIX,6609.62,-6013.96,280914,083828
$TT8_MAMPS,0.038199,0.038199
$HUMID,44.92
$INTERNAL_PRESSURE,8.49408
$TCM_TEMP,12.40
$XPDR_PINGS,0
$SC_FREEKB,3999904
$24V_AH,13.30,19.519
$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,24.600,91.700,303.275,40.325,0.000,0.000,0.000,249.750,0.000,0.000,6.736,2286.635,5996.325,536.749,1464.786,79.313,0.000,1408.591,0.000,1117.819,2520.000,0.536,0.000
$DEVICE_MAMPS,429.930,143.820,1567.485,96.390,0.000,0.000,0.000,166.770,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9913.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.260,0.000,0.000,0.000
$MEM,143168
$DATA_FILE_SIZE,26723,753
$CAP_FILE_SIZE,116737,0
$CFSIZE,1024409600,1010270208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10568.19,0x23769e,7,5
$SOUNDSPEED,1452.9
$EKF,10071,4001.974609,-3611.522949,1.227264,1.026325,-0.426284,-0.027121,0.000141,0.000898,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.136,308.41,1
$GPS,280914,142559,6642.532,-6013.099,35,0.8,35,-32.9