version: 66.12
glider: 217
mission: 3
dive: 68
start: 9 29 114 2 34 9
data:
$ID,217
$MISSION,3
$DIVE,68
$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,24
$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
$GPS1,290914,022859,6641.694,-6007.179,54,0.9,54,-32.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-71.4
$GPS2,290914,023335,6641.683,-6007.149,4,0.8,4,-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,101.6,149135,-17.5,-9.167,-20.44,2275
$D_GRID,582
$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,-136.3,189,2450,1303,1227,0.0,0.0,0,73,0.00,0.00,-53.90,0.000,16386,0.000,0.000,188,2451,2614,2624,2605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.92,-136.3,188,2453,2625,2606,3.1,-2.4,5,111,12.38,2.50,-15.23,0.000,18948,0.428,0.101,2789,1056,3267,3296,3238,0,0,0,0,0,0,14.35,14.52,14.74
$GC,283,-0.92,-136.3,2789,1056,3301,3237,44.2,-16.1,44,290,0.00,2.42,0.00,0.000,1030,0.000,0.079,2786,2449,3269,3301,3237,0,0,0,0,0,0,28.83,14.57,28.83
$GC,602,-0.92,-136.3,2791,2449,3303,3238,98.4,-17.5,57,611,0.00,2.42,0.00,0.000,516,0.000,0.076,2791,1053,3269,3302,3237,0,0,0,0,0,0,28.83,14.64,28.83
$GC,642,-0.92,-136.3,2786,1054,3302,3237,105.1,-16.2,64,649,0.00,2.42,0.00,0.000,1030,0.000,0.078,2786,2449,3270,3302,3238,0,0,0,0,0,0,28.83,14.64,28.83
$GC,962,-0.92,-136.3,2786,2449,3304,3237,152.7,-14.1,82,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2449,3270,3303,3237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1262,-0.92,-136.3,2786,2449,3304,3237,195.3,-14.4,97,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2449,3271,3306,3237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1562,-0.92,-136.3,2786,2449,3304,3237,238.5,-14.5,112,1569,0.00,2.40,0.00,0.000,260,0.000,0.110,2786,3789,3270,3304,3237,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1596,-0.92,-136.3,2786,3789,3303,3237,243.7,-15.8,118,1603,0.00,2.25,0.00,0.000,1030,0.000,0.068,2786,2452,3270,3303,3237,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1910,-0.92,-136.3,2786,2452,3303,3235,286.8,-13.2,135,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2452,3269,3303,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2212,-0.92,-136.3,2786,2452,3303,3234,324.8,-12.3,150,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2452,3268,3303,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2511,-0.92,-136.3,2786,2452,3303,3234,360.2,-11.7,165,2519,0.00,2.40,0.00,0.000,516,0.000,0.079,2786,1048,3268,3303,3233,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2556,-0.92,-136.3,2786,1048,3303,3234,365.8,-12.1,173,2565,0.00,2.42,0.00,0.000,1030,0.000,0.079,2786,2450,3268,3303,3233,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2882,-0.92,-136.3,2786,2450,3303,3233,402.4,-11.0,192,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2450,3268,3303,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3183,-0.92,-136.3,2786,2450,3303,3233,435.8,-10.9,207,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2450,3268,3303,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3484,-0.92,-136.3,2786,2453,3304,3234,468.7,-11.2,222,3490,0.00,2.40,0.00,0.000,516,0.000,0.077,2786,1048,3268,3303,3234,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3508,-0.92,-136.3,2786,1048,3303,3233,471.6,-11.5,226,3515,0.00,2.42,0.00,0.000,1030,0.000,0.078,2785,2458,3268,3303,3233,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3833,-0.92,-136.3,2786,2458,3303,3233,509.3,-11.8,245,3841,0.00,2.35,0.00,0.000,260,0.000,0.107,2786,3783,3268,3303,3233,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3907,-0.92,-136.3,2785,3783,3302,3233,518.3,-10.9,259,3914,0.00,2.25,0.00,0.000,1030,0.000,0.065,2786,2437,3268,3303,3234,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4222,-0.92,-136.3,2786,2437,3302,3234,552.1,-11.3,276,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2438,3268,3303,3234,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4481,begin apogee
$GC,4485,-0.18,0.0,2786,2358,3303,3234,583.4,-12.0,289,4603,0.90,0.00,109.72,1.616,10246,0.262,0.000,3030,2357,2707,2769,2645,0,0,0,0,0,0,14.63,28.83,13.48
$STATE,4605,end apogee,CONTROL_FINISHED_OK
$STATE,4605,begin climb
$GC,4606,0.92,136.3,3030,2357,2768,2645,587.6,0.0,295,4732,1.15,2.62,111.05,1.567,10756,0.184,0.080,3378,954,2149,2217,2081,0,0,0,0,0,0,14.04,13.83,13.28
$GC,4809,0.92,136.3,3378,955,2212,2080,573.0,9.8,329,4818,0.00,2.53,0.00,0.000,1030,0.000,0.071,3378,2358,2146,2212,2080,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5126,0.92,136.3,3378,2358,2210,2079,540.2,10.4,346,5127,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,2358,2145,2211,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5425,0.92,136.3,3378,2358,2209,2079,509.8,10.4,361,5434,0.00,2.45,0.00,0.000,516,0.000,0.079,3388,953,2144,2209,2079,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5485,0.92,136.3,3388,953,2209,2079,503.2,11.7,372,5493,0.00,2.42,0.00,0.000,1030,0.000,0.071,3386,2353,2144,2209,2079,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5791,0.92,136.3,3388,2353,2209,2079,470.6,10.6,388,5798,0.00,2.50,0.00,0.000,260,0.000,0.099,3389,3761,2143,2208,2079,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5835,0.92,136.3,3387,3761,2209,2079,465.5,11.4,396,5842,0.00,2.40,0.00,0.000,1030,0.000,0.063,3399,2345,2143,2208,2079,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6160,0.92,136.3,3399,2343,2209,2079,428.3,11.7,415,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2342,2143,2208,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6461,0.92,136.3,3399,2342,2209,2079,394.2,11.1,430,6468,0.00,2.38,0.00,0.000,516,0.000,0.078,3410,950,2144,2210,2079,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6511,0.92,136.3,3411,950,2208,2079,388.3,11.5,439,6518,0.00,2.40,0.00,0.000,1030,0.000,0.071,3410,2353,2143,2208,2079,0,0,0,0,0,0,28.83,14.67,28.83
$EKF,range,-2824.5
$GC,6830,0.92,136.3,3410,2353,2208,2079,352.7,11.2,457,6838,0.00,2.40,0.00,0.000,516,0.000,0.078,3421,955,2143,2208,2079,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6904,0.92,136.3,3421,955,2208,2079,344.2,11.2,471,6911,0.00,2.38,0.00,0.000,1030,0.000,0.070,3420,2349,2143,2208,2079,0,0,0,0,0,0,28.83,14.70,28.83
$EKF,range,-5138.1
$GC,7218,0.92,136.3,3421,2350,2209,2079,309.7,11.1,488,7220,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2349,2144,2209,2079,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-5457.9
$GC,7520,0.92,136.3,3421,2349,2208,2079,274.4,11.9,503,7527,0.00,2.40,0.00,0.000,516,0.000,0.078,3432,952,2143,2208,2079,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7554,0.92,136.3,3433,952,2209,2079,270.0,12.1,509,7563,0.15,2.38,0.00,0.000,5126,0.270,0.071,3397,2351,2144,2209,2079,0,0,0,0,0,0,14.62,14.73,28.83
$GC,7872,0.94,144.4,3397,2351,2209,2079,239.5,8.8,526,7881,0.00,0.00,6.78,1.011,8198,0.000,0.000,3397,2351,2119,2183,2056,0,0,0,0,0,0,28.83,28.83,14.15
$EKF,range,-5526.1
$GC,8171,1.00,171.0,3397,2351,2181,2055,214.4,8.0,541,8205,0.00,2.50,22.50,1.127,8708,0.000,0.079,3408,952,2007,2071,1944,0,0,0,0,0,0,28.83,14.60,14.10
$GC,8252,1.00,171.0,3408,951,2069,1944,207.5,9.4,555,8258,0.00,2.42,0.00,0.000,1030,0.000,0.072,3407,2360,2006,2069,1944,0,0,0,0,0,0,28.83,14.61,28.83
$EKF,range,-7477.8
$EKF,8484,4002.060791,-3604.265625,188.143723,0.056680,0.204235,-0.093860,0.000121,0.000774,0.000100,0.002025,0.002025,0.000093
$GC,8566,1.00,171.0,3408,2359,2068,1943,178.9,9.2,572,8572,0.00,2.45,0.00,0.000,516,0.000,0.080,3418,950,2006,2068,1944,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8604,1.00,172.3,3418,950,2068,1943,175.2,9.1,579,8612,0.00,2.40,0.00,0.000,1030,0.000,0.071,3418,2352,2006,2068,1944,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8911,1.03,185.9,3419,2352,2068,1943,147.5,8.5,595,8931,0.00,2.55,12.98,1.030,8452,0.000,0.101,3418,3750,1946,2010,1883,0,0,0,0,0,0,28.83,14.62,14.15
$GC,8975,1.03,185.9,3419,3750,2008,1883,140.9,11.2,606,8983,0.00,2.38,0.00,0.000,1030,0.000,0.063,3429,2344,1946,2009,1883,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9289,1.03,185.9,3428,2344,2008,1882,109.6,10.1,621,9297,0.00,2.40,0.00,0.000,516,0.000,0.080,3438,950,1944,2007,1881,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9441,1.03,185.9,3438,950,2007,1882,93.9,10.2,650,9449,0.00,2.40,0.00,0.000,1030,0.000,0.073,3438,2351,1944,2007,1882,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9746,1.03,185.9,3439,2350,2006,1882,63.7,9.4,661,9754,0.00,2.42,0.00,0.000,516,0.000,0.081,3449,952,1943,2006,1881,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9819,1.03,185.9,3449,952,2006,1881,57.1,9.3,674,9825,0.00,2.40,0.00,0.000,1030,0.000,0.074,3449,2352,1944,2006,1882,0,0,0,0,0,0,28.83,14.69,28.83
$GC,10149,1.13,228.8,3449,2352,2005,1880,29.1,7.2,689,10194,0.00,2.50,35.55,0.949,8708,0.000,0.081,3460,955,1773,1839,1707,0,0,0,0,0,0,28.83,14.54,14.13
$GC,10313,1.20,259.7,3460,954,1835,1702,17.8,7.8,719,10335,0.00,2.40,15.80,0.149,9222,0.000,0.073,3459,2348,1651,1721,1581,0,0,0,0,0,0,28.83,14.59,14.52
$STATE,10492,end climb,SURFACE_DEPTH_REACHED
$STATE,10492,begin surface coast
$FINISH,1.2,1.018398
$STATE,10512,end surface coast,CONTROL_FINISHED_OK
$STATE,10513,begin surface
$SM_CCo,10530,43.38,0.096,0,0,1282,350.04
$SM_GC,1.93,9.75,0.17,43.38,0.103,0.132,0.096,203,2464,1282,-9.00,-0.65,350.04,0,0,0,0,0,0,14.58,14.62,14.58
$RAFOS_CLK,-82
$RAFOS,6,1411966158,4.833333,4.821667,134,57,56,55,54,53,730,194,125,181,165,217
$RAFOS,5,1411965677,4.700000,4.688056,81,62,60,54,52,51,844,144,132,198,171,213
$RAFOS,4,1411965186,4.566667,4.551667,91,57,57,54,53,53,676,223,201,192,117,155
$RAFOS,3,1411964717,4.433333,4.421389,121,61,60,58,54,52,665,180,152,200,213,189
$RAFOS,2,1411964227,4.300000,4.285278,130,61,58,54,51,51,592,198,209,189,122,146
$RAFOS,1,1411963758,4.166667,4.155000,63,62,60,57,55,49,132,186,198,159,214,108
$RAFOS,0,1411963272,4.033333,4.020000,67,67,65,63,60,56,142,192,157,583,168,112
$RAFOS_FIX,6641.562500,-5957.143555,290914,040437,5,111,1.00
$IRIDIUM_FIX,6609.62,-6011.26,280914,232628
$TT8_MAMPS,0.038199,0.038199
$HUMID,45.03
$INTERNAL_PRESSURE,8.48431
$TCM_TEMP,12.30
$XPDR_PINGS,0
$SC_FREEKB,3998304
$24V_AH,13.28,20.462
$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,24.325,87.425,314.375,43.375,0.000,0.000,0.000,168.550,0.000,0.000,5.516,2287.889,6608.332,553.637,1360.265,79.111,0.000,1342.312,0.000,1100.980,2520.000,0.536,0.000
$DEVICE_MAMPS,428.400,148.410,1616.445,95.625,0.000,0.000,0.000,154.530,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10519.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.212,0.000,0.000,0.000
$MEM,143172
$DATA_FILE_SIZE,26636,740
$CAP_FILE_SIZE,118431,0
$CFSIZE,1024409600,1009713152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11023.83,0x23769e,7,5
$SOUNDSPEED,1453.9
$EKF,10662,4002.106445,-3603.637939,1.216556,-0.097149,0.259609,0.015053,0.000151,0.000966,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.046,282.14,1
$GPS,290914,053148,6642.154,-6004.251,16,0.8,16,-32.8