version: 66.12
glider: 217
mission: 3
dive: 385
start: 11 21 114 12 31 44
data:
$ID,217
$MISSION,3
$DIVE,385
$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,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,20
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$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,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,120
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$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,2375
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,50
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$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
$GPS1,211114,122404,6703.989,-5654.610,37,0.8,37,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-70.8
$GPS2,211114,123108,6704.087,-5654.698,5,0.8,5,-32.6
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,190.2,5239,-17.5,-9.167,-20.44,2275
$D_GRID,541
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.92,-136.3,151,2468,1298,1233,0.0,0.0,0,84,0.00,0.00,-62.33,0.000,16386,0.000,0.000,145,2469,2847,2854,2841,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.92,-136.3,145,2469,2857,2841,3.3,-2.3,6,116,12.23,2.35,-9.80,0.000,18692,0.398,0.112,2786,3759,3267,3297,3237,0,0,0,0,0,0,14.15,14.47,14.78
$GC,184,-0.92,-136.3,2786,3759,3299,3237,21.3,-18.6,24,191,0.00,2.17,0.00,0.000,1030,0.000,0.048,2787,2445,3268,3299,3237,0,0,0,0,0,0,28.83,14.57,28.83
$GC,513,-0.92,-136.3,2786,2445,3301,3237,76.0,-16.6,37,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2446,3268,3300,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,810,-0.92,-136.3,2786,2451,3300,3234,118.6,-14.5,47,816,0.00,2.35,0.00,0.000,260,0.000,0.088,2785,3762,3267,3300,3234,0,0,0,0,0,0,28.83,14.50,28.83
$GC,847,-0.92,-136.3,2785,3762,3300,3233,124.0,-14.1,54,853,0.00,2.15,0.00,0.000,1030,0.000,0.050,2786,2450,3266,3300,3233,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1153,-0.92,-136.3,2785,2450,3300,3232,166.4,-13.9,70,1159,0.00,2.33,0.00,0.000,260,0.000,0.088,2785,3762,3266,3300,3232,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1226,-0.92,-136.3,2785,3767,3300,3232,176.8,-14.2,84,1232,0.00,2.15,0.00,0.000,1030,0.000,0.050,2785,2450,3267,3303,3232,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1540,-0.92,-136.3,2785,2450,3300,3232,217.2,-12.2,101,1545,0.00,2.33,0.00,0.000,260,0.000,0.087,2785,3761,3266,3300,3232,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1577,-0.92,-136.3,2784,3761,3300,3232,221.9,-12.6,108,1585,0.00,2.15,0.00,0.000,1030,0.000,0.049,2785,2447,3265,3300,3231,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1883,-0.92,-136.3,2784,2447,3300,3231,257.7,-11.7,124,1889,0.00,2.33,0.00,0.000,260,0.000,0.084,2775,3760,3266,3301,3231,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1907,-0.92,-136.3,2774,3760,3301,3232,260.6,-12.2,128,1913,0.00,2.15,0.00,0.000,1030,0.000,0.047,2774,2441,3266,3301,3231,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2231,-0.92,-136.3,2774,2441,3300,3231,299.5,-11.8,147,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2441,3266,3300,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2533,-0.92,-136.3,2774,2441,3301,3232,333.9,-11.0,162,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2441,3266,3301,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2835,-0.92,-136.3,2775,2441,3302,3232,368.3,-11.5,177,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2441,3266,3301,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3133,-0.92,-136.3,2774,2442,3308,3232,404.2,-12.0,192,3139,0.00,2.35,0.00,0.000,260,0.000,0.086,2772,3759,3267,3302,3232,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3151,-0.92,-136.3,2772,3759,3302,3232,406.7,-11.7,195,3157,0.00,2.15,0.00,0.000,1030,0.000,0.048,2772,2441,3266,3301,3232,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3457,-0.92,-136.3,2773,2441,3302,3232,441.6,-11.0,211,3462,0.00,2.35,0.00,0.000,260,0.000,0.085,2772,3765,3267,3302,3232,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3469,-0.92,-136.3,2773,3765,3302,3232,443.1,-11.2,213,3475,0.00,2.15,0.00,0.000,1030,0.000,0.047,2772,2443,3267,3302,3232,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3783,-0.92,-136.3,2772,2443,3303,3232,478.2,-11.1,230,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2443,3268,3303,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4085,-0.92,-136.3,2772,2443,3303,3232,511.2,-11.4,245,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2443,3267,3303,3232,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4341,begin apogee
$GC,4346,-0.18,0.0,2771,2443,3305,3232,542.7,-12.5,258,4462,0.82,0.00,107.45,1.502,10246,0.147,0.000,3032,2441,2706,2775,2638,0,0,0,0,0,0,14.46,28.83,13.58
$STATE,4464,end apogee,CONTROL_FINISHED_OK
$STATE,4464,begin climb
$GC,4466,0.92,136.3,3033,2441,2775,2637,542.7,0.0,264,4586,1.08,2.42,108.28,1.464,10500,0.142,0.081,3373,3762,2150,2221,2079,0,0,0,0,0,0,14.21,13.98,13.36
$GC,4663,0.92,136.3,3373,3762,2216,2079,526.0,13.0,303,4670,0.00,2.35,0.00,0.000,1030,0.000,0.047,3383,2387,2147,2215,2079,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4969,0.92,136.3,3383,2385,2214,2085,492.7,10.5,319,4975,0.00,2.40,0.00,0.000,516,0.000,0.062,3393,972,2145,2213,2078,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5033,0.92,136.3,3393,972,2213,2078,486.0,10.6,331,5038,0.00,2.35,0.00,0.000,1030,0.000,0.054,3393,2366,2145,2213,2078,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5357,0.92,136.3,3393,2366,2213,2078,450.6,11.0,350,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,2366,2146,2214,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5658,0.92,136.3,3393,2366,2213,2078,416.4,11.1,365,5664,0.00,2.35,0.00,0.000,516,0.000,0.063,3404,982,2145,2213,2078,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5731,0.92,136.3,3404,982,2213,2078,408.1,11.0,379,5737,0.00,2.33,0.00,0.000,1030,0.000,0.054,3404,2375,2145,2213,2077,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6044,0.92,136.3,3404,2375,2213,2077,372.9,11.2,396,6050,0.00,2.35,0.00,0.000,516,0.000,0.062,3415,982,2146,2213,2079,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6077,0.92,136.3,3415,982,2213,2078,369.2,11.4,402,6083,0.00,2.33,0.00,0.000,1030,0.000,0.054,3415,2375,2145,2212,2078,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6390,0.92,136.3,3412,2375,2213,2078,334.0,11.0,419,6396,0.00,2.35,0.00,0.000,516,0.000,0.062,3425,981,2145,2213,2078,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6423,0.92,136.3,3425,981,2213,2078,330.3,11.2,425,6430,0.12,2.33,0.00,0.000,5126,0.239,0.053,3396,2377,2145,2213,2078,0,0,0,0,0,0,14.42,14.65,28.83
$GC,6738,0.92,136.3,3391,2376,2213,2078,297.3,10.5,442,6744,0.00,2.35,0.00,0.000,516,0.000,0.061,3406,980,2145,2213,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6785,0.92,136.3,3406,980,2213,2078,292.2,10.6,451,6791,0.00,2.35,0.00,0.000,1030,0.000,0.053,3406,2382,2145,2213,2078,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7104,0.92,136.3,3406,2382,2213,2078,256.6,11.2,469,7111,0.00,2.38,0.00,0.000,516,0.000,0.061,3415,978,2145,2212,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7142,0.92,136.3,3416,978,2213,2078,251.8,12.7,476,7149,0.00,2.35,0.00,0.000,1030,0.000,0.054,3415,2383,2145,2213,2078,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7448,0.92,136.3,3415,2383,2213,2078,214.8,11.7,492,7454,0.00,2.38,0.00,0.000,516,0.000,0.062,3425,981,2146,2214,2078,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7501,0.92,136.3,3425,982,2212,2078,208.7,11.1,502,7507,0.12,2.33,0.00,0.000,5126,0.238,0.053,3395,2376,2145,2213,2078,0,0,0,0,0,0,14.42,14.65,28.83
$GC,7815,0.92,136.3,3395,2375,2213,2078,177.0,9.6,519,7816,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2376,2145,2213,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8117,0.92,136.3,3395,2376,2213,2078,148.1,9.9,534,8118,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2376,2145,2213,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8418,0.92,136.3,3395,2376,2213,2078,119.2,9.7,549,8419,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2376,2144,2213,2076,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8715,0.92,136.3,3395,2376,2213,2078,90.3,9.4,559,8717,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2377,2145,2213,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9016,1.03,183.6,3395,2376,2211,2078,66.9,7.0,569,9059,0.00,2.42,35.38,0.903,8452,0.000,0.084,3395,3774,1957,2024,1890,0,0,0,0,0,0,28.83,14.66,14.14
$GC,9207,1.03,183.6,3395,3774,2021,1889,49.3,10.1,607,9212,0.00,2.33,0.00,0.000,1030,0.000,0.047,3405,2366,1955,2021,1889,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9523,1.08,208.3,3405,2363,2020,1889,23.2,8.1,622,9545,0.08,2.38,12.48,0.155,10756,0.215,0.062,3457,988,1862,1931,1793,0,0,0,0,0,0,14.64,14.56,14.40
$GC,9573,1.08,208.3,3457,988,1931,1793,18.2,10.1,631,9580,0.00,2.35,0.00,0.000,1030,0.000,0.054,3457,2381,1862,1932,1793,0,0,0,0,0,0,28.83,14.54,28.83
$FREEZE,8.68,0.741,-1.801,0,1,0
$FREEZE,7.79,0.680,-1.800,0,1,0
$FREEZE,6.75,0.543,-1.800,0,1,0
$FREEZE,5.73,0.539,-1.798,0,1,0
$FREEZE,4.73,0.532,-1.796,0,1,0
$FREEZE,3.83,0.529,-1.796,0,1,0
$FREEZE,2.82,0.534,-1.795,0,1,0
$FREEZE,1.77,0.535,-1.794,0,1,0
$STATE,9737,end climb,SURFACE_DEPTH_REACHED
$STATE,9737,begin surface coast
$FREEZE,1.49,0.500,-0.880,0,1,0
$FREEZE,1.41,0.554,-1.749,0,1,0
$FINISH,1.4,1.025608
$STATE,9759,end surface coast,CONTROL_FINISHED_OK
$STATE,9759,begin surface
$SM_CCo,9779,65.62,0.083,0,0,1281,350.04
$SM_GC,2.37,9.40,0.10,65.62,0.076,0.151,0.083,205,2465,1281,-8.98,-0.93,350.04,0,0,0,0,0,0,14.53,14.62,14.56
$RAFOS_CLK,-6
$RAFOS,6,1416574155,12.833333,12.820833,58,56,54,53,53,53,730,210,120,183,156,171
$RAFOS,5,1416573672,12.700000,12.686666,67,59,57,56,55,55,147,202,166,113,193,217
$RAFOS,4,1416573184,12.566667,12.551111,63,61,58,57,55,53,137,187,207,220,171,196
$RAFOS,2,1416572229,12.300000,12.285833,65,64,57,55,53,51,157,185,217,175,106,117
$RAFOS_FIX,6700.900879,-5708.847656,201114,040444,3,75,0.59
$IRIDIUM_FIX,6631.12,-5659.96,211114,092626
$TT8_MAMPS,0.036701,0.036701
$HUMID,41.88
$INTERNAL_PRESSURE,8.60151
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.8
$SC_FREEKB,3896832
$24V_AH,13.36,92.459
$10V_AH,12.93,0.000
$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,23.850,78.700,263.575,65.625,0.000,0.000,0.000,255.700,0.250,0.000,6.725,1492.728,6803.366,462.280,1291.750,239.411,0.000,1285.563,0.000,981.809,1080.000,2.625,0.000
$DEVICE_MAMPS,397.800,151.470,1502.460,82.620,0.000,0.000,0.000,142.290,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9773.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.231,0.000,0.000,0.000
$MEM,143172
$DATA_FILE_SIZE,23438,650
$CAP_FILE_SIZE,112691,0
$CFSIZE,1024409600,973045760
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10831.51,0x23769e,7,5
$INTR,1,4343.19,0x23769e,2,5
$SOUNDSPEED,1472.8
$CURRENT,0.427,318.70,1
$GPS,211114,151700,6704.531,-5657.650,14,0.8,14,-32.6