version: 66.12
glider: 217
mission: 3
dive: 386
start: 11 21 114 15 24 31
data:
$ID,217
$MISSION,3
$DIVE,386
$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,56
$R_STBD_OVSHOOT,44
$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
$GPS1,211114,151700,6704.531,-5657.650,14,0.8,14,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-73.4
$GPS2,211114,152359,6704.601,-5657.709,24,0.8,24,-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,190.5,7612,-17.5,-9.167,-20.44,2275
$D_GRID,528
$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,-136.3,162,2468,1294,1237,0.0,0.0,0,82,0.00,0.00,-61.45,0.000,16386,0.000,0.000,146,2468,2816,2823,2809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.92,-136.3,150,2468,2824,2808,3.1,-2.2,6,119,12.15,2.45,-10.80,0.000,18948,0.396,0.084,2788,1062,3267,3299,3236,0,0,0,0,0,0,14.20,14.52,14.80
$GC,197,-0.92,-136.3,2788,1062,3302,3236,23.1,-18.1,27,204,0.00,2.38,0.00,0.000,1030,0.000,0.060,2786,2439,3269,3302,3236,0,0,0,0,0,0,28.83,14.46,28.83
$GC,513,-0.92,-136.3,2786,2440,3302,3235,78.5,-17.0,39,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2440,3268,3301,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,813,-0.92,-136.3,2786,2440,3302,3232,123.6,-15.4,49,819,0.00,2.38,0.00,0.000,260,0.000,0.089,2785,3781,3266,3301,3232,0,0,0,0,0,0,28.83,14.48,28.83
$GC,906,-0.92,-136.3,2782,3781,3301,3231,137.5,-14.4,67,911,0.00,2.22,0.00,0.000,1030,0.000,0.050,2786,2438,3266,3301,3231,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1219,-0.92,-136.3,2786,2438,3308,3229,177.2,-12.1,84,1226,0.00,2.42,0.00,0.000,260,0.000,0.088,2785,3787,3266,3302,3230,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1308,-0.92,-136.3,2786,3786,3302,3230,188.6,-12.5,101,1313,0.00,2.20,0.00,0.000,1030,0.000,0.049,2786,2447,3265,3301,3230,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1626,-0.92,-136.3,2786,2445,3301,3230,226.3,-12.2,119,1631,0.00,2.40,0.00,0.000,260,0.000,0.087,2785,3790,3266,3302,3230,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1638,-0.92,-136.3,2786,3790,3301,3230,227.8,-12.3,121,1644,0.00,2.20,0.00,0.000,1030,0.000,0.049,2785,2447,3266,3302,3230,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1952,-0.92,-136.3,2785,2446,3302,3230,264.4,-11.5,138,1957,0.00,2.38,0.00,0.000,260,0.000,0.086,2785,3781,3266,3302,3230,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1963,-0.92,-136.3,2785,3781,3302,3230,265.9,-11.5,140,1970,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2443,3265,3301,3230,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2278,-0.92,-136.3,2785,2443,3301,3230,301.0,-10.9,157,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2444,3266,3302,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2579,-0.92,-136.3,2785,2443,3302,3230,334.0,-11.1,172,2581,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2443,3268,3302,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2879,-0.92,-136.3,2785,2443,3303,3230,366.6,-10.6,187,2884,0.00,2.33,0.00,0.000,516,0.000,0.060,2785,1065,3267,3303,3231,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2912,-0.92,-136.3,2785,1065,3303,3231,370.5,-11.9,193,2917,0.00,2.35,0.00,0.000,1030,0.000,0.058,2785,2453,3266,3303,3230,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3225,-0.92,-136.3,2785,2454,3304,3230,404.3,-10.7,210,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2454,3267,3304,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3528,-0.92,-136.3,2785,2454,3305,3231,436.5,-11.2,225,3534,0.00,2.30,0.00,0.000,260,0.000,0.086,2785,3782,3267,3304,3230,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3541,-0.92,-136.3,2785,3777,3304,3231,438.4,-10.8,227,3546,0.00,2.15,0.00,0.000,1030,0.000,0.047,2785,2449,3268,3305,3231,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3854,-0.92,-136.3,2785,2449,3306,3231,471.2,-10.1,244,3860,0.00,2.38,0.00,0.000,260,0.000,0.085,2785,3782,3268,3305,3231,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3872,-0.92,-136.3,2785,3784,3305,3231,473.2,-10.3,247,3879,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2446,3268,3305,3231,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4178,-0.92,-136.3,2785,2446,3305,3231,505.4,-10.4,263,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2446,3268,3306,3231,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4396,begin apogee
$GC,4401,-0.18,0.0,2785,2447,3306,3231,529.3,-11.1,274,4518,0.88,0.00,107.78,1.484,10246,0.227,0.000,3028,2445,2706,2775,2638,0,0,0,0,0,0,14.26,28.83,13.57
$STATE,4519,end apogee,CONTROL_FINISHED_OK
$STATE,4519,begin climb
$GC,4522,0.92,136.3,3028,2445,2774,2638,532.7,0.0,280,4638,1.10,0.00,108.65,1.449,10502,0.155,0.000,3370,2445,2150,2221,2079,0,0,0,0,0,0,14.20,28.83,13.38
$GC,4939,0.92,136.3,3370,2446,2214,2079,496.9,10.1,310,4944,0.00,2.50,0.00,0.000,516,0.000,0.063,3380,994,2146,2214,2079,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5062,0.92,136.3,3380,993,2214,2078,484.0,10.8,334,5068,0.00,2.35,0.00,0.000,1030,0.000,0.054,3381,2382,2146,2214,2079,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5386,0.92,136.3,3381,2383,2213,2079,450.4,10.2,353,5392,0.00,2.38,0.00,0.000,516,0.000,0.063,3388,996,2145,2213,2078,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5430,0.92,136.3,3390,996,2220,2079,445.9,10.2,361,5436,0.00,2.33,0.00,0.000,1030,0.000,0.053,3390,2384,2146,2213,2079,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5754,0.92,136.3,3389,2384,2213,2079,409.7,11.3,380,5759,0.00,2.35,0.00,0.000,516,0.000,0.061,3400,998,2144,2210,2079,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5786,0.92,136.3,3400,998,2213,2078,405.9,11.7,386,5792,0.00,2.30,0.00,0.000,1030,0.000,0.053,3400,2376,2146,2213,2079,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6100,0.92,136.3,3400,2377,2213,2078,369.3,11.4,403,6105,0.00,2.35,0.00,0.000,516,0.000,0.063,3410,997,2145,2213,2078,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6143,0.92,136.3,3412,996,2213,2078,364.3,11.4,411,6148,0.00,2.30,0.00,0.000,1030,0.000,0.054,3410,2376,2145,2213,2077,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6466,0.92,136.3,3411,2377,2213,2079,327.9,10.9,430,6472,0.00,2.35,0.00,0.000,516,0.000,0.062,3421,992,2143,2208,2078,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6505,0.92,136.3,3421,992,2213,2079,323.6,11.0,437,6513,0.00,2.33,0.00,0.000,1030,0.000,0.053,3421,2384,2145,2213,2078,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6810,0.92,136.3,3421,2384,2213,2078,289.1,11.6,453,6816,0.00,2.35,0.00,0.000,516,0.000,0.062,3432,999,2142,2207,2078,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6858,0.92,136.3,3433,999,2213,2078,283.5,11.7,462,6864,0.15,2.30,0.00,0.000,5126,0.231,0.053,3395,2377,2146,2213,2079,0,0,0,0,0,0,14.39,14.64,28.83
$GC,7177,0.92,136.3,3395,2377,2212,2079,250.7,10.3,480,7183,0.00,2.33,0.00,0.000,516,0.000,0.062,3405,998,2145,2213,2078,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7220,0.92,136.3,3405,998,2213,2078,246.2,10.3,488,7226,0.00,2.30,0.00,0.000,1030,0.000,0.053,3405,2378,2145,2212,2079,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7543,0.92,136.3,3406,2378,2212,2078,212.7,10.3,507,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2377,2145,2212,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7846,0.92,136.3,3405,2378,2212,2079,180.0,10.6,522,7851,0.00,2.35,0.00,0.000,516,0.000,0.062,3416,991,2146,2214,2079,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7929,0.92,136.3,3416,991,2213,2079,171.0,10.9,538,7935,0.00,2.33,0.00,0.000,1030,0.000,0.052,3416,2385,2146,2213,2079,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8252,0.92,136.3,3416,2386,2213,2079,136.8,10.7,557,8254,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2385,2146,2213,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8563,0.92,136.3,3416,2386,2212,2079,106.0,9.2,570,8569,0.00,2.38,0.00,0.000,516,0.000,0.062,3426,992,2146,2213,2079,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8601,0.96,152.7,3426,992,2213,2079,102.6,8.4,577,8621,0.00,2.30,12.85,0.908,9222,0.000,0.052,3425,2377,2082,2149,2016,0,0,0,0,0,0,28.83,14.63,14.13
$GC,8929,1.00,172.9,3426,2377,2148,2016,73.9,8.3,592,8952,0.00,2.45,15.88,0.898,8452,0.000,0.082,3425,3770,2001,2067,1935,0,0,0,0,0,0,28.83,14.69,14.15
$GC,9155,1.00,172.9,3426,3770,2066,1935,51.4,10.4,637,9161,0.00,2.25,0.00,0.000,1030,0.000,0.047,3435,2389,2000,2066,1935,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9477,1.04,187.5,3436,2388,2066,1934,22.8,8.5,650,9489,0.00,2.42,7.00,0.153,8708,0.000,0.062,3446,986,1947,2014,1880,0,0,0,0,0,0,28.83,14.61,14.45
$GC,9538,1.05,195.5,3445,986,2018,1881,17.3,8.8,661,9550,0.00,2.33,4.62,0.129,9222,0.000,0.053,3445,2377,1913,1981,1846,0,0,0,0,0,0,28.83,14.62,14.45
$FREEZE,8.23,0.735,-1.800,0,1,0
$FREEZE,7.38,0.695,-1.800,0,1,0
$FREEZE,6.44,0.657,-1.799,0,1,0
$FREEZE,5.52,0.596,-1.799,0,1,0
$FREEZE,4.49,0.564,-1.797,0,1,0
$FREEZE,3.62,0.555,-1.796,0,1,0
$FREEZE,2.55,0.526,-1.795,0,1,0
$FREEZE,1.58,0.525,-1.794,0,1,0
$STATE,9706,end climb,SURFACE_DEPTH_REACHED
$STATE,9706,begin surface coast
$FREEZE,1.41,0.543,-1.080,0,1,0
$FREEZE,1.45,0.542,-1.022,0,1,0
$FINISH,1.4,1.015092
$STATE,9728,end surface coast,CONTROL_FINISHED_OK
$STATE,9728,begin surface
$SM_CCo,9748,71.32,0.083,0,0,1282,350.04
$SM_GC,2.38,9.38,0.10,71.32,0.078,0.148,0.083,205,2460,1282,-8.97,-1.05,350.04,0,0,0,0,0,0,14.59,14.64,14.57
$RAFOS_CLK,-4
$RAFOS,6,1416588543,16.833334,16.817499,64,61,58,56,55,53,809,216,168,111,799,155
$RAFOS,5,1416588067,16.700001,16.685278,89,58,53,50,50,49,617,200,179,214,152,111
$RAFOS,4,1416587588,16.566668,16.552221,69,69,57,57,56,52,216,839,119,175,142,130
$RAFOS,3,1416587102,16.433332,16.417223,60,57,54,52,50,49,142,170,191,200,214,128
$RAFOS,2,1416586635,16.299999,16.287500,69,59,55,55,51,50,158,187,170,993,235,131
$RAFOS,1,1416586146,16.166666,16.151667,65,55,53,53,52,49,210,181,195,148,1326,112
$RAFOS,0,1416585666,16.033333,16.018333,70,64,56,55,54,53,198,208,130,167,142,115
$RAFOS_FIX,6706.017578,-5708.590820,211114,161656,2,76,1.66
$IRIDIUM_FIX,6631.12,-5702.96,211114,122652
$TT8_MAMPS,0.03745,0.03745
$HUMID,41.25
$INTERNAL_PRESSURE,8.60151
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.2
$SC_FREEKB,3896512
$24V_AH,13.38,92.624
$10V_AH,12.94,0.000
$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,23.650,88.575,256.775,71.325,0.000,0.000,0.000,235.275,0.250,0.000,25.816,1561.954,6648.264,478.727,1340.075,237.321,0.000,1298.422,0.000,1018.343,2520.000,2.624,0.000
$DEVICE_MAMPS,396.270,147.645,1484.100,83.385,0.000,0.000,0.000,142.290,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9742.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.257,0.000,0.000,0.000
$MEM,143148
$DATA_FILE_SIZE,23403,681
$CAP_FILE_SIZE,115440,0
$CFSIZE,1024409600,972931072
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10365.71,0x23769e,7,5
$INTR,1,4398.45,0x23769e,2,5
$SOUNDSPEED,1472.5
$CURRENT,0.179,318.66,1
$GPS,211114,180952,6704.095,-5658.446,36,0.9,36,-32.6