version: 66.12
glider: 217
mission: 3
dive: 392
start: 11 22 114 9 34 24
data:
$ID,217
$MISSION,3
$DIVE,392
$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,60
$R_STBD_OVSHOOT,45
$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
$GPS1,221114,092704,6703.131,-5654.453,24,0.7,24,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-66.5
$GPS2,221114,093348,6703.187,-5654.357,5,0.7,5,-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,138.1,4604,-17.5,-9.167,-20.44,2275
$D_GRID,567
$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,16,begin dive
$GC,18,-0.92,-136.3,152,2467,1308,1229,0.0,0.0,0,83,0.00,0.00,-62.08,0.000,16386,0.000,0.000,148,2467,2854,2856,2852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.92,-136.3,147,2467,2862,2848,3.3,-2.4,6,115,12.15,2.30,-9.40,0.000,18692,0.396,0.109,2786,3770,3266,3297,3236,0,0,0,0,0,0,14.15,14.48,14.81
$GC,154,-0.92,-136.3,2786,3770,3298,3236,15.4,-16.2,18,161,0.00,2.20,0.00,0.000,1030,0.000,0.048,2787,2442,3267,3298,3236,0,0,0,0,0,0,28.83,14.57,28.83
$GC,460,-0.92,-136.3,2786,2441,3300,3234,66.2,-16.3,33,466,0.00,2.38,0.00,0.000,260,0.000,0.088,2786,3767,3267,3300,3234,0,0,0,0,0,0,28.83,14.47,28.83
$GC,578,-0.92,-136.3,2785,3767,3300,3234,87.6,-17.5,56,585,0.00,2.17,0.00,0.000,1030,0.000,0.049,2785,2440,3267,3300,3234,0,0,0,0,0,0,28.83,14.63,28.83
$GC,896,-0.92,-136.3,2786,2443,3300,3231,134.6,-13.7,69,902,0.00,2.35,0.00,0.000,260,0.000,0.089,2785,3762,3265,3300,3231,0,0,0,0,0,0,28.83,14.50,28.83
$GC,934,-0.92,-136.3,2782,3763,3300,3230,140.5,-14.7,76,941,0.00,2.15,0.00,0.000,1030,0.000,0.050,2786,2453,3265,3300,3231,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1240,-0.92,-136.3,2785,2453,3300,3230,181.9,-12.6,92,1245,0.00,2.35,0.00,0.000,260,0.000,0.087,2785,3772,3265,3300,3230,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1267,-0.92,-136.3,2786,3772,3300,3230,185.5,-13.2,97,1273,0.00,2.17,0.00,0.000,1030,0.000,0.048,2785,2442,3268,3300,3236,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1586,-0.92,-136.3,2786,2442,3300,3229,225.8,-12.9,115,1591,0.00,2.35,0.00,0.000,260,0.000,0.087,2786,3764,3265,3300,3230,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1664,-0.92,-136.3,2785,3764,3300,3229,236.3,-14.0,130,1670,0.00,2.15,0.00,0.000,1030,0.000,0.048,2785,2450,3265,3300,3230,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1970,-0.92,-136.3,2785,2449,3300,3230,275.0,-12.6,146,1975,0.00,2.33,0.00,0.000,260,0.000,0.086,2785,3764,3264,3300,3229,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2002,-0.92,-136.3,2786,3764,3300,3230,279.4,-13.6,152,2008,0.00,2.15,0.00,0.000,1030,0.000,0.048,2785,2447,3264,3300,3229,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2316,-0.92,-136.3,2784,2447,3300,3230,315.8,-11.7,169,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2447,3265,3301,3229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2617,-0.92,-136.3,2785,2447,3299,3230,349.6,-11.0,184,2623,0.00,2.35,0.00,0.000,260,0.000,0.086,2785,3771,3265,3300,3230,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2676,-0.92,-136.3,2786,3772,3301,3230,356.2,-11.0,195,2682,0.00,2.15,0.00,0.000,1030,0.000,0.048,2786,2451,3265,3301,3230,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2981,-0.92,-136.3,2786,2450,3301,3225,389.5,-11.2,211,2986,0.00,2.33,0.00,0.000,516,0.000,0.058,2786,1069,3265,3301,3230,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3013,-0.92,-136.3,2786,1069,3301,3230,393.5,-11.8,217,3020,0.00,2.33,0.00,0.000,1030,0.000,0.057,2785,2444,3265,3301,3230,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3328,-0.92,-136.3,2786,2444,3302,3230,427.9,-10.9,234,3333,0.00,2.35,0.00,0.000,260,0.000,0.084,2786,3784,3264,3300,3229,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3372,-0.92,-136.3,2786,3784,3302,3230,432.9,-11.8,242,3377,0.00,2.17,0.00,0.000,1030,0.000,0.048,2785,2454,3266,3302,3230,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3695,-0.92,-136.3,2785,2449,3302,3230,467.9,-10.8,261,3702,0.00,2.38,0.00,0.000,260,0.000,0.085,2785,3779,3266,3302,3230,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3740,-0.92,-136.3,2785,3780,3303,3230,473.0,-11.4,269,3746,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2440,3265,3301,3230,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4064,-0.92,-136.3,2786,2443,3303,3230,507.0,-10.1,288,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2443,3266,3303,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4365,-0.92,-136.3,2786,2443,3304,3230,538.2,-11.0,303,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2443,3267,3304,3230,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4601,end dive,NO_VERTICAL_VELOCITY
$STATE,4601,begin apogee
$GC,4607,-0.18,0.0,2786,2443,3306,3230,542.8,0.0,315,4723,0.80,0.00,107.78,1.494,10246,0.148,0.000,3038,2443,2707,2775,2639,0,0,0,0,0,0,14.45,28.83,13.58
$STATE,4725,end apogee,CONTROL_FINISHED_OK
$STATE,4725,begin climb
$GC,4727,0.92,136.3,3038,2442,2775,2638,542.6,0.0,321,4844,1.08,0.00,109.53,1.458,10758,0.148,0.000,3376,2442,2150,2221,2079,0,0,0,0,0,0,14.21,28.83,13.36
$GC,5144,0.92,136.3,3376,2442,2212,2078,502.2,10.6,348,5149,0.00,2.47,0.00,0.000,516,0.000,0.063,3387,993,2145,2213,2078,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5222,0.92,136.3,3387,993,2212,2077,493.7,10.8,363,5228,0.00,2.35,0.00,0.000,1030,0.000,0.054,3386,2380,2144,2212,2077,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5527,0.92,136.3,3386,2380,2218,2077,460.9,10.4,379,5533,0.00,2.35,0.00,0.000,516,0.000,0.061,3397,1002,2144,2212,2077,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5571,0.92,136.3,3396,1002,2212,2077,456.3,10.1,387,5577,0.00,2.30,0.00,0.000,1030,0.000,0.053,3396,2375,2144,2212,2077,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5894,0.92,136.3,3397,2375,2211,2077,421.1,10.7,406,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,2375,2144,2211,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6196,0.92,136.3,3396,2376,2211,2077,387.5,11.2,421,6201,0.00,2.33,0.00,0.000,516,0.000,0.062,3407,998,2144,2211,2077,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6279,0.92,136.3,3403,998,2211,2077,378.3,10.9,437,6285,0.00,2.30,0.00,0.000,1030,0.000,0.054,3407,2377,2143,2210,2077,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6602,0.92,136.3,3407,2377,2211,2079,343.4,10.9,456,6608,0.00,2.35,0.00,0.000,516,0.000,0.061,3418,996,2144,2211,2077,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6646,0.92,136.3,3418,996,2211,2077,338.7,10.7,464,6652,0.00,2.30,0.00,0.000,1030,0.000,0.052,3417,2376,2144,2211,2077,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6970,0.92,136.3,3418,2382,2211,2077,302.8,11.4,483,6975,0.00,2.33,0.00,0.000,516,0.000,0.060,3428,1001,2144,2211,2078,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7017,0.92,136.3,3428,1001,2211,2077,297.0,12.3,492,7023,0.15,2.30,0.00,0.000,5126,0.231,0.053,3390,2378,2144,2211,2077,0,0,0,0,0,0,14.39,14.63,28.83
$GC,7336,0.92,136.3,3390,2378,2211,2077,263.1,10.6,510,7342,0.00,2.33,0.00,0.000,516,0.000,0.060,3400,1001,2144,2211,2077,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7374,0.92,136.3,3401,1001,2211,2077,259.3,9.7,517,7380,0.00,2.30,0.00,0.000,1030,0.000,0.053,3406,2377,2144,2212,2077,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7680,0.92,136.3,3400,2377,2210,2077,229.5,10.2,533,7685,0.00,2.33,0.00,0.000,516,0.000,0.060,3411,1001,2144,2211,2078,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7717,0.92,136.3,3411,1001,2211,2077,225.6,10.7,540,7724,0.00,2.30,0.00,0.000,1030,0.000,0.053,3411,2378,2143,2211,2075,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8023,0.92,136.3,3411,2378,2211,2077,191.4,11.2,556,8024,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2378,2144,2211,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8325,0.92,136.3,3412,2378,2211,2077,160.4,9.5,571,8331,0.00,2.33,0.00,0.000,516,0.000,0.060,3421,1002,2144,2211,2077,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8398,0.92,136.3,3422,1002,2211,2077,153.1,9.7,585,8403,0.00,2.30,0.00,0.000,1030,0.000,0.053,3421,2378,2144,2212,2077,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8711,0.92,136.3,3421,2378,2210,2077,122.3,10.0,602,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2378,2144,2211,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9023,0.93,139.2,3422,2378,2211,2077,92.1,9.0,613,9024,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2377,2144,2211,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9322,0.93,139.2,3422,2378,2210,2077,66.1,9.4,623,9327,0.00,2.35,0.00,0.000,516,0.000,0.060,3432,998,2144,2211,2077,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9530,1.09,210.7,3432,998,2212,2078,47.0,5.9,664,9595,0.00,2.33,56.30,0.872,9222,0.000,0.053,3431,2383,1847,1916,1778,0,0,0,0,0,0,28.83,14.59,14.09
$GC,9896,1.09,210.7,3432,2384,1911,1775,10.1,11.9,695,9901,0.00,2.38,0.00,0.000,516,0.000,0.061,3442,1001,1843,1911,1775,0,0,0,0,0,0,28.83,14.52,28.83
$FREEZE,8.74,1.264,-1.809,0,1,0
$FREEZE,8.17,1.264,-1.809,0,1,0
$FREEZE,7.62,1.265,-1.809,0,1,0
$FREEZE,7.01,1.265,-1.808,0,1,0
$FREEZE,6.15,1.265,-1.808,0,1,0
$FREEZE,5.65,1.265,-1.807,0,1,0
$FREEZE,4.86,1.266,-1.807,0,1,0
$FREEZE,4.22,1.266,-1.806,0,1,0
$FREEZE,3.52,1.263,-1.806,0,1,0
$FREEZE,2.84,1.263,-1.805,0,1,0
$FREEZE,2.09,1.266,-1.804,0,1,0
$FREEZE,1.45,1.266,-1.804,0,1,0
$STATE,9965,end climb,SURFACE_DEPTH_REACHED
$STATE,9966,begin surface coast
$FREEZE,1.61,1.319,-1.448,0,1,0
$FINISH,1.6,1.021268
$STATE,9972,end surface coast,CONTROL_FINISHED_OK
$STATE,9972,begin surface
$SM_CCo,9995,63.70,0.081,0,0,1282,350.04
$SM_GC,2.32,9.38,2.50,63.70,0.075,0.055,0.081,197,2445,1282,-9.00,-1.05,350.04,0,0,0,0,0,0,14.54,14.57,14.53
$RAFOS_CLK,-7
$RAFOS,1,1416658153,12.166667,12.153611,72,57,56,54,53,53,198,169,147,113,182,211
$RAFOS,0,1416657673,12.033333,12.020278,65,58,56,56,53,50,206,122,188,139,150,167
$RAFOS_FIX,6706.063477,-5707.595703,221114,000056,2,84,6.22
$IRIDIUM_FIX,6631.12,-5655.33,221114,061728
$TT8_MAMPS,0.040446,0.040446
$HUMID,41.33
$INTERNAL_PRESSURE,8.61127
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,17.8
$SC_FREEKB,3894592
$24V_AH,13.36,93.685
$10V_AH,12.92,0.000
$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,23.550,92.075,273.600,63.700,0.000,0.000,0.000,233.325,0.250,0.000,5.989,1614.994,6766.810,498.275,1356.520,245.787,0.000,1331.871,0.000,1068.667,1080.000,2.625,0.000
$DEVICE_MAMPS,395.505,108.630,1494.045,81.090,0.000,0.000,0.000,146.115,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9987.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.184,0.000,0.000,0.000
$MEM,143060
$DATA_FILE_SIZE,23377,709
$CAP_FILE_SIZE,117310,0
$CFSIZE,1024409600,972292096
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11507.65,0x23769e,7,5
$INTR,1,4604.48,0x23769e,2,5
$SOUNDSPEED,1473.1
$CURRENT,0.327,339.18,1
$GPS,221114,122334,6704.251,-5652.819,34,0.8,34,-32.6