version: 66.12
glider: 217
mission: 3
dive: 393
start: 11 22 114 12 30 59
data:
$ID,217
$MISSION,3
$DIVE,393
$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,71
$R_STBD_OVSHOOT,28
$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
$GPS1,221114,122334,6704.251,-5652.819,34,0.8,34,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-71.3
$GPS2,221114,123020,6704.332,-5652.968,5,0.8,5,-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,202.1,4353,-17.5,-9.167,-20.44,2275
$D_GRID,503
$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,-136.3,148,2449,1306,1230,0.0,0.0,0,82,0.00,0.00,-61.10,0.000,16386,0.000,0.000,147,2449,2817,2827,2808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.92,-136.3,146,2449,2827,2809,3.2,-2.0,6,113,12.10,0.00,-10.90,0.000,18950,0.392,0.000,2788,2449,3267,3299,3235,0,0,0,0,0,0,14.19,28.83,14.79
$GC,430,-0.92,-136.3,2787,2449,3302,3234,60.9,-16.7,29,436,0.00,2.35,0.00,0.000,516,0.000,0.060,2788,1077,3268,3302,3234,0,0,0,0,0,0,28.83,14.52,28.83
$GC,518,-0.92,-136.3,2787,1077,3302,3234,75.2,-16.3,46,525,0.00,2.38,0.00,0.000,1030,0.000,0.060,2785,2456,3268,3302,3234,0,0,0,0,0,0,28.83,14.52,28.83
$GC,824,-0.92,-136.3,2786,2455,3301,3231,120.8,-14.2,57,829,0.00,2.35,0.00,0.000,260,0.000,0.089,2786,3785,3266,3301,3232,0,0,0,0,0,0,28.83,14.46,28.83
$GC,856,-0.92,-136.3,2786,3784,3301,3232,125.5,-14.5,63,863,0.00,2.17,0.00,0.000,1030,0.000,0.049,2786,2456,3266,3302,3231,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1171,-0.92,-136.3,2786,2457,3301,3230,163.9,-12.0,80,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2457,3266,3301,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1472,-0.92,-136.3,2786,2457,3301,3230,203.0,-12.4,95,1479,0.00,2.38,0.00,0.000,260,0.000,0.087,2786,3789,3265,3301,3230,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1496,-0.92,-136.3,2786,3789,3301,3230,206.2,-12.4,99,1503,0.00,2.20,0.00,0.000,1030,0.000,0.048,2785,2442,3265,3301,3230,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1821,-0.92,-136.3,2786,2442,3301,3230,246.0,-12.7,118,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2442,3265,3301,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2122,-0.92,-136.3,2786,2442,3301,3230,280.6,-11.3,133,2128,0.00,2.38,0.00,0.000,260,0.000,0.086,2786,3781,3265,3300,3230,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2182,-0.92,-136.3,2785,3781,3301,3230,287.5,-11.8,144,2188,0.00,2.17,0.00,0.000,1030,0.000,0.048,2786,2451,3266,3303,3230,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2486,-0.92,-136.3,2786,2451,3302,3230,321.7,-11.1,160,2492,0.00,2.38,0.00,0.000,260,0.000,0.085,2785,3790,3266,3302,3231,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2510,-0.92,-136.3,2786,3790,3302,3230,324.3,-10.9,164,2516,0.00,2.20,0.00,0.000,1030,0.000,0.047,2786,2442,3265,3301,3230,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2834,-0.92,-136.3,2785,2438,3302,3231,360.5,-11.2,183,2840,0.00,2.38,0.00,0.000,260,0.000,0.085,2785,3781,3266,3302,3231,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2858,-0.92,-136.3,2786,3781,3302,3230,363.2,-11.1,187,2864,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2447,3267,3303,3231,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3182,-0.92,-136.3,2786,2446,3303,3230,399.7,-11.0,206,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2447,3267,3303,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3484,-0.92,-136.3,2785,2446,3304,3230,432.3,-10.6,221,3490,0.00,2.38,0.00,0.000,260,0.000,0.084,2785,3785,3267,3304,3231,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3516,-0.92,-136.3,2785,3785,3304,3230,436.0,-10.3,227,3523,0.00,2.17,0.00,0.000,1030,0.000,0.048,2785,2451,3267,3304,3230,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3831,-0.92,-136.3,2785,2451,3305,3230,469.8,-10.5,244,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2450,3268,3305,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4132,-0.92,-136.3,2785,2451,3306,3231,501.2,-10.4,259,4139,0.00,2.38,0.00,0.000,260,0.000,0.086,2785,3789,3268,3305,3231,0,0,0,0,0,0,28.83,14.50,28.83
$STATE,4148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4148,begin apogee
$GC,4157,-0.18,0.0,2786,2378,3306,3231,503.4,-10.7,262,4272,0.88,0.00,107.47,1.445,10246,0.222,0.000,3030,2378,2704,2773,2636,0,0,0,0,0,0,14.29,28.83,13.61
$STATE,4273,end apogee,CONTROL_FINISHED_OK
$STATE,4273,begin climb
$GC,4276,0.92,136.3,3030,2378,2773,2636,506.1,0.0,268,4394,1.10,2.47,107.57,1.414,10756,0.150,0.061,3385,980,2150,2221,2079,0,0,0,0,0,0,14.22,14.04,13.39
$GC,4442,0.92,136.3,3386,980,2215,2078,493.9,10.9,298,4448,0.00,2.45,0.00,0.000,1030,0.000,0.052,3385,2390,2146,2214,2079,0,0,0,0,0,0,28.83,14.15,28.83
$GC,4761,0.92,136.3,3385,2390,2212,2078,460.0,10.5,316,4767,0.00,2.42,0.00,0.000,516,0.000,0.060,3395,977,2145,2212,2078,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4808,0.92,136.3,3396,977,2212,2078,454.8,10.6,325,4814,0.00,2.38,0.00,0.000,1030,0.000,0.052,3396,2384,2145,2213,2078,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5126,0.92,136.3,3395,2384,2212,2078,419.9,10.9,343,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2384,2145,2212,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5428,0.92,136.3,3395,2384,2212,2078,387.1,10.9,358,5433,0.00,2.40,0.00,0.000,516,0.000,0.061,3406,971,2145,2212,2078,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5511,0.92,136.3,3406,971,2212,2078,377.7,11.2,374,5517,0.00,2.35,0.00,0.000,1030,0.000,0.053,3407,2377,2145,2212,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5834,0.92,136.3,3407,2377,2212,2078,340.3,11.8,393,5840,0.00,2.38,0.00,0.000,516,0.000,0.061,3416,980,2143,2208,2078,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5878,0.92,136.3,3417,980,2211,2078,335.2,11.7,401,5883,0.00,2.33,0.00,0.000,1030,0.000,0.052,3416,2376,2144,2211,2078,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6202,0.92,136.3,3417,2376,2211,2083,297.0,11.3,420,6203,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2377,2144,2211,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6503,0.92,136.3,3417,2376,2211,2078,263.0,11.3,435,6509,0.00,2.38,0.00,0.000,516,0.000,0.061,3426,976,2144,2211,2078,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6581,0.92,136.3,3427,976,2212,2078,253.6,11.7,450,6588,0.12,2.35,0.00,0.000,5126,0.238,0.054,3397,2382,2144,2211,2078,0,0,0,0,0,0,14.41,14.64,28.83
$GC,6887,0.92,136.3,3397,2382,2211,2078,219.9,11.3,466,6892,0.00,2.42,0.00,0.000,260,0.000,0.081,3397,3780,2144,2211,2078,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6931,0.92,136.3,3397,3780,2211,2078,214.5,12.6,474,6936,0.00,2.33,0.00,0.000,1030,0.000,0.047,3408,2363,2144,2211,2078,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7254,0.92,136.3,3408,2361,2211,2078,180.1,10.3,493,7259,0.00,2.33,0.00,0.000,516,0.000,0.061,3418,979,2145,2211,2079,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7352,0.92,136.3,3418,979,2211,2078,169.5,10.8,512,7359,0.00,2.35,0.00,0.000,1030,0.000,0.053,3418,2384,2144,2211,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7658,0.92,136.3,3418,2384,2211,2083,134.2,11.1,528,7663,0.00,2.38,0.00,0.000,516,0.000,0.060,3428,985,2144,2211,2077,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7742,0.92,136.3,3427,985,2211,2078,125.6,10.1,544,7748,0.12,2.33,0.00,0.000,5126,0.236,0.053,3397,2377,2144,2210,2078,0,0,0,0,0,0,14.40,14.62,28.83
$GC,8076,0.95,145.8,3396,2374,2211,2078,96.7,8.7,559,8085,0.00,0.00,7.57,0.840,8198,0.000,0.000,3397,2381,2114,2181,2047,0,0,0,0,0,0,28.83,28.83,14.07
$GC,8376,0.96,151.5,3396,2377,2179,2046,70.1,8.9,569,8384,0.00,0.00,6.05,0.788,8198,0.000,0.000,3397,2377,2090,2156,2024,0,0,0,0,0,0,28.83,28.83,14.09
$GC,8676,1.09,210.8,3397,2377,2152,2021,50.0,6.5,579,8730,0.10,2.40,46.00,0.880,10756,0.165,0.063,3458,978,1845,1913,1778,0,0,0,0,0,0,14.71,14.62,14.12
$GC,8819,1.09,210.8,3458,978,1910,1777,37.0,10.6,607,8826,0.00,2.35,0.00,0.000,1030,0.000,0.054,3458,2374,1843,1910,1777,0,0,0,0,0,0,28.83,14.55,28.83
$FREEZE,8.21,1.055,-1.806,0,1,0
$FREEZE,7.22,1.056,-1.806,0,1,0
$FREEZE,6.18,1.056,-1.805,0,1,0
$FREEZE,5.01,1.065,-1.804,0,1,0
$FREEZE,3.95,1.065,-1.803,0,1,0
$FREEZE,2.70,1.065,-1.802,0,1,0
$GC,9134,1.09,210.8,3458,2374,1906,1775,2.7,11.3,631,9141,0.00,2.45,0.00,0.000,260,0.000,0.083,3458,3776,1840,1906,1775,0,0,0,0,0,0,28.83,14.52,28.83
$FREEZE,1.43,1.072,-0.995,0,1,0
$STATE,9147,end climb,SURFACE_DEPTH_REACHED
$STATE,9147,begin surface coast
$FREEZE,1.83,1.072,-0.996,0,1,0
$FREEZE,1.45,1.070,-1.801,0,1,0
$FINISH,1.5,1.026321
$STATE,9159,end surface coast,CONTROL_FINISHED_OK
$STATE,9159,begin surface
$SM_CCo,9181,63.58,0.082,0,0,1281,350.04
$SM_GC,2.40,9.30,2.22,63.58,0.070,0.048,0.082,208,2446,1281,-8.97,1.75,350.04,0,0,0,0,0,0,14.57,14.68,14.55
$RAFOS_CLK,-2
$RAFOS,6,1416660547,12.833333,12.818611,69,66,58,56,55,52,163,199,787,188,142,214
$RAFOS,5,1416660070,12.700000,12.686111,62,62,58,57,56,54,150,207,188,173,222,113
$RAFOS,4,1416659587,12.566667,12.551945,72,58,57,55,55,54,156,190,115,167,210,134
$RAFOS,2,1416658637,12.300000,12.288055,61,55,54,53,53,52,156,142,217,184,170,196
$RAFOS_FIX,6706.063477,-5707.595703,221114,000056,2,84,6.22
$IRIDIUM_FIX,6631.12,-5655.33,221114,092957
$TT8_MAMPS,0.03745,0.03745
$HUMID,41.77
$INTERNAL_PRESSURE,8.60151
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,17.8
$SC_FREEKB,3894272
$24V_AH,13.39,93.851
$10V_AH,12.95,0.000
$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,23.725,84.225,274.675,63.575,0.000,0.000,0.000,243.075,0.250,0.000,5.926,1449.147,6268.478,473.877,1259.146,227.964,0.000,1267.466,0.000,958.724,1080.000,2.624,0.000
$DEVICE_MAMPS,392.445,88.740,1445.085,81.855,0.000,0.000,0.000,141.525,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9173.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.255,0.000,0.000,0.000
$MEM,143112
$DATA_FILE_SIZE,23409,635
$CAP_FILE_SIZE,108201,0
$CFSIZE,1024409600,972210176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10594.44,0x23769e,7,5
$SOUNDSPEED,1473.1
$CURRENT,0.407,329.83,1
$GPS,221114,150623,6704.828,-5655.474,24,0.8,24,-32.6