version: 66.12
glider: 217
mission: 3
dive: 396
start: 11 22 114 20 50 51
data:
$ID,217
$MISSION,3
$DIVE,396
$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,58
$R_STBD_OVSHOOT,41
$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
$GPS1,221114,204327,6703.715,-5655.280,33,0.7,33,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-73.8
$GPS2,221114,205015,6703.721,-5655.148,5,1.0,5,-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,149.6,5332,-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,-136.3,183,2460,1306,1233,0.0,0.0,0,93,0.00,0.00,-71.10,0.000,16386,0.000,0.000,174,2461,3078,3083,3073,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.92,-136.3,174,2461,3084,3073,3.8,-3.2,7,119,12.23,2.40,-3.78,0.000,18948,0.404,0.079,2790,1058,3266,3290,3242,0,0,0,0,0,0,14.19,14.50,14.79
$GC,331,-0.92,-136.3,2790,1058,3295,3242,48.8,-15.8,53,338,0.00,2.38,0.00,0.000,1030,0.000,0.060,2787,2437,3268,3295,3241,0,0,0,0,0,0,28.83,14.52,28.83
$GC,646,-0.92,-136.3,2786,2437,3295,3238,97.6,-15.0,65,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2437,3267,3295,3239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,956,-0.92,-136.3,2787,2437,3295,3237,142.0,-13.4,78,961,0.00,2.38,0.00,0.000,260,0.000,0.088,2786,3784,3266,3295,3237,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1023,-0.92,-136.3,2786,3786,3295,3237,150.9,-13.3,91,1028,0.00,2.17,0.00,0.000,1030,0.000,0.050,2786,2454,3265,3294,3237,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1341,-0.92,-136.3,2786,2451,3296,3236,190.2,-12.8,109,1347,0.00,2.38,0.00,0.000,260,0.000,0.086,2786,3786,3265,3295,3236,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1359,-0.92,-136.3,2786,3786,3295,3236,192.8,-13.1,112,1366,0.00,2.20,0.00,0.000,1030,0.000,0.049,2786,2446,3265,3295,3236,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1666,-0.92,-136.3,2786,2445,3296,3236,229.9,-11.9,128,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2445,3265,3295,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1967,-0.92,-136.3,2786,2445,3295,3236,264.9,-11.0,143,1973,0.00,2.40,0.00,0.000,260,0.000,0.086,2786,3786,3265,3295,3236,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2005,-0.92,-136.3,2786,3786,3295,3236,269.8,-12.4,150,2012,0.00,2.20,0.00,0.000,1030,0.000,0.049,2785,2442,3265,3295,3236,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2311,-0.92,-136.3,2786,2442,3295,3236,306.0,-12.3,166,2317,0.00,2.33,0.00,0.000,516,0.000,0.059,2786,1065,3266,3295,3237,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2349,-0.92,-136.3,2786,1065,3296,3236,310.9,-12.1,173,2356,0.00,2.35,0.00,0.000,1030,0.000,0.057,2786,2456,3266,3296,3236,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2654,-0.92,-136.3,2785,2456,3296,3236,345.5,-11.1,189,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2456,3266,3296,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2957,-0.92,-136.3,2786,2456,3297,3237,377.9,-10.6,204,2963,0.00,2.33,0.00,0.000,260,0.000,0.085,2786,3784,3267,3297,3237,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2981,-0.92,-136.3,2786,3784,3297,3236,380.8,-11.0,208,2986,0.00,2.17,0.00,0.000,1030,0.000,0.048,2786,2449,3266,3297,3236,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3304,-0.92,-136.3,2786,2449,3297,3236,415.2,-10.5,227,3310,0.00,2.35,0.00,0.000,260,0.000,0.085,2785,3780,3266,3297,3236,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3332,-0.92,-136.3,2786,3780,3297,3236,418.1,-10.7,232,3337,0.00,2.17,0.00,0.000,1030,0.000,0.047,2786,2444,3267,3297,3237,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3651,-0.92,-136.3,2786,2444,3299,3236,450.3,-10.4,250,3656,0.00,2.38,0.00,0.000,260,0.000,0.085,2786,3781,3267,3299,3236,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3688,-0.92,-136.3,2786,3781,3299,3235,454.6,-11.2,257,3695,0.00,2.17,0.00,0.000,1030,0.000,0.047,2786,2444,3267,3299,3236,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3994,-0.92,-136.3,2786,2444,3300,3236,485.4,-9.7,273,3995,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2444,3268,3299,3237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4296,-0.92,-136.3,2785,2442,3301,3236,516.3,-10.2,288,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2444,3268,3300,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4596,-0.92,-136.3,2786,2444,3301,3236,540.8,-1.3,303,4601,0.00,2.40,0.00,0.000,260,0.000,0.086,2786,3785,3268,3301,3236,0,0,0,0,0,0,28.83,14.52,28.83
$STATE,4722,end dive,NO_VERTICAL_VELOCITY
$STATE,4722,begin apogee
$GC,4730,-0.18,0.0,2786,2378,3301,3237,540.9,0.0,328,4845,0.80,0.00,107.53,1.494,10246,0.155,0.000,3034,2378,2706,2775,2638,0,0,0,0,0,0,14.42,28.83,13.57
$STATE,4846,end apogee,CONTROL_FINISHED_OK
$STATE,4846,begin climb
$GC,4849,0.92,136.3,3034,2378,2773,2638,540.8,0.0,334,4968,1.08,2.55,108.03,1.459,10756,0.149,0.060,3381,970,2150,2221,2079,0,0,0,0,0,0,14.21,14.01,13.36
$GC,5020,0.92,136.3,3381,970,2215,2078,528.1,10.7,368,5026,0.00,2.45,0.00,0.000,1030,0.000,0.052,3381,2381,2146,2215,2078,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5334,0.92,136.3,3381,2381,2213,2078,495.1,10.7,385,5340,0.00,2.42,0.00,0.000,516,0.000,0.061,3392,969,2145,2212,2078,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5387,0.92,136.3,3388,969,2212,2077,489.3,10.6,395,5393,0.00,2.38,0.00,0.000,1030,0.000,0.052,3392,2378,2145,2213,2078,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5700,0.92,136.3,3392,2377,2212,2075,455.6,10.7,412,5706,0.00,2.40,0.00,0.000,516,0.000,0.061,3401,968,2144,2212,2077,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5747,0.92,136.3,3402,967,2212,2077,450.3,11.3,421,5754,0.00,2.35,0.00,0.000,1030,0.000,0.050,3402,2376,2145,2212,2078,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6067,0.92,136.3,3402,2376,2212,2078,414.3,10.9,439,6072,0.00,2.38,0.00,0.000,516,0.000,0.060,3413,974,2144,2212,2077,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6094,0.92,136.3,3412,975,2212,2078,411.1,11.2,444,6100,0.00,2.35,0.00,0.000,1030,0.000,0.052,3411,2380,2145,2212,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6413,0.92,136.3,3412,2380,2211,2078,373.2,11.8,462,6418,0.00,2.38,0.00,0.000,516,0.000,0.060,3423,973,2145,2212,2078,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6456,0.92,136.3,3423,973,2211,2078,367.7,11.6,470,6463,0.12,2.35,0.00,0.000,5126,0.243,0.051,3393,2382,2145,2212,2078,0,0,0,0,0,0,14.40,14.63,28.83
$GC,6780,0.92,136.3,3394,2383,2211,2078,331.8,10.9,489,6786,0.00,2.40,0.00,0.000,516,0.000,0.061,3404,973,2144,2211,2077,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6829,0.92,136.3,3405,973,2212,2078,326.3,11.5,498,6834,0.00,2.35,0.00,0.000,1030,0.000,0.051,3405,2378,2144,2211,2078,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7147,0.92,136.3,3405,2378,2211,2078,289.9,11.3,516,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2378,2144,2211,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7449,0.92,136.3,3405,2378,2211,2078,257.3,10.8,531,7454,0.00,2.38,0.00,0.000,516,0.000,0.060,3415,973,2144,2211,2078,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7492,0.92,136.3,3414,973,2211,2078,252.5,11.0,539,7497,0.00,2.35,0.00,0.000,1030,0.000,0.052,3415,2379,2145,2212,2078,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7815,0.92,136.3,3415,2379,2211,2078,218.6,10.5,558,7821,0.00,2.42,0.00,0.000,260,0.000,0.080,3415,3775,2144,2211,2078,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7879,0.92,136.3,3415,3776,2211,2074,211.2,11.8,570,7886,0.12,2.33,0.00,0.000,5126,0.256,0.046,3395,2354,2144,2210,2078,0,0,0,0,0,0,14.38,14.69,28.83
$GC,8203,0.92,136.3,3395,2351,2211,2078,179.1,9.6,589,8209,0.00,2.28,0.00,0.000,516,0.000,0.060,3405,989,2144,2211,2078,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8342,0.92,136.3,3405,989,2212,2078,166.1,9.2,616,8348,0.00,2.35,0.00,0.000,1030,0.000,0.052,3405,2384,2145,2212,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8647,0.92,136.3,3405,2384,2211,2078,136.7,9.7,632,8649,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2384,2144,2211,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8970,0.93,139.3,3405,2384,2212,2078,107.4,9.0,646,8971,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2384,2144,2211,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9268,0.96,153.9,3406,2384,2211,2078,81.9,8.5,656,9287,0.00,2.35,13.55,0.889,8708,0.000,0.059,3416,984,2078,2145,2012,0,0,0,0,0,0,28.83,14.77,14.14
$GC,9344,0.96,153.9,3416,985,2144,2011,74.4,10.8,671,9349,0.00,2.33,0.00,0.000,1030,0.000,0.053,3415,2376,2077,2143,2011,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9664,1.00,172.1,3416,2376,2142,2011,43.5,8.3,684,9688,0.00,2.40,14.88,0.859,8708,0.000,0.061,3425,990,2004,2070,1939,0,0,0,0,0,0,28.83,14.73,14.16
$GC,9795,1.12,227.3,3424,989,2068,1937,33.2,6.7,710,9846,0.00,2.33,43.33,0.858,9222,0.000,0.051,3424,2378,1779,1849,1709,0,0,0,0,0,0,28.83,14.57,14.08
$FREEZE,8.52,0.888,-1.797,0,1,0
$FREEZE,7.58,0.885,-1.796,0,1,0
$FREEZE,7.03,0.885,-1.796,0,1,0
$FREEZE,6.08,0.894,-1.795,0,1,0
$FREEZE,5.25,0.894,-1.794,0,1,0
$FREEZE,4.34,0.889,-1.794,0,1,0
$FREEZE,3.32,0.892,-1.793,0,1,0
$GC,10147,1.12,227.4,3424,2378,1842,1706,3.3,9.2,746,10153,0.00,2.40,0.00,0.000,516,0.000,0.062,3435,985,1774,1842,1706,0,0,0,0,0,0,28.83,14.55,28.83
$FREEZE,1.89,0.897,-1.792,0,1,0
$STATE,10159,end climb,SURFACE_DEPTH_REACHED
$STATE,10159,begin surface coast
$FREEZE,1.41,0.897,-1.792,0,1,0
$FREEZE,1.42,0.979,-1.672,0,1,0
$FREEZE,1.43,0.979,-1.672,0,1,0
$FINISH,1.4,1.024497
$STATE,10175,end surface coast,CONTROL_FINISHED_OK
$STATE,10175,begin surface
$SM_CCo,10198,56.12,0.083,0,0,1282,350.04
$SM_GC,2.16,9.38,2.53,56.12,0.080,0.054,0.083,208,2444,1282,-8.97,-1.16,350.04,0,0,0,0,0,0,14.52,14.57,14.54
$RAFOS_CLK,-3
$RAFOS_FIX,6705.093262,-5701.749023,221114,161648,2,70,0.98
$IRIDIUM_FIX,6631.12,-5652.31,221114,175324
$TT8_MAMPS,0.03745,0.03745
$HUMID,41.73
$INTERNAL_PRESSURE,8.61127
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,17.7
$SC_FREEKB,3893312
$24V_AH,13.36,94.370
$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,23.725,98.675,287.300,56.125,0.000,0.000,0.000,239.900,0.250,0.000,6.744,1654.094,6872.546,483.329,1424.028,248.790,0.000,1364.626,0.000,1124.672,0.000,4.147,0.000
$DEVICE_MAMPS,403.920,87.975,1494.045,82.620,0.000,0.000,0.000,144.585,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10190.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.256,0.000,0.000,0.000
$MEM,143100
$DATA_FILE_SIZE,26761,751
$CAP_FILE_SIZE,120769,0
$CFSIZE,1024409600,971898880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10405.11,0x23769e,7,5
$SOUNDSPEED,1473.2
$CURRENT,0.179,358.26,1
$GPS,221114,234304,6703.958,-5652.422,24,0.9,24,-32.6