version: 66.12
glider: 217
mission: 3
dive: 397
start: 11 22 114 23 50 17
data:
$ID,217
$MISSION,3
$DIVE,397
$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,59
$R_STBD_OVSHOOT,30
$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
$GPS1,221114,234304,6703.958,-5652.422,24,0.9,24,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-71.5
$GPS2,221114,234941,6703.965,-5652.458,6,0.8,6,-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,190.3,3681,-17.5,-9.167,-20.44,2275
$D_GRID,512
$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,-136.3,170,2447,1307,1233,0.0,0.0,0,93,0.00,0.00,-71.18,0.000,16386,0.000,0.000,167,2448,3078,3083,3073,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.92,-136.3,167,2448,3085,3072,3.8,-3.1,7,119,12.27,2.38,-3.75,0.000,18948,0.404,0.078,2787,1059,3267,3290,3244,0,0,0,0,0,0,14.18,14.50,14.78
$GC,347,-0.92,-136.3,2788,1058,3294,3242,52.0,-16.6,56,353,0.00,2.40,0.00,0.000,1030,0.000,0.060,2786,2456,3268,3294,3242,0,0,0,0,0,0,28.83,14.48,28.83
$GC,679,-0.92,-136.3,2786,2455,3294,3239,101.5,-15.2,71,684,0.00,2.40,0.00,0.000,516,0.000,0.060,2786,1060,3266,3294,3239,0,0,0,0,0,0,28.83,14.54,28.83
$GC,808,-0.92,-136.3,2787,1060,3295,3238,120.8,-14.4,96,813,0.00,2.38,0.00,0.000,1030,0.000,0.059,2786,2448,3266,3294,3238,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1126,-0.92,-136.3,2786,2449,3294,3237,161.7,-12.1,114,1133,0.00,2.38,0.00,0.000,260,0.000,0.088,2786,3784,3266,3295,3237,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1200,-0.92,-136.3,2786,3784,3294,3237,171.3,-13.0,128,1206,0.00,2.20,0.00,0.000,1030,0.000,0.050,2786,2448,3265,3294,3237,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1514,-0.92,-136.3,2786,2446,3294,3236,208.9,-12.4,145,1520,0.00,2.40,0.00,0.000,260,0.000,0.087,2786,3790,3265,3294,3237,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1538,-0.92,-136.3,2786,3790,3294,3236,212.2,-13.0,149,1545,0.00,2.20,0.00,0.000,1030,0.000,0.049,2786,2444,3265,3294,3237,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1862,-0.92,-136.3,2786,2444,3294,3232,250.1,-11.7,168,1868,0.00,2.40,0.00,0.000,260,0.000,0.086,2786,3785,3265,3294,3237,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1941,-0.92,-136.3,2786,3783,3295,3237,259.8,-11.8,183,1948,0.00,2.20,0.00,0.000,1030,0.000,0.048,2786,2441,3265,3294,3237,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2246,-0.92,-136.3,2786,2441,3294,3237,294.8,-12.0,199,2251,0.00,2.33,0.00,0.000,516,0.000,0.059,2786,1065,3266,3295,3237,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2264,-0.92,-136.3,2786,1065,3295,3237,297.0,-11.8,202,2271,0.00,2.38,0.00,0.000,1030,0.000,0.057,2786,2461,3265,3294,3237,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2572,-0.92,-136.3,2786,2461,3295,3237,330.9,-11.0,218,2578,0.00,2.33,0.00,0.000,260,0.000,0.085,2785,3786,3266,3296,3237,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2596,-0.92,-136.3,2786,3787,3296,3237,334.1,-12.1,222,2602,0.00,2.20,0.00,0.000,1030,0.000,0.047,2786,2440,3265,3294,3237,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2920,-0.92,-136.3,2786,2440,3296,3237,369.8,-11.1,241,2926,0.00,2.38,0.00,0.000,260,0.000,0.085,2786,3780,3266,3296,3237,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2932,-0.92,-136.3,2786,3780,3296,3237,371.2,-10.8,243,2940,0.00,2.15,0.00,0.000,1030,0.000,0.047,2786,2446,3267,3297,3237,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3248,-0.92,-136.3,2786,2446,3297,3237,407.1,-11.3,260,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2446,3265,3296,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3548,-0.92,-136.3,2786,2446,3297,3237,440.9,-11.2,275,3554,0.00,2.40,0.00,0.000,260,0.000,0.084,2786,3784,3266,3297,3236,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3612,-0.92,-136.3,2786,3784,3297,3237,448.3,-12.1,287,3617,0.00,2.17,0.00,0.000,1030,0.000,0.047,2786,2450,3264,3292,3236,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3935,-0.92,-136.3,2786,2449,3298,3237,484.0,-10.8,306,3941,0.00,2.35,0.00,0.000,260,0.000,0.084,2785,3781,3267,3298,3237,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3968,-0.92,-136.3,2786,3781,3298,3237,487.7,-11.4,312,3974,0.00,2.20,0.00,0.000,1030,0.000,0.047,2786,2442,3267,3298,3237,0,0,0,0,0,0,28.83,14.68,28.83
$STATE,4201,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4201,begin apogee
$GC,4207,-0.18,0.0,2786,2442,3300,3236,513.1,-10.9,325,4322,0.80,0.00,107.10,1.457,10246,0.143,0.000,3040,2442,2704,2773,2636,0,0,0,0,0,0,14.45,28.83,13.60
$STATE,4323,end apogee,CONTROL_FINISHED_OK
$STATE,4323,begin climb
$GC,4326,0.92,136.3,3040,2442,2772,2636,513.2,0.0,331,4443,1.02,2.60,107.53,1.424,10756,0.135,0.059,3380,1001,2149,2221,2078,0,0,0,0,0,0,14.23,14.03,13.40
$GC,4646,0.93,137.8,3380,1001,2213,2078,487.3,9.1,394,4653,0.00,2.38,0.00,0.000,1030,0.000,0.052,3380,2382,2145,2213,2078,0,0,0,0,0,0,28.83,14.36,28.83
$GC,4952,0.93,137.8,3380,2383,2212,2078,456.4,10.6,410,4953,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,2382,2145,2212,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5253,0.93,137.8,3380,2382,2212,2078,425.5,10.2,425,5259,0.00,2.38,0.00,0.000,516,0.000,0.062,3390,994,2145,2212,2078,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5311,0.93,137.8,3390,994,2213,2078,419.2,10.5,436,5318,0.00,2.33,0.00,0.000,1030,0.000,0.053,3390,2381,2145,2212,2078,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5617,0.93,137.8,3391,2381,2212,2078,386.0,11.3,452,5622,0.00,2.35,0.00,0.000,516,0.000,0.061,3399,1000,2144,2212,2077,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5680,0.93,137.8,3399,1000,2212,2078,378.7,11.6,464,5686,0.00,2.33,0.00,0.000,1030,0.000,0.052,3399,2379,2145,2212,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6004,0.93,137.8,3399,2379,2211,2078,340.6,11.6,483,6009,0.00,2.35,0.00,0.000,516,0.000,0.060,3410,998,2148,2212,2085,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6047,0.93,137.8,3410,999,2212,2078,335.6,11.9,491,6052,0.00,2.30,0.00,0.000,1030,0.000,0.052,3410,2376,2144,2211,2078,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6371,0.93,137.8,3410,2376,2211,2078,296.6,12.0,510,6376,0.00,2.35,0.00,0.000,516,0.000,0.060,3421,999,2145,2212,2078,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6395,0.93,137.8,3421,998,2212,2078,293.6,12.3,514,6401,0.00,2.30,0.00,0.000,1030,0.000,0.052,3421,2378,2145,2212,2078,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6718,0.93,137.8,3426,2378,2211,2078,256.4,11.5,533,6725,0.00,2.38,0.00,0.000,516,0.000,0.060,3431,994,2144,2210,2078,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6747,0.93,137.8,3431,994,2211,2078,252.9,11.4,538,6754,0.15,2.30,0.00,0.000,5126,0.232,0.050,3394,2375,2145,2212,2078,0,0,0,0,0,0,14.39,14.64,28.83
$GC,7066,0.93,137.8,3394,2375,2211,2078,218.8,10.5,556,7068,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2374,2144,2211,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7368,0.93,137.8,3394,2375,2212,2078,190.6,9.5,571,7374,0.00,2.45,0.00,0.000,260,0.000,0.081,3394,3777,2144,2211,2078,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7451,0.93,137.8,3395,3777,2211,2078,180.8,12.1,587,7457,0.00,2.28,0.00,0.000,1030,0.000,0.046,3405,2386,2145,2212,2078,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7775,0.93,137.8,3405,2383,2212,2078,146.1,11.0,606,7780,0.00,2.38,0.00,0.000,516,0.000,0.061,3415,987,2144,2211,2078,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7884,0.93,137.8,3415,986,2212,2078,134.7,10.3,627,7889,0.00,2.33,0.00,0.000,1030,0.000,0.053,3414,2376,2145,2212,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8194,0.93,137.8,3414,2375,2212,2078,105.4,9.3,642,8196,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2376,2145,2212,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8492,0.93,137.8,3414,2376,2211,2078,77.7,9.4,652,8498,0.00,2.38,0.00,0.000,516,0.000,0.061,3423,984,2144,2211,2078,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8591,0.93,137.8,3425,984,2212,2078,68.3,9.7,671,8597,0.12,2.33,0.00,0.000,5126,0.234,0.053,3394,2375,2143,2212,2075,0,0,0,0,0,0,14.39,14.62,28.83
$GC,8921,1.05,194.1,3394,2375,2212,2078,43.9,6.6,686,8974,0.08,2.40,43.78,0.868,10756,0.222,0.061,3449,990,1913,1980,1846,0,0,0,0,0,0,14.68,14.64,14.12
$GC,9092,1.08,207.9,3448,990,1975,1846,29.6,8.5,720,9109,0.00,2.33,10.50,0.803,9222,0.000,0.052,3449,2375,1858,1925,1791,0,0,0,0,0,0,28.83,14.55,14.03
$FREEZE,8.97,0.848,-1.795,0,1,0
$FREEZE,7.97,0.849,-1.795,0,1,0
$FREEZE,6.77,0.850,-1.794,0,1,0
$FREEZE,5.67,0.850,-1.793,0,1,0
$FREEZE,4.53,0.851,-1.792,0,1,0
$FREEZE,3.45,0.849,-1.791,0,1,0
$FREEZE,2.44,0.849,-1.791,0,1,0
$FREEZE,1.55,0.847,-1.790,0,1,0
$STATE,9366,end climb,SURFACE_DEPTH_REACHED
$STATE,9367,begin surface coast
$FREEZE,1.35,0.831,-1.591,0,1,0
$FINISH,1.3,1.023351
$STATE,9377,end surface coast,CONTROL_FINISHED_OK
$STATE,9377,begin surface
$SM_CCo,9398,65.28,0.082,0,0,1282,350.04
$SM_GC,2.07,9.40,0.10,65.28,0.079,0.154,0.082,209,2455,1282,-8.98,-1.07,350.04,0,0,0,0,0,0,14.48,14.58,14.54
$RAFOS_CLK,-6
$RAFOS,6,1416703743,0.833333,0.817500,72,69,55,52,50,46,818,219,145,176,191,123
$RAFOS,5,1416703263,0.700000,0.684167,65,52,52,52,51,50,202,184,130,211,88,169
$RAFOS,4,1416702784,0.566667,0.551111,77,65,57,55,55,48,881,211,149,183,891,114
$RAFOS,3,1416702320,0.433333,0.422222,66,61,58,55,53,53,901,213,194,173,185,154
$RAFOS,2,1416701837,0.300000,0.288056,67,59,57,55,55,55,204,149,162,187,115,221
$RAFOS,1,1416701347,0.166667,0.151944,62,57,57,55,54,53,212,174,132,199,164,223
$RAFOS,0,1416700890,0.033333,0.025000,60,58,56,55,50,49,191,119,202,220,138,166
$RAFOS_FIX,6704.776855,-5701.207031,231114,000024,3,72,2.22
$IRIDIUM_FIX,6631.12,-5652.31,221114,204615
$TT8_MAMPS,0.038199,0.038199
$HUMID,41.49
$INTERNAL_PRESSURE,8.61127
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.4
$SC_FREEKB,3892992
$24V_AH,13.40,94.539
$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,23.850,93.475,268.900,65.275,0.000,0.000,0.000,226.325,0.250,0.000,6.749,1654.063,6100.386,471.696,1423.054,250.477,0.000,1335.909,0.000,1123.141,2520.000,2.625,0.000
$DEVICE_MAMPS,403.920,153.765,1457.325,81.855,0.000,0.000,0.000,146.115,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9392.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.304,0.000,0.000,0.000
$MEM,143120
$DATA_FILE_SIZE,26703,750
$CAP_FILE_SIZE,116940,0
$CFSIZE,1024409600,971784192
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10764.84,0x23769e,7,5
$INTR,1,4203.42,0x23769e,2,5
$SOUNDSPEED,1472.9
$CURRENT,0.307,333.42,1
$GPS,231114,022952,6704.273,-5653.486,36,0.9,36,-32.6