version: 66.12
glider: 217
mission: 3
dive: 398
start: 11 23 114 2 37 11
data:
$ID,217
$MISSION,3
$DIVE,398
$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,39
$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
$GPS1,231114,022952,6704.273,-5653.486,36,0.9,36,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-69.9
$GPS2,231114,023634,6704.292,-5653.716,5,0.8,5,-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,196.0,4771,-17.5,-9.167,-20.44,2275
$D_GRID,515
$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,-136.3,159,2460,1303,1233,0.0,0.0,0,84,0.00,0.00,-62.85,0.000,16386,0.000,0.000,153,2459,2841,2847,2836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.92,-136.3,153,2460,2849,2836,3.0,-1.9,6,115,12.18,2.33,-9.43,0.000,18692,0.398,0.106,2785,3777,3265,3295,3236,0,0,0,0,0,0,14.19,14.48,14.81
$GC,344,-0.92,-136.3,2785,3777,3297,3236,53.0,-17.2,56,350,0.00,2.20,0.00,0.000,1030,0.000,0.049,2785,2450,3266,3296,3237,0,0,0,0,0,0,28.83,14.59,28.83
$GC,668,-0.92,-136.3,2785,2448,3297,3234,103.5,-14.6,70,674,0.00,2.38,0.00,0.000,260,0.000,0.087,2785,3773,3265,3297,3234,0,0,0,0,0,0,28.83,14.47,28.83
$GC,706,-0.92,-136.3,2785,3773,3297,3234,109.5,-15.0,77,712,0.00,2.20,0.00,0.000,1030,0.000,0.049,2785,2438,3265,3297,3234,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1015,-0.92,-136.3,2785,2438,3301,3232,153.4,-13.7,95,1021,0.00,2.38,0.00,0.000,260,0.000,0.086,2785,3771,3264,3297,3232,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1033,-0.92,-136.3,2785,3771,3297,3231,155.9,-13.9,98,1040,0.00,2.17,0.00,0.000,1030,0.000,0.048,2791,2444,3264,3297,3232,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1339,-0.92,-136.3,2785,2444,3296,3232,194.5,-11.8,114,1344,0.00,2.38,0.00,0.000,260,0.000,0.087,2785,3775,3264,3297,3232,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1363,-0.92,-136.3,2785,3774,3297,3231,197.5,-12.4,118,1369,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2440,3264,3297,3231,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1686,-0.92,-136.3,2785,2443,3297,3232,236.6,-12.1,137,1693,0.00,2.38,0.00,0.000,260,0.000,0.086,2785,3775,3264,3297,3231,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1792,-0.92,-136.3,2785,3775,3296,3231,249.6,-12.3,157,1799,0.00,2.17,0.00,0.000,1030,0.000,0.048,2784,2444,3264,3297,3232,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2117,-0.92,-136.3,2785,2444,3297,3231,286.6,-10.8,176,2122,0.00,2.35,0.00,0.000,260,0.000,0.085,2785,3771,3264,3297,3231,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2160,-0.92,-136.3,2785,3770,3297,3231,291.5,-11.3,184,2166,0.00,2.15,0.00,0.000,1030,0.000,0.047,2785,2448,3264,3297,3232,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2483,-0.92,-136.3,2785,2454,3297,3232,326.5,-10.7,203,2489,0.00,2.35,0.00,0.000,260,0.000,0.084,2785,3771,3264,3297,3232,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2531,-0.92,-136.3,2785,3772,3296,3232,331.9,-11.6,212,2536,0.00,2.15,0.00,0.000,1030,0.000,0.047,2785,2450,3266,3297,3236,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2850,-0.92,-136.3,2784,2451,3298,3232,365.4,-10.3,230,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2451,3265,3299,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3151,-0.92,-136.3,2785,2450,3300,3232,398.5,-11.1,245,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2451,3266,3300,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3452,-0.92,-136.3,2785,2451,3301,3232,431.0,-10.9,260,3458,0.00,2.33,0.00,0.000,260,0.000,0.085,2785,3771,3266,3300,3232,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3510,-0.92,-136.3,2784,3771,3301,3232,438.2,-11.5,271,3517,0.00,2.17,0.00,0.000,1030,0.000,0.048,2785,2447,3266,3301,3232,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3816,-0.92,-136.3,2785,2447,3301,3232,475.7,-11.9,287,3821,0.00,2.38,0.00,0.000,260,0.000,0.084,2785,3779,3266,3301,3232,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3843,-0.92,-136.3,2789,3778,3301,3232,479.0,-12.0,292,3849,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2446,3267,3303,3232,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4162,-0.92,-136.3,2785,2446,3301,3232,514.4,-11.3,310,4168,0.00,2.35,0.00,0.000,260,0.000,0.083,2785,3771,3266,3301,3232,0,0,0,0,0,0,28.83,14.50,28.83
$STATE,4172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4172,begin apogee
$GC,4180,-0.18,0.0,2785,2378,3301,3232,515.7,-10.5,312,4296,0.90,0.00,107.60,1.462,10246,0.232,0.000,3033,2377,2705,2773,2637,0,0,0,0,0,0,14.28,28.83,13.60
$STATE,4297,end apogee,CONTROL_FINISHED_OK
$STATE,4297,begin climb
$GC,4300,0.92,136.3,3033,2376,2773,2635,519.1,0.0,318,4418,1.10,2.53,108.10,1.433,10756,0.155,0.062,3384,983,2149,2221,2078,0,0,0,0,0,0,14.21,14.03,13.39
$GC,4437,0.96,154.7,3384,983,2217,2079,511.5,8.3,333,4458,0.00,2.42,15.85,1.314,9222,0.000,0.053,3384,2374,2076,2147,2006,0,0,0,0,0,0,28.83,14.10,13.41
$GC,4766,0.96,154.7,3384,2373,2140,2003,474.6,11.2,353,4772,0.00,2.40,0.00,0.000,516,0.000,0.062,3394,986,2072,2140,2004,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4795,0.96,154.7,3396,986,2140,2003,471.5,10.8,358,4800,0.00,2.35,0.00,0.000,1030,0.000,0.052,3394,2377,2071,2140,2003,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5113,0.96,154.7,3395,2377,2140,2003,434.7,11.6,376,5118,0.00,2.40,0.00,0.000,516,0.000,0.062,3405,979,2071,2140,2003,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5146,0.96,154.7,3405,979,2140,2003,430.9,11.4,382,5151,0.00,2.35,0.00,0.000,1030,0.000,0.053,3405,2379,2071,2140,2003,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5459,0.96,154.7,3406,2379,2138,2005,392.9,12.6,399,5464,0.00,2.38,0.00,0.000,516,0.000,0.062,3416,986,2070,2138,2003,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5513,0.96,154.7,3415,986,2139,2003,386.2,12.2,409,5520,0.00,2.30,0.00,0.000,1030,0.000,0.052,3416,2371,2071,2139,2003,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5829,0.96,154.7,3412,2371,2139,2003,347.2,12.0,426,5834,0.00,2.38,0.00,0.000,516,0.000,0.061,3426,979,2071,2139,2003,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5875,0.96,154.7,3426,979,2139,2003,341.3,12.3,435,5881,0.00,2.35,0.00,0.000,1030,0.000,0.052,3426,2379,2074,2139,2009,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6194,0.96,154.7,3426,2380,2139,2003,300.9,12.7,453,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2379,2071,2139,2003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6494,0.96,154.7,3426,2379,2139,2003,263.5,12.5,468,6499,0.00,2.40,0.00,0.000,516,0.000,0.061,3437,986,2071,2139,2003,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6538,0.96,154.7,3436,986,2139,2003,257.9,13.7,476,6544,0.12,2.33,0.00,0.000,5126,0.243,0.052,3407,2378,2071,2139,2003,0,0,0,0,0,0,14.40,14.63,28.83
$GC,6862,0.96,154.7,3407,2378,2139,2003,219.6,11.7,495,6867,0.00,2.38,0.00,0.000,516,0.000,0.061,3418,984,2071,2139,2003,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6934,0.96,154.7,3418,983,2139,2003,211.5,11.2,509,6940,0.00,2.33,0.00,0.000,1030,0.000,0.051,3418,2376,2071,2139,2004,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7249,0.96,154.7,3418,2376,2139,2003,178.2,10.6,526,7254,0.00,2.42,0.00,0.000,260,0.000,0.080,3418,3775,2070,2138,2003,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7361,0.96,154.7,3418,3775,2139,2004,164.0,12.1,548,7367,0.00,2.30,0.00,0.000,1030,0.000,0.046,3428,2370,2071,2139,2003,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7674,0.96,154.7,3428,2368,2139,2003,128.9,11.2,565,7681,0.00,2.35,0.00,0.000,516,0.000,0.061,3433,989,2071,2139,2004,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7794,0.96,154.7,3442,989,2139,2004,115.2,11.3,588,7802,0.12,2.35,0.00,0.000,5126,0.237,0.052,3407,2381,2071,2139,2003,0,0,0,0,0,0,14.38,14.62,28.83
$GC,8101,0.98,160.8,3406,2381,2139,2004,85.7,8.9,599,8111,0.00,2.42,5.72,0.796,8708,0.000,0.061,3417,979,2050,2117,1984,0,0,0,0,0,0,28.83,14.75,14.06
$GC,8161,0.99,167.3,3418,979,2116,1984,80.5,8.9,610,8172,0.00,2.33,6.28,0.809,9222,0.000,0.052,3418,2377,2026,2092,1960,0,0,0,0,0,0,28.83,14.64,14.06
$GC,8500,1.02,181.1,3418,2376,2090,1958,49.2,8.5,627,8520,0.00,2.40,12.15,0.861,8708,0.000,0.062,3427,984,1965,2034,1897,0,0,0,0,0,0,28.83,14.73,14.13
$GC,8747,1.02,181.1,3426,984,2032,1902,26.8,9.3,676,8752,0.00,2.33,0.00,0.000,1030,0.000,0.054,3425,2374,1967,2033,1901,0,0,0,0,0,0,28.83,14.59,28.83
$FREEZE,8.48,0.795,-1.792,0,1,0
$FREEZE,7.56,0.791,-1.791,0,1,0
$FREEZE,6.78,0.791,-1.791,0,1,0
$FREEZE,5.95,0.790,-1.790,0,1,0
$FREEZE,5.28,0.790,-1.790,0,1,0
$FREEZE,4.60,0.790,-1.789,0,1,0
$FREEZE,4.01,0.791,-1.789,0,1,0
$FREEZE,3.57,0.788,-1.788,0,1,0
$FREEZE,3.39,0.787,-1.788,0,1,0
$FREEZE,2.60,0.791,-1.788,0,1,0
$FREEZE,1.60,0.790,-1.787,0,1,0
$STATE,9043,end climb,SURFACE_DEPTH_REACHED
$STATE,9044,begin surface coast
$FREEZE,1.36,0.845,-1.784,0,1,0
$FREEZE,1.24,0.923,-1.772,0,1,0
$FREEZE,1.43,0.810,-1.150,0,1,0
$FINISH,1.4,1.016973
$STATE,9075,end surface coast,CONTROL_FINISHED_OK
$STATE,9075,begin surface
$SM_CCo,9095,77.97,0.086,0,0,1282,350.04
$SM_GC,2.03,9.48,0.10,77.97,0.090,0.152,0.086,197,2458,1282,-9.01,-1.16,350.04,0,0,0,0,0,0,14.53,14.65,14.58
$RAFOS_CLK,-8
$RAFOS,6,1416718147,4.833333,4.818611,69,63,59,58,51,48,785,213,160,187,112,127
$RAFOS,5,1416717663,4.700000,4.684166,59,59,58,57,55,55,153,218,184,201,234,639
$RAFOS,4,1416717197,4.566667,4.554722,62,61,59,58,56,52,201,216,159,126,179,147
$RAFOS,3,1416716702,4.433333,4.417222,59,57,55,53,53,52,224,152,171,206,194,972
$RAFOS,2,1416716222,4.300000,4.283889,61,58,56,56,54,53,122,132,149,213,179,196
$RAFOS,1,1416715747,4.166667,4.151945,61,57,56,53,50,46,197,208,181,125,159,142
$RAFOS,0,1416715261,4.033333,4.016944,65,59,55,53,50,50,192,138,178,215,203,165
$RAFOS_FIX,6704.776855,-5701.207031,231114,000024,3,72,2.22
$IRIDIUM_FIX,6631.12,-5655.33,221114,234555
$TT8_MAMPS,0.03745,0.03745
$HUMID,41.33
$INTERNAL_PRESSURE,8.60151
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.4
$SC_FREEKB,3892672
$24V_AH,13.39,94.707
$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,23.900,97.750,255.700,77.975,0.000,0.000,0.000,231.800,0.250,0.000,6.713,1607.993,5887.998,494.504,1361.671,246.900,0.000,1323.946,0.000,1067.651,2520.000,2.625,0.000
$DEVICE_MAMPS,397.800,152.235,1461.915,86.445,0.000,0.000,0.000,142.290,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9090.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.282,0.000,0.000,0.000
$MEM,143116
$DATA_FILE_SIZE,23382,711
$CAP_FILE_SIZE,115396,0
$CFSIZE,1024409600,971669504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10012.49,0x23769e,7,5
$SOUNDSPEED,1471.7
$CURRENT,0.200,318.33,1
$GPS,231114,051129,6703.801,-5655.320,25,0.8,25,-32.6