version: 66.12
glider: 217
mission: 3
dive: 399
start: 11 23 114 5 18 54
data:
$ID,217
$MISSION,3
$DIVE,399
$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,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
$GPS1,231114,051129,6703.801,-5655.320,25,0.8,25,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-69.4
$GPS2,231114,051811,6703.828,-5655.472,20,0.8,20,-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,164.4,5609,-17.5,-9.167,-20.44,2275
$D_GRID,553
$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,-136.3,149,2462,1304,1228,0.0,0.0,0,82,0.00,0.00,-60.78,0.000,16386,0.000,0.000,144,2462,2786,2794,2778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.92,-136.3,143,2462,2795,2778,3.2,-2.4,6,119,12.20,2.45,-11.82,0.000,18948,0.397,0.084,2789,1064,3267,3297,3237,0,0,0,0,0,0,14.23,14.51,14.81
$GC,262,-0.92,-136.3,2789,1064,3301,3237,33.3,-17.8,40,268,0.00,2.35,0.00,0.000,1030,0.000,0.060,2786,2433,3269,3301,3237,0,0,0,0,0,0,28.83,14.52,28.83
$GC,577,-0.92,-136.3,2786,2432,3300,3235,80.7,-15.0,52,583,0.00,2.40,0.00,0.000,260,0.000,0.090,2786,3782,3267,3300,3235,0,0,0,0,0,0,28.83,14.47,28.83
$GC,611,-0.92,-136.3,2786,3782,3300,3234,86.0,-15.0,58,616,0.00,2.20,0.00,0.000,1030,0.000,0.051,2786,2448,3268,3301,3235,0,0,0,0,0,0,28.83,14.64,28.83
$GC,936,-0.92,-136.3,2786,2447,3300,3232,131.2,-13.6,75,941,0.00,2.40,0.00,0.000,260,0.000,0.089,2786,3786,3266,3301,3232,0,0,0,0,0,0,28.83,14.49,28.83
$GC,963,-0.92,-136.3,2786,3786,3300,3231,135.2,-13.8,80,969,0.00,2.20,0.00,0.000,1030,0.000,0.049,2786,2448,3266,3301,3232,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1282,-0.92,-136.3,2786,2448,3301,3231,176.7,-13.2,98,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2448,3265,3300,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1584,-0.92,-136.3,2785,2448,3300,3230,215.0,-12.4,113,1590,0.00,2.38,0.00,0.000,260,0.000,0.088,2786,3781,3265,3300,3231,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1742,-0.92,-136.3,2792,3781,3301,3230,234.7,-11.1,144,1750,0.00,2.20,0.00,0.000,1030,0.000,0.049,2786,2438,3265,3300,3231,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2048,-0.92,-136.3,2786,2438,3301,3231,270.0,-11.4,160,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2438,3269,3308,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2350,-0.92,-136.3,2786,2438,3304,3231,304.7,-11.4,175,2356,0.00,2.40,0.00,0.000,260,0.000,0.087,2785,3785,3266,3301,3231,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2368,-0.92,-136.3,2786,3785,3301,3227,307.0,-11.6,178,2374,0.00,2.20,0.00,0.000,1030,0.000,0.049,2785,2444,3265,3300,3231,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2673,-0.92,-136.3,2786,2447,3301,3231,341.1,-10.6,194,2679,0.00,2.38,0.00,0.000,260,0.000,0.086,2786,3781,3266,3301,3231,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2712,-0.92,-136.3,2785,3781,3301,3231,345.4,-11.4,201,2719,0.00,2.17,0.00,0.000,1030,0.000,0.049,2786,2449,3266,3301,3231,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3018,-0.92,-136.3,2786,2450,3302,3231,377.3,-10.6,217,3023,0.00,2.38,0.00,0.000,260,0.000,0.086,2785,3785,3267,3302,3232,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3045,-0.92,-136.3,2786,3784,3302,3232,380.4,-11.0,222,3051,0.00,2.17,0.00,0.000,1030,0.000,0.048,2785,2449,3266,3302,3231,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3363,-0.92,-136.3,2785,2449,3303,3231,415.3,-11.0,240,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2449,3267,3302,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3666,-0.92,-136.3,2785,2449,3303,3232,449.1,-11.6,255,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2449,3267,3303,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3965,-0.92,-136.3,2786,2449,3304,3231,483.3,-11.5,270,3971,0.00,2.40,0.00,0.000,260,0.000,0.086,2785,3787,3268,3304,3232,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3993,-0.92,-136.3,2786,3787,3303,3229,486.9,-12.2,275,3999,0.00,2.20,0.00,0.000,1030,0.000,0.047,2786,2442,3268,3304,3232,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4312,-0.92,-136.3,2785,2443,3305,3232,522.9,-11.0,293,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2442,3268,3305,3232,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4591,begin apogee
$GC,4596,-0.18,0.0,2786,2443,3305,3232,553.0,-10.6,307,4712,0.88,0.00,108.28,1.512,10246,0.230,0.000,3028,2442,2706,2775,2638,0,0,0,0,0,0,14.25,28.83,13.58
$STATE,4713,end apogee,CONTROL_FINISHED_OK
$STATE,4713,begin climb
$GC,4716,0.92,136.3,3028,2443,2774,2638,556.8,0.0,313,4832,1.10,0.00,109.62,1.480,10502,0.155,0.000,3371,2442,2150,2222,2079,0,0,0,0,0,0,14.20,28.83,13.34
$GC,5132,0.92,136.3,3370,2442,2213,2078,521.5,9.6,337,5137,0.00,2.47,0.00,0.000,516,0.000,0.062,3381,998,2145,2213,2078,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5260,0.92,136.3,3381,998,2213,2078,508.8,9.8,362,5265,0.00,2.35,0.00,0.000,1030,0.000,0.054,3381,2383,2145,2213,2078,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5578,0.92,136.3,3381,2383,2213,2077,478.2,9.5,380,5584,0.00,2.38,0.00,0.000,516,0.000,0.062,3390,994,2145,2213,2078,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5637,0.92,136.3,3390,994,2213,2078,472.5,9.9,391,5643,0.00,2.33,0.00,0.000,1030,0.000,0.052,3390,2378,2144,2211,2078,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5942,0.92,136.3,3392,2378,2212,2078,440.0,11.0,407,5948,0.00,2.35,0.00,0.000,516,0.000,0.061,3400,995,2145,2213,2078,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5997,0.92,136.3,3399,995,2212,2078,434.0,12.1,417,6002,0.00,2.33,0.00,0.000,1030,0.000,0.052,3400,2383,2145,2212,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6310,0.92,136.3,3400,2383,2212,2077,397.7,11.7,434,6316,0.00,2.35,0.00,0.000,516,0.000,0.060,3410,997,2145,2212,2078,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6343,0.92,136.3,3409,999,2212,2078,393.8,11.4,440,6349,0.00,2.30,0.00,0.000,1030,0.000,0.052,3410,2376,2145,2212,2078,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6657,0.92,136.3,3410,2377,2212,2078,356.8,11.9,457,6663,0.00,2.30,0.00,0.000,516,0.000,0.060,3420,1006,2144,2212,2077,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6690,0.92,136.3,3420,1005,2212,2078,352.8,11.8,463,6696,0.00,2.30,0.00,0.000,1030,0.000,0.051,3420,2382,2145,2212,2078,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7004,0.92,136.3,3420,2382,2212,2078,316.0,11.8,480,7010,0.00,2.35,0.00,0.000,516,0.000,0.060,3431,996,2144,2212,2077,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7057,0.92,136.3,3431,996,2212,2077,309.4,12.6,490,7064,0.15,2.30,0.00,0.000,5126,0.233,0.052,3394,2377,2145,2212,2078,0,0,0,0,0,0,14.34,14.57,28.83
$GC,7372,0.92,136.3,3394,2377,2212,2077,276.3,10.5,507,7373,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2376,2145,2212,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7673,0.92,136.3,3393,2376,2212,2078,246.6,10.0,522,7679,0.00,2.35,0.00,0.000,516,0.000,0.060,3404,990,2145,2212,2078,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7721,0.92,136.3,3404,991,2212,2078,241.5,10.3,531,7726,0.00,2.33,0.00,0.000,1030,0.000,0.052,3404,2378,2145,2212,2078,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8040,0.92,136.3,3404,2378,2212,2078,208.9,10.4,549,8045,0.00,2.35,0.00,0.000,516,0.000,0.060,3414,992,2145,2212,2078,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8092,0.92,136.3,3414,992,2212,2078,203.3,10.3,559,8098,0.00,2.30,0.00,0.000,1030,0.000,0.050,3419,2377,2145,2212,2078,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8406,0.92,136.3,3414,2377,2212,2078,172.4,9.9,576,8407,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,2377,2145,2212,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8707,0.92,136.3,3414,2377,2212,2078,142.9,9.9,591,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,2377,2145,2212,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9029,0.92,136.3,3414,2377,2213,2078,112.7,9.2,606,9030,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,2377,2145,2212,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9326,0.93,140.8,3414,2377,2212,2078,85.7,9.0,616,9334,0.00,2.40,2.58,0.469,8708,0.000,0.061,3429,992,2138,2206,2070,0,0,0,0,0,0,28.83,14.73,13.90
$GC,9416,0.93,140.8,3424,992,2209,2072,76.9,10.0,633,9423,0.00,2.33,0.00,0.000,1030,0.000,0.052,3423,2374,2140,2209,2072,0,0,0,0,0,0,28.83,14.68,28.83
$GC,9722,0.99,166.9,3424,2375,2209,2071,49.0,8.0,644,9753,0.00,2.42,22.60,0.881,8452,0.000,0.082,3424,3779,2024,2091,1958,0,0,0,0,0,0,28.83,14.71,14.16
$GC,9821,0.99,166.9,3424,3779,2089,1959,40.3,9.7,663,9827,0.00,2.30,0.00,0.000,1030,0.000,0.046,3433,2372,2023,2089,1958,0,0,0,0,0,0,28.83,14.66,28.83
$GC,10130,0.99,166.9,3433,2369,2088,1958,11.5,9.7,686,10135,0.00,2.33,0.00,0.000,516,0.000,0.061,3441,993,2023,2089,1958,0,0,0,0,0,0,28.83,14.57,28.83
$FREEZE,8.99,0.838,-1.791,0,1,0
$FREEZE,8.60,0.838,-1.791,0,1,0
$FREEZE,8.12,0.837,-1.791,0,1,0
$FREEZE,7.31,0.837,-1.790,0,1,0
$FREEZE,6.68,0.838,-1.789,0,1,0
$GC,10188,1.09,210.9,3442,993,2089,1957,8.6,7.2,697,10217,0.00,2.33,19.92,0.096,9222,0.000,0.050,3442,2382,1850,1919,1781,0,0,0,0,0,0,28.83,14.58,14.51
$FREEZE,4.61,0.838,-1.788,0,1,0
$FREEZE,3.29,0.837,-1.787,0,1,0
$FREEZE,2.23,0.837,-1.786,0,1,0
$FREEZE,1.34,0.832,-1.785,0,1,0
$STATE,10256,end climb,SURFACE_DEPTH_REACHED
$STATE,10256,begin surface coast
$FREEZE,1.28,0.849,-1.005,0,1,0
$FINISH,1.3,1.014842
$STATE,10264,end surface coast,CONTROL_FINISHED_OK
$STATE,10264,begin surface
$SM_CCo,10285,64.43,0.082,0,0,1281,350.04
$SM_GC,2.30,9.23,0.10,64.43,0.066,0.151,0.082,207,2460,1281,-8.98,-0.90,350.04,0,0,0,0,0,0,14.51,14.60,14.55
$RAFOS_CLK,-2
$RAFOS,0,1416729665,8.033334,8.018056,60,57,57,56,55,54,154,196,217,187,206,119
$RAFOS_FIX,6704.776855,-5701.207031,231114,000024,3,72,2.22
$IRIDIUM_FIX,6631.12,-5659.96,231114,023243
$TT8_MAMPS,0.040446,0.040446
$HUMID,41.37
$INTERNAL_PRESSURE,8.61127
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,17.9
$SC_FREEKB,3892352
$24V_AH,13.34,94.874
$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,23.550,88.500,263.000,64.425,0.000,0.000,0.000,218.575,0.250,0.000,21.343,1645.690,7032.771,488.415,1359.256,251.698,0.000,1304.771,0.000,1061.335,720.000,4.196,0.000
$DEVICE_MAMPS,397.035,150.705,1512.405,81.855,0.000,0.000,0.000,146.115,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10279.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.206,0.000,0.000,0.000
$MEM,143140
$DATA_FILE_SIZE,23398,706
$CAP_FILE_SIZE,118176,0
$CFSIZE,1024409600,971571200
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,9702.57,0x23769e,7,5
$INTR,1,4592.94,0x23769e,2,5
$SOUNDSPEED,1473.4
$CURRENT,0.039,298.28,1
$GPS,231114,081422,6702.886,-5653.624,125,0.7,125,-32.6