version: 66.12
glider: 217
mission: 3
dive: 401
start: 11 23 114 11 24 2
data:
$ID,217
$MISSION,3
$DIVE,401
$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,61
$R_STBD_OVSHOOT,27
$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
$GPS1,231114,111605,6703.486,-5651.222,12,1.0,12,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-69.0
$GPS2,231114,112329,6703.430,-5651.115,5,1.6,6,-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,175.0,2386,-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,-136.3,143,2446,1307,1232,0.0,0.0,0,82,0.00,0.00,-61.03,0.000,16386,0.000,0.000,140,2447,2828,2836,2820,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.92,-136.3,139,2447,2838,2821,4.0,-4.4,6,114,12.32,2.35,-9.32,0.000,19204,0.402,0.079,2791,1064,3266,3296,3237,0,0,0,0,0,0,14.19,14.52,14.78
$GC,343,-0.92,-136.3,2791,1065,3301,3236,51.8,-15.8,56,349,0.00,2.38,0.00,0.000,1030,0.000,0.059,2786,2452,3268,3301,3236,0,0,0,0,0,0,28.83,14.51,28.83
$GC,667,-0.92,-136.3,2786,2452,3301,3233,100.8,-15.2,70,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2452,3270,3308,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,977,-0.92,-136.3,2786,2452,3301,3232,142.6,-12.5,83,983,0.00,2.38,0.00,0.000,516,0.000,0.060,2786,1065,3266,3301,3231,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1030,-0.92,-136.3,2786,1064,3301,3231,149.3,-13.0,93,1036,0.00,2.38,0.00,0.000,1030,0.000,0.060,2786,2454,3266,3301,3231,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1344,-0.92,-136.3,2786,2454,3301,3231,187.8,-11.4,110,1349,0.00,2.35,0.00,0.000,260,0.000,0.088,2785,3786,3266,3301,3231,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1411,-0.92,-136.3,2786,3786,3301,3231,196.4,-13.0,123,1416,0.00,2.20,0.00,0.000,1030,0.000,0.048,2786,2444,3265,3300,3231,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1730,-0.92,-136.3,2786,2442,3301,3231,235.1,-12.3,141,1735,0.00,2.35,0.00,0.000,516,0.000,0.060,2784,1061,3265,3300,3231,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1797,-0.92,-136.3,2786,1060,3301,3231,243.5,-12.0,154,1803,0.00,2.38,0.00,0.000,1030,0.000,0.057,2786,2459,3265,3301,3230,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2115,-0.92,-136.3,2786,2459,3301,3231,280.8,-11.7,172,2122,0.00,2.33,0.00,0.000,260,0.000,0.086,2786,3781,3266,3301,3231,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2128,-0.92,-136.3,2786,3781,3301,3230,282.4,-11.5,174,2134,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2443,3265,3301,3230,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2441,-0.92,-136.3,2786,2443,3300,3231,317.4,-11.1,191,2447,0.00,2.33,0.00,0.000,516,0.000,0.058,2786,1062,3266,3301,3231,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2459,-0.92,-136.3,2786,1062,3301,3231,319.5,-11.4,194,2465,0.00,2.35,0.00,0.000,1030,0.000,0.056,2785,2451,3265,3300,3231,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2765,-0.92,-136.3,2786,2451,3301,3231,353.6,-11.2,210,2770,0.00,2.35,0.00,0.000,260,0.000,0.086,2785,3788,3264,3302,3227,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2792,-0.92,-136.3,2786,3791,3301,3231,356.8,-12.2,215,2797,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2448,3266,3302,3231,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3111,-0.92,-136.3,2786,2448,3303,3231,391.8,-11.0,233,3116,0.00,2.38,0.00,0.000,260,0.000,0.084,2785,3787,3266,3302,3231,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3123,-0.92,-136.3,2786,3787,3302,3231,393.2,-11.2,235,3128,0.00,2.17,0.00,0.000,1030,0.000,0.046,2786,2445,3266,3302,3231,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3436,-0.92,-136.3,2786,2445,3304,3231,427.7,-11.4,252,3442,0.00,2.38,0.00,0.000,260,0.000,0.085,2786,3782,3267,3303,3231,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3480,-0.92,-136.3,2785,3782,3302,3231,432.9,-11.8,260,3486,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2443,3267,3303,3231,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3804,-0.92,-136.3,2785,2443,3303,3231,468.8,-10.8,279,3809,0.00,2.38,0.00,0.000,260,0.000,0.084,2785,3782,3267,3304,3231,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3831,-0.92,-136.3,2786,3778,3303,3231,471.9,-11.5,284,3837,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2444,3267,3303,3231,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4151,-0.92,-136.3,2786,2444,3302,3231,506.8,-10.9,302,4157,0.00,2.40,0.00,0.000,260,0.000,0.084,2785,3787,3268,3305,3232,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4199,-0.92,-136.3,2785,3787,3304,3232,512.1,-10.4,311,4204,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2449,3268,3305,3231,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,4355,end dive,NO_VERTICAL_VELOCITY
$STATE,4355,begin apogee
$GC,4361,-0.18,0.0,2786,2450,3306,3231,512.5,0.0,321,4477,0.77,0.00,107.85,1.458,10246,0.134,0.000,3035,2449,2705,2774,2637,0,0,0,0,0,0,14.46,28.83,13.59
$STATE,4478,end apogee,CONTROL_FINISHED_OK
$STATE,4478,begin climb
$GC,4481,0.92,136.3,3035,2449,2773,2637,512.4,0.0,327,4597,1.08,0.00,108.72,1.419,10502,0.150,0.000,3371,2449,2149,2221,2078,0,0,0,0,0,0,14.21,28.83,13.38
$GC,4897,0.92,136.3,3372,2449,2211,2077,475.3,10.1,351,4902,0.00,2.47,0.00,0.000,516,0.000,0.061,3382,998,2145,2213,2077,0,0,0,0,0,0,28.83,14.40,28.83
$GC,4960,0.92,136.3,3382,998,2213,2077,468.9,9.7,363,4966,0.00,2.35,0.00,0.000,1030,0.000,0.053,3382,2381,2144,2212,2077,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5284,0.92,136.3,3382,2381,2212,2077,435.8,10.3,382,5285,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,2381,2144,2212,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5586,0.92,136.3,3382,2381,2212,2077,404.5,11.0,397,5592,0.00,2.35,0.00,0.000,516,0.000,0.061,3392,997,2144,2212,2077,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5630,0.92,136.3,3392,997,2211,2077,399.4,11.2,405,5636,0.00,2.33,0.00,0.000,1030,0.000,0.052,3392,2385,2144,2212,2077,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5953,0.92,136.3,3392,2385,2212,2077,364.1,10.6,424,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2385,2144,2211,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6255,0.92,136.3,3391,2385,2211,2077,332.5,10.6,439,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2386,2144,2212,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6555,0.92,136.3,3392,2385,2211,2077,300.7,10.4,454,6561,0.00,2.35,0.00,0.000,516,0.000,0.060,3402,997,2143,2210,2077,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6623,0.92,136.3,3402,997,2212,2077,293.2,10.7,467,6628,0.00,2.30,0.00,0.000,1030,0.000,0.052,3402,2376,2143,2210,2077,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6941,0.92,136.3,3403,2376,2212,2077,258.2,10.8,485,6947,0.00,2.35,0.00,0.000,516,0.000,0.060,3412,990,2144,2211,2077,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7014,0.92,136.3,3412,990,2211,2077,250.0,11.4,499,7019,0.00,2.33,0.00,0.000,1030,0.000,0.051,3412,2382,2144,2211,2077,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7327,0.92,136.3,3412,2382,2211,2077,215.8,11.0,516,7333,0.00,2.35,0.00,0.000,516,0.000,0.060,3421,994,2144,2211,2077,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7405,0.92,136.3,3422,994,2212,2077,207.4,10.2,531,7412,0.00,2.33,0.00,0.000,1030,0.000,0.052,3422,2385,2144,2212,2077,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7711,0.92,136.3,3422,2386,2212,2077,174.0,10.8,547,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2385,2144,2212,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8013,0.92,136.3,3422,2386,2212,2077,141.7,10.5,562,8019,0.12,2.35,0.00,0.000,4612,0.250,0.057,3397,997,2143,2211,2076,0,0,0,0,0,0,14.41,14.60,28.83
$GC,8133,0.92,136.3,3397,997,2212,2078,130.4,9.3,585,8139,0.00,2.30,0.00,0.000,1030,0.000,0.052,3397,2376,2144,2212,2077,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8440,0.92,136.3,3397,2376,2213,2077,101.8,9.2,598,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2376,2144,2212,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8739,0.92,136.4,3397,2377,2211,2077,75.2,9.2,608,8745,0.00,2.35,0.00,0.000,516,0.000,0.060,3407,995,2144,2211,2077,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8788,0.98,161.0,3408,995,2212,2077,71.0,8.1,617,8813,0.00,2.30,18.42,0.889,9222,0.000,0.052,3408,2375,2050,2117,1983,0,0,0,0,0,0,28.83,14.64,14.16
$GC,9136,0.98,161.0,3407,2375,2114,1983,38.3,9.3,636,9142,0.00,2.28,0.00,0.000,516,0.000,0.060,3415,1000,2048,2114,1983,0,0,0,0,0,0,28.83,14.55,28.83
$GC,9327,1.05,195.2,3417,1000,2114,1983,23.8,7.6,673,9354,0.00,2.30,17.48,0.153,9222,0.000,0.052,3417,2379,1917,1986,1848,0,0,0,0,0,0,28.83,14.60,14.43
$FREEZE,8.75,0.995,-1.801,0,1,0
$FREEZE,8.04,0.995,-1.800,0,1,0
$FREEZE,7.41,0.996,-1.800,0,1,0
$FREEZE,6.68,0.994,-1.799,0,1,0
$FREEZE,5.68,0.995,-1.798,0,1,0
$FREEZE,4.78,0.999,-1.798,0,1,0
$FREEZE,4.00,1.003,-1.797,0,1,0
$FREEZE,3.25,1.001,-1.797,0,1,0
$FREEZE,2.20,1.002,-1.796,0,1,0
$FREEZE,1.23,0.998,-1.795,0,1,0
$STATE,9590,end climb,SURFACE_DEPTH_REACHED
$STATE,9590,begin surface coast
$FREEZE,1.38,1.018,-1.486,0,1,0
$FREEZE,1.29,1.071,-0.888,0,1,0
$FINISH,1.3,1.013107
$STATE,9612,end surface coast,CONTROL_FINISHED_OK
$STATE,9612,begin surface
$SM_CCo,9632,71.75,0.083,0,0,1281,350.04
$SM_GC,2.04,9.35,0.10,71.75,0.079,0.149,0.083,196,2463,1281,-9.01,-0.96,350.04,0,0,0,0,0,0,14.54,14.63,14.57
$RAFOS_CLK,-1
$RAFOS,6,1416746943,12.833333,12.817500,64,63,62,57,53,52,204,145,822,222,173,113
$RAFOS,5,1416746478,12.700000,12.688334,63,58,57,55,53,51,198,216,168,145,186,108
$RAFOS,4,1416745989,12.566667,12.552500,60,59,57,52,45,45,224,205,185,149,161,74
$RAFOS,3,1416745503,12.433333,12.417500,66,61,61,56,55,53,203,178,146,162,193,216
$RAFOS,2,1416745036,12.300000,12.287778,60,57,56,56,54,54,169,154,197,220,113,143
$RAFOS,1,1416744544,12.166667,12.151111,70,66,59,53,51,51,198,221,188,123,140,1052
$RAFOS,0,1416744061,12.033333,12.016945,69,56,54,52,52,51,209,153,171,134,106,185
$RAFOS_FIX,6704.776855,-5701.207031,231114,000024,3,72,2.22
$IRIDIUM_FIX,6631.12,-5659.96,231114,081714
$TT8_MAMPS,0.03745,0.03745
$HUMID,41.57
$INTERNAL_PRESSURE,8.61127
$TCM_TEMP,14.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,17.5
$SC_FREEKB,3891712
$24V_AH,13.38,95.214
$10V_AH,12.70,0.000
$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,23.650,88.150,252.475,71.750,0.000,0.000,0.000,273.100,0.500,0.000,6.739,1603.062,6442.787,482.373,1389.818,247.112,0.000,1344.921,0.000,1059.755,2520.000,2.624,0.000
$DEVICE_MAMPS,402.390,149.175,1458.090,83.385,0.000,0.000,0.000,144.585,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9626.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.281,0.000,0.000,0.000
$MEM,143116
$DATA_FILE_SIZE,23396,704
$CAP_FILE_SIZE,115807,0
$CFSIZE,1024409600,971358208
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10945.03,0x23769e,7,5
$INTR,1,4357.32,0x23769e,2,5
$SOUNDSPEED,1473.0
$CURRENT,0.384,328.13,1
$GPS,231114,140828,6704.110,-5652.173,105,0.7,105,-32.6