version: 66.12
glider: 217
mission: 3
dive: 402
start: 11 23 114 14 15 55
data:
$ID,217
$MISSION,3
$DIVE,402
$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,67
$R_STBD_OVSHOOT,43
$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
$GPS1,231114,140828,6704.110,-5652.173,105,0.7,105,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-65.1
$GPS2,231114,141523,6704.115,-5652.500,6,0.7,6,-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,197.6,3851,-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,-136.3,138,2467,1303,1230,0.0,0.0,0,84,0.00,0.00,-61.83,0.000,16386,0.000,0.000,128,2468,2853,2858,2849,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.92,-136.3,128,2468,2859,2849,3.8,-3.7,6,115,12.30,2.40,-8.38,0.000,19204,0.399,0.080,2789,1069,3262,3294,3231,0,0,0,0,0,0,14.16,14.53,14.81
$GC,343,-0.92,-136.3,2791,1069,3299,3230,49.4,-16.1,56,349,0.00,2.35,0.00,0.000,1030,0.000,0.060,2785,2437,3264,3298,3230,0,0,0,0,0,0,28.83,14.50,28.83
$GC,667,-0.92,-136.3,2786,2437,3298,3228,98.8,-14.6,70,673,0.00,2.35,0.00,0.000,516,0.000,0.059,2786,1066,3263,3298,3228,0,0,0,0,0,0,28.83,14.54,28.83
$GC,741,-0.92,-136.3,2786,1066,3299,3227,109.5,-13.6,84,747,0.00,2.38,0.00,0.000,1030,0.000,0.060,2786,2455,3263,3299,3227,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1065,-0.92,-136.3,2786,2455,3298,3226,153.2,-13.4,102,1070,0.00,2.38,0.00,0.000,516,0.000,0.058,2786,1068,3262,3298,3226,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1171,-0.92,-136.3,2787,1068,3299,3227,167.5,-13.3,122,1176,0.00,2.35,0.00,0.000,1030,0.000,0.058,2786,2451,3262,3299,3226,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1494,-0.92,-136.3,2786,2451,3299,3226,209.0,-11.8,141,1500,0.00,2.35,0.00,0.000,260,0.000,0.087,2786,3782,3262,3299,3226,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1558,-0.92,-136.3,2786,3782,3298,3226,216.9,-12.4,153,1564,0.00,2.17,0.00,0.000,1030,0.000,0.048,2791,2450,3262,3299,3226,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1882,-0.92,-136.3,2786,2449,3298,3226,255.7,-12.1,172,1887,0.00,2.38,0.00,0.000,260,0.000,0.086,2785,3782,3262,3298,3226,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1905,-0.92,-136.3,2786,3782,3299,3226,258.6,-11.9,176,1911,0.00,2.17,0.00,0.000,1030,0.000,0.048,2786,2449,3262,3298,3226,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2229,-0.92,-136.3,2786,2449,3298,3226,297.2,-11.9,195,2234,0.00,2.38,0.00,0.000,260,0.000,0.086,2786,3783,3262,3298,3226,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2267,-0.92,-136.3,2786,3783,3298,3226,301.7,-12.6,202,2273,0.00,2.17,0.00,0.000,1030,0.000,0.048,2786,2445,3262,3299,3226,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2572,-0.92,-136.3,2786,2445,3299,3227,337.2,-11.5,218,2578,0.00,2.33,0.00,0.000,516,0.000,0.058,2786,1065,3262,3299,3226,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2610,-0.92,-136.3,2787,1064,3300,3226,341.7,-11.7,225,2617,0.00,2.35,0.00,0.000,1030,0.000,0.057,2786,2452,3263,3300,3226,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2916,-0.92,-136.3,2785,2453,3300,3226,375.6,-10.8,241,2922,0.00,2.33,0.00,0.000,260,0.000,0.085,2786,3780,3263,3300,3226,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2928,-0.92,-136.3,2787,3780,3301,3226,377.1,-10.8,243,2934,0.00,2.17,0.00,0.000,1030,0.000,0.046,2786,2438,3263,3300,3226,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3242,-0.92,-136.3,2786,2439,3301,3226,410.8,-10.6,260,3247,0.00,2.38,0.00,0.000,260,0.000,0.086,2785,3780,3263,3301,3226,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3319,-0.92,-136.3,2786,3780,3301,3226,419.9,-12.2,275,3326,0.00,2.17,0.00,0.000,1030,0.000,0.047,2786,2443,3264,3301,3227,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3625,-0.92,-136.3,2781,2443,3302,3226,452.4,-10.6,291,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2442,3264,3302,3227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3929,-0.92,-136.3,2786,2442,3302,3226,484.5,-10.6,306,3934,0.00,2.38,0.00,0.000,260,0.000,0.085,2786,3780,3264,3302,3227,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4026,-0.92,-136.3,2786,3780,3302,3227,496.1,-11.0,325,4034,0.00,2.17,0.00,0.000,1030,0.000,0.047,2786,2443,3264,3302,3227,0,0,0,0,0,0,28.83,14.68,28.83
$STATE,4190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4190,begin apogee
$GC,4196,-0.18,0.0,2786,2448,3303,3226,512.9,-10.1,334,4312,0.90,0.00,106.95,1.458,10246,0.233,0.000,3033,2443,2705,2774,2637,0,0,0,0,0,0,14.24,28.83,13.60
$STATE,4313,end apogee,CONTROL_FINISHED_OK
$STATE,4313,begin climb
$GC,4316,0.92,136.3,3032,2442,2772,2637,514.8,0.0,340,4436,1.10,2.50,107.40,1.424,10500,0.153,0.081,3375,3779,2150,2221,2079,0,0,0,0,0,0,14.21,14.01,13.39
$GC,4479,0.92,136.3,3375,3778,2217,2079,500.5,12.5,372,4485,0.00,2.38,0.00,0.000,1030,0.000,0.046,3385,2388,2148,2217,2079,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4803,0.92,136.3,3385,2385,2214,2079,465.2,10.9,391,4804,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,2385,2146,2214,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5105,0.92,136.3,3386,2385,2214,2079,432.4,10.5,406,5111,0.00,2.38,0.00,0.000,516,0.000,0.062,3395,988,2146,2214,2079,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5178,0.92,136.3,3396,988,2214,2079,424.0,10.9,420,5183,0.00,2.35,0.00,0.000,1030,0.000,0.052,3395,2389,2146,2214,2079,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5491,0.92,136.3,3396,2388,2213,2079,389.8,10.6,437,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,2389,2146,2214,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5793,0.92,136.3,3396,2389,2214,2079,357.0,11.1,452,5798,0.00,2.40,0.00,0.000,516,0.000,0.060,3406,982,2146,2214,2079,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5846,0.92,136.3,3406,982,2213,2079,350.8,11.3,462,5851,0.00,2.35,0.00,0.000,1030,0.000,0.052,3406,2378,2146,2213,2079,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6159,0.92,136.3,3407,2378,2214,2079,316.2,10.8,479,6165,0.00,2.38,0.00,0.000,516,0.000,0.060,3417,987,2146,2213,2080,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6227,0.92,136.3,3417,987,2214,2079,308.4,11.0,492,6232,0.00,2.33,0.00,0.000,1030,0.000,0.050,3418,2381,2146,2214,2078,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6545,0.92,136.3,3416,2381,2213,2079,271.1,11.6,510,6551,0.00,2.40,0.00,0.000,516,0.000,0.060,3427,979,2146,2213,2079,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6578,0.92,136.3,3428,979,2213,2079,266.9,12.3,516,6584,0.12,2.35,0.00,0.000,5126,0.243,0.052,3397,2384,2146,2213,2079,0,0,0,0,0,0,14.39,14.62,28.83
$GC,6892,0.92,136.3,3397,2384,2212,2079,232.6,10.7,533,6893,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2384,2146,2213,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7194,0.92,136.3,3397,2383,2213,2078,200.3,10.3,548,7199,0.00,2.33,0.00,0.000,516,0.000,0.060,3408,981,2146,2213,2079,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7253,0.92,136.3,3408,981,2214,2079,194.3,9.9,559,7259,0.00,2.33,0.00,0.000,1030,0.000,0.051,3408,2376,2146,2213,2079,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7557,0.92,136.3,3408,2377,2213,2079,163.1,10.6,575,7563,0.00,2.38,0.00,0.000,516,0.000,0.060,3418,982,2146,2213,2079,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7600,0.92,136.3,3419,982,2213,2079,158.4,11.0,583,7605,0.00,2.33,0.00,0.000,1030,0.000,0.051,3419,2376,2146,2214,2079,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7923,0.92,136.3,3419,2377,2213,2079,123.6,10.8,602,7929,0.00,2.35,0.00,0.000,516,0.000,0.059,3427,985,2145,2212,2079,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8007,0.92,136.3,3427,987,2214,2079,114.5,11.2,618,8013,0.12,2.33,0.00,0.000,5126,0.237,0.050,3396,2379,2146,2214,2079,0,0,0,0,0,0,14.38,14.62,28.83
$GC,8321,0.92,136.3,3397,2379,2214,2079,83.3,10.0,630,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2379,2146,2214,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8621,1.08,207.8,3393,2379,2213,2079,60.9,5.9,640,8682,0.10,2.45,53.60,0.887,10756,0.166,0.061,3460,977,1858,1925,1791,0,0,0,0,0,0,14.70,14.62,14.09
$GC,8898,1.09,212.9,3459,977,1919,1788,39.6,8.9,694,8908,0.00,2.35,3.28,0.584,9222,0.000,0.052,3458,2374,1843,1912,1775,0,0,0,0,0,0,28.83,14.50,13.97
$GC,9211,1.09,212.9,3458,2373,1912,1775,9.7,10.9,720,9216,0.00,2.38,0.00,0.000,516,0.000,0.060,3466,987,1843,1912,1775,0,0,0,0,0,0,28.83,14.54,28.83
$FREEZE,8.28,1.057,-1.799,0,1,0
$FREEZE,7.74,1.057,-1.799,0,1,0
$FREEZE,7.09,1.057,-1.798,0,1,0
$GC,9235,1.09,212.9,3466,987,1914,1775,7.1,11.0,724,9241,0.00,2.35,0.00,0.000,1030,0.000,0.053,3467,2382,1843,1912,1775,0,0,0,0,0,0,28.83,14.57,28.83
$FREEZE,5.59,1.057,-1.797,0,1,0
$FREEZE,4.37,1.055,-1.796,0,1,0
$FREEZE,3.20,1.056,-1.795,0,1,0
$FREEZE,2.38,1.055,-1.795,0,1,0
$FREEZE,1.45,1.059,-1.794,0,1,0
$STATE,9287,end climb,SURFACE_DEPTH_REACHED
$STATE,9287,begin surface coast
$FREEZE,1.32,1.043,-0.955,0,1,0
$FINISH,1.3,1.014099
$STATE,9298,end surface coast,CONTROL_FINISHED_OK
$STATE,9300,begin surface
$SM_CCo,9320,63.45,0.083,0,0,1282,350.04
$SM_GC,2.05,9.50,0.10,63.45,0.084,0.156,0.083,212,2462,1282,-8.96,-0.90,350.04,0,0,0,0,0,0,14.52,14.58,14.54
$RAFOS_CLK,-2
$RAFOS,5,1416760869,16.700001,16.685833,65,64,61,56,56,54,213,138,192,222,1505,180
$RAFOS,4,1416760383,16.566668,16.550833,70,58,55,55,55,54,166,209,132,175,149,199
$RAFOS,3,1416759916,16.433332,16.421112,77,64,58,57,56,56,206,181,163,191,139,150
$RAFOS,2,1416759430,16.299999,16.286112,59,57,55,55,54,51,205,165,156,219,143,114
$RAFOS,1,1416758947,16.166666,16.151945,63,61,60,59,55,51,152,210,119,197,172,184
$RAFOS,0,1416758477,16.033333,16.021389,58,54,52,52,51,50,196,154,130,208,178,230
$RAFOS_FIX,6704.776855,-5701.207031,231114,000024,3,72,2.22
$IRIDIUM_FIX,6631.12,-5650.71,231114,111858
$TT8_MAMPS,0.039697,0.039697
$HUMID,41.77
$INTERNAL_PRESSURE,8.60151
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,999.0
$SC_FREEKB,3891392
$24V_AH,13.39,95.386
$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,24.150,93.550,271.225,63.450,0.000,0.000,0.000,248.125,0.250,0.000,6.764,1602.110,6098.196,468.056,1403.598,245.038,0.000,1339.019,0.000,1094.973,2520.000,4.106,0.000
$DEVICE_MAMPS,398.565,156.060,1458.090,82.620,0.000,0.000,0.000,143.820,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9314.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.282,0.000,0.000,0.000
$MEM,143100
$DATA_FILE_SIZE,26715,731
$CAP_FILE_SIZE,115986,0
$CFSIZE,1024409600,971259904
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10312.17,0x23769e,7,5
$INTR,1,4192.53,0x23769e,2,5
$SOUNDSPEED,1472.8
$CURRENT,0.335,323.84,1
$GPS,231114,165335,6704.326,-5654.592,21,0.9,21,-32.6