version: 66.12
glider: 217
mission: 3
dive: 403
start: 11 23 114 17 1 48
data:
$ID,217
$MISSION,3
$DIVE,403
$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,55
$R_STBD_OVSHOOT,40
$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
$GPS1,231114,165335,6704.326,-5654.592,21,0.9,21,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-70.6
$GPS2,231114,170111,6704.384,-5654.685,19,0.9,19,-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,187.0,5466,-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,-136.3,153,2467,1303,1230,0.0,0.0,0,81,0.00,0.00,-60.45,0.000,16386,0.000,0.000,148,2467,2784,2797,2772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.92,-136.3,147,2467,2797,2773,3.4,-3.2,6,118,12.27,2.35,-10.95,0.000,19204,0.401,0.112,2786,3769,3267,3299,3235,0,0,0,0,0,0,14.20,14.46,14.80
$GC,329,-0.92,-136.3,2786,3768,3301,3236,44.7,-17.4,53,336,0.00,2.20,0.00,0.000,1030,0.000,0.049,2785,2440,3267,3299,3236,0,0,0,0,0,0,28.83,14.59,28.83
$GC,632,-0.92,-136.3,2786,2438,3301,3234,91.0,-15.2,64,638,0.00,2.35,0.00,0.000,516,0.000,0.061,2785,1055,3267,3301,3233,0,0,0,0,0,0,28.83,14.53,28.83
$GC,666,-0.92,-136.3,2786,1055,3301,3234,96.3,-15.5,70,671,0.00,2.35,0.00,0.000,1030,0.000,0.058,2785,2439,3267,3301,3234,0,0,0,0,0,0,28.83,14.56,28.83
$GC,990,-0.92,-136.3,2785,2440,3301,3231,141.0,-13.2,88,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2439,3265,3300,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1290,-0.92,-136.3,2786,2439,3299,3229,181.0,-13.2,103,1296,0.00,2.38,0.00,0.000,260,0.000,0.088,2785,3783,3266,3301,3231,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1308,-0.92,-136.3,2786,3783,3301,3231,183.5,-12.8,106,1315,0.00,2.20,0.00,0.000,1030,0.000,0.049,2785,2442,3265,3301,3230,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1614,-0.92,-136.3,2785,2443,3301,3231,222.3,-12.2,122,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2442,3265,3301,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1916,-0.92,-136.3,2785,2443,3301,3230,257.3,-11.4,137,1921,0.00,2.40,0.00,0.000,260,0.000,0.086,2785,3783,3266,3301,3231,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1963,-0.92,-136.3,2785,3783,3300,3231,263.2,-11.9,146,1968,0.00,2.17,0.00,0.000,1030,0.000,0.049,2786,2451,3266,3301,3231,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2281,-0.92,-136.3,2785,2450,3301,3231,298.5,-10.8,164,2287,0.00,2.38,0.00,0.000,260,0.000,0.086,2785,3789,3265,3301,3230,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2294,-0.92,-136.3,2786,3788,3301,3230,299.9,-10.4,166,2300,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2448,3266,3302,3230,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2608,-0.92,-136.3,2785,2448,3301,3231,333.5,-10.9,183,2613,0.00,2.38,0.00,0.000,260,0.000,0.085,2785,3786,3266,3301,3231,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2661,-0.92,-136.3,2786,3786,3301,3231,339.5,-11.2,193,2666,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2449,3266,3301,3231,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2974,-0.92,-136.3,2785,2450,3302,3231,372.4,-10.3,210,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2449,3266,3302,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3276,-0.92,-136.3,2785,2449,3303,3231,403.9,-10.7,225,3281,0.00,2.38,0.00,0.000,260,0.000,0.085,2785,3786,3266,3303,3230,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3303,-0.92,-136.3,2785,3786,3303,3231,407.2,-10.8,230,3308,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2448,3267,3303,3231,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3621,-0.92,-136.3,2785,2448,3303,3231,441.5,-10.7,248,3627,0.00,2.38,0.00,0.000,260,0.000,0.084,2785,3786,3267,3303,3231,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3676,-0.92,-136.3,2785,3786,3303,3231,447.6,-11.0,258,3681,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2447,3267,3303,3231,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3989,-0.92,-136.3,2785,2447,3305,3231,482.3,-11.0,275,3995,0.00,2.38,0.00,0.000,260,0.000,0.084,2785,3787,3268,3305,3231,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4037,-0.92,-136.3,2785,3787,3304,3231,487.9,-11.5,284,4043,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2449,3267,3304,3231,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,4295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4295,begin apogee
$GC,4301,-0.18,0.0,2785,2449,3305,3231,515.4,-10.8,299,4416,0.88,0.00,107.53,1.464,10246,0.230,0.000,3028,2448,2705,2774,2636,0,0,0,0,0,0,14.25,28.83,13.59
$STATE,4418,end apogee,CONTROL_FINISHED_OK
$STATE,4418,begin climb
$GC,4420,0.92,136.3,3028,2448,2773,2636,519.3,0.0,305,4540,1.10,2.55,107.82,1.432,10756,0.156,0.060,3385,998,2149,2220,2078,0,0,0,0,0,0,14.21,14.02,13.38
$GC,4593,0.92,136.3,3381,999,2213,2078,507.8,9.6,339,4598,0.00,2.40,0.00,0.000,1030,0.000,0.051,3381,2382,2146,2214,2078,0,0,0,0,0,0,28.83,14.14,28.83
$GC,4906,0.92,136.3,3381,2382,2212,2078,475.1,10.4,356,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,2382,2145,2212,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5208,0.92,136.3,3381,2382,2211,2078,442.2,11.3,371,5213,0.00,2.38,0.00,0.000,516,0.000,0.061,3389,999,2144,2211,2078,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5275,0.92,136.3,3391,999,2212,2078,434.1,11.9,384,5281,0.00,2.33,0.00,0.000,1030,0.000,0.052,3391,2386,2144,2211,2078,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5594,0.92,136.3,3390,2386,2210,2078,396.7,11.5,402,5595,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2386,2144,2211,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5896,0.92,136.3,3390,2386,2211,2077,362.2,11.4,417,5901,0.00,2.35,0.00,0.000,516,0.000,0.060,3400,999,2143,2211,2075,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5973,0.92,136.3,3401,999,2211,2078,352.7,11.8,432,5981,0.00,2.30,0.00,0.000,1030,0.000,0.052,3401,2376,2144,2211,2078,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6279,0.92,136.3,3401,2377,2211,2078,316.0,12.1,448,6280,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2377,2146,2211,2081,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6581,0.92,136.3,3401,2377,2211,2078,281.7,11.4,463,6587,0.00,2.33,0.00,0.000,516,0.000,0.060,3410,998,2144,2211,2078,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6638,0.92,136.3,3410,998,2211,2078,274.9,11.3,474,6645,0.00,2.33,0.00,0.000,1030,0.000,0.051,3410,2381,2144,2211,2078,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6945,0.92,136.3,3410,2381,2210,2077,240.6,11.2,490,6950,0.00,2.35,0.00,0.000,516,0.000,0.060,3421,999,2144,2211,2078,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6988,0.92,136.3,3421,998,2211,2078,235.6,12.0,498,6994,0.00,2.30,0.00,0.000,1030,0.000,0.051,3421,2380,2144,2211,2078,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7312,0.92,136.3,3421,2380,2211,2078,197.6,11.8,517,7317,0.00,2.35,0.00,0.000,516,0.000,0.059,3430,990,2144,2211,2078,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7364,0.92,136.3,3431,990,2211,2078,191.2,11.6,527,7371,0.15,2.33,0.00,0.000,5126,0.232,0.050,3393,2376,2144,2211,2078,0,0,0,0,0,0,14.39,14.64,28.83
$GC,7679,0.93,137.7,3394,2376,2211,2077,161.3,9.1,544,7685,0.00,2.35,0.00,0.000,516,0.000,0.060,3404,995,2144,2212,2077,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7743,0.93,137.7,3403,998,2211,2078,155.4,9.5,556,7749,0.00,2.30,0.00,0.000,1030,0.000,0.050,3405,2378,2144,2210,2078,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8067,0.93,138.2,3404,2378,2206,2078,125.4,9.1,575,8073,0.00,2.38,0.00,0.000,516,0.000,0.060,3413,991,2145,2211,2079,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8131,0.93,138.2,3414,991,2212,2078,119.2,9.4,587,8136,0.00,2.30,0.00,0.000,1030,0.000,0.050,3413,2377,2144,2211,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8466,0.93,138.2,3414,2377,2212,2079,87.2,9.6,603,8471,0.00,2.35,0.00,0.000,516,0.000,0.060,3423,994,2148,2219,2078,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8513,0.93,138.2,3423,994,2213,2078,82.6,9.3,612,8520,0.00,2.30,0.00,0.000,1030,0.000,0.051,3423,2374,2145,2212,2078,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8835,0.96,153.7,3423,2372,2213,2078,55.8,8.5,625,8854,0.00,2.38,13.68,0.856,8708,0.000,0.060,3432,997,2078,2145,2011,0,0,0,0,0,0,28.83,14.76,14.14
$GC,8877,0.96,153.7,3432,997,2144,2012,51.7,9.9,633,8883,0.00,2.30,0.00,0.000,1030,0.000,0.052,3432,2378,2077,2144,2011,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9203,1.04,186.8,3432,2378,2142,2011,24.9,7.7,647,9225,0.00,2.50,17.12,0.159,8452,0.000,0.083,3431,3776,1950,2019,1881,0,0,0,0,0,0,28.83,14.58,14.46
$GC,9281,1.04,186.8,3432,3776,2019,1883,17.5,10.3,661,9287,0.00,2.28,0.00,0.000,1030,0.000,0.045,3439,2383,1951,2019,1883,0,0,0,0,0,0,28.83,14.67,28.83
$FREEZE,8.42,1.045,-1.794,0,1,0
$FREEZE,7.90,1.045,-1.794,0,1,0
$FREEZE,7.22,1.045,-1.793,0,1,0
$FREEZE,6.79,1.044,-1.793,0,1,0
$FREEZE,6.07,1.044,-1.792,0,1,0
$FREEZE,5.20,1.044,-1.792,0,1,0
$FREEZE,4.42,1.044,-1.791,0,1,0
$FREEZE,3.28,1.045,-1.790,0,1,0
$FREEZE,2.39,1.043,-1.790,0,1,0
$FREEZE,1.41,1.045,-1.789,0,1,0
$STATE,9483,end climb,SURFACE_DEPTH_REACHED
$STATE,9483,begin surface coast
$FREEZE,1.21,1.044,-1.788,0,1,0
$FREEZE,1.20,1.028,-1.109,0,1,0
$FINISH,1.2,1.016365
$STATE,9504,end surface coast,CONTROL_FINISHED_OK
$STATE,9504,begin surface
$SM_CCo,9525,75.30,0.082,0,0,1281,350.04
$SM_GC,2.01,9.40,0.12,75.30,0.080,0.130,0.082,205,2469,1281,-8.98,-0.82,350.04,0,0,0,0,0,0,14.56,14.63,14.57
$RAFOS_CLK,-2
$RAFOS,6,1416761343,16.833334,16.817499,59,57,55,54,53,49,198,143,220,175,166,111
$RAFOS_FIX,6704.776855,-5701.207031,231114,000024,3,72,2.22
$IRIDIUM_FIX,6631.12,-5656.94,231114,141115
$TT8_MAMPS,0.03745,0.03745
$HUMID,41.41
$INTERNAL_PRESSURE,8.61127
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.6
$SC_FREEKB,3891072
$24V_AH,13.38,95.547
$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,23.800,92.975,246.150,75.300,0.000,0.000,0.000,271.150,0.250,0.000,20.399,1542.553,6451.892,465.142,1364.280,251.865,0.000,1328.460,0.000,1023.107,0.000,2.625,0.000
$DEVICE_MAMPS,400.860,130.050,1464.210,81.855,0.000,0.000,0.000,139.995,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9520.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.307,0.000,0.000,0.000
$MEM,143168
$DATA_FILE_SIZE,23378,684
$CAP_FILE_SIZE,114469,0
$CFSIZE,1024409600,971177984
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9951.12,0x23769e,7,5
$INTR,1,4298.11,0x23769e,2,5
$SOUNDSPEED,1473.3
$CURRENT,0.107,342.25,1
$GPS,231114,194322,6703.660,-5654.187,40,0.9,40,-32.6