version: 66.12
glider: 217
mission: 3
dive: 404
start: 11 23 114 19 50 23
data:
$ID,217
$MISSION,3
$DIVE,404
$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,60
$R_STBD_OVSHOOT,44
$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
$GPS1,231114,194322,6703.660,-5654.187,40,0.9,40,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-70.1
$GPS2,231114,194947,6703.667,-5654.053,5,0.9,5,-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,159.7,4542,-17.5,-9.167,-20.44,2275
$D_GRID,541
$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,-136.3,149,2471,1303,1230,0.0,0.0,0,93,0.00,0.00,-70.97,0.000,16386,0.000,0.000,148,2472,3032,3036,3029,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.92,-136.3,146,2472,3040,3028,3.7,-3.0,7,120,12.27,2.47,-4.72,0.000,19204,0.401,0.081,2790,1061,3268,3293,3243,0,0,0,0,0,0,14.19,14.54,14.81
$GC,344,-0.92,-136.3,2790,1061,3297,3243,51.4,-17.1,55,349,0.00,2.35,0.00,0.000,1030,0.000,0.060,2786,2435,3269,3296,3242,0,0,0,0,0,0,28.83,14.50,28.83
$GC,679,-0.92,-136.3,2787,2435,3297,3239,101.5,-13.6,71,685,0.00,2.40,0.00,0.000,260,0.000,0.088,2786,3786,3268,3297,3239,0,0,0,0,0,0,28.83,14.45,28.83
$GC,732,-0.92,-136.3,2785,3785,3297,3239,109.3,-14.2,81,737,0.00,2.20,0.00,0.000,1030,0.000,0.048,2785,2449,3267,3297,3238,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1055,-0.92,-136.3,2786,2446,3297,3238,152.4,-12.7,97,1060,0.00,2.40,0.00,0.000,260,0.000,0.087,2785,3787,3265,3297,3234,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1072,-0.92,-136.3,2785,3788,3297,3237,154.8,-13.0,100,1079,0.00,2.20,0.00,0.000,1030,0.000,0.048,2785,2444,3266,3296,3237,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1378,-0.92,-136.3,2785,2444,3297,3237,194.1,-13.0,116,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2444,3267,3297,3237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1678,-0.92,-136.3,2785,2444,3297,3237,230.2,-11.4,131,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2444,3267,3299,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1980,-0.92,-136.3,2786,2444,3297,3237,265.1,-11.6,146,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2444,3267,3297,3237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2278,-0.92,-136.3,2785,2444,3297,3237,300.2,-11.3,161,2283,0.00,2.40,0.00,0.000,260,0.000,0.087,2785,3787,3267,3297,3237,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2301,-0.92,-136.3,2785,3787,3297,3237,302.9,-11.6,165,2307,0.00,2.20,0.00,0.000,1030,0.000,0.048,2785,2440,3267,3297,3237,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2624,-0.92,-136.3,2785,2440,3298,3237,338.5,-10.6,184,2630,0.00,2.40,0.00,0.000,260,0.000,0.086,2785,3787,3268,3298,3238,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2677,-0.92,-136.3,2784,3786,3298,3238,344.3,-11.2,194,2683,0.00,2.20,0.00,0.000,1030,0.000,0.047,2785,2441,3267,3296,3238,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2991,-0.92,-136.3,2785,2441,3300,3238,377.2,-10.1,211,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2442,3269,3300,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3293,-0.92,-136.3,2785,2441,3301,3237,405.9,-9.5,226,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2441,3269,3300,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3590,-0.92,-136.3,2785,2441,3301,3238,434.4,-9.6,241,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2441,3269,3301,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3893,-0.92,-136.3,2785,2442,3300,3238,463.8,-10.1,256,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2442,3268,3298,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4192,-0.92,-136.3,2785,2441,3302,3238,493.0,-9.6,271,4198,0.00,2.40,0.00,0.000,260,0.000,0.086,2785,3780,3270,3302,3238,0,0,0,0,0,0,28.83,14.47,28.83
$GC,4265,-0.92,-136.3,2785,3780,3302,3237,500.7,-9.9,285,4271,0.00,2.20,0.00,0.000,1030,0.000,0.047,2785,2445,3269,3302,3237,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4579,-0.92,-136.3,2786,2438,3302,3238,533.0,-10.6,302,4585,0.00,2.40,0.00,0.000,260,0.000,0.085,2785,3783,3270,3302,3238,0,0,0,0,0,0,28.83,14.49,28.83
$STATE,4750,end dive,NO_VERTICAL_VELOCITY
$STATE,4750,begin apogee
$GC,4758,-0.18,0.0,2785,2370,3303,3237,536.9,0.0,336,4873,0.80,0.00,108.53,1.486,10246,0.150,0.000,3035,2370,2706,2774,2638,0,0,0,0,0,0,14.42,28.83,13.59
$STATE,4874,end apogee,CONTROL_FINISHED_OK
$STATE,4874,begin climb
$GC,4877,0.92,136.3,3035,2370,2774,2637,536.8,0.0,342,4997,1.08,2.45,108.57,1.449,10756,0.153,0.060,3381,979,2149,2221,2078,0,0,0,0,0,0,14.21,14.02,13.36
$GC,5050,0.92,136.3,3381,978,2214,2078,523.0,11.2,376,5055,0.00,2.42,0.00,0.000,1030,0.000,0.050,3380,2379,2146,2214,2078,0,0,0,0,0,0,28.83,14.14,28.83
$GC,5363,0.92,136.3,3381,2379,2211,2077,489.0,11.1,393,5364,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,2379,2144,2212,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5665,0.92,136.3,3380,2379,2211,2078,454.5,11.9,408,5671,0.00,2.42,0.00,0.000,516,0.000,0.061,3389,969,2144,2211,2077,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5718,0.92,136.3,3390,969,2212,2077,447.6,12.8,418,5723,0.00,2.38,0.00,0.000,1030,0.000,0.051,3390,2387,2144,2211,2078,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6031,0.92,136.3,3390,2387,2210,2077,409.3,11.7,435,6037,0.00,2.40,0.00,0.000,516,0.000,0.061,3399,974,2144,2211,2077,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6104,0.92,136.3,3399,974,2212,2077,399.7,13.7,449,6110,0.00,2.35,0.00,0.000,1030,0.000,0.051,3399,2380,2144,2211,2077,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6417,0.92,136.3,3399,2381,2211,2077,359.3,12.5,466,6423,0.00,2.38,0.00,0.000,516,0.000,0.060,3410,976,2144,2211,2077,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6465,0.92,136.3,3410,975,2211,2077,353.5,12.4,475,6471,0.00,2.35,0.00,0.000,1030,0.000,0.050,3410,2377,2144,2211,2077,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6784,0.92,136.3,3410,2376,2210,2077,315.2,11.8,493,6790,0.00,2.38,0.00,0.000,516,0.000,0.060,3421,974,2143,2210,2077,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6837,0.92,136.3,3421,973,2211,2077,308.8,12.3,503,6843,0.00,2.35,0.00,0.000,1030,0.000,0.051,3421,2382,2144,2211,2077,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7151,0.92,136.3,3421,2382,2211,2077,271.3,11.8,520,7157,0.00,2.38,0.00,0.000,516,0.000,0.060,3431,975,2143,2210,2077,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7198,0.92,136.3,3431,975,2211,2077,265.5,11.4,529,7205,0.15,2.35,0.00,0.000,5126,0.233,0.050,3394,2377,2144,2211,2077,0,0,0,0,0,0,14.38,14.64,28.83
$GC,7518,0.92,136.3,3393,2377,2211,2077,231.1,10.5,547,7524,0.00,2.38,0.00,0.000,516,0.000,0.060,3405,970,2144,2211,2078,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7551,0.92,136.3,3405,970,2205,2077,227.5,10.7,553,7556,0.00,2.35,0.00,0.000,1030,0.000,0.050,3404,2382,2144,2211,2077,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7864,0.92,136.3,3405,2382,2211,2077,194.3,10.2,570,7870,0.00,2.38,0.00,0.000,516,0.000,0.059,3413,975,2143,2210,2077,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7941,0.92,136.3,3415,974,2211,2077,186.4,10.1,585,7948,0.00,2.33,0.00,0.000,1030,0.000,0.050,3413,2375,2144,2211,2077,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8247,0.92,136.3,3414,2375,2211,2077,155.7,10.3,601,8253,0.00,2.35,0.00,0.000,516,0.000,0.060,3424,975,2144,2211,2077,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8295,0.92,136.3,3423,975,2211,2078,150.6,10.9,610,8301,0.12,2.35,0.00,0.000,5126,0.239,0.050,3394,2377,2144,2211,2078,0,0,0,0,0,0,14.39,14.62,28.83
$GC,8615,0.92,136.3,3393,2377,2211,2077,121.3,9.3,628,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,2376,2144,2211,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8934,0.92,136.3,3394,2376,2211,2077,91.9,9.2,639,8940,0.00,2.30,0.00,0.000,516,0.000,0.060,3404,974,2144,2211,2077,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9003,0.94,144.5,3405,975,2211,2077,85.6,8.8,652,9017,0.00,2.35,7.05,0.812,9222,0.000,0.052,3404,2382,2115,2182,2048,0,0,0,0,0,0,28.83,14.62,14.09
$GC,9330,0.96,154.7,3404,2382,2181,2047,56.7,8.7,667,9345,0.00,2.38,8.57,0.831,8708,0.000,0.061,3414,973,2075,2141,2009,0,0,0,0,0,0,28.83,14.73,14.13
$GC,9483,0.97,156.7,3414,973,2140,2009,42.8,9.1,697,9488,0.00,2.35,0.00,0.000,1030,0.000,0.051,3414,2383,2074,2140,2009,0,0,0,0,0,0,28.83,14.63,28.83
$GC,9796,1.15,237.6,3414,2383,2140,2009,21.3,5.5,715,9847,0.12,0.00,42.85,0.145,10246,0.148,0.000,3467,2383,1743,1815,1671,0,0,0,0,0,0,14.66,28.83,14.49
$FREEZE,8.62,1.036,-1.794,0,1,0
$FREEZE,7.27,1.033,-1.793,0,1,0
$FREEZE,6.21,1.037,-1.792,0,1,0
$FREEZE,4.88,1.033,-1.791,0,1,0
$FREEZE,3.68,1.031,-1.790,0,1,0
$FREEZE,3.00,1.031,-1.790,0,1,0
$FREEZE,1.79,1.032,-1.789,0,1,0
$STATE,9975,end climb,SURFACE_DEPTH_REACHED
$STATE,9975,begin surface coast
$FREEZE,1.25,1.033,-1.789,0,1,0
$FINISH,1.3,1.026148
$STATE,9986,end surface coast,CONTROL_FINISHED_OK
$STATE,9986,begin surface
$SM_CCo,10006,51.67,0.083,0,0,1281,350.04
$SM_GC,2.36,9.40,0.10,51.67,0.075,0.151,0.083,208,2463,1281,-8.97,-0.88,350.04,0,0,0,0,0,0,14.56,14.64,14.57
$RAFOS_CLK,0
$RAFOS,6,1416775751,20.833334,20.819723,55,55,52,52,52,51,137,185,146,168,120,210
$RAFOS,5,1416775271,20.700001,20.686388,64,58,57,57,52,50,219,191,201,143,115,124
$RAFOS,4,1416774785,20.566668,20.551390,62,58,53,50,50,49,215,193,181,147,94,122
$RAFOS,3,1416774318,20.433332,20.421667,65,63,61,59,56,53,146,161,195,235,204,223
$RAFOS,2,1416773838,20.299999,20.288334,58,58,58,58,56,54,110,169,195,209,153,186
$RAFOS,1,1416773359,20.166666,20.155277,62,59,58,55,54,53,210,163,132,219,181,193
$RAFOS,0,1416772867,20.033333,20.018612,69,58,57,56,56,54,191,113,123,169,159,209
$RAFOS_FIX,6704.776855,-5701.207031,231114,000024,3,72,2.22
$IRIDIUM_FIX,6631.12,-5652.31,231114,165628
$TT8_MAMPS,0.03745,0.03745
$HUMID,41.80
$INTERNAL_PRESSURE,8.62104
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.4
$SC_FREEKB,3890752
$24V_AH,13.36,95.711
$10V_AH,12.74,0.000
$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,23.950,84.775,275.575,51.675,0.000,0.000,0.000,215.950,0.250,0.000,6.734,1626.151,6745.229,462.378,1382.226,248.023,0.000,1294.347,0.000,1108.067,2520.000,2.623,0.000
$DEVICE_MAMPS,400.860,151.470,1486.395,82.620,0.000,0.000,0.000,147.645,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10000.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.252,0.000,0.000,0.000
$MEM,143020
$DATA_FILE_SIZE,26753,734
$CAP_FILE_SIZE,117237,0
$CFSIZE,1024409600,971063296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10114.54,0x23769e,7,5
$SOUNDSPEED,1474.0
$CURRENT,0.143,24.95,1
$GPS,231114,223934,6703.410,-5650.926,36,0.7,36,-32.6