version: 66.12
glider: 217
mission: 3
dive: 405
start: 11 23 114 22 49 35
data:
$ID,217
$MISSION,3
$DIVE,405
$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,44
$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
$GPS1,231114,223934,6703.410,-5650.926,36,0.7,36,-32.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-71.7
$GPS2,231114,224852,6703.390,-5650.819,5,0.8,5,-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,180.6,2160,-19.0,-9.167,-21.83,1942
$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,-0.93,-116.2,145,2467,1304,1230,0.0,0.0,0,83,0.00,0.00,-61.92,0.000,16386,0.000,0.000,140,2472,2809,2813,2805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.98,-136.3,140,2467,2814,2804,3.3,-2.9,6,120,12.10,2.35,-10.18,0.000,19204,0.395,0.108,2764,3774,3268,3300,3236,0,0,0,0,0,0,14.18,14.47,14.79
$GC,349,-0.98,-136.3,2765,3774,3301,3236,52.7,-16.9,57,355,0.00,2.22,0.00,0.000,1030,0.000,0.049,2765,2430,3268,3300,3236,0,0,0,0,0,0,28.83,14.59,28.83
$GC,668,-0.98,-136.3,2765,2428,3300,3235,103.4,-15.2,70,674,0.00,2.40,0.00,0.000,260,0.000,0.085,2755,3774,3266,3301,3232,0,0,0,0,0,0,28.83,14.47,28.83
$GC,893,-0.98,-136.3,2755,3774,3301,3233,138.6,-14.7,114,898,0.00,2.17,0.00,0.000,1030,0.000,0.048,2755,2449,3266,3300,3233,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1216,-0.98,-136.3,2755,2448,3301,3232,186.6,-14.4,133,1222,0.00,2.35,0.00,0.000,260,0.000,0.083,2745,3770,3266,3300,3233,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1269,-0.98,-136.3,2745,3770,3301,3232,194.7,-15.0,143,1275,0.15,2.17,0.00,0.000,3078,0.284,0.047,2778,2443,3266,3301,3232,0,0,0,0,0,0,14.23,14.66,28.83
$GC,1583,-0.98,-136.3,2778,2443,3300,3232,237.8,-13.2,160,1589,0.00,2.35,0.00,0.000,260,0.000,0.086,2772,3769,3266,3301,3232,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1616,-0.98,-136.3,2773,3768,3300,3233,242.3,-13.8,166,1622,0.00,2.15,0.00,0.000,1030,0.000,0.047,2773,2449,3266,3301,3232,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1929,-0.98,-136.3,2773,2448,3301,3232,279.8,-11.3,183,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2448,3266,3301,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2232,-0.98,-136.3,2773,2448,3301,3232,314.5,-11.7,198,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2447,3267,3301,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2532,-0.98,-136.3,2773,2448,3301,3232,350.1,-12.0,213,2539,0.00,2.35,0.00,0.000,260,0.000,0.085,2772,3770,3266,3301,3232,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2556,-0.98,-136.3,2772,3770,3302,3232,353.4,-11.9,217,2563,0.00,2.17,0.00,0.000,1030,0.000,0.047,2771,2439,3266,3301,3232,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2881,-0.98,-136.3,2772,2439,3302,3232,389.4,-10.9,236,2882,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2436,3267,3302,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3182,-0.98,-136.3,2772,2439,3303,3232,420.2,-10.2,251,3188,0.00,2.38,0.00,0.000,260,0.000,0.085,2772,3772,3268,3303,3233,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3240,-0.98,-136.3,2772,3772,3303,3232,426.6,-10.7,262,3247,0.00,2.15,0.00,0.000,1030,0.000,0.047,2772,2450,3268,3303,3233,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3547,-0.98,-136.3,2771,2450,3304,3233,456.5,-9.9,278,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2450,3268,3304,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3848,-0.98,-136.3,2773,2450,3304,3232,488.3,-10.7,293,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2449,3269,3305,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4148,-0.98,-136.3,2772,2450,3307,3233,511.8,-0.5,308,4154,0.00,2.35,0.00,0.000,260,0.000,0.086,2772,3770,3269,3306,3233,0,0,0,0,0,0,28.83,14.49,28.83
$STATE,4266,end dive,NO_VERTICAL_VELOCITY
$STATE,4267,begin apogee
$GC,4275,-0.18,0.0,2772,2380,3307,3232,511.8,0.0,331,4386,0.85,0.00,107.85,1.458,10246,0.150,0.000,3043,2376,2707,2776,2638,0,0,0,0,0,0,14.42,28.83,13.61
$STATE,4388,end apogee,CONTROL_FINISHED_OK
$STATE,4388,begin climb
$GC,4391,0.98,136.3,3038,2376,2772,2637,511.7,0.0,337,4510,1.12,2.45,107.78,1.422,10756,0.149,0.059,3400,982,2148,2219,2078,0,0,0,0,0,0,14.21,14.03,13.39
$GC,4577,0.98,136.3,3401,982,2213,2078,496.1,10.1,374,4583,0.00,2.40,0.00,0.000,1030,0.000,0.051,3400,2369,2145,2213,2078,0,0,0,0,0,0,28.83,14.17,28.83
$GC,4896,0.98,136.3,3401,2369,2211,2078,462.8,10.6,392,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2369,2144,2211,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5198,0.98,136.3,3401,2369,2211,2078,430.7,10.2,407,5204,0.00,2.35,0.00,0.000,516,0.000,0.061,3411,988,2144,2211,2078,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5265,0.98,136.3,3411,988,2210,2078,423.1,11.3,420,5271,0.00,2.33,0.00,0.000,1030,0.000,0.051,3410,2377,2144,2211,2077,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5583,0.98,136.3,3411,2373,2211,2078,387.3,11.7,438,5590,0.00,2.38,0.00,0.000,516,0.000,0.060,3421,979,2144,2211,2078,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5622,0.98,136.3,3421,979,2206,2078,382.5,12.3,445,5629,0.00,2.35,0.00,0.000,1030,0.000,0.051,3421,2382,2144,2210,2078,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5928,0.98,136.3,3421,2378,2210,2078,344.8,11.9,461,5933,0.00,2.38,0.00,0.000,516,0.000,0.060,3432,982,2144,2210,2078,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6011,0.98,136.3,3432,981,2210,2078,334.9,11.4,477,6016,0.00,2.33,0.00,0.000,1030,0.000,0.052,3432,2375,2144,2210,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6334,0.98,136.3,3432,2375,2210,2078,295.3,12.3,496,6339,0.00,2.35,0.00,0.000,516,0.000,0.060,3442,987,2143,2210,2077,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6373,0.98,136.3,3441,987,2210,2078,290.5,12.5,503,6380,0.12,2.33,0.00,0.000,5126,0.247,0.052,3412,2375,2144,2210,2078,0,0,0,0,0,0,14.38,14.64,28.83
$GC,6678,0.98,136.3,3412,2375,2210,2078,255.1,11.9,519,6684,0.00,2.42,0.00,0.000,260,0.000,0.080,3411,3781,2144,2210,2078,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6711,0.98,136.3,3412,3781,2210,2078,250.7,13.6,525,6716,0.00,2.30,0.00,0.000,1030,0.000,0.045,3422,2374,2146,2210,2082,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7024,0.98,136.3,3423,2369,2210,2078,213.5,11.8,542,7030,0.00,2.33,0.00,0.000,516,0.000,0.059,3434,987,2144,2211,2078,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7108,0.98,136.3,3434,986,2210,2078,203.7,11.7,558,7114,0.00,2.33,0.00,0.000,1030,0.000,0.051,3434,2377,2144,2210,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7432,0.98,136.3,3433,2377,2210,2078,165.6,11.6,577,7438,0.00,2.35,0.00,0.000,516,0.000,0.059,3443,988,2144,2210,2078,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7499,0.98,136.3,3443,987,2210,2078,157.8,11.6,590,7506,0.12,2.35,0.00,0.000,5126,0.248,0.050,3413,2382,2144,2211,2077,0,0,0,0,0,0,14.37,14.62,28.83
$GC,7819,0.98,136.3,3413,2382,2210,2078,124.1,10.7,608,7825,0.00,2.38,0.00,0.000,516,0.000,0.059,3423,980,2144,2211,2078,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7897,0.98,136.3,3423,980,2211,2078,115.8,10.6,623,7903,0.00,2.35,0.00,0.000,1030,0.000,0.051,3423,2385,2144,2211,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8216,0.98,136.3,3423,2385,2216,2078,82.4,10.3,636,8222,0.00,2.40,0.00,0.000,516,0.000,0.059,3433,980,2144,2211,2078,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8269,0.98,136.3,3433,980,2211,2077,76.9,9.9,646,8275,0.00,2.35,0.00,0.000,1030,0.000,0.051,3433,2384,2144,2211,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8583,1.00,144.7,3433,2383,2210,2078,46.9,8.7,658,8595,0.00,2.42,6.82,0.781,8708,0.000,0.060,3441,981,2116,2182,2050,0,0,0,0,0,0,28.83,14.76,14.09
$GC,8758,1.08,184.4,3442,981,2182,2050,31.4,7.1,692,8798,0.00,2.35,30.58,0.860,9222,0.000,0.051,3443,2383,1954,2020,1888,0,0,0,0,0,0,28.83,14.57,14.14
$FREEZE,8.14,1.018,-1.794,0,1,0
$FREEZE,7.24,1.018,-1.793,0,1,0
$FREEZE,6.46,1.019,-1.792,0,1,0
$FREEZE,5.67,1.019,-1.792,0,1,0
$FREEZE,5.06,1.016,-1.791,0,1,0
$FREEZE,4.45,1.015,-1.791,0,1,0
$FREEZE,3.71,1.016,-1.790,0,1,0
$FREEZE,2.81,1.016,-1.790,0,1,0
$FREEZE,2.00,1.015,-1.789,0,1,0
$STATE,9097,end climb,SURFACE_DEPTH_REACHED
$STATE,9097,begin surface coast
$FREEZE,1.18,1.047,-1.787,0,1,0
$FREEZE,1.24,1.034,-1.740,0,1,0
$FINISH,1.2,1.025469
$STATE,9118,end surface coast,CONTROL_FINISHED_OK
$STATE,9118,begin surface
$SM_CCo,9139,75.35,0.081,0,0,1282,350.04
$SM_GC,2.17,9.35,0.08,75.35,0.077,0.173,0.081,212,2454,1282,-8.96,-1.24,350.04,0,0,0,0,0,0,14.54,14.62,14.55
$RAFOS_CLK,-5
$RAFOS,6,1416790144,0.833333,0.817778,59,59,57,57,55,55,122,148,202,212,163,174
$RAFOS,5,1416789663,0.700000,0.684167,58,57,55,50,48,47,207,163,196,219,107,139
$RAFOS,4,1416789186,0.566667,0.551667,64,62,55,52,49,49,178,221,195,117,137,147
$RAFOS,3,1416788720,0.433333,0.422222,61,61,59,58,54,53,182,199,214,128,144,230
$RAFOS,2,1416788223,0.300000,0.284167,67,60,59,52,50,48,211,201,188,165,123,151
$RAFOS,1,1416787748,0.166667,0.152222,60,60,59,51,51,50,168,207,151,193,135,123
$RAFOS,0,1416787279,0.033333,0.021944,63,61,56,54,53,49,200,182,161,217,123,147
$RAFOS_FIX,6704.776855,-5701.207031,231114,000024,3,72,2.22
$IRIDIUM_FIX,6631.12,-5647.69,231114,224223
$TT8_MAMPS,0.03745,0.03745
$HUMID,41.45
$INTERNAL_PRESSURE,8.62104
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.9
$SC_FREEKB,3890432
$24V_AH,13.39,95.880
$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,23.825,83.925,253.025,75.350,0.000,0.000,0.000,328.225,0.250,0.000,6.779,1597.346,6023.744,459.549,1482.882,236.646,0.000,1395.504,0.000,1090.084,2520.000,4.207,0.000
$DEVICE_MAMPS,394.740,172.890,1458.090,81.090,0.000,0.000,0.000,144.585,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9133.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.255,0.000,0.000,0.000
$MEM,143140
$DATA_FILE_SIZE,23478,728
$CAP_FILE_SIZE,113373,0
$CFSIZE,1024409600,970981376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,10750.99,0x23769e,7,5
$SOUNDSPEED,1473.5
$CURRENT,0.303,344.72,1
$GPS,241114,012424,6703.779,-5651.101,17,0.8,17,-32.6