version: 66.12
glider: 217
mission: 3
dive: 410
start: 11 24 114 13 17 47
data:
$ID,217
$MISSION,3
$DIVE,410
$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,58
$R_STBD_OVSHOOT,36
$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
$GPS1,241114,131004,6703.927,-5654.146,17,0.8,17,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-69.6
$GPS2,241114,131710,6703.966,-5654.259,22,0.8,22,-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,181.7,4861,-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,-136.3,159,2456,1306,1230,0.0,0.0,0,93,0.00,0.00,-71.75,0.000,16386,0.000,0.000,152,2456,3116,3122,3110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.92,-136.3,152,2456,3122,3110,4.0,-3.6,7,120,12.20,2.30,-2.80,0.000,18692,0.398,0.097,2777,3776,3265,3287,3244,0,0,0,0,0,0,14.14,14.46,14.78
$GC,347,-0.92,-136.3,2777,3776,3290,3243,55.2,-15.5,56,352,0.00,2.20,0.00,0.000,1030,0.000,0.048,2777,2449,3267,3290,3244,0,0,0,0,0,0,28.83,14.55,28.83
$GC,677,-0.92,-136.3,2774,2444,3292,3239,103.6,-14.2,71,683,0.00,2.38,0.00,0.000,260,0.000,0.086,2772,3771,3265,3291,3240,0,0,0,0,0,0,28.83,14.47,28.83
$GC,855,-0.92,-136.3,2772,3771,3291,3238,130.8,-15.1,106,863,0.00,2.20,0.00,0.000,1030,0.000,0.048,2772,2434,3265,3291,3239,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1161,-0.92,-136.3,2772,2434,3291,3238,173.8,-13.9,122,1167,0.00,2.33,0.00,0.000,516,0.000,0.060,2772,1064,3265,3292,3238,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1205,-0.92,-136.3,2772,1065,3292,3238,179.8,-14.1,130,1212,0.00,2.35,0.00,0.000,1030,0.000,0.057,2772,2444,3265,3291,3239,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1529,-0.92,-136.3,2772,2444,3291,3238,221.8,-12.9,149,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2449,3264,3291,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1831,-0.92,-136.3,2772,2444,3291,3238,259.6,-11.9,164,1836,0.00,2.35,0.00,0.000,260,0.000,0.086,2772,3781,3264,3291,3238,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1843,-0.92,-136.3,2773,3782,3291,3238,261.2,-11.5,166,1849,0.00,2.17,0.00,0.000,1030,0.000,0.047,2772,2447,3264,3292,3236,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2158,-0.92,-136.3,2772,2447,3291,3238,297.7,-11.7,183,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2446,3264,3291,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2459,-0.92,-136.3,2772,2446,3293,3238,331.5,-11.5,198,2465,0.00,2.40,0.00,0.000,260,0.000,0.085,2772,3783,3265,3292,3238,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2512,-0.92,-136.3,2772,3783,3292,3238,338.3,-12.2,208,2518,0.00,2.17,0.00,0.000,1030,0.000,0.047,2772,2449,3265,3292,3238,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2826,-0.92,-136.3,2772,2449,3294,3238,374.2,-11.4,225,2831,0.00,2.38,0.00,0.000,260,0.000,0.084,2772,3782,3266,3294,3239,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2859,-0.92,-136.3,2772,3782,3294,3238,378.2,-11.8,231,2864,0.00,2.17,0.00,0.000,1030,0.000,0.047,2772,2449,3265,3293,3238,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3172,-0.92,-136.3,2772,2449,3295,3238,413.9,-11.4,248,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2449,3266,3295,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3474,-0.92,-136.3,2772,2449,3296,3238,448.1,-11.3,263,3479,0.00,2.38,0.00,0.000,260,0.000,0.084,2772,3784,3267,3296,3238,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3507,-0.92,-136.3,2772,3784,3295,3238,452.4,-12.1,269,3512,0.00,2.17,0.00,0.000,1030,0.000,0.047,2772,2449,3267,3296,3238,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3820,-0.92,-136.3,2771,2449,3297,3238,486.5,-10.6,286,3826,0.00,2.33,0.00,0.000,516,0.000,0.057,2772,1069,3267,3296,3239,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3849,-0.92,-136.3,2771,1068,3297,3238,489.7,-11.1,291,3854,0.00,2.35,0.00,0.000,1030,0.000,0.056,2772,2458,3268,3297,3239,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,4088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4088,begin apogee
$GC,4094,-0.18,0.0,2772,2388,3297,3238,515.6,-10.8,305,4208,0.93,0.00,107.78,1.460,10246,0.230,0.000,3028,2387,2707,2775,2639,0,0,0,0,0,0,14.25,28.83,13.60
$STATE,4209,end apogee,CONTROL_FINISHED_OK
$STATE,4209,begin climb
$GC,4212,0.92,136.3,3027,2387,2774,2638,519.5,0.0,311,4332,1.10,2.47,108.03,1.432,10756,0.155,0.059,3380,983,2148,2220,2077,0,0,0,0,0,0,14.21,14.03,13.38
$GC,4380,0.92,136.3,3380,984,2215,2078,507.6,9.5,344,4386,0.00,2.42,0.00,0.000,1030,0.000,0.050,3380,2378,2146,2215,2078,0,0,0,0,0,0,28.83,14.15,28.83
$GC,4698,0.92,136.3,3380,2378,2212,2078,473.0,10.7,362,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,2378,2142,2207,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5001,0.92,136.3,3380,2378,2212,2078,442.0,10.4,377,5007,0.00,2.38,0.00,0.000,516,0.000,0.060,3390,987,2145,2212,2078,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5111,0.92,136.3,3390,987,2212,2078,430.4,9.9,398,5117,0.00,2.35,0.00,0.000,1030,0.000,0.051,3390,2377,2145,2212,2078,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5430,0.92,136.3,3390,2377,2216,2078,396.1,10.7,416,5436,0.00,2.38,0.00,0.000,516,0.000,0.060,3399,982,2145,2213,2077,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5478,0.92,136.3,3400,982,2212,2078,390.9,11.2,425,5483,0.00,2.33,0.00,0.000,1030,0.000,0.050,3399,2377,2145,2212,2079,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5796,0.92,136.3,3399,2376,2212,2077,356.6,10.6,443,5802,0.00,2.38,0.00,0.000,516,0.000,0.060,3410,986,2145,2212,2078,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5841,0.92,136.3,3410,986,2212,2078,351.7,10.7,451,5846,0.00,2.33,0.00,0.000,1030,0.000,0.051,3410,2378,2144,2211,2078,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6164,0.92,136.3,3410,2378,2212,2077,314.7,11.5,470,6170,0.00,2.38,0.00,0.000,516,0.000,0.059,3421,978,2145,2212,2078,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6197,0.92,136.3,3421,978,2212,2078,310.9,11.1,476,6202,0.00,2.35,0.00,0.000,1030,0.000,0.050,3421,2385,2145,2212,2078,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6510,0.92,136.3,3421,2386,2212,2078,273.7,12.4,493,6511,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2386,2144,2211,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6812,0.92,136.3,3421,2386,2212,2078,235.8,12.6,508,6817,0.00,2.38,0.00,0.000,516,0.000,0.060,3433,984,2145,2213,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6872,0.92,136.3,3432,983,2212,2078,228.1,12.8,519,6879,0.15,2.33,0.00,0.000,5126,0.231,0.051,3395,2376,2145,2212,2078,0,0,0,0,0,0,14.38,14.63,28.83
$GC,7176,0.92,136.3,3395,2376,2211,2078,195.4,10.1,535,7181,0.00,2.38,0.00,0.000,516,0.000,0.059,3406,976,2145,2212,2078,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7260,0.92,136.3,3405,977,2212,2078,187.0,9.5,551,7265,0.00,2.35,0.00,0.000,1030,0.000,0.051,3406,2383,2145,2212,2078,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7583,0.96,152.7,3406,2383,2212,2078,157.6,8.4,570,7604,0.00,2.40,12.27,0.958,8708,0.000,0.061,3415,986,2085,2152,2019,0,0,0,0,0,0,28.83,14.76,14.09
$GC,7653,0.96,152.7,3415,985,2151,2018,151.3,9.4,583,7658,0.00,2.33,0.00,0.000,1030,0.000,0.051,3415,2376,2084,2150,2019,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7971,0.96,152.7,3416,2376,2150,2018,121.7,10.0,601,7977,0.00,2.38,0.00,0.000,516,0.000,0.060,3424,985,2084,2150,2019,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8008,0.96,152.7,3424,985,2150,2019,117.9,10.3,608,8014,0.00,2.33,0.00,0.000,1030,0.000,0.050,3424,2376,2084,2150,2019,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8338,0.96,152.7,3424,2376,2150,2018,83.8,10.0,623,8344,0.00,2.45,0.00,0.000,260,0.000,0.080,3424,3780,2084,2150,2019,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8397,0.96,152.7,3424,3780,2149,2019,77.4,10.6,634,8405,0.00,2.30,0.00,0.000,1030,0.000,0.044,3435,2365,2084,2150,2019,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8702,0.99,165.1,3435,2365,2150,2019,49.4,8.6,645,8722,0.00,2.33,11.18,0.850,8708,0.000,0.060,3443,995,2032,2097,1967,0,0,0,0,0,0,28.83,14.72,14.14
$GC,8839,1.00,168.6,3443,997,2096,1967,37.8,9.0,672,8850,0.10,2.33,2.88,0.539,13318,0.258,0.052,3419,2383,2023,2090,1957,0,0,0,0,0,0,14.42,14.63,13.93
$GC,9159,1.22,270.5,3419,2383,2092,1957,14.5,4.6,693,9214,0.17,0.00,50.50,0.116,10758,0.125,0.000,3491,2383,1607,1680,1534,0,0,0,0,0,0,14.65,28.83,14.54
$FREEZE,8.46,0.977,-1.793,0,1,0
$FREEZE,7.60,0.972,-1.793,0,1,0
$FREEZE,6.22,0.974,-1.792,0,1,0
$FREEZE,4.63,0.975,-1.790,0,1,0
$FREEZE,3.08,0.980,-1.789,0,1,0
$FREEZE,1.96,0.978,-1.788,0,1,0
$STATE,9270,end climb,SURFACE_DEPTH_REACHED
$STATE,9270,begin surface coast
$FREEZE,1.34,0.967,-1.788,0,1,0
$FINISH,1.3,1.026145
$STATE,9282,end surface coast,CONTROL_FINISHED_OK
$STATE,9282,begin surface
$SM_CCo,9302,36.38,0.082,0,0,1281,350.04
$SM_GC,2.05,9.40,0.08,36.38,0.069,0.179,0.082,213,2450,1281,-8.96,-1.30,350.04,0,0,0,0,0,0,14.56,14.62,14.56
$RAFOS_CLK,-3
$RAFOS_FIX,6704.776855,-5701.207031,231114,000024,3,72,2.22
$IRIDIUM_FIX,6631.12,-5659.96,241114,100835
$TT8_MAMPS,0.03745,0.03745
$HUMID,41.45
$INTERNAL_PRESSURE,8.60151
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.6
$SC_FREEKB,3888832
$24V_AH,13.38,96.741
$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,24.050,88.775,292.625,36.375,0.000,0.000,0.000,235.525,0.250,0.000,23.563,1560.758,6140.446,465.378,1372.099,253.067,0.000,1307.495,0.000,1058.525,0.000,2.624,0.000
$DEVICE_MAMPS,397.800,179.010,1460.385,81.855,0.000,0.000,0.000,149.175,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9298.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.306,0.000,0.000,0.000
$MEM,143108
$DATA_FILE_SIZE,23396,707
$CAP_FILE_SIZE,113060,0
$CFSIZE,1024409600,970457088
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11046.23,0x23769e,7,5
$INTR,1,74.91,0x2342fa,0,24
$SOUNDSPEED,1473.3
$CURRENT,0.491,312.79,1
$GPS,241114,155504,6704.520,-5658.041,36,1.3,36,-32.6