version: 66.12
glider: 217
mission: 3
dive: 411
start: 11 24 114 16 2 42
data:
$ID,217
$MISSION,3
$DIVE,411
$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,65
$R_STBD_OVSHOOT,38
$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
$GPS1,241114,155504,6704.520,-5658.041,36,1.3,36,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-67.2
$GPS2,241114,160206,6704.589,-5658.162,4,1.3,4,-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,189.5,7907,-17.5,-9.167,-20.44,2275
$D_GRID,552
$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,-136.3,163,2455,1305,1229,0.0,0.0,0,93,0.00,0.00,-71.32,0.000,16386,0.000,0.000,159,2455,3071,3078,3065,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.92,-136.3,158,2455,3078,3065,3.9,-3.7,7,120,12.38,2.35,-3.90,0.000,18692,0.406,0.109,2786,3776,3266,3289,3244,0,0,0,0,0,0,14.19,14.48,14.80
$GC,349,-0.92,-136.3,2786,3776,3291,3244,55.0,-16.9,56,354,0.00,2.20,0.00,0.000,1030,0.000,0.048,2785,2448,3267,3291,3243,0,0,0,0,0,0,28.83,14.59,28.83
$GC,679,-0.92,-136.3,2786,2445,3292,3240,104.7,-13.9,71,684,0.00,2.38,0.00,0.000,260,0.000,0.087,2785,3770,3266,3292,3240,0,0,0,0,0,0,28.83,14.45,28.83
$GC,726,-0.92,-136.3,2785,3770,3292,3240,112.1,-14.3,80,732,0.00,2.20,0.00,0.000,1030,0.000,0.048,2785,2447,3265,3292,3239,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1045,-0.92,-136.3,2785,2444,3292,3239,153.3,-12.8,97,1051,0.00,2.38,0.00,0.000,260,0.000,0.087,2785,3772,3265,3292,3239,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1118,-0.92,-136.3,2785,3771,3292,3238,162.4,-12.4,111,1123,0.00,2.17,0.00,0.000,1030,0.000,0.048,2785,2448,3265,3292,3239,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1431,-0.92,-136.3,2785,2447,3292,3238,199.3,-11.8,128,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2447,3265,3292,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1733,-0.92,-136.3,2785,2447,3292,3238,235.2,-12.3,143,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2447,3265,3292,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2033,-0.92,-136.3,2785,2446,3292,3238,272.6,-13.1,158,2039,0.00,2.38,0.00,0.000,260,0.000,0.086,2785,3774,3264,3292,3237,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2057,-0.92,-136.3,2785,3774,3292,3238,276.0,-14.0,162,2062,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2445,3265,3292,3238,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2380,-0.92,-136.3,2785,2443,3290,3238,315.9,-11.7,181,2387,0.00,2.33,0.00,0.000,260,0.000,0.085,2785,3773,3265,3293,3238,0,0,0,0,0,0,28.83,14.47,28.83
$GC,2429,-0.92,-136.3,2785,3773,3293,3238,321.7,-11.6,190,2435,0.00,2.17,0.00,0.000,1030,0.000,0.046,2781,2440,3265,3293,3238,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2748,-0.92,-136.3,2785,2438,3295,3238,358.1,-12.0,208,2753,0.00,2.40,0.00,0.000,260,0.000,0.084,2785,3775,3266,3294,3238,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2831,-0.92,-136.3,2786,3775,3294,3238,368.4,-11.9,224,2837,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2443,3266,3295,3238,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3155,-0.92,-136.3,2785,2442,3296,3239,405.3,-11.1,243,3156,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2441,3267,3296,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3457,-0.92,-136.3,2785,2441,3297,3238,439.0,-11.0,258,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2442,3267,3296,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3756,-0.92,-136.3,2785,2440,3297,3239,470.6,-10.2,273,3763,0.00,2.38,0.00,0.000,260,0.000,0.084,2785,3776,3267,3297,3238,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3805,-0.92,-136.3,2785,3776,3297,3238,475.8,-10.2,282,3810,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2443,3268,3297,3239,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4123,-0.92,-136.3,2785,2443,3297,3238,507.8,-9.8,300,4129,0.00,2.38,0.00,0.000,260,0.000,0.083,2785,3771,3267,3297,3238,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4141,-0.92,-136.3,2785,3771,3297,3235,509.6,-9.9,303,4148,0.00,2.15,0.00,0.000,1030,0.000,0.045,2785,2446,3267,3297,3238,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4447,-0.92,-136.3,2785,2447,3298,3238,542.7,-12.0,319,4452,0.00,2.35,0.00,0.000,260,0.000,0.083,2785,3771,3268,3298,3238,0,0,0,0,0,0,28.83,14.44,28.83
$GC,4501,-0.92,-136.3,2785,3772,3298,3238,549.2,-12.7,329,4507,0.00,2.15,0.00,0.000,1030,0.000,0.045,2785,2451,3267,3297,3238,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,4532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4532,begin apogee
$GC,4538,-0.18,0.0,2785,2451,3298,3238,553.8,-13.6,332,4656,0.88,0.03,108.45,1.510,10246,0.229,0.119,3028,2397,2705,2774,2637,0,0,0,0,0,0,14.22,14.14,13.59
$STATE,4657,end apogee,CONTROL_FINISHED_OK
$STATE,4657,begin climb
$GC,4660,0.92,136.3,3028,2398,2773,2636,556.0,0.0,338,4775,1.12,0.00,109.53,1.471,10502,0.154,0.000,3372,2397,2150,2222,2079,0,0,0,0,0,0,14.21,28.83,13.35
$GC,5075,0.92,136.3,3371,2397,2214,2078,518.0,10.2,365,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,2397,2146,2214,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5377,0.92,136.3,3372,2397,2213,2079,488.9,10.2,380,5382,0.00,2.40,0.00,0.000,516,0.000,0.061,3382,979,2146,2213,2079,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5429,0.92,136.3,3382,978,2213,2078,482.9,11.1,390,5435,0.00,2.35,0.00,0.000,1030,0.000,0.053,3382,2374,2145,2213,2078,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5743,0.92,136.3,3382,2374,2213,2078,448.2,11.2,407,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,2374,2145,2213,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6045,0.92,136.3,3382,2374,2213,2078,414.0,11.2,422,6050,0.00,2.38,0.00,0.000,516,0.000,0.060,3392,978,2145,2213,2078,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6142,0.92,136.3,3392,976,2213,2078,402.1,11.4,441,6150,0.00,2.35,0.00,0.000,1030,0.000,0.052,3392,2377,2145,2213,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6448,0.92,136.3,3392,2376,2213,2078,367.6,10.9,457,6455,0.00,2.40,0.00,0.000,516,0.000,0.060,3402,975,2145,2213,2078,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6502,0.92,136.3,3402,975,2213,2078,361.4,11.7,467,6507,0.00,2.35,0.00,0.000,1030,0.000,0.051,3402,2377,2145,2213,2078,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6815,0.92,136.3,3402,2377,2213,2079,326.9,11.2,484,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2377,2145,2213,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7117,0.92,136.3,3402,2377,2213,2078,292.8,11.5,499,7123,0.00,2.38,0.00,0.000,516,0.000,0.060,3413,977,2145,2213,2078,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7175,0.92,136.3,3413,977,2213,2078,286.3,11.0,510,7182,0.00,2.35,0.00,0.000,1030,0.000,0.051,3413,2378,2145,2213,2078,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7481,0.92,136.3,3413,2381,2213,2074,251.7,11.3,526,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2381,2145,2213,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7782,0.92,136.3,3413,2381,2213,2078,218.9,10.5,541,7788,0.00,2.40,0.00,0.000,516,0.000,0.060,3423,969,2145,2213,2078,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7820,0.92,136.3,3423,969,2213,2078,214.7,10.7,548,7828,0.12,2.35,0.00,0.000,5126,0.239,0.051,3393,2378,2145,2213,2078,0,0,0,0,0,0,14.38,14.59,28.83
$GC,8126,0.92,136.3,3393,2378,2212,2078,185.4,9.7,564,8127,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,2378,2145,2213,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8428,0.92,136.3,3394,2378,2213,2078,157.4,9.3,579,8434,0.00,2.38,0.00,0.000,516,0.000,0.060,3403,978,2145,2213,2078,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8506,0.92,136.3,3404,978,2213,2078,149.3,10.3,594,8513,0.00,2.35,0.00,0.000,1030,0.000,0.051,3404,2380,2145,2212,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8812,0.92,136.3,3404,2380,2213,2078,118.7,9.9,610,8813,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2380,2145,2213,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9112,0.93,137.4,3404,2380,2213,2078,91.1,9.1,620,9113,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2380,2146,2213,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9412,1.01,175.7,3404,2380,2213,2080,67.4,7.4,630,9444,0.00,0.00,29.95,0.900,8198,0.000,0.000,3404,2380,1991,2058,1924,0,0,0,0,0,0,28.83,28.83,14.15
$GC,9742,1.01,175.7,3404,2379,2053,1920,36.4,9.6,641,9743,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2379,1986,2053,1920,0,0,0,0,0,0,28.83,28.83,28.83
$FREEZE,8.64,0.930,-1.795,0,1,0
$FREEZE,7.65,0.930,-1.795,0,1,0
$FREEZE,6.56,0.930,-1.794,0,1,0
$GC,10042,1.33,319.7,3404,2379,2053,1920,15.8,2.7,661,10121,0.28,2.45,69.93,0.114,10756,0.103,0.063,3529,980,1405,1481,1329,0,0,0,0,0,0,14.57,14.56,14.51
$FREEZE,3.35,0.929,-1.791,0,1,0
$GC,10131,1.33,319.7,3529,980,1480,1328,3.4,17.7,675,10137,0.00,2.35,0.00,0.000,1030,0.000,0.049,3529,2387,1403,1479,1328,0,0,0,0,0,0,28.83,14.62,28.83
$FREEZE,1.33,0.923,-1.790,0,1,0
$STATE,10143,end climb,SURFACE_DEPTH_REACHED
$STATE,10143,begin surface coast
$FREEZE,1.41,0.770,-0.225,0,1,0
$FINISH,1.4,1.003200
$STATE,10155,end surface coast,CONTROL_FINISHED_OK
$STATE,10155,begin surface
$SM_CCo,10176,13.05,0.083,0,0,1281,350.04
$SM_GC,2.11,9.65,0.08,13.05,0.074,0.174,0.083,196,2452,1281,-9.01,-1.13,350.04,0,0,0,0,0,0,14.50,14.63,14.55
$RAFOS_CLK,1
$RAFOS,6,1416847745,16.833334,16.818056,62,60,53,52,51,51,204,125,178,143,154,215
$RAFOS,5,1416847280,16.700001,16.688889,64,56,56,55,54,53,211,181,126,192,138,116
$RAFOS,4,1416846791,16.566668,16.553055,70,58,56,54,52,49,224,165,204,147,134,118
$RAFOS,3,1416846312,16.433332,16.420000,70,62,60,60,55,55,187,172,200,218,154,229
$RAFOS,2,1416845824,16.299999,16.284445,64,62,61,57,56,49,181,149,159,236,215,227
$RAFOS,1,1416845366,16.166666,16.157223,63,59,58,56,54,54,189,217,171,267,116,207
$RAFOS_FIX,6704.776855,-5701.207031,231114,000024,3,72,2.22
$IRIDIUM_FIX,6631.12,-5652.31,241114,131256
$TT8_MAMPS,0.03745,0.03745
$HUMID,41.21
$INTERNAL_PRESSURE,8.61127
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.5
$SC_FREEKB,3888512
$24V_AH,13.35,96.910
$10V_AH,13.36,0.000
$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,24.425,74.200,317.850,13.050,0.000,0.000,0.000,253.900,0.250,0.000,4.571,1556.308,7018.318,471.247,1331.094,250.901,0.000,1301.211,0.000,1015.303,2160.000,2.624,0.000
$DEVICE_MAMPS,406.215,174.420,1510.110,82.620,0.000,0.000,0.000,141.525,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10162.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.209,0.000,0.000,0.000
$MEM,143144
$DATA_FILE_SIZE,23413,678
$CAP_FILE_SIZE,114603,0
$CFSIZE,1024409600,970358784
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9894.30,0x23769e,7,5
$INTR,1,4535.02,0x23769e,2,5
$SOUNDSPEED,1474.2
$CURRENT,0.319,305.64,1
$GPS,241114,185359,6704.279,-5700.964,36,0.7,36,-32.6