version: 66.12
glider: 217
mission: 3
dive: 414
start: 11 25 114 1 19 54
data:
$ID,217
$MISSION,3
$DIVE,414
$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,56
$R_STBD_OVSHOOT,52
$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
$GPS1,251114,011259,6704.065,-5656.537,55,1.3,55,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-70.2
$GPS2,251114,011921,6704.107,-5656.704,3,1.4,3,-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,185.7,6611,-17.5,-9.167,-20.44,2275
$D_GRID,539
$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,-136.3,144,2468,1303,1233,0.0,0.0,0,82,0.00,0.00,-61.28,0.000,16386,0.000,0.000,140,2468,2818,2821,2816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.92,-136.3,140,2468,2824,2815,3.2,-2.2,6,119,12.38,2.33,-10.48,0.000,18692,0.403,0.111,2786,3752,3265,3296,3234,0,0,0,0,0,0,14.19,14.46,14.79
$GC,283,-0.92,-136.3,2786,3752,3299,3234,38.6,-17.2,44,290,0.00,2.17,0.00,0.000,1030,0.000,0.048,2786,2437,3266,3299,3234,0,0,0,0,0,0,28.83,14.59,28.83
$GC,608,-0.92,-136.3,2786,2436,3300,3232,89.4,-14.6,58,613,0.00,2.35,0.00,0.000,516,0.000,0.060,2785,1064,3265,3299,3232,0,0,0,0,0,0,28.83,14.53,28.83
$GC,680,-0.92,-136.3,2786,1064,3300,3232,100.3,-14.9,72,687,0.00,2.33,0.00,0.000,1030,0.000,0.059,2786,2429,3266,3300,3232,0,0,0,0,0,0,28.83,14.54,28.83
$GC,996,-0.92,-136.3,2786,2428,3300,3230,141.3,-12.9,88,1003,0.00,2.40,0.00,0.000,260,0.000,0.087,2785,3780,3265,3300,3230,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1035,-0.92,-136.3,2786,3780,3300,3230,146.9,-14.3,95,1041,0.00,2.20,0.00,0.000,1030,0.000,0.048,2785,2439,3265,3300,3230,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1341,-0.92,-136.3,2786,2439,3300,3229,186.2,-12.8,111,1346,0.00,2.40,0.00,0.000,260,0.000,0.086,2785,3782,3264,3299,3229,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1418,-0.92,-136.3,2785,3781,3300,3229,196.4,-12.6,126,1425,0.00,2.17,0.00,0.000,1030,0.000,0.048,2785,2450,3264,3300,3229,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1724,-0.92,-136.3,2786,2451,3300,3229,231.4,-11.3,142,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2451,3264,3300,3229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2026,-0.92,-136.3,2785,2451,3300,3229,265.9,-11.3,157,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2451,3264,3300,3229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2326,-0.92,-136.3,2785,2450,3301,3229,299.8,-11.7,172,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2450,3265,3301,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2626,-0.92,-136.3,2785,2451,3301,3230,333.6,-11.1,187,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2449,3265,3301,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2926,-0.92,-136.3,2785,2450,3302,3229,366.6,-11.1,202,2931,0.00,2.35,0.00,0.000,260,0.000,0.085,2785,3779,3265,3302,3229,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2938,-0.92,-136.3,2785,3779,3302,3229,368.4,-11.3,204,2944,0.00,2.17,0.00,0.000,1030,0.000,0.048,2785,2451,3265,3302,3229,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3253,-0.92,-136.3,2785,2451,3302,3229,403.5,-11.0,221,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2451,3266,3303,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3554,-0.92,-136.3,2785,2451,3306,3230,435.5,-10.6,236,3560,0.00,2.38,0.00,0.000,260,0.000,0.084,2783,3784,3266,3303,3230,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3583,-0.92,-136.3,2785,3784,3303,3229,438.9,-11.2,241,3588,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2452,3266,3303,3230,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3901,-0.92,-136.3,2785,2451,3304,3230,471.5,-10.2,259,3907,0.00,2.35,0.00,0.000,260,0.000,0.084,2785,3778,3266,3303,3230,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3934,-0.92,-136.3,2785,3779,3303,3230,475.1,-11.0,265,3940,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2446,3266,3303,3230,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4248,-0.92,-136.3,2785,2446,3304,3229,506.9,-9.9,282,4253,0.00,2.38,0.00,0.000,260,0.000,0.085,2785,3780,3267,3305,3229,0,0,0,0,0,0,28.83,14.48,28.83
$GC,4335,-0.92,-136.3,2785,3780,3304,3230,516.0,-9.9,299,4340,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2447,3267,3304,3230,0,0,0,0,0,0,28.83,14.67,28.83
$STATE,4573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4573,begin apogee
$GC,4579,-0.18,0.0,2785,2447,3305,3230,539.2,-9.7,313,4693,0.88,0.00,107.40,1.492,10246,0.226,0.000,3027,2447,2707,2775,2639,0,0,0,0,0,0,14.23,28.83,13.57
$STATE,4695,end apogee,CONTROL_FINISHED_OK
$STATE,4695,begin climb
$GC,4697,0.92,136.3,3028,2446,2774,2638,543.7,0.0,319,4819,1.10,2.58,108.88,1.459,10756,0.153,0.060,3382,990,2149,2220,2079,0,0,0,0,0,0,14.21,14.02,13.35
$GC,4856,0.92,136.3,3382,990,2215,2078,531.5,12.6,350,4863,0.00,2.42,0.00,0.000,1030,0.000,0.052,3382,2377,2146,2215,2078,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5162,0.92,136.3,3382,2378,2212,2078,497.3,11.2,366,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,2377,2145,2212,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5464,0.92,136.3,3382,2377,2212,2078,463.5,11.2,381,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,2378,2145,2212,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5764,0.92,136.3,3382,2378,2211,2078,429.7,11.4,396,5770,0.00,2.35,0.00,0.000,516,0.000,0.061,3392,999,2144,2211,2078,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5822,0.92,136.3,3392,998,2211,2078,422.8,11.9,407,5829,0.00,2.35,0.00,0.000,1030,0.000,0.052,3392,2387,2144,2210,2078,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6128,0.92,136.3,3391,2388,2210,2078,388.6,11.1,423,6134,0.00,2.38,0.00,0.000,516,0.000,0.060,3402,994,2144,2211,2078,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6162,0.92,136.3,3402,995,2211,2081,384.8,11.1,429,6167,0.00,2.33,0.00,0.000,1030,0.000,0.051,3402,2374,2144,2211,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6477,0.92,136.3,3402,2373,2211,2078,349.7,11.2,446,6482,0.00,2.35,0.00,0.000,516,0.000,0.060,3411,990,2144,2211,2077,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6524,0.92,136.3,3411,990,2210,2078,344.0,11.2,455,6530,0.00,2.33,0.00,0.000,1030,0.000,0.050,3410,2381,2144,2210,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6843,0.92,136.3,3407,2380,2210,2078,305.8,12.3,473,6849,0.00,2.35,0.00,0.000,516,0.000,0.060,3422,995,2144,2210,2078,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6901,0.92,136.3,3422,995,2209,2078,298.3,12.7,484,6908,0.00,2.33,0.00,0.000,1030,0.000,0.051,3421,2384,2144,2210,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7207,0.92,136.3,3422,2384,2210,2077,260.1,12.3,500,7213,0.00,2.35,0.00,0.000,516,0.000,0.060,3432,996,2144,2211,2078,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7260,0.92,136.3,3433,996,2210,2078,253.4,12.4,510,7266,0.15,2.33,0.00,0.000,5126,0.233,0.051,3395,2386,2144,2210,2078,0,0,0,0,0,0,14.37,14.62,28.83
$GC,7574,0.92,136.3,3395,2386,2210,2078,220.4,10.1,527,7579,0.00,2.35,0.00,0.000,516,0.000,0.059,3406,998,2144,2210,2078,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7632,0.92,136.3,3406,999,2210,2078,214.3,10.5,538,7638,0.00,2.30,0.00,0.000,1030,0.000,0.051,3406,2376,2144,2211,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7938,0.92,136.3,3406,2376,2211,2078,180.9,11.3,554,7943,0.00,2.35,0.00,0.000,516,0.000,0.059,3415,990,2144,2210,2078,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7990,0.92,136.3,3415,990,2210,2078,174.7,11.5,564,7996,0.00,2.33,0.00,0.000,1030,0.000,0.051,3416,2377,2144,2211,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8305,0.92,136.3,3416,2377,2210,2078,140.9,10.2,581,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2377,2144,2210,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8616,0.92,136.3,3421,2377,2210,2078,109.4,9.7,595,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2377,2147,2216,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8915,0.95,147.0,3415,2377,2210,2078,82.6,8.7,605,8926,0.00,0.00,8.73,0.846,8198,0.000,0.000,3415,2377,2108,2174,2042,0,0,0,0,0,0,28.83,28.83,14.09
$GC,9215,1.02,180.4,3415,2377,2171,2040,58.6,7.7,615,9246,0.00,2.40,26.00,0.889,8708,0.000,0.060,3424,999,1969,2035,1903,0,0,0,0,0,0,28.83,14.71,14.14
$GC,9370,1.05,191.6,3424,999,2033,1902,45.7,8.7,645,9385,0.00,2.33,9.62,0.820,9222,0.000,0.053,3424,2377,1925,1991,1860,0,0,0,0,0,0,28.83,14.59,14.05
$GC,9693,1.09,212.9,3425,2377,1989,1859,17.0,8.2,666,9709,0.00,2.45,10.30,0.132,8452,0.000,0.079,3425,3781,1843,1912,1775,0,0,0,0,0,0,28.83,14.52,14.46
$GC,9769,1.09,212.9,3425,3781,1911,1775,9.4,11.1,680,9775,0.00,2.30,0.00,0.000,1030,0.000,0.046,3434,2385,1843,1912,1775,0,0,0,0,0,0,28.83,14.58,28.83
$FREEZE,7.70,0.900,-1.801,0,1,0
$FREEZE,6.70,0.896,-1.800,0,1,0
$FREEZE,5.81,0.900,-1.800,0,1,0
$FREEZE,4.73,0.891,-1.799,0,1,0
$FREEZE,3.61,0.883,-1.798,0,1,0
$FREEZE,2.66,0.865,-1.798,0,1,0
$FREEZE,1.68,0.838,-1.797,0,1,0
$STATE,9842,end climb,SURFACE_DEPTH_REACHED
$STATE,9842,begin surface coast
$FREEZE,1.42,0.927,-1.346,0,1,0
$FINISH,1.4,1.019822
$STATE,9855,end surface coast,CONTROL_FINISHED_OK
$STATE,9855,begin surface
$SM_CCo,9876,63.97,0.083,0,0,1282,350.04
$SM_GC,2.40,9.35,0.10,63.97,0.079,0.151,0.083,207,2457,1282,-8.98,-1.22,350.04,0,0,0,0,0,0,14.50,14.59,14.54
$RAFOS_CLK,1109
$RAFOS_FIX,6704.776855,-5701.207031,231114,000024,3,72,2.22
$IRIDIUM_FIX,6631.12,-5658.34,241114,220157
$TT8_MAMPS,0.039697,0.039697
$HUMID,42.00
$INTERNAL_PRESSURE,8.61127
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.9
$SC_FREEKB,3887552
$24V_AH,13.35,97.447
$10V_AH,12.90,0.000
$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,23.850,83.825,270.925,63.975,0.000,0.000,0.000,212.575,0.250,0.000,10.747,1578.787,6736.143,471.360,1301.750,253.780,0.000,1276.934,0.000,1031.603,360.000,2.625,0.000
$DEVICE_MAMPS,403.155,150.705,1491.750,82.620,0.000,0.000,0.000,149.940,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9870.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.207,0.000,0.000,0.000
$MEM,143148
$DATA_FILE_SIZE,23475,689
$CAP_FILE_SIZE,114133,1
$CFSIZE,1024409600,970031104
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11578.64,0x23769e,7,5
$INTR,1,4576.06,0x23769e,2,5
$SOUNDSPEED,1473.6
$CURRENT,0.362,324.76,1
$GPS,251114,040704,6704.417,-5658.478,34,0.8,34,-32.6