version: 66.12
glider: 217
mission: 3
dive: 418
start: 11 25 114 13 38 31
data:
$ID,217
$MISSION,3
$DIVE,418
$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,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
$GPS1,251114,133011,6703.879,-5655.545,25,0.6,25,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-74.2
$GPS2,251114,133758,6703.912,-5655.597,37,0.7,37,-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,178.3,5740,-17.5,-9.167,-20.44,2275
$D_GRID,553
$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,-136.3,150,2469,1302,1233,0.0,0.0,0,81,0.00,0.00,-60.47,0.000,16386,0.000,0.000,146,2469,2789,2793,2785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.92,-136.3,146,2469,2795,2784,3.0,-1.6,6,119,12.02,2.35,-11.93,0.000,18692,0.389,0.112,2785,3760,3267,3297,3237,0,0,0,0,0,0,14.19,14.43,14.79
$GC,157,-0.92,-136.3,2785,3760,3299,3238,15.1,-17.1,19,165,0.00,2.20,0.00,0.000,1030,0.000,0.047,2785,2437,3268,3299,3237,0,0,0,0,0,0,28.83,14.57,28.83
$GC,465,-0.92,-136.3,2785,2436,3300,3237,65.6,-15.6,34,470,0.00,2.38,0.00,0.000,260,0.000,0.085,2775,3765,3268,3300,3237,0,0,0,0,0,0,28.83,14.46,28.83
$GC,542,-0.92,-136.3,2775,3765,3301,3236,77.8,-15.1,49,547,0.00,2.17,0.00,0.000,1030,0.000,0.047,2775,2443,3268,3300,3236,0,0,0,0,0,0,28.83,14.63,28.83
$GC,861,-0.92,-136.3,2775,2440,3300,3237,122.9,-14.6,62,866,0.00,2.33,0.00,0.000,516,0.000,0.058,2775,1067,3267,3301,3234,0,0,0,0,0,0,28.83,14.54,28.83
$GC,944,-0.92,-136.3,2775,1067,3301,3233,135.4,-14.5,78,949,0.00,2.35,0.00,0.000,1030,0.000,0.059,2772,2442,3267,3300,3234,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1267,-0.92,-136.3,2772,2442,3300,3232,180.3,-13.6,97,1273,0.00,2.38,0.00,0.000,260,0.000,0.086,2773,3781,3263,3295,3232,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1351,-0.92,-136.3,2772,3781,3300,3232,191.9,-13.6,113,1357,0.00,2.20,0.00,0.000,1030,0.000,0.047,2772,2438,3265,3300,3231,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1675,-0.92,-136.3,2772,2436,3300,3231,233.2,-12.1,132,1680,0.00,2.40,0.00,0.000,260,0.000,0.086,2772,3780,3265,3300,3231,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1747,-0.92,-136.3,2772,3780,3300,3232,242.3,-12.3,146,1753,0.00,2.17,0.00,0.000,1030,0.000,0.047,2772,2448,3266,3300,3232,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2061,-0.92,-136.3,2772,2447,3301,3231,277.1,-10.8,163,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2447,3266,3300,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2363,-0.92,-136.3,2772,2447,3301,3232,310.8,-11.7,178,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2448,3266,3301,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2662,-0.92,-136.3,2772,2447,3301,3232,348.0,-12.5,193,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2447,3266,3301,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2963,-0.92,-136.3,2772,2447,3302,3232,387.6,-13.1,208,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2448,3264,3297,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3263,-0.92,-136.3,2772,2448,3303,3232,427.2,-13.1,223,3269,0.00,2.38,0.00,0.000,260,0.000,0.084,2772,3780,3268,3305,3231,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3332,-0.92,-136.3,2772,3780,3303,3232,437.1,-13.7,236,3337,0.00,2.17,0.00,0.000,1030,0.000,0.047,2772,2449,3267,3303,3232,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3650,-0.92,-136.3,2772,2449,3304,3232,477.0,-12.6,254,3655,0.00,2.38,0.00,0.000,260,0.000,0.084,2772,3781,3267,3303,3232,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3704,-0.92,-136.3,2772,3782,3303,3232,484.1,-13.1,264,3710,0.00,2.17,0.00,0.000,1030,0.000,0.046,2772,2446,3268,3303,3233,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4018,-0.92,-136.3,2772,2445,3304,3233,521.0,-11.3,281,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2446,3268,3304,3233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4320,-0.92,-136.3,2772,2446,3306,3232,550.1,-6.6,296,4326,0.00,2.35,0.00,0.000,516,0.000,0.059,2772,1069,3269,3306,3232,0,0,0,0,0,0,28.83,14.55,28.83
$STATE,4456,end dive,NO_VERTICAL_VELOCITY
$STATE,4456,begin apogee
$GC,4464,-0.18,0.0,2772,2389,3306,3232,550.1,0.0,323,4579,0.85,0.00,108.93,1.500,10246,0.152,0.000,3036,2389,2706,2775,2638,0,0,0,0,0,0,14.40,28.83,13.57
$STATE,4581,end apogee,CONTROL_FINISHED_OK
$STATE,4581,begin climb
$GC,4584,0.92,136.3,3037,2389,2774,2637,549.8,0.0,329,4704,1.05,2.60,109.05,1.466,10500,0.140,0.080,3370,3776,2150,2221,2079,0,0,0,0,0,0,14.21,13.99,13.35
$GC,4781,0.92,136.3,3370,3775,2215,2079,532.7,11.6,368,4788,0.00,2.35,0.00,0.000,1030,0.000,0.044,3380,2387,2146,2215,2078,0,0,0,0,0,0,28.83,14.21,28.83
$GC,5087,0.92,136.3,3380,2387,2213,2078,500.1,10.5,384,5093,0.00,2.38,0.00,0.000,516,0.000,0.060,3389,989,2145,2213,2078,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5165,0.92,136.3,3389,993,2213,2078,491.9,10.2,399,5172,0.00,2.35,0.00,0.000,1030,0.000,0.051,3390,2379,2145,2213,2078,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5471,0.92,136.3,3389,2379,2213,2078,460.6,10.0,415,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,2379,2145,2213,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5773,0.92,136.3,3389,2379,2212,2078,428.5,10.7,430,5774,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,2379,2145,2213,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6073,0.92,136.3,3389,2379,2212,2078,395.2,11.1,445,6079,0.00,2.38,0.00,0.000,516,0.000,0.060,3398,989,2148,2212,2084,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6171,0.92,136.3,3400,989,2213,2077,383.9,11.4,464,6178,0.00,2.33,0.00,0.000,1030,0.000,0.051,3399,2376,2145,2213,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6477,0.92,136.3,3399,2375,2213,2078,349.6,11.0,480,6483,0.00,2.35,0.00,0.000,516,0.000,0.058,3409,988,2145,2213,2078,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6532,0.92,136.3,3410,988,2213,2078,343.6,10.9,490,6537,0.00,2.33,0.00,0.000,1030,0.000,0.051,3409,2379,2144,2212,2077,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6845,0.92,136.3,3409,2378,2213,2078,308.0,11.2,507,6851,0.00,2.35,0.00,0.000,516,0.000,0.057,3420,988,2145,2212,2078,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6883,0.92,136.3,3421,988,2212,2078,303.5,11.7,514,6889,0.00,2.33,0.00,0.000,1030,0.000,0.050,3420,2378,2145,2213,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7189,0.92,136.3,3420,2378,2212,2078,265.9,12.1,530,7194,0.00,2.35,0.00,0.000,516,0.000,0.057,3431,988,2145,2213,2078,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7227,0.92,136.3,3431,988,2212,2078,261.1,12.8,537,7234,0.15,2.33,0.00,0.000,5126,0.232,0.050,3394,2378,2142,2207,2078,0,0,0,0,0,0,14.37,14.62,28.83
$GC,7532,0.92,136.3,3394,2378,2212,2079,228.7,10.8,553,7534,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2378,2144,2212,2077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7834,0.92,136.3,3394,2378,2213,2078,197.7,9.8,568,7840,0.00,2.35,0.00,0.000,516,0.000,0.058,3405,988,2145,2212,2078,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7887,0.92,136.3,3405,988,2212,2078,192.1,10.0,578,7893,0.00,2.33,0.00,0.000,1030,0.000,0.050,3405,2378,2145,2212,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8201,0.92,136.3,3405,2373,2212,2078,160.5,10.2,595,8206,0.00,2.38,0.00,0.000,516,0.000,0.059,3414,982,2145,2212,2078,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8248,0.92,136.3,3415,982,2212,2078,155.7,9.8,604,8254,0.00,2.33,0.00,0.000,1030,0.000,0.050,3415,2372,2145,2213,2078,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8569,0.92,136.3,3415,2372,2213,2078,125.0,10.6,622,8574,0.00,2.45,0.00,0.000,260,0.000,0.080,3414,3777,2145,2212,2078,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8648,0.92,136.3,3414,3777,2212,2078,115.3,12.3,637,8654,0.12,2.30,0.00,0.000,5126,0.259,0.045,3394,2373,2145,2212,2078,0,0,0,0,0,0,14.34,14.66,28.83
$GC,8967,0.98,162.5,3394,2371,2212,2078,87.6,8.0,650,8997,0.00,2.35,20.00,0.912,8708,0.000,0.060,3405,986,2038,2107,1970,0,0,0,0,0,0,28.83,14.72,14.13
$GC,9154,1.01,175.5,3405,986,2106,1974,71.9,8.6,687,9173,0.00,2.35,10.77,0.855,9222,0.000,0.051,3405,2380,1990,2056,1925,0,0,0,0,0,0,28.83,14.58,14.05
$GC,9482,1.13,228.9,3405,2381,2055,1924,47.1,6.8,702,9531,0.12,2.38,41.97,0.874,10756,0.148,0.060,3470,986,1772,1842,1703,0,0,0,0,0,0,14.64,14.61,14.09
$GC,9568,1.13,228.9,3471,986,1837,1703,39.2,10.5,714,9575,0.00,2.35,0.00,0.000,1030,0.000,0.050,3470,2375,1770,1837,1703,0,0,0,0,0,0,28.83,14.55,28.83
$FREEZE,8.57,0.805,-1.805,0,1,0
$FREEZE,7.33,0.822,-1.803,0,1,0
$FREEZE,6.04,0.805,-1.802,0,1,0
$FREEZE,4.61,0.808,-1.801,0,1,0
$FREEZE,3.56,0.805,-1.800,0,1,0
$GC,9875,1.13,228.9,3471,2375,1836,1700,3.6,12.7,735,9880,0.00,2.35,0.00,0.000,516,0.000,0.059,3479,985,1768,1836,1700,0,0,0,0,0,0,28.83,14.56,28.83
$FREEZE,1.96,0.810,-1.799,0,1,0
$STATE,9887,end climb,SURFACE_DEPTH_REACHED
$STATE,9887,begin surface coast
$FREEZE,1.62,0.810,-1.798,0,1,0
$FREEZE,1.52,0.726,-1.777,0,1,0
$FINISH,1.5,1.026006
$STATE,9899,end surface coast,CONTROL_FINISHED_OK
$STATE,9899,begin surface
$SM_CCo,9922,55.10,0.082,0,0,1282,350.04
$SM_GC,2.37,9.48,2.53,55.10,0.075,0.054,0.082,191,2443,1282,-9.02,-1.13,350.04,0,0,0,0,0,0,14.58,14.58,14.55
$RAFOS_CLK,-1
$RAFOS,2,1416932224,16.299999,16.284445,61,60,59,54,50,46,173,155,194,185,122,133
$RAFOS,1,1416931742,16.166666,16.150555,64,61,58,56,55,49,200,131,165,220,181,118
$RAFOS,0,1416931275,16.033333,16.020834,58,56,55,53,51,49,172,151,205,119,222,1658
$RAFOS_FIX,6704.776855,-5701.207031,231114,000024,3,72,2.22
$IRIDIUM_FIX,6625.71,-5947.38,251114,102013
$TT8_MAMPS,0.03745,0.03745
$HUMID,41.57
$INTERNAL_PRESSURE,8.61127
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,17.4
$SC_FREEKB,3886272
$24V_AH,13.35,98.180
$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,23.800,93.475,290.725,55.100,0.000,0.000,0.000,258.125,0.250,0.000,38.600,1634.251,6625.480,488.643,1451.350,259.249,0.000,1374.770,0.000,1111.755,1080.000,2.624,0.000
$DEVICE_MAMPS,388.620,112.455,1500.165,81.855,0.000,0.000,0.000,146.115,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9915.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.231,0.000,0.000,0.000
$MEM,143112
$DATA_FILE_SIZE,26753,739
$CAP_FILE_SIZE,118123,0
$CFSIZE,1024409600,969588736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11573.65,0x23769e,7,5
$SOUNDSPEED,1475.0
$CURRENT,0.366,325.97,1
$GPS,251114,162611,6704.350,-5656.979,27,0.8,27,-32.6