version: 66.12
glider: 217
mission: 3
dive: 388
start: 11 21 114 21 22 58
data:
$ID,217
$MISSION,3
$DIVE,388
$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,55
$R_STBD_OVSHOOT,46
$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
$GPS1,211114,211534,6703.685,-5655.985,26,0.9,26,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-72.5
$GPS2,211114,212222,6703.703,-5656.063,4,0.8,5,-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,161.6,5967,-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,-136.3,171,2468,1306,1230,0.0,0.0,0,82,0.00,0.00,-61.03,0.000,16386,0.000,0.000,167,2468,2804,2811,2797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.92,-136.3,167,2468,2815,2796,3.1,-1.9,6,118,12.07,2.45,-11.27,0.000,18948,0.398,0.085,2789,1063,3267,3298,3237,0,0,0,0,0,0,14.20,14.50,14.79
$GC,260,-0.92,-136.3,2788,1063,3301,3237,31.3,-15.7,40,267,0.00,2.35,0.00,0.000,1030,0.000,0.060,2786,2435,3269,3302,3236,0,0,0,0,0,0,28.83,14.51,28.83
$GC,575,-0.92,-136.3,2785,2435,3301,3236,80.5,-15.6,52,581,0.00,2.40,0.00,0.000,260,0.000,0.089,2786,3787,3268,3301,3236,0,0,0,0,0,0,28.83,14.47,28.83
$GC,693,-0.92,-136.3,2786,3787,3301,3234,98.6,-14.0,75,700,0.00,2.22,0.00,0.000,1030,0.000,0.050,2786,2438,3267,3300,3234,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1000,-0.92,-136.3,2786,2438,3301,3231,140.8,-13.9,88,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2439,3269,3301,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1300,-0.92,-136.3,2786,2438,3301,3230,180.5,-12.6,103,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2438,3266,3301,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1602,-0.92,-136.3,2786,2439,3301,3231,217.1,-11.8,118,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2438,3266,3301,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1901,-0.92,-136.3,2786,2438,3301,3230,252.4,-11.9,133,1907,0.00,2.42,0.00,0.000,260,0.000,0.087,2785,3786,3266,3301,3231,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1925,-0.92,-136.3,2785,3787,3301,3231,255.5,-12.5,137,1930,0.00,2.20,0.00,0.000,1030,0.000,0.049,2785,2444,3265,3301,3230,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2248,-0.92,-136.3,2785,2443,3302,3231,293.6,-11.7,156,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2442,3266,3301,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2550,-0.92,-136.3,2783,2442,3301,3231,327.7,-10.9,171,2555,0.00,2.38,0.00,0.000,260,0.000,0.086,2786,3781,3266,3302,3231,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2567,-0.92,-136.3,2786,3782,3302,3231,329.9,-10.6,174,2574,0.00,2.17,0.00,0.000,1030,0.000,0.048,2785,2448,3266,3302,3231,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2873,-0.92,-136.3,2786,2448,3303,3231,362.3,-10.6,190,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2448,3266,3302,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3175,-0.92,-136.3,2785,2448,3303,3231,394.6,-10.7,205,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2448,3266,3302,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3474,-0.92,-136.3,2785,2448,3304,3231,427.9,-11.1,220,3480,0.00,2.38,0.00,0.000,260,0.000,0.086,2785,3783,3264,3298,3231,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3498,-0.92,-136.3,2785,3783,3304,3231,430.7,-11.4,224,3505,0.00,2.17,0.00,0.000,1030,0.000,0.048,2785,2450,3267,3304,3231,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3822,-0.92,-136.3,2785,2449,3305,3231,465.9,-10.2,243,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2449,3268,3305,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4124,-0.92,-136.3,2785,2449,3306,3231,497.9,-10.5,258,4129,0.00,2.38,0.00,0.000,260,0.000,0.085,2785,3785,3268,3305,3231,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4151,-0.92,-136.3,2785,3785,3305,3231,501.2,-11.3,263,4157,0.00,2.17,0.00,0.000,1030,0.000,0.048,2785,2449,3268,3305,3231,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4470,-0.92,-136.3,2786,2449,3306,3231,533.5,-9.6,281,4475,0.00,2.38,0.00,0.000,260,0.000,0.085,2785,3786,3268,3306,3231,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4487,-0.92,-136.3,2785,3788,3305,3231,535.2,-9.2,284,4494,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2449,3268,3306,3231,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,4670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4671,begin apogee
$GC,4676,-0.18,0.0,2786,2448,3305,3231,553.5,-10.0,294,4793,0.88,0.00,108.62,1.512,10246,0.227,0.000,3028,2447,2705,2774,2637,0,0,0,0,0,0,14.26,28.83,13.57
$STATE,4794,end apogee,CONTROL_FINISHED_OK
$STATE,4795,begin climb
$GC,4797,0.92,136.3,3028,2448,2773,2637,554.8,0.0,300,4914,1.12,2.53,108.85,1.477,10500,0.155,0.082,3371,3783,2149,2221,2078,0,0,0,0,0,0,14.20,13.98,13.35
$GC,4943,0.92,136.3,3371,3783,2217,2079,544.2,11.0,320,4948,0.00,2.40,0.00,0.000,1030,0.000,0.047,3382,2387,2148,2217,2079,0,0,0,0,0,0,28.83,14.12,28.83
$GC,5261,0.92,136.3,3382,2384,2213,2079,508.7,10.9,338,5267,0.00,2.40,0.00,0.000,516,0.000,0.063,3392,974,2145,2213,2078,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5359,0.92,136.3,3392,974,2213,2078,498.0,10.1,357,5367,0.00,2.38,0.00,0.000,1030,0.000,0.054,3392,2383,2145,2213,2078,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5665,0.92,136.3,3392,2382,2212,2078,464.2,10.9,373,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2383,2145,2212,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5967,0.92,136.3,3392,2382,2212,2078,431.1,11.4,388,5972,0.00,2.40,0.00,0.000,516,0.000,0.063,3402,974,2145,2212,2078,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6040,0.92,136.3,3402,974,2212,2077,422.7,10.9,402,6045,0.00,2.35,0.00,0.000,1030,0.000,0.054,3402,2375,2145,2212,2078,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6353,0.92,136.3,3402,2375,2211,2077,388.7,10.9,419,6358,0.00,2.35,0.00,0.000,516,0.000,0.063,3412,982,2145,2212,2078,0,0,0,0,0,0,28.83,14.61,28.83
$GC,6396,0.92,136.3,3412,983,2212,2078,383.8,11.3,427,6401,0.00,2.33,0.00,0.000,1030,0.000,0.054,3412,2375,2142,2207,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6719,0.92,136.3,3413,2375,2211,2078,347.1,11.3,446,6721,0.00,0.00,0.00,0.000,6,0.000,0.000,3412,2375,2144,2211,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7020,0.92,136.3,3412,2375,2211,2078,312.6,11.4,461,7027,0.00,2.35,0.00,0.000,516,0.000,0.062,3423,982,2144,2211,2078,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7075,0.92,136.3,3423,982,2211,2078,306.1,11.6,471,7081,0.12,2.33,0.00,0.000,5126,0.243,0.054,3393,2376,2144,2211,2078,0,0,0,0,0,0,14.41,14.64,28.83
$GC,7389,0.92,136.3,3394,2375,2211,2078,272.6,10.7,488,7394,0.00,2.35,0.00,0.000,516,0.000,0.062,3404,982,2145,2211,2079,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7432,0.92,136.3,3404,983,2211,2078,268.0,10.9,496,7437,0.00,2.33,0.00,0.000,1030,0.000,0.053,3404,2375,2144,2211,2078,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7755,0.92,136.3,3404,2375,2211,2078,231.2,11.7,515,7760,0.00,2.35,0.00,0.000,516,0.000,0.062,3414,982,2144,2211,2078,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7813,0.92,136.3,3415,982,2211,2077,224.1,12.7,526,7820,0.00,2.35,0.00,0.000,1030,0.000,0.053,3415,2384,2144,2211,2078,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8119,0.92,136.3,3414,2385,2211,2078,187.4,12.2,542,8120,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2385,2144,2211,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8420,0.92,136.3,3414,2384,2211,2078,154.6,11.0,557,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2384,2144,2211,2078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8720,0.92,136.3,3414,2385,2211,2078,123.5,9.7,572,8725,0.00,2.40,0.00,0.000,516,0.000,0.062,3424,972,2144,2211,2077,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8767,0.92,136.3,3424,973,2211,2078,118.7,9.9,581,8774,0.12,2.38,0.00,0.000,5126,0.237,0.054,3394,2380,2145,2212,2078,0,0,0,0,0,0,14.40,14.63,28.83
$GC,9090,0.96,153.1,3394,2380,2211,2078,91.6,8.4,594,9109,0.00,2.40,12.88,0.899,8452,0.000,0.080,3394,3774,2082,2149,2016,0,0,0,0,0,0,28.83,14.73,14.14
$GC,9161,0.96,153.1,3395,3774,2146,2016,84.2,10.5,608,9167,0.00,2.30,0.00,0.000,1030,0.000,0.047,3405,2365,2080,2146,2015,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9487,0.96,153.1,3405,2363,2146,2015,53.6,9.2,622,9494,0.00,2.35,0.00,0.000,516,0.000,0.063,3413,982,2080,2146,2015,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9602,1.00,171.0,3413,983,2146,2015,43.3,8.4,644,9623,0.00,2.35,14.90,0.858,9222,0.000,0.053,3413,2383,2010,2076,1944,0,0,0,0,0,0,28.83,14.62,14.15
$GC,9927,1.07,203.3,3414,2383,2073,1942,16.0,7.7,668,9949,0.00,2.38,15.65,0.127,8708,0.000,0.060,3423,988,1883,1951,1815,0,0,0,0,0,0,28.83,14.59,14.47
$GC,9972,1.12,224.8,3422,987,1951,1814,12.2,8.2,676,9989,0.00,2.35,10.90,0.112,9222,0.000,0.052,3422,2380,1793,1863,1723,0,0,0,0,0,0,28.83,14.61,14.50
$FREEZE,8.92,1.192,-1.809,0,1,0
$FREEZE,8.11,1.189,-1.808,0,1,0
$FREEZE,6.99,1.189,-1.807,0,1,0
$FREEZE,6.08,1.188,-1.807,0,1,0
$FREEZE,4.99,1.193,-1.806,0,1,0
$FREEZE,3.87,1.189,-1.805,0,1,0
$FREEZE,2.68,1.194,-1.804,0,1,0
$FREEZE,1.40,1.194,-1.803,0,1,0
$STATE,10075,end climb,SURFACE_DEPTH_REACHED
$STATE,10075,begin surface coast
$FREEZE,1.50,1.173,-0.921,0,1,0
$FINISH,1.5,1.013592
$STATE,10086,end surface coast,CONTROL_FINISHED_OK
$STATE,10086,begin surface
$SM_CCo,10107,58.00,0.082,0,0,1282,350.04
$SM_GC,2.22,9.30,0.10,58.00,0.074,0.142,0.082,201,2470,1282,-8.98,-0.93,350.04,0,0,0,0,0,0,14.58,14.63,14.56
$RAFOS_CLK,-8
$RAFOS,0,1416614469,0.033333,0.019167,64,63,55,54,54,50,186,119,196,133,207,148
$RAFOS_FIX,6705.211426,-5706.945801,211114,202028,2,65,0.76
$IRIDIUM_FIX,6631.12,-5659.96,211114,181240
$TT8_MAMPS,0.040446,0.040446
$HUMID,41.25
$INTERNAL_PRESSURE,8.61127
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.5
$SC_FREEKB,3895872
$24V_AH,13.35,92.967
$10V_AH,13.11,0.000
$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,23.625,84.425,271.800,58.000,0.000,0.000,0.000,239.350,0.250,0.000,5.937,1572.252,6968.323,472.411,1326.955,248.239,0.000,1299.420,0.000,1027.312,720.000,2.626,0.000
$DEVICE_MAMPS,397.800,142.290,1512.405,81.855,0.000,0.000,0.000,145.350,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10091.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.206,0.000,0.000,0.000
$MEM,143104
$DATA_FILE_SIZE,23411,689
$CAP_FILE_SIZE,116294,0
$CFSIZE,1024409600,972718080
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11139.96,0x23769e,7,5
$INTR,1,4673.01,0x23769e,2,5
$SOUNDSPEED,1472.6
$CURRENT,0.249,338.64,1
$GPS,221114,001352,6703.968,-5654.963,38,0.7,38,-32.6