version: 66.12
glider: 217
mission: 3
dive: 406
start: 11 24 114 1 31 49
data:
$ID,217
$MISSION,3
$DIVE,406
$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,40
$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
$GPS1,241114,012424,6703.779,-5651.101,17,0.8,17,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-72.2
$GPS2,241114,013106,6703.789,-5651.165,19,0.7,19,-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,200.2,2712,-17.5,-9.167,-20.44,2275
$D_GRID,512
$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,-136.3,160,2458,1302,1233,0.0,0.0,0,82,0.00,0.00,-61.22,0.000,16386,0.000,0.000,155,2459,2793,2800,2786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.92,-136.3,155,2459,2801,2786,3.3,-2.9,6,115,12.12,2.38,-11.05,0.000,18692,0.396,0.110,2786,3770,3266,3299,3234,0,0,0,0,0,0,14.21,14.50,14.80
$GC,244,-0.92,-136.3,2786,3770,3300,3236,32.2,-17.6,36,252,0.00,2.20,0.00,0.000,1030,0.000,0.047,2786,2436,3268,3301,3236,0,0,0,0,0,0,28.83,14.59,28.83
$GC,550,-0.92,-136.3,2786,2436,3301,3234,78.7,-14.4,47,555,0.00,2.33,0.00,0.000,516,0.000,0.059,2786,1065,3267,3301,3234,0,0,0,0,0,0,28.83,14.55,28.83
$GC,597,-0.92,-136.3,2786,1065,3302,3234,85.7,-14.8,56,604,0.00,2.38,0.00,0.000,1030,0.000,0.059,2786,2441,3267,3301,3233,0,0,0,0,0,0,28.83,14.53,28.83
$GC,907,-0.92,-136.3,2782,2441,3301,3232,126.0,-12.5,69,913,0.00,2.38,0.00,0.000,260,0.000,0.087,2786,3783,3266,3301,3232,0,0,0,0,0,0,28.83,14.49,28.83
$GC,940,-0.92,-136.3,2786,3783,3301,3232,130.2,-12.7,75,946,0.00,2.20,0.00,0.000,1030,0.000,0.048,2786,2439,3266,3301,3232,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1253,-0.92,-136.3,2786,2438,3301,3231,167.0,-11.5,92,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2438,3266,3302,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1555,-0.92,-136.3,2786,2437,3302,3231,200.7,-11.2,107,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2438,3266,3301,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1856,-0.92,-136.3,2785,2438,3301,3230,234.8,-11.6,122,1862,0.00,2.40,0.00,0.000,260,0.000,0.086,2785,3782,3264,3301,3227,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1868,-0.92,-136.3,2786,3782,3301,3231,236.6,-11.4,124,1875,0.00,2.17,0.00,0.000,1030,0.000,0.048,2785,2448,3265,3301,3230,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2183,-0.92,-136.3,2785,2449,3301,3231,272.4,-11.6,141,2188,0.00,2.38,0.00,0.000,260,0.000,0.086,2786,3782,3265,3300,3231,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2261,-0.92,-136.3,2785,3782,3301,3231,281.8,-12.2,156,2268,0.00,2.17,0.00,0.000,1030,0.000,0.048,2785,2452,3266,3301,3231,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2566,-0.92,-136.3,2786,2452,3301,3231,315.9,-10.5,172,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2452,3266,3301,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2868,-0.92,-136.3,2786,2452,3302,3238,348.2,-10.8,187,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2452,3266,3302,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3168,-0.92,-136.3,2785,2451,3303,3231,378.7,-10.0,202,3174,0.00,2.35,0.00,0.000,516,0.000,0.058,2786,1071,3267,3303,3231,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3241,-0.92,-136.3,2785,1071,3304,3231,386.4,-10.7,216,3247,0.00,2.35,0.00,0.000,1030,0.000,0.057,2785,2459,3267,3303,3231,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3555,-0.92,-136.3,2785,2459,3304,3231,417.3,-10.0,233,3561,0.00,2.33,0.00,0.000,260,0.000,0.084,2785,3785,3267,3304,3231,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3593,-0.92,-136.3,2785,3785,3304,3231,421.4,-11.0,240,3600,0.00,2.17,0.00,0.000,1030,0.000,0.047,2785,2447,3267,3304,3231,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3899,-0.92,-136.3,2785,2447,3305,3231,453.5,-10.7,256,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2447,3268,3305,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4201,-0.92,-136.3,2786,2447,3305,3231,484.8,-10.0,271,4206,0.00,2.38,0.00,0.000,260,0.000,0.084,2786,3786,3268,3305,3231,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4218,-0.92,-136.3,2785,3787,3305,3232,486.9,-9.6,274,4225,0.00,2.17,0.00,0.000,1030,0.000,0.047,2784,2451,3268,3305,3231,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,4483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4483,begin apogee
$GC,4489,-0.18,0.0,2786,2450,3307,3231,513.8,-10.1,288,4604,0.82,0.00,107.70,1.458,10246,0.166,0.000,3037,2449,2706,2775,2637,0,0,0,0,0,0,14.40,28.83,13.61
$STATE,4605,end apogee,CONTROL_FINISHED_OK
$STATE,4605,begin climb
$GC,4608,0.92,136.3,3037,2450,2773,2637,514.2,0.0,294,4729,1.08,2.60,108.00,1.424,10756,0.145,0.060,3386,1004,2149,2219,2079,0,0,0,0,0,0,14.23,14.03,13.38
$GC,4777,0.92,136.3,3387,1004,2214,2078,501.9,9.9,327,4783,0.00,2.40,0.00,0.000,1030,0.000,0.052,3386,2386,2146,2214,2079,0,0,0,0,0,0,28.83,14.16,28.83
$GC,5096,0.92,136.3,3386,2385,2212,2078,468.3,10.2,345,5102,0.00,2.40,0.00,0.000,516,0.000,0.060,3396,994,2145,2212,2078,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5144,0.92,136.3,3396,994,2212,2078,463.2,10.8,354,5149,0.00,2.33,0.00,0.000,1030,0.000,0.051,3396,2374,2145,2212,2078,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5462,0.92,136.3,3396,2375,2211,2079,429.2,10.8,372,5469,0.00,2.35,0.00,0.000,516,0.000,0.060,3407,991,2144,2211,2078,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5516,0.92,136.3,3408,991,2211,2079,423.4,10.8,382,5521,0.00,2.33,0.00,0.000,1030,0.000,0.051,3407,2379,2142,2211,2074,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5829,0.92,136.3,3407,2379,2211,2078,388.4,11.0,399,5834,0.00,2.35,0.00,0.000,516,0.000,0.060,3418,994,2144,2211,2078,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5883,0.92,136.3,3418,994,2211,2078,382.3,11.2,409,5889,0.00,2.33,0.00,0.000,1030,0.000,0.051,3418,2384,2144,2211,2078,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6197,0.92,136.3,3417,2384,2211,2078,345.6,11.6,426,6202,0.00,2.35,0.00,0.000,516,0.000,0.059,3428,996,2144,2211,2078,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6255,0.92,136.3,3429,996,2218,2078,338.7,11.8,437,6263,0.12,2.33,0.00,0.000,5126,0.243,0.051,3397,2378,2144,2211,2078,0,0,0,0,0,0,14.39,14.62,28.83
$GC,6561,0.92,136.3,3397,2378,2210,2078,305.3,11.2,453,6566,0.00,2.35,0.00,0.000,516,0.000,0.059,3408,995,2144,2211,2077,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6608,0.92,136.3,3408,995,2211,2078,299.7,11.6,462,6613,0.00,2.30,0.00,0.000,1030,0.000,0.051,3408,2375,2144,2210,2078,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6926,0.92,136.3,3408,2375,2211,2078,263.3,11.7,480,6933,0.00,2.33,0.00,0.000,516,0.000,0.060,3418,994,2144,2210,2078,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7010,0.92,136.3,3419,994,2210,2078,253.5,11.4,496,7017,0.00,2.30,0.00,0.000,1030,0.000,0.051,3418,2375,2144,2210,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7335,0.92,136.3,3417,2374,2211,2078,215.7,11.4,515,7340,0.00,2.33,0.00,0.000,516,0.000,0.060,3428,999,2144,2211,2078,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7402,0.92,136.3,3428,999,2210,2078,207.9,11.5,528,7409,0.15,2.30,0.00,0.000,5126,0.232,0.051,3391,2375,2144,2210,2078,0,0,0,0,0,0,14.38,14.62,28.83
$GC,7722,0.92,136.3,3391,2375,2210,2078,175.5,10.0,546,7727,0.00,2.33,0.00,0.000,516,0.000,0.060,3401,994,2144,2210,2078,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7760,0.92,136.3,3402,994,2210,2078,171.7,10.0,553,7767,0.00,2.33,0.00,0.000,1030,0.000,0.051,3402,2382,2144,2211,2078,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8066,0.92,136.3,3402,2382,2211,2078,140.3,9.8,569,8071,0.00,2.35,0.00,0.000,516,0.000,0.059,3410,995,2144,2210,2078,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8093,0.92,136.3,3410,995,2211,2078,137.4,10.4,574,8098,0.00,2.33,0.00,0.000,1030,0.000,0.050,3411,2386,2144,2211,2078,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8412,0.93,138.3,3411,2386,2211,2078,107.5,9.1,590,8417,0.00,2.38,0.00,0.000,516,0.000,0.059,3422,993,2144,2211,2078,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8459,0.93,138.3,3422,993,2211,2078,102.7,10.0,599,8465,0.00,2.33,0.00,0.000,1030,0.000,0.051,3420,2384,2144,2211,2078,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8778,0.93,138.3,3421,2383,2211,2078,70.9,9.6,612,8784,0.00,2.35,0.00,0.000,516,0.000,0.059,3430,1000,2144,2211,2078,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8831,0.93,138.3,3431,1000,2211,2078,65.9,9.5,622,8837,0.15,2.30,0.00,0.000,5126,0.230,0.051,3394,2376,2145,2212,2078,0,0,0,0,0,0,14.38,14.63,28.83
$GC,9147,1.04,186.6,3393,2377,2211,2078,41.9,7.0,634,9194,0.05,2.38,37.75,0.868,10756,0.293,0.060,3442,1001,1944,2011,1878,0,0,0,0,0,0,14.68,14.66,14.14
$GC,9247,1.09,211.5,3443,1002,2010,1878,35.5,8.0,654,9276,0.00,2.33,20.20,0.841,9222,0.000,0.051,3442,2385,1843,1911,1776,0,0,0,0,0,0,28.83,14.56,14.05
$FREEZE,8.47,1.009,-1.794,0,1,0
$FREEZE,7.49,1.009,-1.793,0,1,0
$FREEZE,6.22,1.008,-1.792,0,1,0
$FREEZE,5.10,1.008,-1.791,0,1,0
$FREEZE,4.51,1.002,-1.791,0,1,0
$FREEZE,3.92,1.003,-1.790,0,1,0
$FREEZE,3.18,1.003,-1.790,0,1,0
$FREEZE,2.34,1.004,-1.789,0,1,0
$FREEZE,1.67,1.004,-1.788,0,1,0
$GC,9580,1.18,253.9,3442,2385,1908,1774,3.2,7.3,688,9597,0.00,0.00,15.27,0.080,8450,0.000,0.000,3442,2386,1703,1775,1632,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9598,end climb,SURFACE_DEPTH_REACHED
$STATE,9598,begin surface coast
$FREEZE,1.23,0.997,-0.944,0,1,0
$FREEZE,1.36,1.037,-1.095,0,1,0
$FREEZE,1.31,1.243,-0.514,0,1,0
$FINISH,1.3,1.007535
$STATE,9626,end surface coast,CONTROL_FINISHED_OK
$STATE,9627,begin surface
$SM_CCo,9647,48.15,0.082,0,0,1281,350.04
$SM_GC,2.21,9.35,0.08,48.15,0.073,0.179,0.082,207,2454,1281,-8.97,-1.19,350.04,0,0,0,0,0,0,14.52,14.58,14.53
$RAFOS_CLK,2
$RAFOS,0,1416801671,4.033333,4.019722,63,63,61,57,56,52,163,195,141,221,116,174
$RAFOS_FIX,6704.776855,-5701.207031,231114,000024,3,72,2.22
$IRIDIUM_FIX,6631.12,-5655.33,231114,224433
$TT8_MAMPS,0.040446,0.040446
$HUMID,41.41
$INTERNAL_PRESSURE,8.61127
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.3
$SC_FREEKB,3890112
$24V_AH,13.38,96.048
$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,23.850,97.825,288.925,48.150,0.000,0.000,0.000,219.225,0.250,0.000,20.891,1569.333,6484.685,483.081,1337.398,249.878,0.000,1311.578,0.000,1037.697,720.000,2.625,0.000
$DEVICE_MAMPS,395.505,179.010,1458.090,81.855,0.000,0.000,0.000,149.940,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9640.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.301,0.000,0.000,0.000
$MEM,143144
$DATA_FILE_SIZE,23453,693
$CAP_FILE_SIZE,116957,0
$CFSIZE,1024409600,970866688
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9732.58,0x23769e,7,5
$INTR,1,4485.98,0x23769e,2,5
$SOUNDSPEED,1473.7
$CURRENT,0.334,325.67,1
$GPS,241114,041523,6703.950,-5653.417,64,0.9,64,-32.6