version: 66.12
glider: 217
mission: 3
dive: 419
start: 11 25 114 16 34 5
data:
$ID,217
$MISSION,3
$DIVE,419
$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,29
$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
$GPS1,251114,162611,6704.350,-5656.979,27,0.8,27,-32.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-72.0
$GPS2,251114,163322,6704.437,-5657.192,42,0.9,42,-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,189.4,7151,-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,-136.3,145,2447,1306,1232,0.0,0.0,0,82,0.00,0.00,-60.80,0.000,16386,0.000,0.000,140,2447,2798,2803,2794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.92,-136.3,140,2447,2802,2794,3.1,-1.8,6,119,12.07,2.42,-11.70,0.000,18948,0.390,0.083,2792,1063,3266,3297,3236,0,0,0,0,0,0,14.20,14.51,14.81
$GC,126,-0.92,-136.3,2792,1063,3299,3236,9.4,-13.4,13,133,0.00,2.38,0.00,0.000,1030,0.000,0.059,2786,2449,3268,3300,3236,0,0,0,0,0,0,28.83,14.52,28.83
$GC,444,-0.92,-136.3,2784,2449,3301,3236,64.5,-18.7,31,450,0.00,2.40,0.00,0.000,516,0.000,0.059,2786,1053,3268,3301,3236,0,0,0,0,0,0,28.83,14.52,28.83
$GC,492,-0.92,-136.3,2786,1053,3300,3235,73.3,-17.3,40,498,0.00,2.40,0.00,0.000,1030,0.000,0.058,2785,2455,3267,3300,3235,0,0,0,0,0,0,28.83,14.52,28.83
$GC,815,-0.92,-136.3,2785,2455,3300,3232,118.1,-13.6,53,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2455,3266,3300,3232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1123,-0.92,-136.3,2785,2455,3300,3230,163.4,-15.0,68,1129,0.00,2.38,0.00,0.000,260,0.000,0.088,2785,3781,3265,3300,3230,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1192,-0.92,-136.3,2785,3782,3300,3230,174.0,-14.5,81,1197,0.00,2.20,0.00,0.000,1030,0.000,0.048,2785,2443,3265,3300,3231,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1510,-0.92,-136.3,2785,2441,3301,3230,216.6,-12.4,99,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2441,3265,3300,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1812,-0.92,-136.3,2786,2441,3300,3230,251.0,-11.9,114,1817,0.00,2.40,0.00,0.000,260,0.000,0.086,2785,3783,3265,3300,3230,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1870,-0.92,-136.3,2785,3783,3301,3230,258.1,-12.2,125,1877,0.00,2.20,0.00,0.000,1030,0.000,0.048,2785,2441,3265,3301,3230,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2176,-0.92,-136.3,2785,2441,3300,3230,292.0,-10.5,141,2181,0.00,2.40,0.00,0.000,260,0.000,0.086,2785,3785,3265,3300,3231,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2193,-0.92,-136.3,2785,3786,3300,3230,294.1,-10.6,144,2201,0.00,2.20,0.00,0.000,1030,0.000,0.047,2785,2446,3263,3300,3226,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2499,-0.92,-136.3,2785,2446,3301,3230,324.5,-9.9,160,2505,0.00,2.40,0.00,0.000,260,0.000,0.085,2785,3785,3265,3300,3231,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2532,-0.92,-136.3,2786,3785,3301,3231,328.1,-10.3,166,2538,0.00,2.20,0.00,0.000,1030,0.000,0.047,2785,2441,3265,3300,3231,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2846,-0.92,-136.3,2785,2441,3302,3231,359.9,-10.4,183,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2441,3266,3301,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3148,-0.92,-136.3,2785,2441,3302,3231,391.7,-10.6,198,3153,0.00,2.40,0.00,0.000,260,0.000,0.085,2785,3787,3266,3302,3231,0,0,0,0,0,0,28.83,14.49,28.83
$GC,3171,-0.92,-136.3,2785,3787,3302,3230,394.4,-10.8,202,3176,0.00,2.20,0.00,0.000,1030,0.000,0.047,2785,2439,3270,3309,3231,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3495,-0.92,-136.3,2785,2438,3303,3230,427.4,-9.9,221,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2438,3267,3303,3231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3796,-0.92,-136.3,2785,2438,3304,3231,458.0,-10.4,236,3797,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2438,3266,3303,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4097,-0.92,-136.3,2785,2438,3300,3231,490.1,-10.9,251,4103,0.00,2.40,0.00,0.000,260,0.000,0.084,2786,3785,3267,3304,3231,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4171,-0.92,-136.3,2785,3785,3304,3231,498.9,-11.2,265,4176,0.00,2.20,0.00,0.000,1030,0.000,0.047,2785,2439,3267,3304,3231,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4484,-0.92,-136.3,2785,2439,3304,3231,530.6,-9.6,282,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2440,3268,3305,3231,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4582,begin apogee
$GC,4587,-0.18,0.0,2785,2439,3305,3230,540.7,-10.1,287,4704,0.90,0.00,108.65,1.486,10246,0.229,0.000,3033,2438,2707,2775,2639,0,0,0,0,0,0,14.23,28.83,13.57
$STATE,4706,end apogee,CONTROL_FINISHED_OK
$STATE,4706,begin climb
$GC,4708,0.92,136.3,3033,2438,2774,2638,544.5,0.0,293,4830,1.12,2.60,109.18,1.463,10756,0.154,0.060,3387,999,2149,2220,2079,0,0,0,0,0,0,14.21,14.00,13.35
$GC,4858,0.95,147.8,3387,999,2216,2077,536.4,8.6,317,4875,0.00,2.42,10.35,1.272,9222,0.000,0.052,3386,2387,2104,2175,2034,0,0,0,0,0,0,28.83,14.11,13.38
$GC,5192,0.95,147.8,3387,2387,2170,2033,503.9,10.0,338,5198,0.00,2.42,0.00,0.000,516,0.000,0.060,3397,997,2100,2169,2032,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5265,0.95,147.8,3397,992,2169,2033,496.3,10.4,352,5271,0.00,2.35,0.00,0.000,1030,0.000,0.050,3397,2384,2100,2169,2032,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5579,0.95,147.8,3397,2383,2169,2032,462.6,10.9,369,5585,0.00,2.38,0.00,0.000,516,0.000,0.058,3407,993,2100,2169,2032,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5612,0.95,147.8,3408,992,2169,2033,458.9,11.0,375,5617,0.00,2.33,0.00,0.000,1030,0.000,0.051,3409,2377,2101,2169,2033,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5925,0.95,147.8,3408,2378,2169,2032,423.3,11.9,392,5931,0.00,2.35,0.00,0.000,516,0.000,0.059,3418,996,2100,2169,2032,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5998,0.95,147.8,3418,996,2169,2033,414.3,12.3,406,6004,0.00,2.33,0.00,0.000,1030,0.000,0.050,3418,2381,2101,2169,2033,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6312,0.95,147.8,3418,2382,2169,2033,374.4,12.9,423,6317,0.00,2.38,0.00,0.000,516,0.000,0.059,3429,990,2100,2168,2032,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6379,0.95,147.8,3429,990,2169,2032,365.7,13.0,436,6385,0.00,2.33,0.00,0.000,1030,0.000,0.051,3429,2376,2101,2169,2033,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6698,0.95,147.8,3429,2376,2169,2032,324.2,13.0,454,6704,0.00,2.33,0.00,0.000,516,0.000,0.059,3438,1002,2100,2169,2032,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6737,0.95,147.8,3438,1002,2169,2032,319.0,13.3,461,6744,0.15,2.30,0.00,0.000,5126,0.233,0.052,3401,2376,2100,2168,2033,0,0,0,0,0,0,14.38,14.63,28.83
$GC,7042,0.95,147.8,3400,2376,2168,2032,283.5,11.6,477,7048,0.00,2.35,0.00,0.000,516,0.000,0.059,3411,996,2100,2168,2032,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7080,0.95,147.8,3411,997,2169,2033,279.1,11.7,484,7087,0.00,2.33,0.00,0.000,1030,0.000,0.051,3411,2383,2100,2168,2032,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7386,0.95,147.8,3411,2383,2169,2033,241.2,12.6,500,7387,0.00,0.00,0.00,0.000,6,0.000,0.000,3412,2383,2100,2168,2032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7688,0.95,147.8,3411,2383,2169,2032,205.8,11.1,515,7693,0.00,2.38,0.00,0.000,516,0.000,0.058,3422,992,2100,2169,2032,0,0,0,0,0,0,28.83,14.60,28.83
$GC,7761,0.95,147.8,3422,992,2168,2032,197.1,11.4,529,7766,0.00,2.33,0.00,0.000,1030,0.000,0.051,3421,2376,2101,2169,2033,0,0,0,0,0,0,28.83,14.63,28.83
$GC,8074,0.95,147.8,3422,2376,2169,2033,161.0,11.2,546,8075,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2376,2100,2168,2032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8376,0.95,147.8,3422,2376,2169,2033,127.0,11.7,561,8382,0.00,2.35,0.00,0.000,516,0.000,0.059,3433,996,2100,2169,2031,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8414,0.95,147.8,3432,996,2169,2033,122.4,11.6,568,8422,0.12,2.33,0.00,0.000,5126,0.235,0.051,3403,2380,2100,2168,2032,0,0,0,0,0,0,14.39,14.62,28.83
$GC,8742,0.95,147.8,3403,2386,2169,2033,89.2,9.9,580,8748,0.00,2.45,0.00,0.000,260,0.000,0.080,3402,3778,2101,2169,2033,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8795,0.95,147.8,3403,3778,2169,2033,83.2,10.9,590,8801,0.00,2.30,0.00,0.000,1030,0.000,0.045,3413,2372,2101,2169,2033,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9111,1.03,185.6,3413,2369,2169,2033,56.2,7.5,602,9145,0.00,2.38,29.10,0.887,8708,0.000,0.060,3422,990,1950,2018,1882,0,0,0,0,0,0,28.83,14.71,14.14
$GC,9348,1.08,207.3,3422,990,2012,1881,36.8,8.2,649,9373,0.00,2.35,17.52,0.849,9222,0.000,0.052,3422,2384,1862,1929,1795,0,0,0,0,0,0,28.83,14.58,14.09
$FREEZE,8.88,1.179,-1.812,0,1,0
$FREEZE,7.93,1.179,-1.811,0,1,0
$FREEZE,6.87,1.180,-1.810,0,1,0
$GC,9677,1.08,207.3,3423,2384,1925,1793,6.9,9.7,679,9682,0.00,2.40,0.00,0.000,516,0.000,0.060,3430,993,1859,1925,1794,0,0,0,0,0,0,28.83,14.57,28.83
$FREEZE,5.55,1.180,-1.809,0,1,0
$FREEZE,5.05,1.180,-1.809,0,1,0
$FREEZE,4.39,1.178,-1.808,0,1,0
$FREEZE,3.97,1.178,-1.808,0,1,0
$FREEZE,3.37,1.185,-1.807,0,1,0
$FREEZE,2.85,1.185,-1.807,0,1,0
$GC,9716,1.08,207.3,3430,993,1925,1793,2.9,10.4,686,9723,0.00,2.33,0.00,0.000,1030,0.000,0.052,3431,2373,1859,1925,1794,0,0,0,0,0,0,28.83,14.59,28.83
$FREEZE,1.50,1.184,-1.806,0,1,0
$STATE,9730,end climb,SURFACE_DEPTH_REACHED
$STATE,9730,begin surface coast
$FREEZE,1.48,1.084,-1.778,0,1,0
$FREEZE,1.51,1.166,-1.806,0,1,0
$FINISH,1.5,1.026382
$STATE,9751,end surface coast,CONTROL_FINISHED_OK
$STATE,9751,begin surface
$SM_CCo,9772,65.45,0.082,0,0,1281,350.04
$SM_GC,2.32,9.23,0.10,65.45,0.064,0.151,0.082,192,2459,1281,-9.02,-1.16,350.04,0,0,0,0,0,0,14.58,14.62,14.56
$RAFOS_CLK,3
$RAFOS,6,1416934143,16.833334,16.817499,80,68,61,61,57,56,802,206,139,188,161,112
$RAFOS,5,1416933684,16.700001,16.690001,68,58,56,53,53,50,525,117,218,128,146,163
$RAFOS_FIX,6708.375977,-5707.880371,251114,161656,2,74,13.07
$IRIDIUM_FIX,6636.54,-5659.96,251114,133308
$TT8_MAMPS,0.03745,0.03745
$HUMID,41.57
$INTERNAL_PRESSURE,8.61127
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.7
$SC_FREEKB,3885952
$24V_AH,13.35,98.353
$10V_AH,12.78,0.000
$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,23.600,94.025,274.800,65.450,0.000,0.000,0.000,221.800,0.250,0.000,43.437,1571.010,6624.904,490.071,1361.147,258.353,0.000,1309.524,0.000,1034.473,720.000,2.626,0.000
$DEVICE_MAMPS,390.150,150.705,1486.395,81.855,0.000,0.000,0.000,144.585,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9757.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.279,0.000,0.000,0.000
$MEM,143132
$DATA_FILE_SIZE,23409,690
$CAP_FILE_SIZE,116761,0
$CFSIZE,1024409600,969490432
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10533.52,0x23769e,7,5
$INTR,1,4584.17,0x23769e,2,5
$SOUNDSPEED,1473.8
$CURRENT,0.209,313.54,1
$GPS,251114,191934,6703.886,-5658.316,26,0.8,26,-32.6