version: 66.12
glider: 217
mission: 2
dive: 1
start: 7 2 114 17 3 16
data:
$ID,217
$MISSION,2
$DIVE,1
$N_DIVES,1
$D_SURF,2
$D_FLARE,3
$D_TGT,45
$D_ABORT,100
$D_NO_BLEED,50
$D_BOOST,25
$T_BOOST,2
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,15
$T_MISSION,27
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51978
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.25
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,584.85248
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,25
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-495.81775
$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,3106
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,22.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,240
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2015
$C_ROLL_CLIMB,2015
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2925
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$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,-51.282978
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$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
$GPS1,020714,170004,4742.582,-12223.802,12,0.8,12,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-70.6
$GPS2,020714,170236,4743.252,-12223.646,8,0.8,8,16.3
$SPEED_LIMITS,0.119,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,268.9,1749,-18.1,-10.000,-20.93,2235
$D_GRID,162
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-1.03,-146.6,188,1982,606,481,0.0,0.0,0,131,0.00,0.00,-109.22,0.000,16390,0.000,0.000,187,1982,3520,3526,3515,0,0,0,0,0,0,28.83,28.83,15.26
$GC,133,-1.03,-146.6,189,1983,3529,3516,3.5,-4.6,11,156,12.07,2.42,0.00,0.000,2308,0.432,0.070,2760,3424,3523,3537,3510,0,0,0,0,0,0,14.79,15.02,28.83
$GC,259,-0.82,-146.6,2759,3424,3538,3509,31.2,-16.9,34,267,0.30,2.22,0.00,0.000,3078,0.283,0.052,2837,2033,3523,3539,3507,0,0,0,0,0,0,14.87,15.06,28.83
$EKF,range,52568.1
$STATE,373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,373,begin apogee
$GC,376,-0.22,0.0,2836,2032,3541,3505,45.8,-12.3,46,488,0.68,0.00,101.97,0.755,10246,0.252,0.000,3028,2029,2918,2982,2854,0,0,0,0,0,0,14.93,28.83,14.42
$STATE,489,end apogee,CONTROL_FINISHED_OK
$STATE,490,begin climb
$GC,491,1.03,146.6,3027,2029,2982,2854,51.4,0.0,57,598,1.25,0.00,101.47,0.734,10758,0.183,0.000,3417,2029,2321,2384,2259,0,0,0,0,0,0,14.71,28.83,14.31
$GC,776,0.92,146.6,3417,2029,2377,2253,22.6,12.5,90,782,0.00,2.35,0.00,0.000,516,0.000,0.078,3423,614,2315,2376,2254,0,0,0,0,0,0,28.83,14.89,28.83
$GC,800,0.82,146.6,3423,614,2375,2254,19.6,12.1,94,807,0.20,2.28,0.00,0.000,5126,0.274,0.054,3374,2021,2315,2376,2254,0,0,0,0,0,0,14.79,14.94,28.83
$GC,995,0.84,159.5,3374,2022,2375,2253,3.1,9.4,114,1009,0.00,2.35,4.53,0.077,8452,0.000,0.076,3374,3414,2278,2338,2219,0,0,0,0,0,0,28.83,14.99,15.00
$STATE,1015,end climb,SURFACE_DEPTH_REACHED
$STATE,1015,begin surface coast
$FINISH,0.3,1.019673
$STATE,1036,end surface coast,CONTROL_FINISHED_OK
$STATE,1036,begin surface
$SM_CCo,1054,195.98,0.076,0,0,539,585.04
$SM_GC,1.07,8.90,2.33,195.98,0.090,0.061,0.076,210,2023,539,-9.00,1.39,585.04,0,0,0,0,0,0,15.00,15.02,14.97
$RAFOS_CLK,4
$RAFOS,0,1404320644,17.083334,17.067778,145,144,102,62,62,61,1274,928,576,206,152,191
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4722.92,-12220.67,050921,032912
$TT8_MAMPS,0.035203,0.035203
$HUMID,45.55
$INTERNAL_PRESSURE,9.01168
$TCM_TEMP,19.80
$XPDR_PINGS,2
$SC_FREEKB,4019744
$24V_AH,14.31,2.930
$10V_AH,13.29,0.000
$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,23.400,13.950,207.975,195.975,0.000,0.000,0.000,0.000,0.500,0.000,9.941,345.990,246.130,511.999,223.551,20.120,0.000,662.131,0.000,191.498,300.000,0.546,0.000
$DEVICE_MAMPS,432.225,78.030,755.055,75.735,0.000,0.000,0.000,0.000,420.000,0.000,19.470,21.700,2.310,21.700,40.430,53.160,0.000,15.000,0.000,0.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1021.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.312,0.000,0.000,0.000
$MEM,312340
$DATA_FILE_SIZE,3477,121
$CAP_FILE_SIZE,58931,0
$CFSIZE,1024409600,1022279680
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2481.56,0x23790a,7,5
$INTR,1,374.61,0x23790a,2,5
$SOUNDSPEED,1488.9
$EKF,1312,2863.288330,-7343.793945,0.264165,-0.003134,-0.010771,-0.045984,0.000277,0.000612,0.002040,0.008946,0.008946,0.000119
$CURRENT,0.120,165.6,1
$GPS,020714,172504,4743.208,-12223.767,9,0.8,10,16.3