version: 66.12
glider: 217
mission: 2
dive: 2
start: 7 2 114 17 41 57
data:
$ID,217
$MISSION,2
$DIVE,2
$N_DIVES,4
$D_SURF,2
$D_FLARE,3
$D_TGT,165
$D_ABORT,185
$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,55
$T_MISSION,70
$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,400
$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,-542.23645
$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,0.015
$PITCH_ADJ_DBAND,2
$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,35
$R_STBD_OVSHOOT,37
$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
$GPS1,020714,173754,4743.077,-12223.738,14,1.2,14,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-70.7
$GPS2,020714,174123,4743.070,-12223.732,25,0.8,25,16.3
$SPEED_LIMITS,0.119,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,300.7,1769,-18.1,-10.000,-20.93,2235
$D_GRID,159
$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,17,-1.03,-146.6,211,2017,592,501,0.0,0.0,0,133,0.00,0.00,-108.55,0.000,16390,0.000,0.000,209,2018,3524,3530,3518,0,0,0,0,0,0,28.83,28.83,15.25
$GC,135,-1.03,-146.6,209,2018,3530,3517,4.3,-6.3,11,152,11.73,2.38,0.00,0.000,2564,0.425,0.073,2765,598,3525,3535,3516,0,0,0,0,0,0,14.80,15.00,28.83
$GC,266,-0.94,-146.6,2765,598,3540,3510,37.2,-16.4,35,275,0.17,2.30,0.00,0.000,3078,0.330,0.058,2800,2016,3525,3542,3508,0,0,0,0,0,0,14.87,15.03,28.83
$GC,463,-0.89,-146.6,2800,2016,3541,3507,69.1,-16.6,55,471,0.00,2.35,0.00,0.000,260,0.000,0.083,2800,3421,3525,3543,3507,0,0,0,0,0,0,28.83,15.02,28.83
$GC,538,-0.85,-146.6,2800,3421,3542,3507,81.0,-15.1,69,546,0.12,2.30,0.00,0.000,3078,0.289,0.057,2828,1998,3524,3542,3507,0,0,0,0,0,0,14.91,15.07,28.83
$EKF,range,-67187.1
$GC,733,-0.85,-146.6,2829,1995,3542,3507,108.5,-14.0,89,740,0.00,2.40,0.00,0.000,260,0.000,0.082,2827,3420,3524,3542,3506,0,0,0,0,0,0,28.83,15.04,28.83
$GC,817,-0.85,-146.6,2827,3420,3542,3507,120.3,-14.2,105,824,0.00,2.28,0.00,0.000,1030,0.000,0.056,2826,2011,3524,3542,3506,0,0,0,0,0,0,28.83,15.07,28.83
$GC,1011,-0.85,-146.6,2826,2007,3542,3506,147.4,-13.9,125,1018,0.00,2.38,0.00,0.000,260,0.000,0.083,2827,3417,3525,3544,3506,0,0,0,0,0,0,28.83,15.05,28.83
$GC,1086,-0.81,-146.6,2826,3415,3542,3505,156.8,-11.5,139,1095,0.00,2.28,0.00,0.000,1030,0.000,0.055,2826,2000,3523,3542,3505,0,0,0,0,0,0,28.83,15.09,28.83
$STATE,1111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1111,begin apogee
$GC,1114,-0.22,0.0,2826,2000,3542,3505,159.9,-12.3,142,1225,0.73,0.00,106.50,0.923,10246,0.253,0.000,3031,1997,2924,2982,2866,0,0,0,0,0,0,14.93,28.83,14.31
$STATE,1226,end apogee,CONTROL_FINISHED_OK
$STATE,1226,begin climb
$GC,1228,1.03,146.6,3030,1997,2976,2860,164.6,0.0,153,1344,1.23,0.00,105.90,0.897,10246,0.177,0.000,3415,1997,2315,2378,2253,0,0,0,0,0,0,14.64,28.83,14.18
$GC,1523,0.96,146.6,3415,1995,2372,2249,136.0,12.5,183,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1996,2310,2372,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1702,0.89,146.6,3415,1996,2371,2249,112.7,11.5,201,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1997,2310,2371,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1882,0.83,146.6,3415,1996,2369,2248,90.2,12.7,219,1884,0.15,0.00,0.00,0.000,4102,0.292,0.000,3379,1997,2309,2370,2248,0,0,0,0,0,0,14.88,28.83,28.83
$GC,2062,0.83,146.6,3379,1996,2370,2247,71.6,10.6,237,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,1997,2308,2370,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2242,0.83,146.6,3379,1996,2370,2247,54.1,10.0,255,2250,0.00,2.38,0.00,0.000,260,0.000,0.080,3379,3422,2308,2370,2247,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2288,0.78,146.6,3379,3422,2369,2246,49.3,10.9,263,2297,0.00,2.28,0.00,0.000,1030,0.000,0.061,3384,2022,2307,2369,2246,0,0,0,0,0,0,28.83,15.07,28.83
$GC,2484,0.78,146.6,3383,2022,2370,2246,29.5,10.8,283,2492,0.00,2.35,0.00,0.000,260,0.000,0.080,3383,3422,2308,2370,2246,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2545,0.73,146.6,3383,3423,2369,2246,22.5,11.2,294,2553,0.15,2.30,0.00,0.000,5126,0.297,0.061,3347,2012,2307,2369,2246,0,0,0,0,0,0,14.93,15.07,28.83
$GC,2731,0.88,246.7,3347,2012,2369,2245,9.7,5.4,313,2786,0.10,2.38,44.95,0.103,10500,0.206,0.078,3383,3419,1924,1986,1863,0,0,0,0,0,0,15.04,15.02,15.02
$STATE,2822,end climb,SURFACE_DEPTH_REACHED
$STATE,2822,begin surface coast
$FINISH,0.4,1.021375
$STATE,2833,end surface coast,CONTROL_FINISHED_OK
$STATE,2833,begin surface
$SM_CCo,2851,71.50,0.080,0,0,1294,400.08
$SM_GC,1.23,9.00,2.35,71.50,0.093,0.063,0.080,205,2019,1294,-9.01,1.22,400.08,0,0,0,0,0,0,15.02,15.04,15.00
$RAFOS_CLK,11
$RAFOS,0,1404324247,18.083334,18.068611,69,54,53,52,51,49,215,356,230,172,120,188
$RAFOS,2,1404323046,17.750000,17.735001,157,63,62,56,53,53,584,134,208,219,183,146
$RAFOS_FIX,4719.273438,-12206.505859,020714,171728,2,151,0.00
$IRIDIUM_FIX,4726.11,-12227.78,050921,040730
$TT8_MAMPS,0.039697,0.039697
$HUMID,51.89
$INTERNAL_PRESSURE,8.98238
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,4019424
$24V_AH,14.18,3.030
$10V_AH,14.18,0.000
$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,23.375,32.675,257.350,71.500,0.000,0.000,0.000,0.000,0.000,0.000,26.265,1037.891,964.350,469.376,562.341,23.637,0.000,772.228,0.000,500.705,1260.000,0.544,0.000
$DEVICE_MAMPS,424.575,82.620,922.590,80.325,0.000,0.000,0.000,0.000,420.000,0.000,19.470,21.700,2.310,21.700,40.430,53.160,0.000,15.000,0.000,0.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2815.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.900,0.000,0.000,0.000
$MEM,310444
$DATA_FILE_SIZE,10146,330
$CAP_FILE_SIZE,69570,0
$CFSIZE,1024409600,1022181376
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2320.27,0x23790a,7,5
$INTR,1,1112.21,0x23790a,2,5
$SOUNDSPEED,1488.0
$EKF,3035,2861.825684,-7343.282715,0.415119,0.182499,-0.212746,-0.113428,0.000748,0.001670,0.001939,0.044905,0.044905,0.000121
$CURRENT,0.036, 30.6,1
$GPS,020714,183229,4743.406,-12224.105,34,0.8,34,16.3