version: 66.12
glider: 217
mission: 2
dive: 4
start: 7 2 114 19 39 48
data:
$ID,217
$MISSION,2
$DIVE,4
$N_DIVES,5
$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,-544.74902
$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,2150
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2850
$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
$GPS1,020714,193457,4743.499,-12224.576,3,1.7,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-74.4
$GPS2,020714,193859,4743.532,-12224.552,6,1.6,6,16.3
$SPEED_LIMITS,0.119,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,242.8,562,-20.0,-10.000,-22.69,1843
$D_GRID,174
$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,-1.07,-120.8,210,2177,1334,1271,0.0,0.0,0,83,0.00,0.00,-64.25,0.000,16386,0.000,0.000,210,2177,3152,3158,3147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.11,-146.6,210,2177,3158,3147,3.4,-4.4,6,108,11.52,0.00,-5.93,0.000,18950,0.420,0.000,2738,2178,3450,3477,3423,0,0,0,0,0,0,14.70,28.83,15.09
$GC,287,-1.01,-146.6,2738,2178,3478,3423,46.5,-20.7,27,294,0.15,2.30,0.00,0.000,2308,0.341,0.086,2773,3532,3450,3478,3423,0,0,0,0,0,0,14.78,14.92,28.83
$GC,317,-0.93,-146.6,2772,3531,3478,3423,52.8,-18.7,32,326,0.12,2.28,0.00,0.000,3078,0.305,0.056,2801,2138,3450,3478,3423,0,0,0,0,0,0,14.82,14.94,28.83
$GC,505,-0.89,-146.6,2801,2136,3479,3424,83.2,-15.6,51,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2136,3450,3478,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,683,-0.89,-146.6,2801,2135,3479,3423,110.8,-15.2,69,690,0.00,2.40,0.00,0.000,260,0.000,0.088,2799,3528,3451,3479,3423,0,0,0,0,0,0,28.83,14.97,28.83
$GC,729,-0.89,-146.6,2800,3529,3479,3423,117.7,-15.1,77,736,0.00,2.25,0.00,0.000,1030,0.000,0.057,2800,2147,3451,3479,3423,0,0,0,0,0,0,28.83,15.01,28.83
$GC,923,-0.89,-146.6,2800,2145,3479,3423,145.4,-14.4,97,929,0.00,2.38,0.00,0.000,260,0.000,0.088,2800,3533,3451,3479,3423,0,0,0,0,0,0,28.83,14.99,28.83
$GC,958,-0.89,-146.6,2800,3532,3479,3423,150.4,-14.0,103,965,0.00,2.25,0.00,0.000,1030,0.000,0.056,2800,2148,3449,3479,3419,0,0,0,0,0,0,28.83,15.02,28.83
$STATE,1061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1061,begin apogee
$GC,1065,-0.22,0.0,2800,2036,3479,3423,166.0,-14.7,114,1184,0.80,0.00,106.05,1.162,10246,0.264,0.000,3026,2036,2857,2922,2793,0,0,0,0,1,0,14.88,28.83,14.04
$STATE,1186,end apogee,CONTROL_FINISHED_OK
$STATE,1186,begin climb
$GC,1187,1.11,146.6,3026,2036,2925,2795,172.0,0.0,126,1309,1.35,2.45,112.05,0.923,10756,0.183,0.080,3451,666,2244,2307,2182,0,0,0,0,0,0,14.50,14.42,14.05
$GC,1359,1.05,146.6,3451,666,2298,2181,156.9,15.2,150,1368,0.00,2.30,0.00,0.000,1030,0.000,0.060,3451,2036,2239,2298,2181,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1546,0.98,146.6,3450,2037,2298,2180,127.4,16.9,169,1553,0.00,2.42,0.00,0.000,260,0.000,0.082,3451,3464,2239,2298,2180,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1592,0.88,146.6,3451,3463,2297,2180,119.8,16.2,177,1600,0.25,2.30,0.00,0.000,5126,0.290,0.060,3396,2078,2238,2297,2179,0,0,0,0,0,0,14.71,14.83,28.83
$GC,1787,0.88,146.6,3395,2076,2297,2180,95.6,11.9,197,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,2076,2238,2297,2179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1968,0.88,146.6,3396,2076,2297,2179,72.9,12.8,215,1975,0.00,2.35,0.00,0.000,260,0.000,0.082,3396,3463,2238,2298,2178,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1986,0.88,146.6,3396,3462,2297,2179,70.0,13.6,218,1996,0.00,2.33,0.00,0.000,1030,0.000,0.061,3396,2051,2237,2297,2178,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2173,0.88,146.6,3396,2050,2297,2179,45.6,13.5,237,2180,0.00,2.33,0.00,0.000,516,0.000,0.083,3396,654,2238,2297,2179,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2219,0.88,146.6,3396,654,2296,2178,40.1,11.9,245,2226,0.00,2.30,0.00,0.000,1030,0.000,0.060,3396,2064,2237,2296,2179,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2413,0.88,146.6,3395,2065,2297,2179,18.0,11.2,265,2420,0.00,2.33,0.00,0.000,260,0.000,0.081,3396,3463,2238,2297,2179,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2470,0.88,146.6,3397,3462,2297,2178,11.7,10.7,275,2477,0.00,2.30,0.00,0.000,1030,0.000,0.060,3396,2057,2239,2299,2179,0,0,0,0,0,0,28.83,15.00,28.83
$STATE,2593,end climb,SURFACE_DEPTH_REACHED
$STATE,2593,begin surface coast
$FINISH,0.5,1.018743
$STATE,2626,end surface coast,CONTROL_FINISHED_OK
$STATE,2626,begin surface
$SM_CCo,2642,115.07,0.082,0,0,1218,400.08
$SM_GC,1.54,9.32,0.15,115.07,0.122,0.124,0.082,217,2157,1218,-8.99,-1.13,400.08,0,0,0,0,0,0,14.97,15.02,14.96
$RAFOS_CLK,10
$RAFOS,0,1404331442,20.083334,20.067223,68,59,54,54,50,49,209,190,148,226,175,117
$RAFOS,2,1404330242,19.750000,19.733889,63,62,62,59,52,51,185,163,145,213,203,121
$RAFOS_FIX,4719.273438,-12206.505859,020714,171728,2,151,0.00
$IRIDIUM_FIX,4726.11,-12220.67,050921,050725
$TT8_MAMPS,0.036701,0.036701
$HUMID,53.62
$INTERNAL_PRESSURE,8.94332
$TCM_TEMP,18.00
$XPDR_PINGS,0
$SC_FREEKB,4018784
$24V_AH,14.04,3.241
$10V_AH,13.54,0.000
$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,23.525,37.750,218.100,115.075,0.000,0.000,0.000,152.225,0.000,0.000,7.861,936.887,968.636,454.039,653.905,31.077,0.000,884.702,0.000,445.447,780.000,0.542,0.000
$DEVICE_MAMPS,419.985,135.405,1162.035,81.855,0.000,0.000,0.000,139.995,420.000,0.000,19.470,21.700,2.310,21.700,40.430,53.160,0.000,15.000,0.000,0.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2624.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.847,0.000,0.000,0.000
$MEM,310404
$DATA_FILE_SIZE,10124,291
$CAP_FILE_SIZE,57946,0
$CFSIZE,1024409600,1022001152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1488.3
$EKF,2813,2863.464844,-7345.085449,0.493913,-0.029950,-0.020058,-0.014951,0.000766,0.001692,0.002290,0.009388,0.009388,0.000127
$CURRENT,0.132, 83.8,1
$GPS,020714,202638,4743.484,-12224.786,3,1.1,3,16.3