version: 66.12
glider: 217
mission: 2
dive: 5
start: 7 2 114 20 30 55
data:
$ID,217
$MISSION,2
$DIVE,5
$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,-546.00262
$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,38
$R_STBD_OVSHOOT,43
$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
$GPS1,020714,202638,4743.484,-12224.786,3,1.1,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-77.6
$GPS2,020714,203010,4743.473,-12224.735,5,1.1,5,16.3
$SPEED_LIMITS,0.119,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,253.9,333,-20.9,-10.000,-23.47,1700
$D_GRID,175
$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,-1.10,-111.4,215,2160,1252,1196,0.0,0.0,0,83,0.00,0.00,-63.90,0.000,16386,0.000,0.000,216,2160,3148,3155,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-1.15,-146.6,216,2161,3156,3143,4.7,-7.0,6,110,11.52,2.42,-5.22,0.000,18692,0.424,0.107,2719,3550,3451,3476,3427,0,0,0,0,0,0,14.71,14.88,15.10
$GC,148,-1.01,-146.6,2718,3550,3476,3427,22.1,-22.5,16,156,0.22,2.30,0.00,0.000,3078,0.317,0.057,2772,2150,3452,3477,3427,0,0,0,0,0,0,14.77,14.92,28.83
$GC,334,-0.96,-146.6,2772,2146,3479,3426,56.1,-17.6,35,342,0.00,2.40,0.00,0.000,260,0.000,0.088,2772,3545,3451,3478,3425,0,0,0,0,0,0,28.83,14.93,28.83
$GC,394,-0.90,-146.6,2772,3545,3478,3426,66.2,-16.6,46,402,0.15,2.28,0.00,0.000,3078,0.303,0.057,2809,2149,3452,3478,3426,0,0,0,0,0,0,14.84,14.97,28.83
$GC,580,-0.90,-146.6,2808,2146,3479,3426,91.9,-13.1,65,586,0.00,2.40,0.00,0.000,260,0.000,0.086,2800,3550,3452,3479,3425,0,0,0,0,0,0,28.83,14.96,28.83
$GC,603,-0.90,-146.6,2800,3549,3479,3426,95.0,-13.7,69,610,0.00,2.28,0.00,0.000,1030,0.000,0.056,2800,2145,3452,3479,3426,0,0,0,0,0,0,28.83,15.00,28.83
$GC,799,-0.90,-146.6,2800,2139,3479,3426,121.3,-13.8,89,805,0.00,2.40,0.00,0.000,260,0.000,0.088,2800,3540,3452,3479,3426,0,0,0,0,0,0,28.83,14.99,28.83
$GC,826,-0.90,-146.6,2801,3540,3479,3426,125.4,-13.7,94,834,0.00,2.28,0.00,0.000,1030,0.000,0.056,2800,2149,3452,3479,3426,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1013,-0.90,-146.6,2800,2146,3479,3426,150.5,-13.6,113,1019,0.00,2.38,0.00,0.000,260,0.000,0.087,2800,3540,3452,3479,3426,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1067,-0.90,-146.6,2800,3540,3479,3426,157.6,-12.6,123,1075,0.00,2.28,0.00,0.000,1030,0.000,0.057,2800,2138,3452,3478,3426,0,0,0,0,0,0,28.83,15.02,28.83
$STATE,1131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1131,begin apogee
$GC,1135,-0.22,0.0,2800,2048,3479,3426,166.2,-13.4,130,1254,0.80,0.00,109.05,0.952,10246,0.267,0.000,3026,2047,2841,2901,2781,0,0,0,0,0,0,14.88,28.83,14.20
$STATE,1256,end apogee,CONTROL_FINISHED_OK
$STATE,1256,begin climb
$GC,1257,1.15,146.6,3026,2048,2900,2779,170.8,0.0,142,1374,1.40,0.00,107.68,0.915,10246,0.185,0.000,3455,2048,2240,2303,2177,0,0,0,0,0,0,14.53,28.83,14.04
$GC,1554,1.09,146.6,3455,2048,2296,2172,132.8,15.4,172,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2048,2234,2296,2172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1733,1.03,146.6,3455,2052,2295,2172,105.3,15.3,190,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2048,2233,2295,2172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1914,0.98,146.6,3454,2048,2295,2172,78.4,15.3,208,1922,0.12,2.40,0.00,0.000,4356,0.319,0.080,3422,3453,2234,2296,2172,0,0,0,0,0,0,14.79,14.90,28.83
$GC,1944,0.92,146.6,3422,3453,2295,2172,73.8,13.9,213,1952,0.00,2.28,0.00,0.000,1030,0.000,0.060,3428,2072,2233,2294,2172,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2131,0.92,146.6,3428,2072,2295,2172,51.7,12.4,232,2138,0.00,2.38,0.00,0.000,516,0.000,0.082,3437,656,2233,2295,2172,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2181,0.92,146.6,3437,656,2294,2172,44.0,14.5,241,2189,0.12,2.30,0.00,0.000,5126,0.293,0.060,3408,2060,2233,2295,2172,0,0,0,0,0,0,14.84,14.96,28.83
$GC,2369,0.92,146.6,3407,2060,2295,2172,18.8,13.2,260,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2057,2233,2294,2172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2548,0.98,187.9,3408,2061,2294,2171,2.1,7.5,278,2555,0.00,0.00,5.60,0.075,8450,0.000,0.000,3408,2060,2189,2250,2129,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2556,end climb,SURFACE_DEPTH_REACHED
$STATE,2556,begin surface coast
$FINISH,0.3,1.005435
$STATE,2583,end surface coast,CONTROL_FINISHED_OK
$STATE,2584,begin surface
$SM_CCo,2600,111.43,0.082,0,0,1218,400.08
$SM_GC,1.26,9.20,0.12,111.43,0.104,0.142,0.082,209,2166,1218,-9.01,-1.07,400.08,0,0,0,0,0,0,14.96,15.00,14.95
$RAFOS_CLK,10
$RAFOS,0,1404335043,21.083334,21.067499,59,57,55,53,53,49,190,152,170,124,207,216
$RAFOS,2,1404333850,20.750000,20.736111,67,59,58,58,56,52,204,163,188,221,139,117
$RAFOS_FIX,4719.273438,-12206.505859,020714,171728,2,151,0.00
$IRIDIUM_FIX,4729.30,-12226.80,050921,061003
$TT8_MAMPS,0.036701,0.036701
$HUMID,53.54
$INTERNAL_PRESSURE,8.93355
$TCM_TEMP,18.10
$XPDR_PINGS,0
$SC_FREEKB,4018464
$24V_AH,14.04,3.331
$10V_AH,14.05,0.000
$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,23.550,32.975,222.325,111.425,0.000,0.000,0.000,128.600,0.000,0.000,6.875,920.162,955.580,450.669,608.438,30.832,0.000,849.258,0.000,432.324,780.000,0.542,0.000
$DEVICE_MAMPS,423.810,153.000,951.660,81.855,0.000,0.000,0.000,137.700,420.000,0.000,19.470,21.700,2.310,21.700,40.430,53.160,0.000,15.000,0.000,0.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2580.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.824,0.000,0.000,0.000
$MEM,310388
$DATA_FILE_SIZE,10124,282
$CAP_FILE_SIZE,57616,0
$CFSIZE,1024409600,1021902848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3066.19,0x23790a,7,5
$SOUNDSPEED,1488.2
$EKF,2780,2863.496826,-7345.295410,0.300000,-0.074236,-0.121228,-0.010120,0.000784,0.001733,0.002295,0.081329,0.081329,0.000129
$CURRENT,0.116,118.2,1
$GPS,020714,211712,4743.405,-12225.083,16,0.9,16,16.3