version: 66.12
glider: 217
mission: 2
dive: 6
start: 7 2 114 21 33 3
data:
$ID,217
$MISSION,2
$DIVE,6
$N_DIVES,6
$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,-589.29504
$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,36
$R_STBD_OVSHOOT,50
$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
$GPS1,020714,212942,4743.291,-12224.975,17,0.7,17,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-77.4
$GPS2,020714,213230,4743.259,-12224.968,17,0.7,17,16.3
$SPEED_LIMITS,0.119,0.261
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,92.6,1298,-18.1,-10.000,-20.93,2235
$D_GRID,177
$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,-146.6,208,2171,1256,1195,0.0,0.0,0,93,0.00,0.00,-74.07,0.000,16386,0.000,0.000,208,2171,3426,3431,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-1.03,-146.6,209,2171,3431,3422,4.6,-7.0,7,118,12.00,2.40,-0.40,0.000,18948,0.433,0.092,2767,741,3449,3465,3433,0,0,0,0,0,0,14.69,14.89,15.03
$GC,346,-0.93,-146.6,2768,741,3468,3433,56.4,-18.6,55,354,0.17,2.30,0.00,0.000,3078,0.329,0.063,2800,2135,3450,3468,3432,0,0,0,0,0,0,14.81,14.94,28.83
$GC,541,-0.88,-146.6,2800,2136,3471,3429,86.5,-14.8,75,548,0.00,2.42,0.00,0.000,260,0.000,0.088,2801,3561,3449,3471,3428,0,0,0,0,0,0,28.83,14.94,28.83
$GC,590,-0.82,-146.6,2800,3561,3471,3428,94.0,-15.1,84,598,0.15,2.33,0.00,0.000,3078,0.294,0.056,2835,2144,3449,3471,3428,0,0,0,0,0,0,14.85,14.99,28.83
$GC,776,-0.82,-146.6,2835,2141,3472,3428,119.0,-12.9,103,782,0.00,2.42,0.00,0.000,260,0.000,0.087,2828,3559,3449,3472,3427,0,0,0,0,0,0,28.83,14.96,28.83
$GC,835,-0.82,-146.6,2828,3559,3472,3427,126.4,-10.2,114,843,0.00,2.30,0.00,0.000,1030,0.000,0.055,2828,2135,3449,3472,3427,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1020,-0.82,-146.6,2828,2136,3472,3427,142.8,-8.9,133,1029,0.00,2.30,0.00,0.000,516,0.000,0.075,2828,747,3450,3473,3427,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1092,-0.82,-146.6,2828,747,3473,3427,149.4,-9.3,146,1099,0.00,2.30,0.00,0.000,1030,0.000,0.061,2828,2150,3449,3472,3427,0,0,0,0,0,0,28.83,15.00,28.83
$STATE,1266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1266,begin apogee
$GC,1269,-0.22,0.0,2828,2060,3473,3425,165.1,-8.8,164,1438,0.68,0.00,157.68,0.858,10246,0.250,0.000,3023,2060,2843,2905,2782,0,0,0,0,0,0,14.90,28.83,14.15
$STATE,1440,end apogee,CONTROL_FINISHED_OK
$STATE,1440,begin climb
$GC,1441,1.03,146.6,3024,2060,2903,2782,172.7,0.0,181,1560,1.30,2.50,108.62,0.902,10756,0.189,0.080,3423,666,2240,2302,2178,0,0,0,0,0,0,14.46,14.38,14.01
$GC,1649,0.96,146.6,3424,667,2291,2175,156.6,13.6,215,1656,0.00,2.35,0.00,0.000,1030,0.000,0.060,3423,2067,2232,2291,2174,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1843,0.89,146.6,3423,2067,2291,2173,130.5,13.1,235,1850,0.12,2.38,0.00,0.000,4356,0.291,0.081,3390,3462,2231,2291,2172,0,0,0,0,0,0,14.68,14.76,28.83
$GC,1893,0.82,146.6,3390,3462,2291,2172,123.7,14.3,244,1901,0.00,2.33,0.00,0.000,1030,0.000,0.060,3396,2061,2231,2291,2172,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2079,0.78,146.6,3396,2060,2291,2172,100.4,12.3,263,2086,0.12,2.40,0.00,0.000,4356,0.310,0.080,3364,3465,2231,2291,2172,0,0,0,0,0,0,14.76,14.87,28.83
$GC,2108,0.74,146.6,3364,3466,2290,2172,97.0,11.3,268,2116,0.00,2.33,0.00,0.000,1030,0.000,0.060,3370,2056,2231,2291,2172,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2294,0.74,146.6,3371,2056,2290,2172,77.2,10.8,287,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,2056,2231,2290,2172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2474,0.74,146.6,3371,2056,2290,2172,57.7,10.0,305,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,2056,2231,2291,2172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2654,0.81,195.3,3370,2056,2290,2171,41.5,7.8,323,2702,0.00,2.42,36.22,0.770,8708,0.000,0.084,3371,659,2038,2097,1980,0,0,0,0,0,0,28.83,14.83,14.47
$GC,2729,0.81,195.3,3371,659,2093,1975,34.6,10.2,335,2735,0.00,2.33,0.00,0.000,1030,0.000,0.060,3371,2066,2032,2089,1975,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2923,0.81,195.3,3371,2067,2092,1974,14.3,10.9,355,2929,0.00,2.35,0.00,0.000,260,0.000,0.083,3371,3467,2032,2092,1973,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2991,0.81,195.3,3371,3467,2091,1973,6.4,11.4,368,2998,0.00,2.33,0.00,0.000,1030,0.000,0.061,3371,2059,2032,2091,1973,0,0,0,0,0,0,28.83,14.94,28.83
$STATE,3056,end climb,SURFACE_DEPTH_REACHED
$STATE,3056,begin surface coast
$FINISH,0.7,1.019427
$STATE,3089,end surface coast,CONTROL_FINISHED_OK
$STATE,3089,begin surface
$SM_CCo,3105,93.55,0.083,0,0,1219,400.08
$SM_GC,1.88,9.27,0.15,93.55,0.117,0.125,0.083,209,2158,1219,-9.02,-1.07,400.08,0,0,0,0,0,0,14.90,14.94,14.90
$RAFOS_CLK,13
$RAFOS,0,1404338642,22.083334,22.067223,65,58,54,52,51,51,201,215,142,188,131,117
$RAFOS,2,1404337447,21.750000,21.735277,59,58,55,54,54,52,195,173,144,121,644,214
$RAFOS_FIX,4719.273438,-12206.505859,020714,171728,2,151,0.00
$IRIDIUM_FIX,4726.11,-12227.78,050921,075835
$TT8_MAMPS,0.039697,0.039697
$HUMID,53.66
$INTERNAL_PRESSURE,8.93355
$TCM_TEMP,17.90
$XPDR_PINGS,2
$SC_FREEKB,4018144
$24V_AH,14.01,3.457
$10V_AH,13.25,0.000
$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,23.825,42.750,302.525,93.550,0.000,0.000,0.000,0.000,0.500,0.000,19.048,1128.163,1005.956,511.725,628.288,25.145,0.000,855.154,0.000,570.313,1260.000,0.543,0.000
$DEVICE_MAMPS,432.990,126.225,901.935,83.385,0.000,0.000,0.000,0.000,420.000,0.000,19.470,21.700,2.310,21.700,40.430,53.160,0.000,15.000,0.000,0.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3073.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.781,0.000,0.000,0.000
$MEM,310432
$DATA_FILE_SIZE,13404,378
$CAP_FILE_SIZE,75287,0
$CFSIZE,1024409600,1021788160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3726.97,0x23790a,7,5
$SOUNDSPEED,1488.3
$EKF,3275,2863.193359,-7344.529785,0.728207,-0.067414,0.031166,-0.023152,0.000715,0.001580,0.002290,0.009388,0.009388,0.000127
$CURRENT,0.104,201.4,1
$GPS,020714,222735,4743.013,-12224.626,24,0.9,24,16.3