version: 66.12
glider: 217
mission: 1
dive: 2
start: 4 23 114 17 24 39
data:
$ID,217
$MISSION,1
$DIVE,2
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$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,50
$T_MISSION,80
$T_ABORT,1440
$T_TURN,540
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51960
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,270
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-231.72055
$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,3110
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,22
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,240
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$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,2749
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,50
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.840004
$PRESSURE_SLOPE,0.0001155691
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.1
$DEEPGLIDER,0
$DEEPGLIDERMB,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,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$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
$GPS1,230414,171829,4742.834,-12225.060,3,2.0,3,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-70.5
$GPS2,230414,172344,4742.855,-12225.106,6,2.0,6,16.3
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.107,0.210
$KALMAN_X,-54.9,-54.9,-54.9,-23.1,-183.8
$KALMAN_Y,-13.9,-13.9,-13.9,219.3,-46.4
$MHEAD_RNG_PITCHd_Wd,10.7,2180,-20.3,-10.000,-22.96,1790
$D_GRID,186
$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,-1.07,-117.3,183,1996,551,446,0.0,0.0,0,121,0.00,0.00,-101.00,0.000,16390,0.000,0.000,183,1996,3228,3237,3219,0,0,0,0,0,0,28.83,28.83,15.12
$GC,124,-1.07,-117.3,183,1996,3237,3219,3.3,-7.4,19,142,12.07,2.45,0.00,0.000,2308,0.438,0.089,2748,3413,3228,3243,3214,0,0,0,0,0,0,14.69,14.87,28.83
$GC,641,-1.07,-117.3,2748,3410,3247,3208,96.7,-15.1,121,647,0.00,2.35,0.00,0.000,1030,0.000,0.067,2752,1992,3227,3247,3208,0,0,0,0,0,0,28.83,14.97,28.83
$GC,769,-1.07,-117.3,2752,1990,3250,3206,117.1,-17.1,146,775,0.00,2.45,0.00,0.000,260,0.000,0.097,2747,3402,3226,3250,3203,0,0,0,0,0,0,28.83,14.95,28.83
$GC,846,-1.07,-117.3,2747,3403,3249,3206,129.6,-17.2,155,852,0.00,2.33,0.00,0.000,1030,0.000,0.067,2747,1993,3228,3250,3206,0,0,0,0,0,0,28.83,14.97,28.83
$STATE,971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,971,begin apogee
$GC,974,-0.23,0.0,2746,2054,3250,3205,150.8,-15.7,168,1066,1.02,0.00,85.10,0.950,10246,0.282,0.000,3028,2054,2744,2803,2686,0,0,0,0,0,0,14.83,28.83,14.23
$STATE,1068,end apogee,CONTROL_FINISHED_OK
$STATE,1068,begin climb
$GC,1069,1.07,117.3,3028,2054,2802,2685,155.7,0.0,177,1163,1.33,0.00,84.53,0.920,10758,0.191,0.000,3432,2054,2264,2330,2199,0,0,0,0,0,0,14.57,28.83,14.07
$GC,1342,1.07,117.3,3432,2054,2327,2198,129.0,12.6,205,1347,0.00,2.42,0.00,0.000,516,0.000,0.090,3443,649,2262,2327,2198,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1377,1.07,117.3,3443,649,2327,2198,125.0,12.3,208,1384,0.00,2.38,0.00,0.000,1030,0.000,0.073,3443,2051,2262,2327,2198,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1563,1.07,117.3,3441,2052,2327,2198,101.3,14.0,241,1570,0.00,2.40,0.00,0.000,516,0.000,0.090,3454,653,2262,2327,2198,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1611,1.07,117.3,3454,655,2326,2198,94.7,13.1,250,1618,0.00,2.35,0.00,0.000,1030,0.000,0.073,3454,2051,2262,2327,2198,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1739,1.07,117.3,3454,2054,2327,2198,78.7,13.1,275,1745,0.00,2.40,0.00,0.000,260,0.000,0.095,3453,3451,2262,2326,2198,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1867,1.07,117.3,3454,3451,2327,2198,61.8,13.3,300,1873,0.00,2.33,0.00,0.000,1030,0.000,0.069,3464,2058,2262,2327,2198,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1995,1.09,136.2,3464,2057,2326,2198,47.2,8.9,325,2018,0.00,2.45,14.43,0.802,8708,0.000,0.093,3475,645,2187,2248,2126,0,0,0,0,0,0,28.83,14.85,14.53
$GC,2194,1.09,136.2,3475,645,2245,2126,23.5,11.7,364,2201,0.00,2.35,0.00,0.000,1030,0.000,0.073,3475,2048,2185,2245,2126,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2263,1.12,162.2,3475,2049,2245,2126,17.2,8.5,377,2281,0.00,2.47,12.27,0.149,8708,0.000,0.091,3486,645,2089,2150,2028,0,0,0,0,0,0,28.83,14.90,14.86
$GC,2323,1.12,162.2,3486,645,2155,2032,10.8,11.4,388,2329,0.00,2.38,0.00,0.000,1030,0.000,0.073,3486,2064,2093,2155,2032,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2391,1.15,185.9,3486,2064,2155,2032,3.6,8.6,401,2409,0.00,2.38,11.65,0.099,8452,0.000,0.091,3486,3456,1991,2053,1930,0,0,0,0,0,0,28.83,14.90,14.90
$STATE,2414,end climb,SURFACE_DEPTH_REACHED
$STATE,2414,begin surface coast
$FINISH,0.4,1.009463
$STATE,2436,end surface coast,CONTROL_FINISHED_OK
$STATE,2436,begin surface
$SM_CCo,2454,38.92,0.093,0,0,1647,270.08
$SM_GC,1.45,9.52,2.50,38.92,0.109,0.071,0.093,214,2000,1647,-9.01,0.90,270.08,0,0,0,0,0,0,14.89,14.92,14.90
$IRIDIUM_FIX,4729.30,-12245.46,230414,171715
$TT8_MAMPS,0.036701,0.036701
$HUMID,32.00
$INTERNAL_PRESSURE,9.01168
$TCM_TEMP,16.90
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,90.0,6.2
$SC_FREEKB,4019424
$24V_AH,14.1,0.381
$10V_AH,14.1,0.121
$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,23.950,38.475,207.975,38.925,0.000,0.000,0.000,0.000,5.250,0.000,6.908,902.372,610.455,342.307,682.501,20.686,30.073,720.933,0.000,656.425,0.000,5.442,0.000
$DEVICE_MAMPS,437.580,158.355,950.130,93.330,0.000,0.000,0.000,0.000,420.000,0.000,19.470,21.700,2.190,21.700,40.430,53.160,56.900,15.000,0.000,0.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2419.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.244,0.000,0.000,0.000
$MEM,322856
$DATA_FILE_SIZE,10118,409
$CAP_FILE_SIZE,78042,0
$CFSIZE,1024409600,1022394368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230414,180652,4742.905,-12224.958,3,1.0,4,16.3