version: 66.12
glider: 217
mission: 1
dive: 4
start: 4 23 114 19 39 18
data:
$ID,217
$MISSION,1
$DIVE,4
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,75
$T_MISSION,85
$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,150
$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,280
$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,-268.88101
$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,3108
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,23
$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,39
$R_STBD_OVSHOOT,30
$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,100
$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
$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
$GPS1,230414,193153,4743.288,-12224.817,37,0.9,37,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-75.9
$GPS2,230414,193823,4743.356,-12224.835,4,0.9,4,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.052,0.237
$KALMAN_X,-188.2,-230.6,-196.4,758.8,-113.7
$KALMAN_Y,-311.9,-289.5,-95.2,1807.8,-234.9
$MHEAD_RNG_PITCHd_Wd,356.1,1204,-14.9,-8.000,-18.27,2786
$D_GRID,176
$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,-0.83,-146.6,205,1982,1646,1577,0.0,0.0,0,79,0.00,0.00,-60.25,0.000,16386,0.000,0.000,205,1983,3285,3288,3283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.83,-146.6,205,1983,3285,3283,3.9,-9.7,11,100,12.35,2.58,-1.15,0.000,18692,0.435,0.127,2830,3402,3348,3367,3330,0,0,0,0,0,0,14.59,14.74,14.94
$GC,582,-0.83,-146.6,2830,3402,3371,3327,78.0,-10.5,110,589,0.00,2.33,0.00,0.000,1030,0.000,0.069,2831,2003,3348,3370,3327,0,0,0,0,0,0,28.83,14.90,28.83
$GC,710,-0.83,-146.6,2830,2001,3373,3325,94.8,-14.4,135,717,0.00,2.45,0.00,0.000,260,0.000,0.102,2826,3403,3349,3373,3325,0,0,0,0,0,0,28.83,14.88,28.83
$GC,763,-0.83,-146.6,2826,3402,3373,3324,102.4,-15.7,145,770,0.00,2.35,0.00,0.000,1030,0.000,0.068,2827,1991,3348,3373,3324,0,0,0,0,0,0,28.83,14.92,28.83
$GC,894,-0.83,-146.6,2826,1987,3374,3323,119.8,-18.6,170,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1984,3349,3374,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1019,-0.83,-146.6,2827,1987,3374,3324,139.9,-17.4,183,1024,0.00,2.47,0.00,0.000,260,0.000,0.098,2826,3409,3349,3374,3324,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1050,-0.83,-146.6,2826,3410,3374,3324,145.7,-18.0,186,1056,0.00,2.35,0.00,0.000,1030,0.000,0.069,2826,1997,3349,3374,3324,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1242,-0.83,-146.6,2826,1993,3374,3324,174.0,-11.2,205,1247,0.00,2.47,0.00,0.000,260,0.000,0.103,2826,3408,3348,3374,3323,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,1263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1263,begin apogee
$GC,1269,-0.22,0.0,2826,2047,3374,3323,176.6,-11.5,207,1385,0.73,0.00,106.70,0.988,10246,0.263,0.000,3029,2044,2741,2800,2683,0,0,0,0,0,0,14.82,28.83,14.12
$STATE,1387,end apogee,CONTROL_FINISHED_OK
$STATE,1387,begin climb
$GC,1388,0.83,146.6,3030,2044,2800,2683,180.1,0.0,219,1506,1.05,2.53,106.32,0.947,10756,0.188,0.092,3360,655,2142,2205,2079,0,0,0,0,0,0,14.45,14.32,13.95
$GC,1607,0.83,146.6,3360,655,2199,2079,161.1,11.1,241,1613,0.00,2.42,0.00,0.000,1030,0.000,0.073,3360,2056,2139,2199,2079,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1799,0.86,175.2,3361,2058,2195,2077,147.3,6.9,260,1830,0.00,2.53,21.65,0.909,8708,0.000,0.092,3370,647,2024,2086,1963,0,0,0,0,0,0,28.83,14.64,14.29
$GC,1901,0.86,175.2,3371,647,2082,1961,135.3,12.9,270,1907,0.00,2.38,0.00,0.000,1030,0.000,0.073,3371,2050,2020,2081,1960,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2088,0.86,175.2,3371,2054,2082,1960,112.4,11.8,295,2094,0.00,2.42,0.00,0.000,260,0.000,0.095,3369,3454,2020,2082,1959,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2105,0.86,175.2,3370,3454,2082,1960,109.9,12.6,298,2112,0.00,2.38,0.00,0.000,1030,0.000,0.070,3381,2044,2021,2082,1960,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2233,0.86,175.2,3380,2042,2082,1960,95.0,12.6,323,2240,0.00,2.47,0.00,0.000,260,0.000,0.098,3381,3461,2021,2082,1960,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2252,0.86,175.2,3381,3461,2082,1960,92.3,14.7,326,2258,0.00,2.38,0.00,0.000,1030,0.000,0.069,3391,2046,2020,2081,1960,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2379,0.86,175.2,3390,2044,2082,1960,74.3,10.7,351,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2043,2021,2082,1960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2506,0.86,175.2,3391,2043,2082,1960,60.0,11.0,376,2513,0.00,2.40,0.00,0.000,516,0.000,0.094,3402,635,2021,2082,1960,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2539,0.86,175.2,3402,635,2081,1960,56.3,11.4,382,2545,0.00,2.38,0.00,0.000,1030,0.000,0.073,3402,2051,2020,2081,1960,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2666,0.86,175.2,3402,2052,2081,1960,42.1,11.3,407,2673,0.00,2.42,0.00,0.000,260,0.000,0.098,3402,3458,2020,2081,1960,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2684,0.86,175.2,3402,3458,2081,1960,39.8,11.9,410,2691,0.00,2.38,0.00,0.000,1030,0.000,0.070,3413,2036,2020,2081,1960,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2754,0.86,175.2,3413,2037,2082,1960,31.7,11.4,423,2760,0.00,2.35,0.00,0.000,516,0.000,0.093,3424,651,2021,2082,1960,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2807,0.86,175.2,3420,651,2081,1960,25.3,12.0,433,2814,0.15,2.35,0.00,0.000,5126,0.313,0.073,3390,2054,2020,2081,1960,0,0,0,0,0,0,14.78,14.92,28.83
$GC,2876,0.86,175.2,3390,2054,2081,1960,18.3,9.2,446,2882,0.00,2.42,0.00,0.000,516,0.000,0.093,3401,642,2020,2081,1960,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2933,0.86,175.2,3401,642,2081,1960,13.1,8.0,457,2940,0.00,2.38,0.00,0.000,1030,0.000,0.073,3401,2052,2020,2081,1960,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3002,0.89,197.8,3401,2054,2081,1960,7.6,7.2,470,3020,0.00,2.45,9.12,0.113,8452,0.000,0.096,3401,3451,1947,2008,1886,0,0,0,0,0,0,28.83,14.89,14.90
$STATE,3085,end climb,SURFACE_DEPTH_REACHED
$STATE,3086,begin surface coast
$FINISH,1.1,1.021306
$STATE,3097,end surface coast,CONTROL_FINISHED_OK
$STATE,3097,begin surface
$SM_CCo,3115,39.55,0.097,0,0,1607,280.13
$SM_GC,1.66,9.43,2.47,39.55,0.119,0.067,0.097,211,2003,1607,-9.02,1.02,280.13,0,0,0,0,0,0,14.89,14.93,14.90
$IRIDIUM_FIX,4726.11,-12222.38,230414,181839
$TT8_MAMPS,0.035952,0.035952
$HUMID,32.79
$INTERNAL_PRESSURE,8.99215
$TCM_TEMP,16.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,125.7,70.6
$SC_FREEKB,4018784
$24V_AH,14.0,0.553
$10V_AH,14.0,0.193
$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,23.700,62.800,243.800,39.550,0.000,22.857,45.998,213.064,2.500,0.000,5.934,1129.280,850.743,368.460,1158.730,37.547,32.219,846.204,0.000,813.908,0.000,13.450,0.000
$DEVICE_MAMPS,435.285,126.990,988.380,97.155,0.000,18.360,160.000,223.000,420.000,0.000,19.470,21.700,2.190,21.700,40.430,53.160,56.900,15.000,0.000,0.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3093.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.970,0.000,0.000,0.000
$MEM,322796
$DATA_FILE_SIZE,13398,488
$CAP_FILE_SIZE,88852,0
$CFSIZE,1024409600,1022181376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230414,203232,4743.686,-12224.656,5,1.0,5,16.3