version: 66.12
glider: 217
mission: 1
dive: 5
start: 4 23 114 20 41 12
data:
$ID,217
$MISSION,1
$DIVE,5
$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,0
$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,290
$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,-270.13174
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,240
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2030
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,35
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$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
$GPS1,230414,203232,4743.686,-12224.656,5,1.0,5,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-76.6
$GPS2,230414,204016,4743.771,-12224.677,5,1.0,6,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.009,0.163
$KALMAN_X,-176.7,-278.1,-196.9,992.7,12.2
$KALMAN_Y,-546.0,-363.5,-64.4,2846.4,-311.1
$MHEAD_RNG_PITCHd_Wd,340.6,426,-23.4,-8.000,-26.04,1190
$D_GRID,180
$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,-1.11,-62.4,203,2112,1648,1582,0.0,0.0,0,73,0.00,0.00,-51.60,0.000,16390,0.000,0.000,203,2112,3006,3013,2999,0,0,0,0,0,0,28.83,28.83,15.00
$GC,75,-1.16,-95.8,203,2112,3013,2996,3.1,-5.1,10,99,11.82,2.47,-2.80,0.000,18692,0.434,0.127,2721,3492,3141,3170,3112,0,0,0,0,0,0,14.59,14.74,14.96
$GC,171,-1.16,-95.8,2722,3492,3170,3112,23.8,-20.4,28,177,0.00,2.35,0.00,0.000,1030,0.000,0.067,2727,2092,3141,3171,3112,0,0,0,0,0,0,28.83,14.81,28.83
$GC,239,-1.16,-95.8,2727,2090,3171,3111,36.3,-18.0,41,246,0.00,2.40,0.00,0.000,516,0.000,0.088,2727,686,3141,3171,3112,0,0,0,0,0,0,28.83,14.80,28.83
$GC,667,-1.16,-95.8,2727,687,3171,3111,110.8,-16.7,126,674,0.00,2.38,0.00,0.000,1030,0.000,0.078,2721,2091,3141,3172,3111,0,0,0,0,0,0,28.83,14.88,28.83
$GC,800,-1.16,-95.8,2721,2092,3171,3111,131.0,-14.6,145,805,0.00,2.47,0.00,0.000,260,0.000,0.101,2710,3520,3141,3172,3111,0,0,0,0,0,0,28.83,14.90,28.83
$GC,866,-1.16,-95.8,2710,3520,3171,3111,140.7,-16.1,151,873,0.00,2.38,0.00,0.000,1030,0.000,0.067,2709,2095,3141,3172,3110,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1052,-1.16,-95.8,2710,2092,3172,3111,169.1,-14.5,170,1057,0.00,2.35,0.00,0.000,516,0.000,0.087,2711,700,3141,3172,3110,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1083,-1.16,-95.8,2710,700,3172,3110,174.1,-15.5,173,1089,0.00,2.38,0.00,0.000,1030,0.000,0.077,2707,2110,3141,3173,3109,0,0,0,0,0,0,28.83,14.93,28.83
$STATE,1124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1124,begin apogee
$GC,1128,-0.22,0.0,2707,2023,3172,3110,180.7,-16.0,177,1206,1.17,0.00,72.57,0.991,10246,0.301,0.000,3021,2022,2742,2800,2685,0,0,0,0,0,0,14.80,28.83,14.21
$STATE,1208,end apogee,CONTROL_FINISHED_OK
$STATE,1208,begin climb
$GC,1209,1.16,95.8,3022,2022,2797,2683,184.6,0.0,185,1287,1.42,2.53,69.32,0.959,10756,0.194,0.090,3462,635,2351,2411,2291,0,0,0,0,0,0,14.53,14.38,14.02
$GC,1312,1.16,95.8,3465,635,2404,2290,178.4,8.8,195,1320,0.00,2.42,0.00,0.000,1030,0.000,0.073,3465,2039,2347,2404,2290,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1499,1.16,95.8,3465,2040,2404,2289,154.5,12.5,214,1504,0.00,2.45,0.00,0.000,516,0.000,0.090,3476,631,2347,2405,2289,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1565,1.16,95.8,3476,631,2405,2289,146.0,14.1,220,1571,0.00,2.40,0.00,0.000,1030,0.000,0.073,3476,2035,2346,2404,2289,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1751,1.16,95.8,3476,2035,2403,2289,120.8,13.5,239,1756,0.00,2.42,0.00,0.000,260,0.000,0.098,3476,3437,2346,2403,2289,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1892,1.16,95.8,3476,3437,2403,2289,102.0,12.2,266,1899,0.00,2.35,0.00,0.000,1030,0.000,0.069,3487,2037,2346,2403,2289,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2021,1.16,95.8,3486,2037,2404,2289,87.7,11.2,291,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,2037,2346,2403,2289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2148,1.16,95.8,3486,2036,2404,2289,74.3,10.7,316,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,2037,2345,2403,2288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2275,1.16,95.8,3487,2037,2403,2289,61.1,10.4,341,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,2036,2346,2404,2288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2402,1.16,95.8,3485,2036,2404,2288,47.7,9.9,366,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,2037,2345,2403,2288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2469,1.16,95.8,3487,2036,2403,2288,41.2,9.1,379,2475,0.00,2.38,0.00,0.000,516,0.000,0.091,3498,631,2345,2403,2288,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2487,1.16,95.8,3498,631,2403,2288,39.6,8.9,382,2493,0.00,2.35,0.00,0.000,1030,0.000,0.073,3498,2035,2345,2403,2288,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2555,1.16,95.8,3498,2032,2403,2288,33.4,9.3,395,2562,0.00,2.42,0.00,0.000,516,0.000,0.091,3510,626,2345,2403,2288,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2668,1.16,95.8,3509,626,2403,2288,22.7,9.5,417,2675,0.12,2.35,0.00,0.000,5126,0.370,0.073,3484,2033,2345,2403,2288,0,0,0,0,0,0,14.76,14.92,28.83
$GC,2737,1.17,104.7,3485,2034,2403,2288,17.0,7.2,430,2744,0.00,2.47,2.83,0.125,8708,0.000,0.091,3493,629,2324,2384,2264,0,0,0,0,0,0,28.83,14.91,14.88
$GC,2886,1.20,130.2,3495,630,2398,2276,7.6,5.8,459,2909,0.00,2.35,13.88,0.112,9222,0.000,0.073,3499,2040,2221,2283,2159,0,0,0,0,0,0,28.83,14.93,14.90
$GC,2971,1.27,191.7,3495,2039,2291,2169,4.4,2.7,475,3010,0.00,2.42,29.52,0.100,8452,0.000,0.096,3496,3426,1970,2029,1911,0,0,0,0,0,0,28.83,14.86,14.90
$STATE,3020,end climb,SURFACE_DEPTH_REACHED
$STATE,3020,begin surface coast
$FINISH,0.5,1.021368
$STATE,3036,end surface coast,CONTROL_FINISHED_OK
$STATE,3036,begin surface
$SM_CCo,3055,46.30,0.094,0,0,1566,290.19
$SM_GC,2.20,9.75,2.28,46.30,0.126,0.071,0.094,209,2101,1566,-9.01,1.02,290.19,0,0,0,0,0,0,14.88,14.91,14.88
$IRIDIUM_FIX,4726.11,-12223.37,230414,191934
$TT8_MAMPS,0.036701,0.036701
$HUMID,32.59
$INTERNAL_PRESSURE,8.99215
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,125.2,71.6
$SC_FREEKB,4018464
$24V_AH,14.0,0.613
$10V_AH,14.1,0.224
$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,24.300,53.075,188.125,46.300,0.000,47.772,58.566,203.102,1.250,0.000,7.926,1125.049,924.105,327.088,1165.918,38.120,33.206,779.424,0.000,795.136,0.000,10.109,0.000
$DEVICE_MAMPS,433.755,134.640,991.440,94.095,0.000,18.360,160.000,223.000,420.000,0.000,19.470,21.700,2.190,21.700,40.430,53.160,56.900,15.000,0.000,0.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3030.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.136,0.000,0.000,0.000
$MEM,322772
$DATA_FILE_SIZE,13427,487
$CAP_FILE_SIZE,87485,0
$CFSIZE,1024409600,1022083072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230414,213340,4744.306,-12224.871,11,0.8,11,16.3