version: 66.12
glider: 217
mission: 1
dive: 6
start: 4 23 114 21 43 31
data:
$ID,217
$MISSION,1
$DIVE,6
$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,-271.39249
$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,31
$R_STBD_OVSHOOT,33
$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
$GPS1,230414,213340,4744.306,-12224.871,11,0.8,11,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-75.9
$GPS2,230414,214236,4744.284,-12224.664,18,0.8,18,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.039,-0.133
$KALMAN_X,-165.9,-318.4,-112.7,954.6,108.8
$KALMAN_Y,-226.6,-442.3,-119.5,3605.5,2.7
$MHEAD_RNG_PITCHd_Wd,180.0,528,-27.6,-8.000,-30.00,858
$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,16,begin dive
$GC,17,-1.28,-44.9,206,2097,1604,1539,0.0,0.0,0,73,0.00,0.00,-50.95,0.000,16390,0.000,0.000,206,2097,2933,2941,2926,0,0,0,0,0,0,28.83,28.83,14.97
$GC,75,-1.32,-76.8,206,2097,2941,2926,2.8,-4.2,10,94,11.88,0.00,-2.83,0.000,19206,0.446,0.000,2675,2095,3061,3086,3036,0,0,0,0,0,0,14.57,28.83,14.95
$GC,155,-1.32,-76.8,2670,2096,3093,3034,18.7,-18.0,25,162,0.00,2.50,0.00,0.000,260,0.000,0.103,2664,3510,3063,3093,3034,0,0,0,0,0,0,28.83,14.76,28.83
$GC,253,-1.32,-76.8,2664,3510,3093,3034,37.6,-19.5,44,260,0.00,2.38,0.00,0.000,1030,0.000,0.067,2667,2091,3063,3093,3034,0,0,0,0,0,0,28.83,14.82,28.83
$GC,321,-1.32,-76.8,2667,2089,3094,3034,51.0,-19.6,57,328,0.00,2.50,0.00,0.000,260,0.000,0.101,2664,3501,3064,3094,3034,0,0,0,0,0,0,28.83,14.80,28.83
$GC,369,-1.32,-76.8,2664,3501,3095,3034,59.2,-16.2,66,375,0.00,2.35,0.00,0.000,1030,0.000,0.066,2664,2094,3063,3094,3033,0,0,0,0,0,0,28.83,14.85,28.83
$GC,497,-1.32,-76.8,2664,2092,3094,3034,80.5,-15.8,91,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2092,3064,3095,3034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,624,-1.32,-76.8,2664,2091,3095,3033,102.5,-17.0,116,630,0.00,2.47,0.00,0.000,260,0.000,0.098,2653,3508,3064,3095,3033,0,0,0,0,0,0,28.83,14.86,28.83
$GC,636,-1.32,-76.8,2653,3508,3094,3033,104.6,-16.7,118,643,0.00,2.35,0.00,0.000,1030,0.000,0.065,2653,2096,3064,3095,3033,0,0,0,0,0,0,28.83,14.90,28.83
$GC,764,-1.32,-76.8,2653,2094,3095,3033,127.8,-17.9,139,770,0.00,2.47,0.00,0.000,260,0.000,0.100,2650,3508,3064,3095,3033,0,0,0,0,0,0,28.83,14.88,28.83
$GC,780,-1.32,-76.8,2650,3508,3095,3038,129.9,-18.0,140,788,0.12,2.35,0.00,0.000,3078,0.359,0.064,2675,2098,3064,3095,3033,0,0,0,0,0,0,14.74,14.90,28.83
$GC,966,-1.32,-76.8,2675,2095,3095,3033,163.2,-16.6,159,971,0.00,2.45,0.00,0.000,260,0.000,0.099,2664,3502,3064,3095,3033,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1042,-1.32,-76.8,2664,3501,3095,3029,175.9,-17.9,166,1048,0.00,2.33,0.00,0.000,1030,0.000,0.067,2665,2099,3064,3095,3033,0,0,0,0,0,0,28.83,14.93,28.83
$STATE,1067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1067,begin apogee
$GC,1070,-0.22,0.0,2664,2017,3095,3033,180.9,-17.1,169,1133,1.35,0.00,57.83,0.995,10246,0.307,0.000,3023,2017,2747,2804,2691,0,0,0,0,0,0,14.78,28.83,14.25
$STATE,1135,end apogee,CONTROL_FINISHED_OK
$STATE,1135,begin climb
$GC,1136,1.32,76.8,3023,2017,2798,2686,184.2,0.0,175,1200,1.60,2.50,55.53,0.965,10756,0.194,0.090,3520,635,2429,2486,2372,0,0,0,0,0,0,14.57,14.43,14.07
$GC,1212,1.32,76.8,3520,635,2480,2371,178.5,9.0,183,1217,0.00,2.40,0.00,0.000,1030,0.000,0.071,3520,2029,2425,2479,2371,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1404,1.32,76.8,3520,2029,2479,2369,156.3,11.6,202,1409,0.00,2.42,0.00,0.000,516,0.000,0.090,3531,634,2424,2479,2369,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1429,1.32,76.8,3531,634,2480,2369,153.5,11.9,204,1436,0.00,2.38,0.00,0.000,1030,0.000,0.073,3530,2032,2423,2479,2368,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1615,1.32,76.8,3531,2033,2479,2369,130.8,11.0,223,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,2032,2424,2480,2369,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1795,1.32,76.8,3530,2033,2479,2369,109.8,12.5,249,1802,0.00,2.40,0.00,0.000,260,0.000,0.096,3531,3434,2424,2479,2369,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1898,1.32,76.8,3531,3434,2479,2369,97.2,11.8,269,1905,0.00,2.35,0.00,0.000,1030,0.000,0.068,3544,2032,2423,2479,2368,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2027,1.32,76.8,3542,2031,2479,2369,83.8,10.7,294,2033,0.00,2.38,0.00,0.000,516,0.000,0.090,3554,619,2423,2479,2368,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2065,1.32,76.8,3554,620,2479,2369,79.7,10.9,301,2071,0.00,2.38,0.00,0.000,1030,0.000,0.073,3553,2035,2423,2479,2368,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2193,1.32,76.8,3554,2036,2479,2369,66.5,10.2,326,2199,0.00,2.40,0.00,0.000,516,0.000,0.089,3565,622,2424,2479,2369,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2211,1.32,76.8,3565,622,2479,2368,64.7,9.4,329,2218,0.15,2.35,0.00,0.000,5126,0.376,0.071,3535,2029,2424,2479,2369,0,0,0,0,0,0,14.74,14.91,28.83
$GC,2339,1.32,76.8,3535,2029,2479,2369,51.8,8.6,354,2345,0.00,2.40,0.00,0.000,260,0.000,0.095,3535,3438,2423,2478,2369,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2446,1.32,76.8,3535,3438,2479,2368,41.8,9.8,375,2453,0.00,2.35,0.00,0.000,1030,0.000,0.067,3547,2020,2424,2479,2369,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2516,1.32,79.5,3546,2020,2479,2369,36.3,7.7,388,2522,0.00,2.35,0.00,0.000,516,0.000,0.090,3558,634,2423,2478,2369,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2564,1.32,79.5,3558,634,2478,2369,31.9,10.0,397,2570,0.00,2.33,0.00,0.000,1030,0.000,0.072,3558,2030,2424,2479,2369,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2632,1.32,79.5,3557,2031,2479,2368,26.2,8.1,410,2638,0.00,2.40,0.00,0.000,516,0.000,0.090,3567,634,2424,2479,2369,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2749,1.33,82.3,3569,633,2479,2369,16.3,7.7,433,2758,0.15,2.33,1.08,0.096,13318,0.376,0.073,3539,2028,2412,2471,2353,0,0,0,0,0,0,14.76,14.94,14.92
$GC,2819,1.35,99.9,3539,2029,2481,2365,11.2,5.9,446,2837,0.00,2.42,9.57,0.125,8452,0.000,0.096,3535,3438,2348,2407,2290,0,0,0,0,0,0,28.83,14.90,14.90
$GC,2934,1.35,99.9,3539,3438,2411,2300,3.0,8.4,468,2941,0.00,2.33,1.58,0.099,9222,0.000,0.067,3550,2033,2340,2398,2283,0,0,0,0,0,0,28.83,14.93,14.92
$STATE,2956,end climb,SURFACE_DEPTH_REACHED
$STATE,2957,begin surface coast
$FINISH,0.5,1.021690
$STATE,2998,end surface coast,CONTROL_FINISHED_OK
$STATE,2998,begin surface
$SM_CCo,3015,88.68,0.096,0,0,1566,290.19
$SM_GC,1.29,9.88,0.12,88.68,0.125,0.144,0.096,215,2119,1566,-8.99,-0.74,290.19,0,0,0,0,0,0,14.90,14.93,14.88
$IRIDIUM_FIX,4726.11,-12213.55,230414,212113
$TT8_MAMPS,0.036701,0.036701
$HUMID,31.49
$INTERNAL_PRESSURE,8.98238
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.8,60.0
$SC_FREEKB,4018144
$24V_AH,14.1,0.668
$10V_AH,13.4,0.256
$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,25.125,67.225,125.575,88.675,0.000,50.730,95.802,208.576,1.750,0.000,19.545,1136.074,927.739,336.519,1212.568,40.517,33.220,779.459,0.000,769.578,0.000,14.797,0.000
$DEVICE_MAMPS,445.995,163.710,994.500,96.390,0.000,18.360,160.000,223.000,420.000,0.000,19.470,21.700,2.190,21.700,40.430,53.160,56.900,15.000,0.000,0.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2997.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.177,0.000,0.000,0.000
$MEM,322824
$DATA_FILE_SIZE,13433,480
$CAP_FILE_SIZE,92499,0
$CFSIZE,1024409600,1021984768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230414,223628,4744.285,-12224.684,37,1.2,37,16.3