version: 66.12
glider: 217
mission: 1
dive: 7
start: 4 23 114 22 47 3
data:
$ID,217
$MISSION,1
$DIVE,7
$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,551.67969
$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,-272.64755
$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,38
$R_STBD_OVSHOOT,41
$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
$GPS1,230414,223628,4744.285,-12224.684,37,1.2,37,16.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-75.7
$GPS2,230414,224608,4744.438,-12224.639,5,0.8,5,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.050,-0.237
$KALMAN_X,-72.4,-351.1,30.7,781.1,188.5
$KALMAN_Y,782.3,-700.3,-9.5,3025.0,664.8
$MHEAD_RNG_PITCHd_Wd,175.7,816,-14.9,-8.000,-18.27,2786
$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,-0.84,-146.6,214,2119,1604,1537,0.0,0.0,0,79,0.00,0.00,-60.00,0.000,16386,0.000,0.000,214,2120,3206,3214,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.84,-146.6,213,2120,3214,3199,3.3,-6.4,11,106,12.38,2.45,-2.62,0.000,18692,0.444,0.129,2814,3490,3348,3373,3324,0,0,0,0,0,0,14.66,14.83,15.07
$GC,177,-0.84,-146.6,2814,3490,3374,3324,25.1,-15.8,29,184,0.00,2.33,0.00,0.000,1030,0.000,0.068,2814,2099,3347,3373,3321,0,0,0,0,0,0,28.83,14.88,28.83
$GC,245,-0.84,-146.6,2814,2102,3372,3323,35.0,-13.9,42,251,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2098,3348,3374,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,312,-0.84,-146.6,2814,2097,3374,3324,44.8,-14.1,55,318,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2097,3349,3374,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,380,-0.84,-146.6,2814,2097,3373,3323,53.7,-13.7,68,385,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2097,3348,3374,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,507,-0.84,-146.6,2814,2096,3374,3324,70.2,-13.2,93,513,0.00,2.45,0.00,0.000,260,0.000,0.103,2809,3492,3349,3374,3324,0,0,0,0,0,0,28.83,14.88,28.83
$GC,555,-0.84,-146.6,2810,3492,3374,3324,76.4,-12.7,102,561,0.00,2.33,0.00,0.000,1030,0.000,0.067,2810,2096,3348,3374,3323,0,0,0,0,0,0,28.83,14.92,28.83
$GC,682,-0.84,-146.6,2810,2095,3374,3323,92.5,-12.7,127,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2095,3348,3374,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,809,-0.84,-146.6,2810,2095,3374,3323,108.2,-12.4,152,816,0.00,2.47,0.00,0.000,260,0.000,0.102,2801,3501,3348,3373,3323,0,0,0,0,0,0,28.83,14.90,28.83
$GC,862,-0.84,-146.6,2801,3501,3374,3323,115.2,-13.2,162,870,0.12,2.35,0.00,0.000,3078,0.306,0.067,2828,2098,3348,3374,3323,0,0,0,0,0,0,14.80,14.92,28.83
$GC,996,-0.84,-146.6,2828,2095,3374,3323,131.3,-12.1,179,1002,0.00,2.45,0.00,0.000,260,0.000,0.104,2827,3492,3348,3374,3323,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1042,-0.84,-146.6,2826,3492,3374,3323,136.2,-11.6,183,1049,0.00,2.33,0.00,0.000,1030,0.000,0.068,2827,2092,3348,3374,3323,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1228,-0.84,-146.6,2827,2088,3374,3323,158.5,-10.8,202,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2089,3348,3374,3323,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1408,begin apogee
$GC,1411,-0.22,0.0,2826,2028,3374,3323,180.2,-11.4,220,1570,0.70,0.00,153.73,0.904,10246,0.268,0.000,3019,2028,2748,2807,2690,0,0,0,0,0,0,14.85,28.83,14.05
$STATE,1571,end apogee,CONTROL_FINISHED_OK
$STATE,1571,begin climb
$GC,1573,0.84,146.6,3023,2028,2801,2686,185.0,0.0,236,1690,1.12,2.50,107.43,0.943,10756,0.200,0.090,3367,629,2144,2206,2082,0,0,0,0,0,0,14.34,14.27,13.91
$GC,1712,0.84,146.6,3367,628,2200,2080,175.9,9.7,250,1717,0.00,2.42,0.00,0.000,1030,0.000,0.072,3367,2020,2140,2200,2080,0,0,0,0,0,0,28.83,14.38,28.83
$GC,1904,0.84,146.6,3367,2020,2199,2079,154.5,11.7,269,1909,0.00,2.47,0.00,0.000,260,0.000,0.098,3368,3432,2139,2199,2079,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1959,0.84,146.6,3367,3432,2200,2079,148.5,11.8,274,1966,0.00,2.38,0.00,0.000,1030,0.000,0.068,3377,2032,2139,2200,2079,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2145,0.84,146.6,3377,2031,2199,2079,127.7,10.2,293,2151,0.00,2.40,0.00,0.000,516,0.000,0.093,3389,622,2139,2200,2079,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2207,0.84,146.6,3388,622,2200,2079,120.9,11.2,299,2212,0.00,2.38,0.00,0.000,1030,0.000,0.073,3387,2031,2139,2200,2078,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2393,0.84,146.6,3388,2031,2199,2079,101.6,10.0,335,2400,0.00,2.45,0.00,0.000,260,0.000,0.097,3387,3443,2139,2199,2079,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2441,0.84,146.6,3388,3443,2199,2078,96.1,11.7,344,2448,0.00,2.38,0.00,0.000,1030,0.000,0.069,3398,2023,2139,2199,2079,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2569,0.84,146.6,3398,2022,2199,2078,81.3,11.6,369,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2022,2138,2197,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2696,0.84,146.6,3398,2021,2199,2078,66.7,11.7,394,2702,0.00,2.35,0.00,0.000,516,0.000,0.093,3409,628,2139,2199,2079,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2714,0.84,146.6,3409,628,2198,2079,64.7,11.3,397,2721,0.12,2.35,0.00,0.000,5126,0.328,0.072,3384,2031,2138,2198,2079,0,0,0,0,0,0,14.76,14.90,28.83
$GC,2842,0.84,146.6,3384,2031,2199,2079,50.8,11.1,422,2849,0.00,2.42,0.00,0.000,260,0.000,0.098,3384,3441,2138,2198,2079,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2950,0.84,146.6,3383,3441,2198,2079,39.4,10.5,443,2957,0.00,2.35,0.00,0.000,1030,0.000,0.070,3394,2028,2138,2198,2079,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3019,0.84,146.6,3393,2027,2198,2079,33.0,9.0,456,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2027,2138,2198,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3086,0.84,146.6,3394,2027,2198,2079,27.2,8.2,469,3093,0.00,2.35,0.00,0.000,516,0.000,0.093,3404,631,2138,2198,2079,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3114,0.84,146.6,3404,631,2199,2079,24.8,8.7,474,3121,0.00,2.35,0.00,0.000,1030,0.000,0.074,3405,2032,2138,2198,2079,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3183,0.85,150.3,3404,2034,2198,2079,19.1,7.9,487,3189,0.00,2.42,0.00,0.000,260,0.000,0.100,3404,3438,2138,2198,2078,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3271,0.85,150.3,3405,3437,2197,2079,11.3,8.3,504,3278,0.15,2.35,0.00,0.000,5126,0.330,0.068,3384,2030,2137,2197,2078,0,0,0,0,0,0,14.79,14.94,28.83
$GC,3340,0.95,234.5,3383,2028,2197,2079,6.8,4.9,517,3385,0.00,2.47,39.25,0.099,8708,0.000,0.093,3394,615,1793,1859,1728,0,0,0,0,0,0,28.83,14.89,14.90
$STATE,3401,end climb,SURFACE_DEPTH_REACHED
$STATE,3401,begin surface coast
$FINISH,0.5,1.016883
$STATE,3422,end surface coast,CONTROL_FINISHED_OK
$STATE,3422,begin surface
$SM_CCo,3440,149.43,0.086,0,0,500,551.68
$SM_GC,1.29,9.38,2.55,149.43,0.119,0.071,0.086,210,2110,500,-9.01,-0.76,551.68,0,0,0,0,0,0,14.88,14.91,14.85
$IRIDIUM_FIX,4726.11,-12225.08,230414,212141
$TT8_MAMPS,0.036701,0.036701
$HUMID,30.42
$INTERNAL_PRESSURE,8.89449
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,145.9,49.2
$SC_FREEKB,4017824
$24V_AH,13.9,0.747
$10V_AH,13.9,0.292
$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,23.975,62.575,300.400,149.425,0.000,173.923,68.374,4.083,2.250,0.000,5.955,1206.682,1213.281,530.881,1192.796,39.851,33.245,1055.438,0.000,874.768,0.000,19.292,0.000
$DEVICE_MAMPS,444.465,190.485,943.245,85.680,0.000,18.360,160.000,223.000,420.000,0.000,19.470,21.700,2.190,21.700,40.430,53.160,56.900,15.000,0.000,0.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3417.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.025,0.000,0.000,0.000
$MEM,322968
$DATA_FILE_SIZE,13412,532
$CAP_FILE_SIZE,96857,0
$CFSIZE,1024409600,1021689856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230414,234732,4744.333,-12224.618,3,1.2,3,16.3