version: 66.12
glider: 217
mission: 1
dive: 8
start: 4 23 114 23 58 6
data:
$ID,217
$MISSION,1
$DIVE,8
$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,80
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,-273.9025
$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,2200
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,42
$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,0.0015
$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
$GPS1,230414,234732,4744.333,-12224.618,3,1.2,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-73.7
$GPS2,230414,235710,4744.509,-12224.592,4,1.2,4,16.3
$SPEED_LIMITS,0.080,0.183
$TGT_NAME,SW
$TGT_LATLONG,4742.800,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.050,-0.176
$KALMAN_X,100.0,-381.9,173.9,554.4,238.6
$KALMAN_Y,2041.1,-961.6,196.9,1955.9,1127.5
$MHEAD_RNG_PITCHd_Wd,179.5,3168,-20.8,-8.000,-23.67,1492
$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,-1.04,-78.2,209,2208,549,460,0.0,0.0,0,116,0.00,0.00,-92.82,0.000,16390,0.000,0.000,209,2208,3068,3081,3055,0,0,0,0,0,0,28.83,28.83,14.93
$GC,118,-1.04,-78.2,209,2208,3081,3054,3.7,-8.5,18,136,12.38,2.42,0.00,0.000,2308,0.446,0.093,2759,3599,3067,3083,3052,0,0,0,0,0,0,14.52,14.70,28.83
$GC,142,-1.04,-78.2,2760,3598,3086,3049,12.9,-33.1,22,149,0.00,2.38,0.00,0.000,1030,0.000,0.067,2760,2195,3067,3087,3048,0,0,0,0,0,0,28.83,14.71,28.83
$GC,211,-1.04,-78.2,2760,2191,3089,3047,26.0,-17.9,35,216,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2191,3068,3089,3047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,278,-1.04,-78.2,2760,2191,3089,3047,38.5,-19.3,48,284,0.00,2.50,0.00,0.000,260,0.000,0.105,2760,3595,3068,3089,3047,0,0,0,0,0,0,28.83,14.74,28.83
$GC,290,-1.04,-78.2,2760,3595,3089,3047,40.6,-18.0,50,297,0.00,2.35,0.00,0.000,1030,0.000,0.064,2760,2194,3068,3090,3047,0,0,0,0,0,0,28.83,14.78,28.83
$GC,358,-1.04,-78.2,2759,2192,3090,3046,52.5,-16.7,63,364,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2192,3068,3090,3046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,485,-1.04,-78.2,2760,2192,3092,3046,71.6,-15.5,88,492,0.00,2.47,0.00,0.000,260,0.000,0.103,2760,3593,3068,3090,3046,0,0,0,0,0,0,28.83,14.80,28.83
$GC,573,-1.04,-78.2,2758,3592,3090,3045,85.5,-15.4,105,580,0.00,2.33,0.00,0.000,1030,0.000,0.066,2760,2197,3067,3090,3045,0,0,0,0,0,0,28.83,14.86,28.83
$GC,701,-1.04,-78.2,2760,2194,3091,3046,104.1,-14.4,130,708,0.00,2.47,0.00,0.000,260,0.000,0.104,2760,3597,3066,3087,3046,0,0,0,0,0,0,28.83,14.84,28.83
$GC,724,-1.04,-78.2,2760,3597,3091,3046,107.6,-15.5,134,730,0.00,2.33,0.00,0.000,1030,0.000,0.065,2760,2195,3069,3092,3046,0,0,0,0,0,0,28.83,14.87,28.83
$GC,857,-1.04,-78.2,2760,2194,3091,3045,125.1,-12.5,156,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2194,3068,3091,3045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1037,-1.04,-78.2,2760,2192,3091,3045,148.6,-14.0,174,1042,0.00,2.35,0.00,0.000,516,0.000,0.086,2760,804,3068,3091,3045,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1138,-1.04,-78.2,2760,803,3091,3045,162.6,-13.7,184,1144,0.00,2.33,0.00,0.000,1030,0.000,0.077,2760,2186,3068,3091,3045,0,0,0,0,0,0,28.83,14.91,28.83
$STATE,1289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1289,begin apogee
$GC,1293,-0.22,0.0,2760,1994,3091,3045,181.3,-15.0,199,1381,1.00,0.00,82.05,0.917,10246,0.310,0.000,3023,1993,2745,2795,2696,0,0,0,0,0,0,14.78,28.83,14.21
$STATE,1383,end apogee,CONTROL_FINISHED_OK
$STATE,1383,begin climb
$GC,1384,1.04,78.2,3023,1993,2793,2694,184.8,0.0,208,1452,1.30,2.45,57.38,0.959,10756,0.193,0.091,3430,606,2421,2473,2370,0,0,0,0,0,0,14.52,14.39,14.02
$GC,1474,1.05,84.7,3430,607,2469,2369,179.4,7.6,217,1485,0.00,2.42,1.95,0.095,9222,0.000,0.072,3430,2013,2409,2464,2354,0,0,0,0,0,0,28.83,14.47,14.43
$GC,1664,1.05,84.7,3430,2012,2477,2358,162.1,9.5,236,1675,0.00,2.47,1.62,0.094,8452,0.000,0.094,3430,3398,2410,2467,2353,0,0,0,0,0,0,28.83,14.66,14.66
$GC,1731,1.05,84.7,3430,3398,2474,2361,155.4,11.1,242,1738,0.00,2.35,1.67,0.093,9222,0.000,0.067,3441,2004,2403,2459,2347,0,0,0,0,0,0,28.83,14.73,14.69
$GC,1916,1.05,84.7,3441,2003,2477,2358,135.4,11.4,261,1928,0.00,2.42,1.67,0.095,8708,0.000,0.089,3451,594,2409,2469,2350,0,0,0,0,0,0,28.83,14.79,14.76
$GC,2049,1.05,84.7,3451,595,2478,2357,121.1,9.0,274,2060,0.00,2.38,1.55,0.093,9222,0.000,0.073,3451,2005,2409,2469,2350,0,0,0,0,0,0,28.83,14.83,14.79
$GC,2239,1.05,84.7,3451,2006,2477,2357,104.1,10.0,310,2245,0.00,0.00,1.55,0.094,8198,0.000,0.000,3451,2006,2406,2466,2347,0,0,0,0,0,0,28.83,28.83,14.84
$GC,2367,1.05,84.7,3451,2006,2477,2357,91.1,9.3,335,2374,0.00,2.50,1.52,0.095,8452,0.000,0.099,3451,3412,2408,2467,2350,0,0,0,0,0,0,28.83,14.86,14.86
$GC,2426,1.05,84.7,3451,3412,2473,2360,84.8,10.4,346,2434,0.00,2.35,1.58,0.093,9222,0.000,0.069,3462,2000,2404,2461,2347,0,0,0,0,0,0,28.83,14.89,14.86
$GC,2555,1.06,90.9,3462,1999,2476,2357,73.4,7.6,371,2573,0.00,2.40,10.23,0.845,8708,0.000,0.093,3472,590,2370,2425,2316,0,0,0,0,0,0,28.83,14.85,14.48
$GC,2705,1.06,90.9,3472,588,2419,2315,59.0,10.4,400,2711,0.00,2.38,0.00,0.000,1030,0.000,0.074,3472,2003,2367,2419,2315,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2833,1.07,96.8,3472,2002,2419,2315,48.4,7.6,425,2840,0.00,2.47,1.48,0.093,8452,0.000,0.096,3473,3404,2357,2413,2301,0,0,0,0,0,0,28.83,14.87,14.87
$GC,3212,1.11,120.9,3473,3404,2421,2312,16.9,6.3,500,3235,0.00,2.33,13.62,0.139,9222,0.000,0.068,3484,1999,2259,2319,2199,0,0,0,0,0,0,28.83,14.92,14.85
$GC,3296,1.18,171.9,3483,1999,2331,2209,12.8,4.5,516,3330,0.00,2.40,26.40,0.122,8708,0.000,0.094,3494,593,2052,2112,1992,0,0,0,0,0,0,28.83,14.88,14.85
$STATE,3415,end climb,SURFACE_DEPTH_REACHED
$STATE,3415,begin surface coast
$FINISH,0.6,1.012969
$STATE,3431,end surface coast,CONTROL_FINISHED_OK
$STATE,3431,begin surface
$SM_CCo,3451,55.33,0.084,0,0,1566,290.19
$SM_GC,1.32,9.70,2.78,55.33,0.120,0.079,0.084,209,2194,1566,-9.01,-0.90,290.19,0,0,0,0,0,0,14.88,14.89,14.88
$IRIDIUM_FIX,4726.11,-12225.08,230414,212141
$TT8_MAMPS,0.035952,0.035952
$HUMID,32.24
$INTERNAL_PRESSURE,8.99215
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.2,62.8
$SC_FREEKB,4017504
$24V_AH,14.0,0.820
$10V_AH,14.1,0.328
$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,24.375,58.450,204.275,55.325,0.000,25.177,41.973,413.665,1.250,0.000,5.921,1247.586,986.343,383.709,1432.607,47.323,33.253,891.735,0.000,893.240,0.000,10.362,0.000
$DEVICE_MAMPS,445.995,141.525,959.310,84.150,0.000,18.360,160.000,223.000,420.000,0.000,19.470,21.700,2.190,21.700,40.430,53.160,56.900,15.000,0.000,0.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3428.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.030,0.000,0.000,0.000
$MEM,322872
$DATA_FILE_SIZE,13402,542
$CAP_FILE_SIZE,99257,0
$CFSIZE,1024409600,1021755392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240414,005712,4744.479,-12224.563,3,1.0,4,16.3