version: 66.12
glider: 217
mission: 1
dive: 9
start: 4 24 114 1 9 20
data:
$ID,217
$MISSION,1
$DIVE,9
$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,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,-275.15881
$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,36
$R_STBD_OVSHOOT,22
$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
$GPS1,240414,005712,4744.479,-12224.563,3,1.0,4,16.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-76.5
$GPS2,240414,010825,4744.617,-12224.546,5,1.3,5,16.3
$SPEED_LIMITS,0.080,0.183
$TGT_NAME,SW
$TGT_LATLONG,4742.800,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.046,-0.177
$KALMAN_X,255.2,-343.8,263.2,330.2,221.3
$KALMAN_Y,2579.2,-745.1,442.1,1165.4,1082.3
$MHEAD_RNG_PITCHd_Wd,178.2,3371,-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,-78.2,208,2198,1607,1537,0.0,0.0,0,79,0.00,0.00,-55.33,0.000,16390,0.000,0.000,209,2198,3067,3078,3056,0,0,0,0,0,0,28.83,28.83,15.09
$GC,80,-1.04,-78.2,209,2198,3079,3056,3.8,-9.0,11,99,12.27,2.47,0.00,0.000,2308,0.451,0.097,2759,3616,3068,3083,3054,0,0,0,0,0,0,14.66,14.83,28.83
$GC,110,-1.04,-78.2,2759,3615,3086,3049,14.2,-33.5,16,117,0.00,2.38,0.00,0.000,1030,0.000,0.067,2760,2197,3067,3088,3047,0,0,0,0,0,0,28.83,14.87,28.83
$GC,178,-1.04,-78.2,2759,2194,3090,3049,26.4,-15.6,29,184,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2193,3068,3089,3047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,246,-1.04,-78.2,2759,2194,3089,3047,37.2,-16.8,42,251,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2194,3068,3090,3047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,312,-1.04,-78.2,2760,2194,3090,3047,47.1,-14.8,55,318,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2194,3068,3090,3046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,379,-1.04,-78.2,2759,2193,3090,3047,57.1,-15.3,68,385,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2194,3068,3090,3047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,506,-1.04,-78.2,2759,2193,3091,3046,75.4,-14.6,93,513,0.00,2.50,0.00,0.000,260,0.000,0.105,2759,3615,3068,3090,3046,0,0,0,0,0,0,28.83,14.88,28.83
$GC,588,-1.04,-78.2,2760,3614,3090,3046,86.7,-13.8,109,595,0.00,2.35,0.00,0.000,1030,0.000,0.067,2760,2196,3068,3090,3046,0,0,0,0,0,0,28.83,14.92,28.83
$GC,716,-1.04,-78.2,2760,2193,3091,3046,102.5,-13.0,134,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2193,3068,3091,3046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,844,-1.04,-78.2,2759,2194,3091,3046,120.2,-15.2,159,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2194,3068,3091,3046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1023,-1.04,-78.2,2760,2194,3091,3047,143.7,-13.1,177,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2194,3068,3091,3046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1203,-1.04,-78.2,2759,2194,3091,3046,167.1,-14.1,195,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2194,3068,3091,3046,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1293,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1293,begin apogee
$GC,1297,-0.22,0.0,2760,1993,3091,3046,177.9,-11.5,204,1364,0.98,0.00,58.38,1.004,10246,0.290,0.000,3024,1991,2743,2792,2694,0,0,0,0,0,0,14.82,28.83,14.26
$STATE,1365,end apogee,CONTROL_FINISHED_OK
$STATE,1366,begin climb
$GC,1367,1.04,78.2,3024,1991,2790,2693,180.9,0.0,211,1428,1.30,0.00,56.75,0.972,10758,0.194,0.000,3421,1991,2429,2484,2375,0,0,0,0,0,0,14.61,28.83,14.07
$GC,1604,1.04,78.2,3420,1991,2472,2365,160.2,10.0,235,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,1991,2418,2472,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1784,1.04,78.2,3420,1992,2472,2365,142.8,9.5,253,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1991,2418,2472,2365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1964,1.04,78.2,3420,1991,2472,2365,126.3,8.3,271,1970,0.00,2.50,0.00,0.000,260,0.000,0.098,3421,3415,2418,2472,2365,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2006,1.04,78.2,3420,3416,2472,2365,122.3,9.4,275,2012,0.00,2.38,0.00,0.000,1030,0.000,0.067,3431,1997,2418,2472,2364,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2193,1.04,78.2,3432,1996,2472,2365,105.1,9.2,309,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1995,2418,2472,2365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2320,1.04,78.2,3431,1995,2472,2365,92.7,10.4,334,2327,0.00,2.45,0.00,0.000,260,0.000,0.098,3431,3412,2418,2472,2365,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2373,1.04,78.2,3431,3412,2472,2365,87.2,10.4,344,2380,0.00,2.38,0.00,0.000,1030,0.000,0.068,3443,1988,2418,2472,2365,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2502,1.05,81.8,3443,1987,2472,2365,75.9,7.8,369,2508,0.00,2.38,0.00,0.000,516,0.000,0.092,3454,593,2418,2472,2365,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2555,1.05,81.8,3454,593,2472,2364,71.7,8.1,379,2561,0.00,2.38,0.00,0.000,1030,0.000,0.072,3454,2008,2418,2472,2365,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2683,1.07,94.8,3454,2008,2471,2365,62.0,7.1,404,2702,0.00,2.47,13.05,0.851,8452,0.000,0.095,3453,3409,2354,2410,2299,0,0,0,0,0,0,28.83,14.85,14.50
$GC,2803,1.07,94.8,3453,3409,2406,2295,50.7,10.3,427,2810,0.00,2.35,0.00,0.000,1030,0.000,0.068,3464,2002,2350,2406,2295,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2931,1.07,94.8,3464,2001,2406,2295,39.6,8.1,452,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2001,2350,2405,2295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2998,1.07,94.8,3464,2001,2406,2295,34.1,8.3,465,3005,0.00,2.38,0.00,0.000,516,0.000,0.091,3480,593,2353,2412,2295,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3046,1.07,94.8,3475,593,2405,2295,30.1,8.8,474,3053,0.00,2.38,0.00,0.000,1030,0.000,0.071,3475,2015,2350,2406,2294,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3115,1.08,101.0,3475,2014,2406,2295,24.6,7.6,487,3122,0.00,2.40,1.45,0.093,8452,0.000,0.093,3474,3405,2340,2397,2284,0,0,0,0,0,0,28.83,14.88,14.88
$GC,3259,1.10,114.1,3476,3405,2405,2295,13.1,7.1,515,3272,0.00,2.35,7.85,0.122,9222,0.000,0.067,3486,1995,2284,2342,2226,0,0,0,0,0,0,28.83,14.91,14.88
$GC,3334,1.11,126.3,3486,1997,2356,2239,8.0,7.2,529,3346,0.00,2.45,7.15,0.106,8708,0.000,0.092,3498,592,2235,2295,2176,0,0,0,0,0,0,28.83,14.89,14.88
$GC,3403,1.19,174.8,3498,592,2307,2184,3.6,4.7,542,3432,0.00,2.35,22.88,0.086,9222,0.000,0.073,3498,2001,2036,2096,1976,0,0,0,0,0,0,28.83,14.92,14.90
$STATE,3437,end climb,SURFACE_DEPTH_REACHED
$STATE,3437,begin surface coast
$FINISH,0.5,1.000615
$STATE,3468,end surface coast,CONTROL_FINISHED_OK
$STATE,3468,begin surface
$SM_CCo,3485,176.23,0.085,0,0,500,551.68
$SM_GC,1.33,9.75,0.32,176.23,0.123,0.108,0.085,207,2207,500,-9.01,-0.90,551.68,0,0,0,0,0,0,14.87,14.90,14.83
$IRIDIUM_FIX,4726.11,-12222.38,240414,010115
$TT8_MAMPS,0.036701,0.036701
$HUMID,30.23
$INTERNAL_PRESSURE,8.89449
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.5,67.0
$SC_FREEKB,4017184
$24V_AH,14.1,0.870
$10V_AH,14.1,0.364
$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,24.300,43.900,167.500,176.225,0.000,180.142,85.567,37.747,0.750,0.000,6.893,1265.555,1333.332,442.753,1251.635,40.296,33.207,928.167,0.000,865.175,0.000,7.194,0.000
$DEVICE_MAMPS,450.585,107.865,1003.680,84.915,0.000,18.360,160.000,223.000,420.000,0.000,19.470,21.700,2.190,21.700,40.430,53.160,56.900,15.000,0.000,0.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3464.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.107,0.000,0.000,0.000
$MEM,322816
$DATA_FILE_SIZE,13422,554
$CAP_FILE_SIZE,98312,0
$CFSIZE,1024409600,1021460480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240414,021135,4744.339,-12224.523,37,0.8,37,16.3