version: 66.12
glider: 217
mission: 1
dive: 10
start: 4 24 114 2 21 51
data:
$ID,217
$MISSION,1
$DIVE,10
$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,-276.51151
$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,32
$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,0.0015
$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
$GPS1,240414,021135,4744.339,-12224.523,37,0.8,37,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-73.1
$GPS2,240414,022056,4744.343,-12224.573,4,0.8,4,16.3
$SPEED_LIMITS,0.080,0.183
$TGT_NAME,SW
$TGT_LATLONG,4742.800,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.031,-0.180
$KALMAN_X,282.2,-220.0,283.8,125.7,115.2
$KALMAN_Y,2001.8,-201.5,764.8,376.9,369.7
$MHEAD_RNG_PITCHd_Wd,173.5,2863,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.04,-78.2,204,2211,550,461,0.0,0.0,0,116,0.00,0.00,-92.90,0.000,16390,0.000,0.000,204,2212,3068,3081,3056,0,0,0,0,0,0,28.83,28.83,14.92
$GC,118,-1.04,-78.2,204,2212,3081,3056,3.6,-7.8,18,137,12.40,2.45,0.00,0.000,2564,0.445,0.085,2760,794,3069,3085,3053,0,0,0,0,0,0,14.51,14.69,28.83
$GC,223,-1.04,-78.2,2760,794,3090,3048,27.9,-16.8,38,230,0.00,2.40,0.00,0.000,1030,0.000,0.080,2760,2191,3069,3090,3048,0,0,0,0,0,0,28.83,14.73,28.83
$GC,291,-1.04,-78.2,2760,2192,3090,3046,38.3,-16.0,51,298,0.00,2.50,0.00,0.000,260,0.000,0.106,2759,3611,3069,3092,3046,0,0,0,0,0,0,28.83,14.74,28.83
$GC,339,-1.04,-78.2,2759,3611,3091,3046,45.6,-14.6,60,346,0.00,2.38,0.00,0.000,1030,0.000,0.065,2759,2193,3068,3091,3046,0,0,0,0,0,0,28.83,14.80,28.83
$GC,407,-1.04,-78.2,2759,2190,3092,3046,55.2,-13.5,73,414,0.00,2.38,0.00,0.000,516,0.000,0.086,2759,800,3069,3092,3046,0,0,0,0,0,0,28.83,14.78,28.83
$GC,440,-1.04,-78.2,2759,800,3092,3045,59.8,-14.6,79,447,0.00,2.40,0.00,0.000,1030,0.000,0.077,2765,2211,3068,3092,3045,0,0,0,0,0,0,28.83,14.80,28.83
$GC,568,-1.04,-78.2,2759,2211,3092,3045,77.4,-13.1,104,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2211,3069,3093,3045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,695,-1.04,-78.2,2759,2211,3093,3046,93.9,-12.9,129,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2211,3069,3093,3045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,822,-1.04,-78.2,2759,2211,3093,3045,111.0,-14.1,154,829,0.00,2.45,0.00,0.000,260,0.000,0.106,2756,3611,3069,3093,3045,0,0,0,0,0,0,28.83,14.85,28.83
$GC,850,-1.04,-78.2,2756,3611,3093,3045,114.7,-13.5,159,857,0.00,2.35,0.00,0.000,1030,0.000,0.065,2755,2193,3069,3093,3045,0,0,0,0,0,0,28.83,14.89,28.83
$GC,983,-1.04,-78.2,2755,2191,3093,3045,131.6,-12.3,176,988,0.00,2.47,0.00,0.000,260,0.000,0.101,2748,3605,3069,3093,3045,0,0,0,0,0,0,28.83,14.86,28.83
$GC,994,-1.04,-78.2,2748,3605,3089,3045,133.0,-12.3,177,999,0.00,2.33,0.00,0.000,1030,0.000,0.065,2748,2199,3069,3093,3045,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1186,-1.04,-78.2,2748,2196,3092,3045,158.3,-13.2,196,1191,0.00,2.35,0.00,0.000,516,0.000,0.085,2748,802,3068,3093,3044,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1217,-1.04,-78.2,2748,802,3093,3044,162.7,-13.5,199,1222,0.00,2.38,0.00,0.000,1030,0.000,0.077,2746,2210,3069,3094,3044,0,0,0,0,0,0,28.83,14.90,28.83
$STATE,1348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1348,begin apogee
$GC,1352,-0.22,0.0,2747,1990,3094,3044,180.1,-13.4,212,1440,1.02,0.00,82.62,0.924,10246,0.295,0.000,3023,1988,2745,2795,2696,0,0,0,0,0,0,14.79,28.83,14.21
$STATE,1442,end apogee,CONTROL_FINISHED_OK
$STATE,1442,begin climb
$GC,1443,1.04,78.2,3023,1988,2792,2693,184.1,0.0,221,1511,1.30,2.45,57.20,0.964,10756,0.195,0.092,3428,605,2422,2474,2370,0,0,0,0,0,0,14.51,14.38,14.01
$GC,1563,1.04,78.2,3429,605,2468,2369,176.6,10.1,233,1568,0.00,2.42,0.00,0.000,1030,0.000,0.072,3428,2012,2418,2468,2369,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1755,1.04,78.2,3428,2013,2468,2368,157.6,10.0,252,1760,0.00,2.42,0.00,0.000,260,0.000,0.096,3428,3404,2417,2468,2366,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1836,1.04,78.2,3428,3404,2468,2374,149.2,10.6,260,1842,0.00,2.35,0.00,0.000,1030,0.000,0.067,3439,2008,2416,2468,2364,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2028,1.04,78.2,3439,2008,2468,2367,130.7,8.7,279,2033,0.00,2.40,0.00,0.000,516,0.000,0.090,3451,597,2417,2468,2367,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2130,1.04,78.2,3450,597,2468,2368,120.1,10.8,289,2135,0.00,2.35,0.00,0.000,1030,0.000,0.072,3450,2000,2417,2468,2367,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2316,1.04,78.2,3450,2001,2468,2367,101.1,10.0,325,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2001,2417,2468,2367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2443,1.04,78.2,3450,2001,2468,2367,88.3,9.9,350,2450,0.00,2.40,0.00,0.000,260,0.000,0.097,3450,3403,2417,2468,2366,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2531,1.04,78.2,3449,3400,2468,2366,78.7,11.7,367,2538,0.00,2.35,0.00,0.000,1030,0.000,0.068,3461,1993,2417,2468,2366,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2659,1.04,78.2,3461,1994,2468,2367,66.4,8.6,392,2665,0.00,2.38,0.00,0.000,516,0.000,0.090,3472,585,2417,2468,2366,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2707,1.04,78.2,3472,587,2468,2367,62.6,8.1,401,2714,0.12,2.38,0.00,0.000,5126,0.358,0.073,3449,2008,2417,2468,2366,0,0,0,0,0,0,14.76,14.91,28.83
$GC,2836,1.06,93.5,3449,2008,2468,2366,53.6,6.9,426,2854,0.00,2.47,12.20,0.834,8452,0.000,0.096,3449,3404,2358,2413,2303,0,0,0,0,0,0,28.83,14.85,14.50
$GC,2916,1.06,93.5,3449,3404,2410,2299,47.4,8.0,441,2922,0.00,2.35,0.00,0.000,1030,0.000,0.067,3459,1995,2354,2410,2299,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2984,1.06,93.5,3459,1995,2410,2299,41.6,8.8,454,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1995,2354,2410,2299,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3051,1.06,93.5,3459,1996,2410,2299,36.2,8.1,467,3058,0.00,2.38,0.00,0.000,516,0.000,0.090,3469,593,2354,2410,2298,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3104,1.06,93.5,3470,593,2409,2299,32.0,8.4,477,3111,0.00,2.35,0.00,0.000,1030,0.000,0.073,3470,2001,2353,2408,2299,0,0,0,0,0,0,28.83,14.89,28.83
$GC,3172,1.06,93.5,3470,2001,2409,2299,26.3,8.7,490,3179,0.00,2.40,0.00,0.000,260,0.000,0.096,3470,3408,2354,2409,2299,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3366,1.07,98.1,3469,3408,2410,2298,10.5,7.7,528,3373,0.12,2.35,0.00,0.000,5126,0.376,0.067,3457,1997,2354,2410,2299,0,0,0,0,0,0,14.76,14.92,28.83
$GC,3435,1.16,160.3,3457,1997,2409,2298,7.5,3.7,541,3470,0.00,2.45,29.10,0.104,8708,0.000,0.091,3468,594,2097,2156,2039,0,0,0,0,0,0,28.83,14.88,14.88
$GC,3516,1.20,184.3,3468,594,2167,2046,3.5,6.4,556,3534,0.00,2.38,12.18,0.090,9222,0.000,0.073,3468,2003,1996,2057,1936,0,0,0,0,0,0,28.83,14.90,14.89
$STATE,3539,end climb,SURFACE_DEPTH_REACHED
$STATE,3540,begin surface coast
$FINISH,0.5,1.008658
$STATE,3561,end surface coast,CONTROL_FINISHED_OK
$STATE,3562,begin surface
$SM_CCo,3578,49.45,0.087,0,0,1566,290.19
$SM_GC,2.10,9.62,0.32,49.45,0.121,0.106,0.087,214,2205,1566,-9.00,-0.88,290.19,0,0,0,0,0,0,14.87,14.88,14.87
$IRIDIUM_FIX,4726.11,-12222.38,240414,010115
$TT8_MAMPS,0.035952,0.035952
$HUMID,31.45
$INTERNAL_PRESSURE,8.99215
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.3,76.2
$SC_FREEKB,4016864
$24V_AH,14.0,0.942
$10V_AH,14.0,0.401
$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,24.600,72.525,193.300,49.450,0.000,25.729,38.334,400.700,0.500,0.000,5.991,1303.012,1022.288,380.443,1445.677,50.534,33.203,912.978,0.000,922.260,0.000,5.630,0.000
$DEVICE_MAMPS,445.230,106.335,963.900,87.210,0.000,18.360,160.000,223.000,420.000,0.000,19.470,21.700,2.190,21.700,40.430,53.160,56.900,15.000,0.000,0.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3558.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.095,0.000,0.000,0.000
$MEM,322772
$DATA_FILE_SIZE,13431,564
$CAP_FILE_SIZE,104517,0
$CFSIZE,1024409600,1021558784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240414,032259,4743.808,-12224.567,3,1.5,3,16.3