version: 66.12
glider: 217
mission: 1
dive: 11
start: 4 24 114 3 32 54
data:
$ID,217
$MISSION,1
$DIVE,11
$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,-277.7616
$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,35
$R_STBD_OVSHOOT,32
$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
$GPS1,240414,032259,4743.808,-12224.567,3,1.5,3,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-75.8
$GPS2,240414,033159,4743.781,-12224.647,4,1.5,4,16.3
$SPEED_LIMITS,0.080,0.183
$TGT_NAME,SW
$TGT_LATLONG,4742.800,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.014,-0.182
$KALMAN_X,276.7,-81.7,197.6,-13.0,21.0
$KALMAN_Y,1546.6,89.3,687.4,-425.6,-284.4
$MHEAD_RNG_PITCHd_Wd,168.0,1818,-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,-78.2,214,2209,1606,1536,0.0,0.0,0,74,0.00,0.00,-54.67,0.000,16386,0.000,0.000,214,2209,3065,3077,3054,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.04,-78.2,214,2209,3077,3054,3.1,-5.8,10,95,12.25,2.45,0.00,0.000,2564,0.443,0.086,2758,800,3065,3082,3048,0,0,0,0,0,0,14.54,14.71,28.83
$GC,181,-1.04,-78.2,2758,800,3086,3046,25.3,-16.2,30,187,0.00,2.40,0.00,0.000,1030,0.000,0.080,2756,2200,3066,3087,3046,0,0,0,0,0,0,28.83,14.74,28.83
$GC,249,-1.04,-78.2,2756,2200,3090,3044,36.4,-15.8,43,254,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2200,3066,3089,3044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,316,-1.04,-78.2,2756,2201,3089,3043,46.3,-13.6,56,323,0.00,2.47,0.00,0.000,260,0.000,0.106,2757,3608,3066,3089,3044,0,0,0,0,0,0,28.83,14.77,28.83
$GC,344,-1.04,-78.2,2756,3608,3088,3043,50.6,-15.4,61,351,0.00,2.38,0.00,0.000,1030,0.000,0.066,2757,2192,3066,3089,3043,0,0,0,0,0,0,28.83,14.82,28.83
$GC,472,-1.04,-78.2,2757,2189,3089,3043,68.9,-14.3,86,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2189,3066,3090,3042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,599,-1.04,-78.2,2756,2189,3090,3043,84.1,-10.2,111,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2189,3066,3090,3043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,726,-1.04,-78.2,2756,2189,3090,3043,99.8,-13.1,136,733,0.00,2.50,0.00,0.000,260,0.000,0.103,2749,3610,3066,3089,3043,0,0,0,0,0,0,28.83,14.85,28.83
$GC,779,-1.04,-78.2,2748,3610,3089,3042,107.1,-14.4,146,785,0.00,2.35,0.00,0.000,1030,0.000,0.066,2748,2196,3066,3090,3043,0,0,0,0,0,0,28.83,14.90,28.83
$GC,912,-1.04,-78.2,2745,2194,3090,3042,124.2,-12.5,169,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2193,3066,3090,3043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1092,-1.04,-78.2,2749,2194,3090,3042,146.8,-14.4,187,1097,0.00,2.50,0.00,0.000,260,0.000,0.104,2747,3615,3066,3090,3042,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1108,-1.04,-78.2,2747,3614,3091,3042,148.3,-14.2,188,1114,0.00,2.35,0.00,0.000,1030,0.000,0.065,2747,2195,3066,3091,3042,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1293,-1.04,-78.2,2747,2194,3090,3042,170.7,-10.9,207,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2194,3066,3090,3042,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1333,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1333,begin apogee
$GC,1336,-0.22,0.0,2747,1994,3090,3042,175.3,-11.5,211,1425,1.02,0.00,82.47,0.918,10246,0.295,0.000,3022,1993,2747,2797,2697,0,0,0,0,0,0,14.79,28.83,14.22
$STATE,1427,end apogee,CONTROL_FINISHED_OK
$STATE,1427,begin climb
$GC,1428,1.04,78.2,3022,1993,2795,2695,178.9,0.0,220,1496,1.33,2.50,57.03,0.959,10756,0.195,0.090,3434,608,2423,2475,2371,0,0,0,0,0,0,14.52,14.35,14.00
$GC,1512,1.07,100.0,3432,608,2471,2371,174.8,6.5,228,1539,0.00,2.42,17.42,0.929,9222,0.000,0.071,3434,2010,2331,2388,2275,0,0,0,0,0,0,28.83,14.45,14.02
$GC,1718,1.07,100.0,3434,2011,2384,2274,152.3,10.9,249,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2011,2329,2384,2274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1898,1.07,100.0,3433,2011,2384,2274,131.4,11.9,267,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2011,2328,2384,2273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2078,1.07,100.0,3434,2011,2384,2274,111.0,11.3,292,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2011,2329,2384,2274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2205,1.07,100.0,3433,2011,2384,2273,96.9,10.7,317,2211,0.00,2.40,0.00,0.000,260,0.000,0.096,3434,3409,2328,2383,2274,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2243,1.07,100.0,3434,3409,2384,2274,92.5,11.2,324,2249,0.00,2.35,0.00,0.000,1030,0.000,0.067,3445,1998,2328,2383,2274,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2371,1.07,100.0,3445,1998,2384,2274,79.1,10.9,349,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1997,2329,2384,2274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2498,1.07,100.0,3444,1998,2384,2274,65.3,11.7,374,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1998,2328,2384,2273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2625,1.08,101.6,3445,1998,2384,2273,54.0,7.9,399,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1998,2328,2384,2273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2752,1.08,101.6,3445,1998,2383,2273,43.2,8.5,424,2758,0.00,2.38,0.00,0.000,516,0.000,0.093,3456,605,2328,2383,2274,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2795,1.08,101.6,3456,602,2383,2274,39.3,9.2,432,2801,0.00,2.35,0.00,0.000,1030,0.000,0.073,3456,2011,2328,2383,2274,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2863,1.08,101.6,3456,2012,2383,2274,33.5,8.2,445,2869,0.00,2.42,0.00,0.000,516,0.000,0.091,3466,606,2328,2383,2274,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2921,1.08,101.6,3466,601,2383,2274,28.6,8.9,456,2928,0.00,2.35,0.00,0.000,1030,0.000,0.070,3466,2002,2328,2383,2273,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2990,1.09,107.6,3466,2002,2383,2274,23.5,7.6,469,2997,0.00,2.47,1.75,0.103,8452,0.000,0.094,3466,3406,2316,2374,2259,0,0,0,0,0,0,28.83,14.90,14.83
$GC,3168,1.09,112.6,3467,3407,2382,2273,8.5,7.7,504,3181,0.00,2.35,4.22,0.106,9222,0.000,0.067,3477,1988,2292,2350,2234,0,0,0,0,0,0,28.83,14.93,14.90
$GC,3243,1.15,153.5,3477,1988,2360,2243,4.2,5.2,518,3271,0.00,2.40,19.73,0.091,8708,0.000,0.091,3488,599,2126,2184,2069,0,0,0,0,0,0,28.83,14.90,14.91
$STATE,3276,end climb,SURFACE_DEPTH_REACHED
$STATE,3277,begin surface coast
$FINISH,0.4,1.021231
$STATE,3302,end surface coast,CONTROL_FINISHED_OK
$STATE,3303,begin surface
$SM_CCo,3322,63.25,0.088,0,0,1566,290.19
$SM_GC,1.37,9.62,2.75,63.25,0.117,0.074,0.088,215,2201,1566,-8.99,-0.90,290.19,0,0,0,0,0,0,14.89,14.91,14.88
$IRIDIUM_FIX,4729.30,-12226.80,240414,030345
$TT8_MAMPS,0.035952,0.035952
$HUMID,31.49
$INTERNAL_PRESSURE,8.99215
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.1,54.6
$SC_FREEKB,4016544
$24V_AH,14.0,1.007
$10V_AH,14.0,0.435
$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,24.225,48.850,182.625,63.250,0.000,48.827,82.950,235.280,1.750,0.000,5.859,1204.357,1059.922,349.218,1267.488,44.271,33.207,824.615,0.000,833.046,0.000,16.130,0.000
$DEVICE_MAMPS,442.935,105.570,959.310,87.975,0.000,18.360,160.000,223.000,420.000,0.000,19.470,21.700,2.190,21.700,40.430,53.160,56.900,15.000,0.000,0.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3299.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.100,0.000,0.000,0.000
$MEM,322760
$DATA_FILE_SIZE,13416,529
$CAP_FILE_SIZE,94950,0
$CFSIZE,1024409600,1021476864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240414,043034,4743.114,-12224.798,37,1.2,37,16.3