version: 66.12
glider: 217
mission: 1
dive: 12
start: 4 24 114 4 37 40
data:
$ID,217
$MISSION,1
$DIVE,12
$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,-279.01974
$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,40
$R_STBD_OVSHOOT,29
$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
$GPS1,240414,043034,4743.114,-12224.798,37,1.2,37,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-77.1
$GPS2,240414,043645,4743.092,-12224.865,5,0.9,5,16.3
$SPEED_LIMITS,0.080,0.183
$TGT_NAME,SW
$TGT_LATLONG,4742.800,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.080,-0.007
$KALMAN_X,78.8,59.1,42.2,-69.9,-118.5
$KALMAN_Y,1533.7,160.1,165.7,-1241.4,-514.4
$MHEAD_RNG_PITCHd_Wd,79.0,580,-43.3,-8.000,-45.00,359
$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,-1.95,-18.8,214,2205,1603,1538,0.0,0.0,0,68,0.00,0.00,-47.15,0.000,16390,0.000,0.000,214,2206,2825,2841,2810,0,0,0,0,0,0,28.83,28.83,14.96
$GC,70,-1.99,-40.9,214,2206,2842,2811,2.3,-1.7,9,89,10.88,2.53,-2.25,0.000,18692,0.448,0.122,2460,3610,2916,2941,2892,0,0,0,0,0,0,14.54,14.72,14.92
$GC,311,-1.99,-40.9,2460,3610,2941,2893,57.8,-21.6,56,317,0.00,2.35,0.00,0.000,1030,0.000,0.064,2465,2198,2917,2941,2893,0,0,0,0,0,0,28.83,14.82,28.83
$GC,439,-1.99,-40.9,2464,2195,2941,2893,81.8,-18.8,81,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2195,2917,2942,2892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,566,-1.99,-40.9,2465,2195,2941,2892,105.0,-17.4,106,572,0.00,2.47,0.00,0.000,260,0.000,0.099,2456,3606,2916,2940,2893,0,0,0,0,0,0,28.83,14.84,28.83
$GC,699,-1.99,-40.9,2456,3606,2942,2893,129.2,-18.3,128,704,0.00,2.33,0.00,0.000,1030,0.000,0.064,2457,2200,2916,2941,2892,0,0,0,0,0,0,28.83,14.90,28.83
$GC,891,-1.99,-40.9,2456,2196,2942,2892,160.9,-16.3,147,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2197,2917,2942,2892,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1000,begin apogee
$GC,1003,-0.22,0.0,2456,1995,2942,2892,180.6,-17.9,158,1055,2.25,0.00,43.88,0.945,10246,0.356,0.000,3023,1992,2744,2790,2698,0,0,0,0,0,0,14.74,28.83,14.33
$STATE,1057,end apogee,CONTROL_FINISHED_OK
$STATE,1057,begin climb
$GC,1058,1.99,40.9,3023,1993,2789,2697,183.8,0.0,163,1094,2.28,0.00,30.65,0.976,10246,0.194,0.000,3728,1993,2581,2627,2535,0,0,0,0,0,0,14.64,28.83,14.19
$GC,1271,1.99,40.9,3727,1993,2618,2525,162.3,10.5,185,1276,0.00,2.47,0.00,0.000,260,0.000,0.093,3728,3408,2572,2619,2526,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1352,1.99,40.9,3728,3408,2618,2526,152.8,11.6,193,1357,0.00,2.35,0.00,0.000,1030,0.000,0.067,3734,2002,2571,2617,2526,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1544,1.99,40.9,3738,2000,2618,2526,133.0,10.4,212,1549,0.00,2.40,0.00,0.000,516,0.000,0.087,3749,590,2571,2617,2526,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1589,1.99,40.9,3750,590,2617,2526,128.3,11.0,216,1596,0.00,2.38,0.00,0.000,1030,0.000,0.071,3749,2004,2571,2617,2526,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1776,1.99,40.9,3749,2004,2617,2526,108.4,9.9,246,1782,0.00,2.40,0.00,0.000,260,0.000,0.093,3749,3406,2571,2617,2526,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1834,1.99,40.9,3749,3406,2617,2526,102.6,9.5,257,1840,0.00,2.35,0.00,0.000,1030,0.000,0.065,3761,1998,2572,2618,2526,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1962,1.99,40.9,3761,1998,2617,2526,91.3,8.2,282,1968,0.00,2.42,0.00,0.000,260,0.000,0.092,3761,3406,2571,2617,2525,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1990,1.99,40.9,3761,3405,2617,2526,88.9,8.7,287,1996,0.00,2.35,0.00,0.000,1030,0.000,0.066,3772,2005,2572,2618,2526,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2118,2.00,47.4,3772,2003,2617,2529,79.2,6.2,312,2126,0.00,2.47,1.67,0.105,8452,0.000,0.090,3772,3407,2560,2607,2513,0,0,0,0,0,0,28.83,14.88,14.83
$GC,2212,2.00,47.4,3772,3407,2617,2525,71.7,8.2,330,2220,0.17,2.35,1.67,0.103,13318,0.439,0.066,3751,1997,2557,2605,2510,0,0,0,0,0,0,14.70,14.91,14.85
$GC,2342,2.00,51.8,3752,1997,2619,2521,62.8,6.7,355,2359,0.00,2.40,8.95,0.851,8708,0.000,0.086,3763,601,2529,2573,2485,0,0,0,0,0,0,28.83,14.86,14.49
$GC,2841,2.03,70.4,3762,601,2570,2484,39.1,2.7,454,2865,0.00,2.35,14.43,0.845,9222,0.000,0.071,3762,2017,2453,2500,2406,0,0,0,0,0,0,28.83,14.91,14.49
$GC,2926,2.04,73.5,3762,2017,2497,2403,34.9,7.1,470,2933,0.00,2.38,0.00,0.000,260,0.000,0.093,3762,3396,2449,2496,2403,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2945,2.04,73.5,3763,3396,2497,2403,33.3,8.8,473,2951,0.00,2.35,0.00,0.000,1030,0.000,0.065,3773,1996,2451,2497,2406,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3013,2.04,73.5,3774,1996,2497,2403,27.4,8.1,486,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,3773,1996,2450,2497,2403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3080,2.04,74.0,3774,1995,2496,2403,22.2,7.9,499,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,3774,1996,2449,2496,2403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3148,2.05,82.1,3774,1995,2497,2403,17.8,5.7,512,3160,0.00,2.42,4.25,0.135,8708,0.000,0.088,3784,593,2421,2471,2371,0,0,0,0,0,0,28.83,14.87,14.83
$GC,3172,2.06,92.0,3784,593,2476,2375,16.5,5.2,516,3185,0.00,2.33,6.47,0.135,9222,0.000,0.069,3785,1993,2375,2425,2325,0,0,0,0,0,0,28.83,14.88,14.83
$GC,3246,2.06,92.0,3784,1993,2438,2336,10.9,9.3,530,3254,0.00,2.50,1.50,0.099,8452,0.000,0.093,3785,3410,2377,2427,2327,0,0,0,0,0,0,28.83,14.86,14.85
$GC,3280,2.06,92.0,3785,3410,2432,2338,7.1,12.0,536,3287,0.00,2.38,1.35,0.096,9222,0.000,0.069,3795,2004,2375,2425,2326,0,0,0,0,0,0,28.83,14.88,14.85
$STATE,3312,end climb,SURFACE_DEPTH_REACHED
$STATE,3313,begin surface coast
$FINISH,0.7,1.021065
$STATE,3324,end surface coast,CONTROL_FINISHED_OK
$STATE,3324,begin surface
$SM_CCo,3343,91.72,0.088,0,0,1565,290.19
$SM_GC,1.14,11.50,0.32,91.72,0.188,0.109,0.088,213,2195,1565,-9.01,-1.19,290.19,0,0,0,0,0,0,14.83,14.88,14.84
$IRIDIUM_FIX,4726.11,-12229.50,240414,030349
$TT8_MAMPS,0.036701,0.036701
$HUMID,31.29
$INTERNAL_PRESSURE,8.98238
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.8,54.4
$SC_FREEKB,4016224
$24V_AH,14.2,1.054
$10V_AH,13.4,0.469
$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,27.075,53.350,114.825,91.725,0.000,23.342,42.595,210.528,1.500,0.000,5.889,1275.378,983.713,320.578,1197.265,41.946,33.208,784.597,0.000,862.476,0.000,11.926,0.000
$DEVICE_MAMPS,447.525,121.635,976.140,87.975,0.000,18.360,160.000,223.000,420.000,0.000,19.470,21.700,2.190,21.700,40.430,53.160,56.900,15.000,0.000,0.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3324.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.207,0.000,0.000,0.000
$MEM,322820
$DATA_FILE_SIZE,13403,544
$CAP_FILE_SIZE,94856,0
$CFSIZE,1024409600,1021378560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240414,053534,4742.694,-12224.979,3,0.9,3,16.3