version: 66.12
glider: 217
mission: 1
dive: 14
start: 4 24 114 6 54 47
data:
$ID,217
$MISSION,1
$DIVE,14
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,-281.52698
$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,31
$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
$GPS1,240414,064309,4742.520,-12225.163,3,1.1,4,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-74.8
$GPS2,240414,065351,4742.530,-12225.341,4,1.0,5,16.3
$SPEED_LIMITS,0.139,0.220
$TGT_NAME,SW
$TGT_LATLONG,4742.800,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.191,0.108
$KALMAN_X,-1577.6,323.9,-312.3,1089.8,-746.8
$KALMAN_Y,978.3,189.7,-977.2,-609.6,-414.9
$MHEAD_RNG_PITCHd_Wd,44.2,942,-16.8,-8.000,-20.01,2232
$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,-0.92,-117.3,209,2197,1603,1538,0.0,0.0,0,79,0.00,0.00,-60.38,0.000,16386,0.000,0.000,210,2197,3202,3211,3194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.92,-117.3,209,2197,3211,3194,3.3,-6.5,11,101,12.32,2.55,-0.50,0.000,18692,0.439,0.122,2784,3606,3229,3248,3211,0,0,0,0,0,0,14.54,14.71,14.88
$GC,272,-0.92,-117.3,2784,3605,3249,3210,43.0,-17.1,48,279,0.00,2.38,0.00,0.000,1030,0.000,0.067,2783,2191,3229,3249,3209,0,0,0,0,0,0,28.83,14.80,28.83
$GC,341,-0.92,-117.3,2784,2188,3249,3209,54.1,-15.7,61,347,0.00,2.50,0.00,0.000,260,0.000,0.103,2775,3603,3230,3250,3210,0,0,0,0,0,0,28.83,14.78,28.83
$GC,453,-0.92,-117.3,2775,3603,3250,3209,71.8,-16.3,83,460,0.12,2.35,0.00,0.000,3078,0.317,0.066,2802,2195,3228,3248,3209,0,0,0,0,0,0,14.72,14.85,28.83
$GC,582,-0.92,-117.3,2802,2193,3250,3209,90.1,-13.9,108,588,0.00,2.38,0.00,0.000,516,0.000,0.087,2802,799,3228,3250,3207,0,0,0,0,0,0,28.83,14.83,28.83
$GC,675,-0.92,-117.3,2802,799,3250,3208,103.6,-14.5,126,681,0.00,2.38,0.00,0.000,1030,0.000,0.078,2800,2200,3229,3251,3208,0,0,0,0,0,0,28.83,14.86,28.83
$GC,808,-0.92,-117.3,2800,2200,3251,3208,121.9,-13.3,151,813,0.00,2.40,0.00,0.000,516,0.000,0.086,2800,795,3229,3251,3207,0,0,0,0,0,0,28.83,14.88,28.83
$GC,849,-0.92,-117.3,2799,795,3251,3208,127.9,-14.2,155,855,0.00,2.40,0.00,0.000,1030,0.000,0.080,2800,2210,3229,3251,3208,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1041,-0.92,-117.3,2801,2213,3251,3208,152.7,-11.5,174,1046,0.00,2.45,0.00,0.000,260,0.000,0.106,2797,3612,3229,3252,3206,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1135,-0.92,-117.3,2797,3613,3251,3207,163.7,-11.2,183,1140,0.00,2.35,0.00,0.000,1030,0.000,0.066,2797,2196,3229,3251,3207,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,1268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1268,begin apogee
$GC,1272,-0.22,0.0,2797,1994,3252,3208,181.1,-12.8,196,1368,0.82,0.00,86.35,1.000,10246,0.275,0.000,3025,1991,2742,2795,2690,0,0,0,0,0,0,14.81,28.83,14.14
$STATE,1369,end apogee,CONTROL_FINISHED_OK
$STATE,1369,begin climb
$GC,1370,0.92,117.3,3026,1991,2792,2688,186.0,0.0,206,1468,1.17,2.58,85.07,0.964,10500,0.197,0.094,3379,3405,2261,2323,2199,0,0,0,0,0,0,14.46,14.30,13.94
$GC,1493,0.92,117.3,3379,3405,2321,2195,179.2,8.7,218,1500,0.00,2.42,0.00,0.000,1030,0.000,0.067,3390,2005,2258,2321,2195,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1680,0.92,117.3,3389,2003,2320,2195,158.9,11.5,237,1685,0.00,2.45,0.00,0.000,516,0.000,0.092,3401,589,2257,2320,2195,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1765,0.92,117.3,3401,589,2319,2194,149.1,12.6,245,1772,0.00,2.40,0.00,0.000,1030,0.000,0.073,3401,2002,2256,2318,2195,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1951,0.92,117.3,3400,2004,2318,2195,127.1,11.7,264,1957,0.00,2.45,0.00,0.000,260,0.000,0.096,3401,3409,2257,2318,2196,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1997,0.92,117.3,3401,3410,2319,2195,122.3,11.7,268,2004,0.00,2.38,0.00,0.000,1030,0.000,0.066,3411,1989,2256,2318,2195,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2184,0.92,117.3,3411,1989,2315,2195,101.0,12.5,303,2190,0.00,2.35,0.00,0.000,516,0.000,0.092,3421,601,2256,2318,2194,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2257,0.92,117.3,3422,601,2317,2195,91.6,13.4,317,2263,0.00,2.35,0.00,0.000,1030,0.000,0.072,3422,2004,2256,2318,2195,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2385,0.92,117.3,3422,2004,2317,2195,74.3,14.1,342,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2004,2256,2317,2195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2512,0.92,117.3,3422,2004,2317,2195,56.7,12.9,367,2518,0.00,2.40,0.00,0.000,260,0.000,0.096,3422,3408,2256,2317,2195,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2650,0.92,117.3,3422,3408,2317,2196,41.5,8.4,394,2656,0.00,2.35,0.00,0.000,1030,0.000,0.067,3430,1996,2256,2317,2195,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2718,0.97,148.1,3430,1996,2317,2195,36.6,6.6,407,2747,0.00,2.38,22.42,0.819,8708,0.000,0.090,3442,602,2135,2193,2078,0,0,0,0,0,0,28.83,14.80,14.47
$GC,2829,1.00,171.7,3442,602,2185,2077,28.2,6.9,428,2852,0.00,2.35,17.60,0.798,9222,0.000,0.072,3441,1999,2043,2103,1984,0,0,0,0,0,0,28.83,14.83,14.42
$GC,2914,1.00,171.7,3442,2000,2095,1975,20.9,8.0,444,2919,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1999,2035,2095,1975,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2981,1.00,171.7,3440,1999,2096,1974,13.9,11.5,457,2987,0.00,2.42,0.00,0.000,260,0.000,0.098,3442,3403,2034,2094,1974,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,3093,end climb,SURFACE_DEPTH_REACHED
$STATE,3093,begin surface coast
$FINISH,0.3,1.021783
$STATE,3109,end surface coast,CONTROL_FINISHED_OK
$STATE,3109,begin surface
$SM_CCo,3127,52.85,0.087,0,0,1566,290.19
$SM_GC,1.44,9.45,2.05,52.85,0.106,0.067,0.087,211,2196,1566,-9.01,1.27,290.19,0,0,0,0,0,0,14.81,14.85,14.81
$IRIDIUM_FIX,4726.11,-12232.20,240414,060645
$TT8_MAMPS,0.035952,0.035952
$HUMID,31.09
$INTERNAL_PRESSURE,8.98238
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,181.1,21.0
$SC_FREEKB,4015584
$24V_AH,13.9,1.211
$10V_AH,14.0,0.536
$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,23.900,57.750,211.450,52.850,0.000,75.174,117.547,226.448,4.000,0.000,6.877,1127.640,1016.985,348.990,1298.059,43.634,33.211,812.532,0.000,806.271,0.000,30.175,0.000
$DEVICE_MAMPS,439.110,121.635,999.855,87.210,0.000,18.360,160.000,223.000,420.000,0.000,19.470,21.700,2.190,21.700,40.430,53.160,56.900,15.000,0.000,0.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3105.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.049,0.000,0.000,0.000
$MEM,322764
$DATA_FILE_SIZE,13404,482
$CAP_FILE_SIZE,89032,0
$CFSIZE,1024409600,1021181952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240414,074827,4742.380,-12225.341,3,0.9,4,16.3