version: 66.12
glider: 217
mission: 1
dive: 16
start: 4 24 114 9 7 11
data:
$ID,217
$MISSION,1
$DIVE,16
$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,-284.24515
$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,34
$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
$GPS1,240414,085253,4742.402,-12225.237,35,0.9,35,16.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-73.9
$GPS2,240414,090615,4742.524,-12225.313,5,0.9,5,16.3
$SPEED_LIMITS,0.139,0.220
$TGT_NAME,SW
$TGT_LATLONG,4742.800,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.220,-0.008
$KALMAN_X,-3004.2,182.0,-547.0,2915.7,-819.8
$KALMAN_Y,527.7,3.5,-1056.1,87.5,147.3
$MHEAD_RNG_PITCHd_Wd,75.7,919,-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,-117.3,201,2193,1607,1538,0.0,0.0,0,79,0.00,0.00,-60.38,0.000,16386,0.000,0.000,201,2193,3198,3207,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.92,-117.3,200,2193,3207,3191,3.2,-6.0,11,101,12.30,2.58,-0.50,0.000,18692,0.438,0.130,2799,3602,3228,3249,3207,0,0,0,0,0,0,14.57,14.73,14.90
$GC,232,-0.92,-117.3,2799,3602,3249,3206,32.7,-17.3,40,239,0.00,2.35,0.00,0.000,1030,0.000,0.067,2799,2200,3228,3250,3206,0,0,0,0,0,0,28.83,14.81,28.83
$GC,300,-0.92,-117.3,2799,2196,3249,3206,43.9,-14.9,53,306,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2197,3227,3249,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,367,-0.92,-117.3,2800,2198,3249,3206,54.0,-15.3,66,374,0.00,2.50,0.00,0.000,260,0.000,0.106,2799,3602,3227,3249,3206,0,0,0,0,0,0,28.83,14.81,28.83
$GC,485,-0.92,-117.3,2799,3601,3249,3206,70.6,-13.7,89,492,0.00,2.35,0.00,0.000,1030,0.000,0.065,2799,2191,3227,3249,3206,0,0,0,0,0,0,28.83,14.86,28.83
$GC,613,-0.92,-117.3,2799,2188,3249,3206,87.2,-13.2,114,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2187,3227,3249,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,740,-0.92,-117.3,2799,2188,3250,3206,102.5,-11.8,139,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2188,3227,3249,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,867,-0.92,-117.3,2799,2188,3249,3206,116.9,-11.2,164,874,0.00,2.50,0.00,0.000,260,0.000,0.104,2799,3607,3227,3249,3206,0,0,0,0,0,0,28.83,14.88,28.83
$GC,900,-0.92,-117.3,2799,3607,3250,3205,120.7,-11.9,170,905,0.00,2.35,0.00,0.000,1030,0.000,0.065,2799,2192,3228,3250,3206,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1091,-0.92,-117.3,2799,2188,3249,3205,142.6,-12.5,189,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2188,3227,3248,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1271,-0.92,-117.3,2799,2187,3250,3205,162.5,-10.1,207,1277,0.00,2.50,0.00,0.000,260,0.000,0.105,2798,3605,3228,3250,3206,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1310,-0.92,-117.3,2799,3605,3250,3206,166.8,-11.3,210,1317,0.00,2.33,0.00,0.000,1030,0.000,0.065,2799,2198,3228,3250,3206,0,0,0,0,0,0,28.83,14.95,28.83
$STATE,1405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1405,begin apogee
$GC,1409,-0.22,0.0,2799,1995,3250,3206,180.1,-12.7,220,1501,0.80,0.00,86.28,0.995,10246,0.269,0.000,3021,1993,2742,2795,2690,0,0,0,0,0,0,14.83,28.83,14.16
$STATE,1503,end apogee,CONTROL_FINISHED_OK
$STATE,1503,begin climb
$GC,1504,0.92,117.3,3021,1993,2791,2688,184.1,0.0,229,1599,1.20,2.45,84.78,0.955,10756,0.194,0.088,3393,604,2260,2320,2200,0,0,0,0,0,0,14.47,14.31,13.95
$GC,1635,0.92,117.3,3393,604,2311,2200,176.0,9.8,242,1641,0.00,2.42,0.00,0.000,1030,0.000,0.071,3393,1998,2255,2310,2200,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1821,0.92,117.3,3393,2000,2311,2199,155.5,9.1,261,1826,0.00,2.45,0.00,0.000,260,0.000,0.095,3393,3410,2255,2311,2199,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1882,0.92,117.3,3392,3409,2311,2198,148.8,11.2,267,1887,0.00,2.38,0.00,0.000,1030,0.000,0.067,3403,2005,2254,2311,2198,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2074,0.92,117.3,3404,2002,2311,2198,128.6,9.4,286,2079,0.00,2.45,0.00,0.000,260,0.000,0.096,3405,3405,2254,2311,2198,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2096,0.92,117.3,3403,3405,2311,2198,126.3,9.9,288,2101,0.00,2.38,0.00,0.000,1030,0.000,0.067,3416,1988,2254,2311,2198,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2282,0.92,117.3,3414,1989,2311,2198,107.9,9.4,319,2289,0.00,2.40,0.00,0.000,516,0.000,0.092,3425,592,2254,2310,2198,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2321,0.92,117.3,3425,592,2311,2198,103.9,10.9,326,2327,0.00,2.38,0.00,0.000,1030,0.000,0.070,3425,2010,2252,2307,2198,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2448,0.92,117.3,3425,2010,2311,2198,90.5,10.0,351,2455,0.00,2.40,0.00,0.000,260,0.000,0.095,3425,3406,2254,2311,2198,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2476,0.92,117.3,3425,3407,2311,2197,87.4,11.3,356,2483,0.12,2.35,0.00,0.000,5126,0.341,0.067,3408,1999,2254,2311,2197,0,0,0,0,0,0,14.73,14.88,28.83
$GC,2605,0.92,117.3,3410,1999,2311,2197,74.5,8.7,381,2611,0.00,2.38,0.00,0.000,516,0.000,0.092,3424,596,2254,2311,2198,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2648,0.92,117.3,3422,597,2311,2197,70.6,9.1,389,2654,0.00,2.35,0.00,0.000,1030,0.000,0.071,3421,2001,2254,2311,2197,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2776,0.92,117.3,3420,2001,2311,2197,59.1,8.8,414,2782,0.00,2.40,0.00,0.000,260,0.000,0.095,3421,3405,2254,2311,2197,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2914,0.92,117.3,3421,3405,2311,2197,45.6,9.2,441,2920,0.00,2.35,0.00,0.000,1030,0.000,0.068,3431,1987,2254,2311,2197,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2982,0.92,117.3,3431,1987,2311,2197,39.8,8.5,454,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1986,2253,2310,2197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3049,0.92,117.3,3431,1987,2311,2196,34.5,8.0,467,3055,0.12,0.00,0.00,0.000,4102,0.345,0.000,3401,1987,2254,2311,2197,0,0,0,0,0,0,14.78,28.83,28.83
$GC,3117,0.94,128.7,3400,1987,2311,2197,29.5,7.5,480,3129,0.00,0.00,8.45,0.757,8454,0.000,0.000,3401,1986,2219,2279,2159,0,0,0,0,0,0,28.83,28.83,14.53
$GC,3191,0.94,128.7,3401,1987,2272,2154,22.9,9.2,494,3198,0.00,2.45,0.00,0.000,260,0.000,0.096,3401,3406,2213,2272,2154,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3274,0.94,128.7,3401,3406,2272,2154,14.8,10.1,510,3280,0.00,2.33,0.00,0.000,1030,0.000,0.068,3411,2003,2211,2272,2151,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3342,0.94,128.7,3412,2003,2272,2154,8.5,10.0,523,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,3412,2003,2213,2272,2154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3409,0.94,128.7,3412,2003,2272,2154,2.4,9.4,536,3415,0.00,2.45,0.00,0.000,260,0.000,0.094,3412,3410,2213,2272,2155,0,0,0,0,0,0,28.83,14.88,28.83
$STATE,3420,end climb,SURFACE_DEPTH_REACHED
$STATE,3420,begin surface coast
$FINISH,0.5,1.021597
$STATE,3442,end surface coast,CONTROL_FINISHED_OK
$STATE,3442,begin surface
$SM_CCo,3460,72.53,0.087,0,0,1565,290.19
$SM_GC,1.45,9.40,2.05,72.53,0.116,0.065,0.087,211,2195,1565,-9.01,1.22,290.19,0,0,0,0,0,0,14.88,14.92,14.87
$IRIDIUM_FIX,4722.92,-12223.37,240414,070757
$TT8_MAMPS,0.036701,0.036701
$HUMID,30.82
$INTERNAL_PRESSURE,8.98238
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,165.1,32.0
$SC_FREEKB,4014944
$24V_AH,14.0,1.366
$10V_AH,14.0,0.605
$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,23.950,62.550,179.500,72.525,0.000,175.343,89.178,200.586,3.000,0.000,6.070,1260.767,1265.595,365.822,1412.557,45.494,33.208,870.136,0.000,876.783,0.000,22.688,0.000
$DEVICE_MAMPS,437.580,130.050,995.265,87.210,0.000,18.360,160.000,223.000,420.000,0.000,19.470,21.700,2.190,21.700,40.430,53.160,56.900,15.000,0.000,0.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3441.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.084,0.000,0.000,0.000
$MEM,322748
$DATA_FILE_SIZE,13398,542
$CAP_FILE_SIZE,100469,0
$CFSIZE,1024409600,1020968960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240414,100644,4742.478,-12224.926,3,1.2,3,16.3