version: 66.12
glider: 217
mission: 1
dive: 17
start: 4 24 114 10 16 33
data:
$ID,217
$MISSION,1
$DIVE,17
$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,-285.5004
$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,44
$R_STBD_OVSHOOT,30
$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
$GPS1,240414,100644,4742.478,-12224.926,3,1.2,3,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-74.8
$GPS2,240414,101537,4742.584,-12224.934,5,1.2,5,16.3
$SPEED_LIMITS,0.139,0.220
$TGT_NAME,SW
$TGT_LATLONG,4742.800,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.172,0.004
$KALMAN_X,-3303.3,-72.2,-493.3,3887.4,-478.8
$KALMAN_Y,320.4,-130.3,-567.0,52.3,380.0
$MHEAD_RNG_PITCHd_Wd,72.3,494,-22.2,-8.000,-24.96,1315
$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,16,-1.09,-69.0,204,2191,1608,1536,0.0,0.0,0,77,0.00,0.00,-55.28,0.000,16390,0.000,0.000,203,2191,3030,3041,3019,0,0,0,0,0,0,28.83,28.83,14.97
$GC,80,-1.13,-95.1,203,2191,3040,3019,3.0,-6.0,11,104,12.00,2.55,-2.30,0.000,18692,0.437,0.127,2734,3597,3138,3167,3110,0,0,0,0,0,0,14.57,14.71,14.93
$GC,490,-1.13,-95.1,2735,3597,3167,3110,79.7,-16.3,92,496,0.00,2.33,0.00,0.000,1030,0.000,0.065,2740,2195,3139,3168,3110,0,0,0,0,0,0,28.83,14.86,28.83
$GC,617,-1.13,-95.1,2740,2192,3163,3109,97.9,-13.5,117,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2195,3138,3167,3109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,744,-1.13,-95.1,2740,2192,3167,3110,114.9,-13.7,142,751,0.00,2.47,0.00,0.000,260,0.000,0.103,2734,3603,3138,3167,3110,0,0,0,0,0,0,28.83,14.85,28.83
$GC,827,-1.13,-95.1,2734,3603,3167,3109,126.9,-14.0,154,833,0.00,2.33,0.00,0.000,1030,0.000,0.064,2734,2199,3138,3167,3110,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1019,-1.13,-95.1,2733,2197,3169,3109,154.4,-16.4,173,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2197,3138,3167,3110,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1088,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1088,begin apogee
$GC,1092,-0.22,0.0,2733,1999,3168,3110,165.2,-15.7,180,1170,1.08,0.00,71.00,0.977,10246,0.299,0.000,3027,1996,2742,2794,2691,0,0,0,0,0,0,14.78,28.83,14.21
$STATE,1172,end apogee,CONTROL_FINISHED_OK
$STATE,1172,begin climb
$GC,1173,1.13,95.1,3021,1996,2791,2688,169.2,0.0,188,1251,1.40,2.53,68.40,0.945,10500,0.192,0.094,3446,3402,2351,2409,2294,0,0,0,0,0,0,14.53,14.36,14.01
$GC,1267,1.17,123.3,3446,3403,2405,2290,165.5,5.8,197,1295,0.00,2.40,21.10,0.905,9222,0.000,0.064,3457,2003,2239,2301,2177,0,0,0,0,0,0,28.83,14.44,14.01
$GC,1473,1.17,123.3,3457,2002,2293,2174,141.3,13.0,218,1478,0.00,2.42,0.00,0.000,516,0.000,0.090,3468,600,2233,2293,2174,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1535,1.17,123.3,3467,599,2292,2174,132.9,13.3,224,1540,0.00,2.38,0.00,0.000,1030,0.000,0.070,3467,2002,2232,2291,2174,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1721,1.17,123.3,3468,2002,2292,2174,108.6,14.4,250,1728,0.00,2.45,0.00,0.000,260,0.000,0.096,3468,3410,2233,2292,2174,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1834,1.17,123.3,3468,3410,2292,2174,91.4,15.7,272,1841,0.00,2.38,0.00,0.000,1030,0.000,0.068,3476,1998,2233,2292,2174,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1962,1.17,123.3,3478,1998,2291,2174,74.3,12.7,297,1969,0.00,2.40,0.00,0.000,516,0.000,0.092,3490,589,2233,2292,2174,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2015,1.17,123.3,3490,589,2292,2174,67.0,13.7,307,2022,0.00,2.38,0.00,0.000,1030,0.000,0.072,3489,2000,2233,2292,2174,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2144,1.17,123.3,3489,2001,2294,2174,52.6,9.4,332,2150,0.00,2.42,0.00,0.000,260,0.000,0.095,3490,3411,2232,2291,2174,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2202,1.17,123.3,3490,3411,2292,2172,46.8,11.0,343,2208,0.00,2.35,0.00,0.000,1030,0.000,0.067,3501,1993,2233,2292,2174,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2270,1.17,123.3,3501,1992,2292,2174,39.3,11.5,356,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,3501,1992,2233,2292,2174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2337,1.17,123.3,3501,1992,2291,2174,31.8,11.0,369,2344,0.00,2.35,0.00,0.000,516,0.000,0.088,3512,598,2233,2292,2174,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2375,1.17,123.3,3513,598,2291,2174,27.9,11.0,376,2382,0.00,2.35,0.00,0.000,1030,0.000,0.072,3512,2002,2232,2291,2174,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2444,1.17,123.3,3512,2004,2291,2174,19.6,12.2,389,2451,0.12,2.40,0.00,0.000,4356,0.362,0.093,3483,3403,2232,2291,2174,0,0,0,0,0,0,14.73,14.87,28.83
$GC,2532,1.17,123.3,3483,3403,2291,2174,8.9,11.4,406,2539,0.00,2.33,0.00,0.000,1030,0.000,0.067,3494,2007,2233,2291,2175,0,0,0,0,0,0,28.83,14.91,28.83
$STATE,2600,end climb,SURFACE_DEPTH_REACHED
$STATE,2600,begin surface coast
$FINISH,1.2,1.021341
$STATE,2621,end surface coast,CONTROL_FINISHED_OK
$STATE,2621,begin surface
$SM_CCo,2639,74.60,0.086,0,0,1566,290.19
$SM_GC,1.60,10.18,0.32,74.60,0.161,0.101,0.086,212,2203,1566,-9.01,-1.07,290.19,0,0,0,0,0,0,14.85,14.91,14.86
$IRIDIUM_FIX,4722.92,-12226.07,240414,090946
$TT8_MAMPS,0.036701,0.036701
$HUMID,30.86
$INTERNAL_PRESSURE,8.98238
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,155.8,23.0
$SC_FREEKB,4014624
$24V_AH,14.0,1.430
$10V_AH,14.0,0.634
$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,24.775,43.825,160.500,74.600,0.000,104.331,42.756,217.970,3.250,0.000,6.877,984.922,783.605,322.459,1116.971,39.542,33.195,719.610,0.000,688.499,0.000,28.264,0.000
$DEVICE_MAMPS,436.815,126.990,976.905,86.445,0.000,18.360,160.000,223.000,420.000,0.000,19.470,21.700,2.190,21.700,40.430,53.160,56.900,15.000,0.000,0.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2621.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.094,0.000,0.000,0.000
$MEM,322712
$DATA_FILE_SIZE,10127,423
$CAP_FILE_SIZE,78421,0
$CFSIZE,1024409600,1020903424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2149.27,0x213786,1,24
$GPS,240414,110227,4742.699,-12224.477,3,1.2,3,16.3