version: 66.12
glider: 217
mission: 1
dive: 18
start: 4 24 114 11 14 50
data:
$ID,217
$MISSION,1
$DIVE,18
$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,-286.7594
$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,34
$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
$GPS1,240414,110227,4742.699,-12224.477,3,1.2,3,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-74.1
$GPS2,240414,111354,4742.913,-12224.392,16,0.9,16,16.3
$SPEED_LIMITS,0.139,0.220
$TGT_NAME,SW
$TGT_LATLONG,4742.800,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.016,-0.138
$KALMAN_X,-3372.1,-344.6,-229.4,4638.9,-310.0
$KALMAN_Y,419.5,-322.9,125.4,59.3,403.0
$MHEAD_RNG_PITCHd_Wd,170.2,438,-27.6,-8.000,-30.00,858
$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,-1.29,-44.9,208,2206,1607,1538,0.0,0.0,0,73,0.00,0.00,-51.70,0.000,16390,0.000,0.000,208,2206,2932,2941,2924,0,0,0,0,0,0,28.83,28.83,14.97
$GC,75,-1.35,-81.7,208,2206,2941,2924,2.6,-3.6,10,94,11.45,0.00,-3.62,0.000,18438,0.429,0.000,2662,2206,3084,3113,3055,0,0,0,0,0,0,14.57,28.83,14.93
$GC,155,-1.35,-81.7,2662,2206,3114,3055,17.2,-18.8,25,161,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2206,3084,3114,3054,0,0,0,0,0,0,28.83,28.83,28.83
$GC,222,-1.35,-81.7,2662,2206,3114,3054,30.3,-20.3,38,228,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2207,3084,3114,3054,0,0,0,0,0,0,28.83,28.83,28.83
$GC,290,-1.35,-81.7,2662,2206,3115,3054,44.1,-20.2,51,296,0.00,2.45,0.00,0.000,260,0.000,0.105,2662,3599,3084,3114,3055,0,0,0,0,0,0,28.83,14.78,28.83
$GC,457,-1.35,-81.7,2662,3598,3114,3055,76.9,-18.3,84,464,0.00,2.35,0.00,0.000,1030,0.000,0.064,2663,2189,3084,3115,3054,0,0,0,0,0,0,28.83,14.85,28.83
$GC,585,-1.35,-81.7,2663,2186,3114,3054,100.0,-17.7,109,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2186,3084,3114,3054,0,0,0,0,0,0,28.83,28.83,28.83
$GC,717,-1.35,-81.7,2662,2186,3113,3054,122.5,-17.2,134,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2186,3082,3110,3054,0,0,0,0,0,0,28.83,28.83,28.83
$GC,897,-1.35,-81.7,2663,2186,3115,3054,153.1,-17.1,152,903,0.00,2.50,0.00,0.000,260,0.000,0.099,2652,3604,3084,3114,3054,0,0,0,0,0,0,28.83,14.88,28.83
$GC,909,-1.35,-81.7,2653,3604,3114,3054,155.0,-16.5,153,914,0.00,2.33,0.00,0.000,1030,0.000,0.061,2652,2196,3082,3111,3054,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,1030,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1030,begin apogee
$GC,1033,-0.22,0.0,2652,1995,3115,3053,175.7,-17.2,165,1101,1.40,0.00,61.05,0.992,10246,0.308,0.000,3023,1993,2743,2794,2692,0,0,0,0,0,0,14.77,28.83,14.23
$STATE,1103,end apogee,CONTROL_FINISHED_OK
$STATE,1103,begin climb
$GC,1104,1.35,81.7,3023,1993,2792,2691,180.3,0.0,172,1172,1.60,2.45,58.90,0.958,10756,0.187,0.086,3526,605,2405,2457,2354,0,0,0,0,0,0,14.55,14.41,14.04
$GC,1178,1.38,104.3,3526,605,2455,2356,177.4,5.3,179,1205,0.00,2.40,17.65,0.908,9222,0.000,0.069,3526,1999,2315,2371,2259,0,0,0,0,0,0,28.83,14.45,14.02
$GC,1384,1.38,104.3,3526,1999,2365,2255,148.7,15.2,200,1389,0.00,2.45,0.00,0.000,516,0.000,0.090,3537,599,2310,2365,2255,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1415,1.38,104.3,3537,594,2364,2254,143.9,15.0,203,1421,0.00,2.40,0.00,0.000,1030,0.000,0.072,3537,2006,2310,2365,2255,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1602,1.38,104.3,3537,2010,2364,2254,116.5,15.5,223,1609,0.00,2.42,0.00,0.000,260,0.000,0.093,3537,3409,2309,2364,2255,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1645,1.38,104.3,3538,3410,2364,2255,109.1,17.7,231,1652,0.00,2.38,0.00,0.000,1030,0.000,0.067,3548,1994,2309,2364,2255,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1774,1.38,104.3,3548,1994,2365,2256,89.0,15.4,256,1780,0.00,2.38,0.00,0.000,516,0.000,0.090,3559,596,2309,2364,2255,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1801,1.38,104.3,3559,597,2364,2254,84.9,14.6,261,1808,0.00,2.38,0.00,0.000,1030,0.000,0.073,3559,2007,2309,2364,2254,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1929,1.38,104.3,3560,2011,2364,2255,63.3,13.7,286,1936,0.00,2.40,0.00,0.000,260,0.000,0.095,3559,3403,2309,2364,2255,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2157,1.38,104.3,3560,3403,2364,2254,33.2,13.9,331,2164,0.00,2.35,0.00,0.000,1030,0.000,0.067,3570,1994,2309,2364,2255,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2226,1.38,104.3,3571,1994,2364,2255,24.3,12.8,344,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1995,2310,2364,2256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2293,1.38,104.3,3570,1995,2364,2254,15.8,12.8,357,2299,0.00,2.38,0.00,0.000,516,0.000,0.090,3581,595,2310,2364,2256,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2351,1.38,104.3,3581,596,2362,2255,8.4,13.5,368,2358,0.12,2.38,0.00,0.000,5126,0.376,0.076,3558,2007,2308,2362,2255,0,0,0,0,0,0,14.73,14.88,28.83
$STATE,2403,end climb,SURFACE_DEPTH_REACHED
$STATE,2404,begin surface coast
$FINISH,0.6,1.021439
$STATE,2425,end surface coast,CONTROL_FINISHED_OK
$STATE,2425,begin surface
$SM_CCo,2442,84.47,0.093,0,0,1565,290.19
$SM_GC,2.08,9.88,0.30,84.47,0.120,0.104,0.093,210,2203,1565,-9.01,-1.07,290.19,0,0,0,0,0,0,14.88,14.90,14.85
$IRIDIUM_FIX,4722.92,-12223.37,240414,111120
$TT8_MAMPS,0.036701,0.036701
$HUMID,30.98
$INTERNAL_PRESSURE,8.97261
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,136.2,54.1
$SC_FREEKB,4014304
$24V_AH,14.0,1.491
$10V_AH,13.4,0.662
$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,24.450,38.975,137.600,84.475,0.000,127.010,86.903,237.420,1.500,0.000,17.330,893.082,845.007,316.550,1135.322,39.087,33.200,674.923,0.000,610.403,0.000,10.338,0.000
$DEVICE_MAMPS,429.165,104.805,992.205,92.565,0.000,18.360,160.000,223.000,420.000,0.000,19.470,21.700,2.190,21.700,40.430,53.160,56.900,15.000,0.000,0.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2423.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.034,0.000,0.000,0.000
$MEM,322724
$DATA_FILE_SIZE,10109,382
$CAP_FILE_SIZE,74874,0
$CFSIZE,1024409600,1020805120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240414,115804,4742.761,-12224.367,31,1.6,31,16.3