version: 66.12
glider: 217
mission: 1
dive: 19
start: 4 24 114 12 8 51
data:
$ID,217
$MISSION,1
$DIVE,19
$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,-288.01846
$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,33
$R_STBD_OVSHOOT,33
$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
$GPS1,240414,115804,4742.761,-12224.367,31,1.6,31,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-75.4
$GPS2,240414,120755,4742.908,-12224.235,4,0.9,4,16.3
$SPEED_LIMITS,0.139,0.220
$TGT_NAME,SW
$TGT_LATLONG,4742.800,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.118,-0.132
$KALMAN_X,-2984.4,-724.2,82.6,4511.9,-39.7
$KALMAN_Y,622.8,-524.6,755.3,-580.6,396.2
$MHEAD_RNG_PITCHd_Wd,205.6,613,-21.4,-8.000,-24.26,1406
$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,-1.06,-73.7,203,2207,1604,1539,0.0,0.0,0,77,0.00,0.00,-55.10,0.000,16390,0.000,0.000,207,2208,3049,3060,3038,0,0,0,0,0,0,28.83,28.83,14.97
$GC,80,-1.07,-79.2,203,2207,3059,3039,3.5,-7.6,11,97,12.00,0.00,-0.45,0.000,18950,0.434,0.000,2751,2207,3074,3096,3052,0,0,0,0,0,0,14.57,28.83,14.89
$GC,159,-1.07,-79.2,2751,2207,3098,3050,19.6,-14.6,26,165,0.00,2.45,0.00,0.000,516,0.000,0.086,2751,789,3073,3098,3049,0,0,0,0,0,0,28.83,14.76,28.83
$GC,217,-1.07,-79.2,2751,789,3099,3049,29.7,-18.5,37,224,0.00,2.42,0.00,0.000,1030,0.000,0.080,2748,2196,3074,3099,3049,0,0,0,0,0,0,28.83,14.78,28.83
$GC,285,-1.07,-79.2,2748,2197,3099,3048,42.1,-18.6,50,291,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2197,3073,3099,3048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,352,-1.07,-79.2,2748,2197,3099,3048,54.7,-17.2,63,358,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2197,3073,3099,3048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,479,-1.07,-79.2,2748,2198,3099,3048,73.9,-15.7,88,486,0.00,2.47,0.00,0.000,260,0.000,0.103,2747,3614,3073,3099,3048,0,0,0,0,0,0,28.83,14.82,28.83
$GC,537,-1.07,-79.2,2747,3615,3099,3048,82.5,-15.5,99,544,0.00,2.38,0.00,0.000,1030,0.000,0.066,2747,2195,3073,3099,3047,0,0,0,0,0,0,28.83,14.86,28.83
$GC,666,-1.07,-79.2,2747,2192,3100,3048,101.7,-14.1,124,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2192,3073,3100,3046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,793,-1.07,-79.2,2747,2192,3100,3048,119.1,-13.6,149,800,0.00,2.50,0.00,0.000,260,0.000,0.104,2746,3610,3073,3099,3048,0,0,0,0,0,0,28.83,14.86,28.83
$GC,811,-1.07,-79.2,2746,3609,3100,3047,120.8,-14.3,151,817,0.00,2.35,0.00,0.000,1030,0.000,0.065,2746,2196,3074,3100,3048,0,0,0,0,0,0,28.83,14.90,28.83
$GC,996,-1.07,-79.2,2746,2193,3100,3047,147.5,-14.3,170,1001,0.00,2.50,0.00,0.000,260,0.000,0.103,2744,3616,3074,3100,3048,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1012,-1.07,-79.2,2744,3616,3100,3048,149.0,-13.9,171,1021,0.00,2.35,0.00,0.000,1030,0.000,0.060,2744,2182,3073,3100,3047,0,0,0,0,0,0,28.83,14.91,28.83
$STATE,1187,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1187,begin apogee
$GC,1191,-0.22,0.0,2744,1994,3100,3047,173.3,-13.4,189,1259,1.05,0.00,59.12,0.992,10246,0.295,0.000,3026,1991,2740,2791,2690,0,0,0,0,0,0,14.80,28.83,14.26
$STATE,1260,end apogee,CONTROL_FINISHED_OK
$STATE,1261,begin climb
$GC,1262,1.07,79.2,3026,1991,2790,2688,176.3,0.0,196,1329,1.33,2.45,57.03,0.959,10756,0.198,0.080,3439,609,2418,2471,2365,0,0,0,0,0,0,14.57,14.42,14.07
$GC,1351,1.08,85.9,3439,609,2466,2364,171.5,7.5,205,1362,0.00,2.38,2.12,0.234,9222,0.000,0.059,3439,2013,2401,2458,2344,0,0,0,0,0,0,28.83,14.50,13.89
$GC,1541,1.08,85.9,3439,2012,2471,2354,153.5,9.7,224,1545,0.00,0.00,1.70,0.095,8198,0.000,0.000,3440,2013,2398,2454,2342,0,0,0,0,0,0,28.83,28.83,14.64
$GC,1721,1.08,85.9,3439,2013,2471,2353,136.3,10.0,242,1725,0.00,0.00,1.62,0.093,8198,0.000,0.000,3439,2012,2398,2455,2342,0,0,0,0,0,0,28.83,28.83,14.74
$GC,1901,1.08,85.9,3439,2013,2471,2353,118.3,9.4,261,1909,0.00,2.42,1.52,0.095,8452,0.000,0.084,3439,3399,2400,2458,2343,0,0,0,0,0,0,28.83,14.81,14.80
$GC,1955,1.08,85.9,3439,3398,2467,2356,113.2,9.9,271,1962,0.00,2.30,1.50,0.095,9222,0.000,0.058,3450,2006,2400,2457,2343,0,0,0,0,0,0,28.83,14.83,14.80
$GC,2084,1.08,85.9,3449,2006,2470,2354,100.6,10.0,296,2091,0.00,2.42,1.52,0.096,8708,0.000,0.082,3460,607,2404,2460,2348,0,0,0,0,0,0,28.83,14.85,14.83
$GC,2163,1.08,85.9,3459,606,2471,2352,94.0,8.7,311,2170,0.00,2.30,1.55,0.094,9222,0.000,0.060,3460,2002,2399,2456,2342,0,0,0,0,0,0,28.83,14.87,14.83
$GC,2292,1.08,85.9,3460,2002,2471,2353,82.5,9.4,336,2299,0.00,2.45,1.50,0.095,8452,0.000,0.083,3461,3408,2402,2459,2345,0,0,0,0,0,0,28.83,14.87,14.85
$GC,2335,1.08,85.9,3461,3408,2466,2356,78.3,10.2,344,2343,0.00,2.30,1.55,0.095,9222,0.000,0.057,3471,2007,2399,2456,2342,0,0,0,0,0,0,28.83,14.90,14.85
$GC,2464,1.08,85.9,3471,2003,2470,2354,65.7,10.6,369,2472,0.00,2.42,1.42,0.093,8452,0.000,0.085,3471,3412,2401,2457,2345,0,0,0,0,0,0,28.83,14.88,14.86
$GC,2598,1.08,85.9,3471,3407,2466,2362,52.0,9.2,395,2606,0.00,2.33,1.50,0.093,9222,0.000,0.057,3482,1982,2399,2456,2343,0,0,0,0,0,0,28.83,14.91,14.88
$GC,2728,1.11,105.0,3482,1982,2469,2354,43.3,6.6,420,2750,0.00,0.00,18.65,0.849,8198,0.000,0.000,3482,1982,2314,2371,2257,0,0,0,0,0,0,28.83,28.83,14.49
$GC,2812,1.11,105.0,3482,1982,2365,2253,36.6,9.8,436,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,3482,1982,2308,2364,2252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2879,1.11,105.0,3482,1982,2365,2253,30.5,8.7,449,2885,0.00,2.30,0.00,0.000,516,0.000,0.083,3494,607,2308,2364,2253,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2967,1.11,105.0,3493,607,2364,2253,21.8,9.9,466,2973,0.00,2.30,0.00,0.000,1030,0.000,0.060,3493,2003,2308,2364,2253,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3035,1.11,105.0,3493,2004,2364,2253,15.1,9.9,479,3041,0.12,0.00,0.00,0.000,4102,0.358,0.000,3466,2006,2308,2364,2252,0,0,0,0,0,0,14.72,28.83,28.83
$GC,3103,1.11,105.0,3465,2006,2363,2253,8.7,9.2,492,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2006,2308,2364,2253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3170,1.11,105.0,3465,2006,2364,2253,2.6,8.3,505,3177,0.00,2.35,0.00,0.000,260,0.000,0.084,3467,3400,2308,2364,2253,0,0,0,0,0,0,28.83,14.88,28.83
$STATE,3181,end climb,SURFACE_DEPTH_REACHED
$STATE,3181,begin surface coast
$FINISH,0.7,1.020987
$STATE,3203,end surface coast,CONTROL_FINISHED_OK
$STATE,3203,begin surface
$SM_CCo,3222,84.57,0.094,0,0,1565,290.19
$SM_GC,1.42,9.95,2.00,84.57,0.146,0.056,0.094,207,2194,1565,-9.01,1.55,290.19,0,0,0,0,0,0,14.85,14.92,14.85
$IRIDIUM_FIX,4726.11,-12223.37,240414,121253
$TT8_MAMPS,0.036701,0.036701
$HUMID,30.90
$INTERNAL_PRESSURE,8.98238
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,150.3,37.2
$SC_FREEKB,4013984
$24V_AH,13.9,1.548
$10V_AH,13.3,0.696
$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,24.450,52.400,152.325,84.575,0.000,132.095,76.633,173.681,2.250,0.000,5.916,1184.341,1086.273,358.421,1239.952,45.346,33.193,817.433,0.000,798.536,0.000,18.165,0.000
$DEVICE_MAMPS,433.755,104.040,992.205,94.095,0.000,18.360,160.000,223.000,420.000,0.000,19.470,21.700,2.190,21.700,40.430,53.160,56.900,15.000,0.000,0.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3199.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.024,0.000,0.000,0.000
$MEM,322760
$DATA_FILE_SIZE,13408,511
$CAP_FILE_SIZE,95441,0
$CFSIZE,1024409600,1020690432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240414,130437,4742.791,-12224.424,3,1.2,3,16.3