version: 66.12
glider: 217
mission: 1
dive: 20
start: 4 24 114 13 16 13
data:
$ID,217
$MISSION,1
$DIVE,20
$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,-289.27509
$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,54
$R_STBD_OVSHOOT,37
$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
$GPS1,240414,130437,4742.791,-12224.424,3,1.2,3,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-76.0
$GPS2,240414,131517,4742.946,-12224.289,4,1.2,5,16.3
$SPEED_LIMITS,0.139,0.220
$TGT_NAME,SW
$TGT_LATLONG,4742.800,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.178,-0.129
$KALMAN_X,-2481.7,-1008.5,391.9,3918.7,358.9
$KALMAN_Y,1045.7,-716.4,1219.9,-1207.2,349.7
$MHEAD_RNG_PITCHd_Wd,217.6,579,-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,16,begin dive
$GC,17,-0.92,-117.3,194,2188,1605,1537,0.0,0.0,0,74,0.00,0.00,-54.40,0.000,16386,0.000,0.000,194,2189,3081,3091,3071,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.92,-117.3,194,2189,3091,3071,3.5,-7.1,10,100,12.25,2.38,-2.83,0.000,18948,0.433,0.099,2797,812,3229,3256,3202,0,0,0,0,0,0,14.54,14.73,14.92
$GC,152,-0.92,-117.3,2797,815,3256,3202,20.3,-14.2,24,159,0.00,2.33,0.00,0.000,1030,0.000,0.066,2787,2198,3229,3256,3202,0,0,0,0,0,0,28.83,14.73,28.83
$GC,220,-0.92,-117.3,2788,2198,3257,3202,30.4,-15.1,37,226,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2198,3229,3256,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,288,-0.92,-117.3,2788,2198,3257,3202,40.8,-15.8,50,294,0.00,2.38,0.00,0.000,516,0.000,0.076,2788,808,3229,3256,3202,0,0,0,0,0,0,28.83,14.78,28.83
$GC,321,-0.92,-117.3,2787,808,3257,3202,46.3,-16.6,56,327,0.00,2.35,0.00,0.000,1030,0.000,0.067,2787,2208,3229,3257,3202,0,0,0,0,0,0,28.83,14.81,28.83
$GC,389,-0.92,-117.3,2787,2208,3256,3202,57.2,-17.4,69,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2208,3229,3256,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,516,-0.92,-117.3,2786,2208,3256,3202,77.0,-15.9,94,522,0.00,2.42,0.00,0.000,260,0.000,0.094,2785,3607,3229,3256,3202,0,0,0,0,0,0,28.83,14.82,28.83
$GC,579,-0.92,-117.3,2790,3607,3257,3202,87.1,-16.9,106,585,0.00,2.30,0.00,0.000,1030,0.000,0.057,2786,2214,3229,3257,3202,0,0,0,0,0,0,28.83,14.87,28.83
$GC,707,-0.92,-117.3,2786,2206,3256,3202,104.7,-13.3,131,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2206,3229,3256,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,839,-0.92,-117.3,2786,2206,3256,3198,122.9,-14.2,155,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2206,3229,3256,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1022,-0.92,-117.3,2786,2206,3256,3202,145.3,-12.4,173,1027,0.00,2.45,0.00,0.000,260,0.000,0.093,2786,3609,3228,3256,3201,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1043,-0.92,-117.3,2786,3608,3256,3202,148.8,-13.6,175,1049,0.00,2.33,0.00,0.000,1030,0.000,0.058,2786,2187,3229,3257,3202,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1235,-0.92,-117.3,2786,2187,3256,3208,176.0,-15.2,194,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2187,3228,3255,3202,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1244,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1244,begin apogee
$GC,1248,-0.22,0.0,2786,1989,3256,3202,177.4,-14.9,195,1377,0.85,0.00,121.65,0.919,10246,0.275,0.000,3021,1985,2745,2798,2693,0,0,0,0,0,0,14.81,28.83,14.10
$STATE,1378,end apogee,CONTROL_FINISHED_OK
$STATE,1378,begin climb
$GC,1380,0.92,117.3,3021,1985,2796,2692,183.0,0.0,208,1470,1.20,0.00,85.82,0.953,10758,0.193,0.000,3380,1985,2269,2330,2208,0,0,0,0,0,0,14.38,28.83,13.92
$GC,1647,0.92,117.3,3381,1985,2317,2197,162.4,8.7,235,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1985,2256,2316,2197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1827,0.92,117.3,3381,1985,2316,2197,144.3,10.2,253,1832,0.00,2.35,0.00,0.000,516,0.000,0.086,3391,608,2256,2317,2196,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1868,0.92,117.3,3390,608,2316,2197,140.0,10.7,257,1874,0.00,2.33,0.00,0.000,1030,0.000,0.061,3391,2002,2256,2316,2197,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2060,0.92,117.3,3391,2003,2316,2197,119.8,10.3,276,2067,0.00,2.40,0.00,0.000,260,0.000,0.085,3391,3412,2256,2316,2196,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2118,0.92,117.3,3391,3412,2316,2197,113.4,10.2,287,2125,0.00,2.33,0.00,0.000,1030,0.000,0.060,3401,2014,2256,2316,2197,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2246,0.92,117.3,3401,2014,2316,2197,101.1,9.3,312,2253,0.00,2.40,0.00,0.000,516,0.000,0.084,3411,599,2256,2316,2197,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2310,0.92,117.3,3412,599,2316,2193,94.0,12.5,324,2316,0.00,2.33,0.00,0.000,1030,0.000,0.062,3413,2002,2255,2314,2197,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2438,0.92,117.3,3413,2007,2316,2197,81.3,9.1,349,2444,0.00,2.38,0.00,0.000,260,0.000,0.084,3413,3412,2256,2316,2197,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2475,0.92,117.3,3413,3413,2316,2197,77.4,10.5,356,2482,0.00,2.35,0.00,0.000,1030,0.000,0.060,3423,1986,2256,2316,2197,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2604,0.92,117.3,3424,1986,2316,2197,65.1,9.2,381,2610,0.00,2.33,0.00,0.000,516,0.000,0.083,3434,592,2256,2316,2197,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2641,0.92,117.3,3435,592,2316,2197,61.6,9.6,388,2649,0.12,2.33,0.00,0.000,5126,0.335,0.060,3409,2005,2256,2316,2197,0,0,0,0,0,0,14.77,14.90,28.83
$GC,2770,0.92,117.3,3409,2005,2315,2197,51.3,8.1,413,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2005,2256,2315,2197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2898,0.94,127.2,3409,2005,2315,2197,41.2,7.5,438,2904,0.00,0.00,3.22,0.552,8198,0.000,0.000,3409,2005,2233,2293,2173,0,0,0,0,0,0,28.83,28.83,14.50
$GC,2966,0.96,139.9,3409,2005,2307,2185,35.9,7.4,451,2984,0.00,0.00,15.27,0.829,8198,0.000,0.000,3409,2005,2176,2236,2117,0,0,0,0,0,0,28.83,28.83,14.50
$GC,3045,0.96,139.9,3406,2005,2224,2106,28.9,9.3,466,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2004,2165,2224,2106,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3112,0.96,139.9,3409,2005,2223,2107,22.6,9.7,479,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2005,2165,2224,2107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3179,0.96,139.9,3409,2007,2223,2106,15.6,10.6,492,3186,0.00,2.40,0.00,0.000,516,0.000,0.085,3420,597,2166,2225,2107,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3272,0.96,139.9,3420,598,2223,2106,5.3,10.2,510,3279,0.00,2.30,0.00,0.000,1030,0.000,0.060,3420,1995,2164,2223,2106,0,0,0,0,0,0,28.83,14.88,28.83
$STATE,3304,end climb,SURFACE_DEPTH_REACHED
$STATE,3304,begin surface coast
$FINISH,0.5,1.021498
$STATE,3326,end surface coast,CONTROL_FINISHED_OK
$STATE,3326,begin surface
$SM_CCo,3342,67.78,0.090,0,0,1566,290.19
$SM_GC,1.69,9.40,0.32,67.78,0.112,0.081,0.090,207,2217,1566,-9.01,-0.88,290.19,0,0,0,0,0,0,14.87,14.92,14.85
$IRIDIUM_FIX,4726.11,-12220.67,240414,121254
$TT8_MAMPS,0.036701,0.036701
$HUMID,31.02
$INTERNAL_PRESSURE,8.98238
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,145.3,46.2
$SC_FREEKB,4013664
$24V_AH,13.9,1.628
$10V_AH,13.9,0.731
$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,23.825,47.725,225.975,67.775,0.000,133.369,64.345,223.252,2.000,0.000,5.917,1190.504,1128.714,382.950,1313.345,48.344,33.200,867.833,0.000,828.256,0.000,16.598,0.000
$DEVICE_MAMPS,432.990,99.450,953.190,89.505,0.000,18.360,160.000,223.000,420.000,0.000,19.470,21.700,2.190,21.700,40.430,53.160,56.900,15.000,0.000,0.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3325.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.123,0.000,0.000,0.000
$MEM,322824
$DATA_FILE_SIZE,13406,520
$CAP_FILE_SIZE,96087,0
$CFSIZE,1024409600,1020592128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240414,141342,4742.810,-12224.766,3,0.8,3,16.3