version: 66.12
glider: 217
mission: 1
dive: 21
start: 4 24 114 14 22 29
data:
$ID,217
$MISSION,1
$DIVE,21
$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,90
$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,-299.27097
$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,41
$R_STBD_OVSHOOT,44
$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
$GPS1,240414,141342,4742.810,-12224.766,3,0.8,3,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-74.1
$GPS2,240414,142133,4742.950,-12224.672,6,1.3,6,16.3
$SPEED_LIMITS,0.139,0.220
$TGT_NAME,HEADING
$TGT_LATLONG,4742.950,-12208.621
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.219,-0.017
$KALMAN_X,-2643.0,-902.1,771.0,3122.5,194.8
$KALMAN_Y,1553.8,-781.0,1386.5,-1809.5,78.6
$MHEAD_RNG_PITCHd_Wd,78.3,20000,-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,-117.3,199,2224,1605,1538,0.0,0.0,0,79,0.00,0.00,-60.15,0.000,16390,0.000,0.000,199,2221,3227,3235,3220,0,0,0,0,0,0,28.83,28.83,14.97
$GC,81,-0.92,-117.3,199,2221,3235,3220,3.8,-8.8,11,99,12.43,2.42,0.00,0.000,2308,0.441,0.091,2790,3592,3228,3240,3217,0,0,0,0,0,0,14.57,14.73,28.83
$GC,341,-0.92,-117.3,2790,3592,3246,3210,52.4,-16.8,62,347,0.00,2.30,0.00,0.000,1030,0.000,0.059,2790,2203,3228,3247,3209,0,0,0,0,0,0,28.83,14.83,28.83
$GC,469,-0.92,-117.3,2790,2200,3247,3208,70.6,-13.6,87,475,0.00,2.42,0.00,0.000,260,0.000,0.093,2786,3597,3228,3248,3208,0,0,0,0,0,0,28.83,14.83,28.83
$GC,497,-0.92,-117.3,2786,3597,3248,3208,74.5,-14.2,92,503,0.00,2.30,0.00,0.000,1030,0.000,0.058,2786,2196,3228,3248,3208,0,0,0,0,0,0,28.83,14.85,28.83
$GC,625,-0.92,-117.3,2786,2193,3248,3207,91.3,-14.1,117,631,0.00,2.35,0.00,0.000,516,0.000,0.078,2786,802,3228,3249,3208,0,0,0,0,0,0,28.83,14.86,28.83
$GC,668,-0.92,-117.3,2786,796,3248,3208,97.7,-15.0,125,674,0.00,2.33,0.00,0.000,1030,0.000,0.067,2786,2187,3228,3249,3208,0,0,0,0,0,0,28.83,14.88,28.83
$GC,796,-0.92,-117.3,2786,2187,3249,3207,115.6,-13.7,150,802,0.00,2.45,0.00,0.000,260,0.000,0.094,2786,3608,3228,3249,3208,0,0,0,0,0,0,28.83,14.86,28.83
$GC,850,-0.92,-117.3,2786,3609,3249,3208,123.5,-15.4,158,855,0.00,2.33,0.00,0.000,1030,0.000,0.057,2786,2193,3228,3249,3207,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1041,-0.92,-117.3,2786,2190,3249,3207,151.6,-14.5,177,1046,0.00,2.33,0.00,0.000,516,0.000,0.079,2786,805,3228,3249,3207,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1077,-0.92,-117.3,2786,804,3249,3207,156.3,-15.2,180,1083,0.00,2.33,0.00,0.000,1030,0.000,0.067,2786,2201,3228,3249,3207,0,0,0,0,0,0,28.83,14.90,28.83
$STATE,1212,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1212,begin apogee
$GC,1216,-0.22,0.0,2786,1991,3249,3207,175.5,-13.5,194,1345,0.85,0.00,121.95,0.912,10246,0.273,0.000,3022,1987,2747,2799,2695,0,0,0,0,0,0,14.81,28.83,14.09
$STATE,1346,end apogee,CONTROL_FINISHED_OK
$STATE,1346,begin climb
$GC,1347,0.92,117.3,3022,1986,2798,2693,180.8,0.0,207,1445,1.20,2.47,85.68,0.950,10756,0.195,0.083,3389,613,2261,2320,2202,0,0,0,0,0,0,14.38,14.27,13.91
$GC,1496,0.92,117.3,3389,613,2312,2201,171.7,9.9,222,1502,0.00,2.38,0.00,0.000,1030,0.000,0.060,3390,2007,2256,2312,2201,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1688,0.92,117.3,3389,2007,2312,2200,152.0,9.7,241,1693,0.00,2.40,0.00,0.000,260,0.000,0.084,3389,3399,2256,2312,2200,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1743,0.92,117.3,3394,3400,2313,2200,146.3,11.0,246,1751,0.00,2.35,0.00,0.000,1030,0.000,0.060,3400,2005,2256,2312,2200,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1930,0.92,117.3,3400,2004,2313,2201,125.1,11.3,265,1935,0.00,2.38,0.00,0.000,516,0.000,0.084,3411,598,2256,2313,2200,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1966,0.92,117.3,3411,598,2312,2200,121.6,10.9,268,1972,0.00,2.33,0.00,0.000,1030,0.000,0.061,3411,1998,2256,2312,2200,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2151,0.92,117.3,3411,1998,2312,2199,102.3,8.7,304,2158,0.00,2.40,0.00,0.000,260,0.000,0.085,3417,3402,2256,2313,2200,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2204,0.92,117.3,3411,3402,2312,2199,96.4,11.1,314,2211,0.00,2.33,0.00,0.000,1030,0.000,0.060,3423,1998,2255,2311,2200,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2332,0.92,117.3,3422,1997,2312,2200,80.5,12.7,339,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1997,2256,2312,2200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2459,0.92,117.3,3422,1995,2312,2199,67.0,8.3,364,2466,0.00,2.40,0.00,0.000,260,0.000,0.084,3422,3402,2256,2313,2199,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2527,0.92,117.3,3422,3402,2312,2199,59.9,10.8,377,2534,0.00,2.33,0.00,0.000,1030,0.000,0.060,3433,1993,2255,2312,2199,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2655,0.92,117.3,3433,1992,2313,2199,47.7,10.0,402,2662,0.00,2.33,0.00,0.000,516,0.000,0.083,3444,597,2256,2313,2199,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2838,0.92,117.3,3444,597,2312,2200,29.5,9.4,438,2846,0.17,2.33,0.00,0.000,5126,0.320,0.062,3405,2010,2255,2312,2199,0,0,0,0,0,0,14.79,14.92,28.83
$GC,2908,0.96,144.9,3405,2009,2312,2198,24.5,6.7,451,2926,0.00,2.42,12.68,0.164,8452,0.000,0.084,3405,3402,2163,2221,2105,0,0,0,0,0,0,28.83,14.89,14.85
$GC,3018,0.96,144.9,3405,3401,2230,2120,14.6,9.7,472,3025,0.00,2.33,2.00,0.099,9222,0.000,0.060,3415,2001,2159,2216,2103,0,0,0,0,0,0,28.83,14.93,14.86
$GC,3087,0.96,144.9,3419,2001,2231,2115,8.4,8.0,485,3094,0.00,0.00,1.80,0.096,8198,0.000,0.000,3415,2001,2161,2220,2103,0,0,0,0,0,0,28.83,28.83,14.88
$GC,3156,1.08,223.9,3415,1999,2229,2112,4.6,4.4,498,3201,0.08,2.40,37.67,0.093,10500,0.250,0.083,3440,3401,1838,1899,1777,0,0,0,0,0,0,14.88,14.87,14.88
$STATE,3212,end climb,SURFACE_DEPTH_REACHED
$STATE,3212,begin surface coast
$FINISH,0.3,1.021620
$STATE,3253,end surface coast,CONTROL_FINISHED_OK
$STATE,3253,begin surface
$SM_CCo,3271,31.12,0.087,0,0,1566,290.19
$SM_GC,1.30,9.48,2.03,31.12,0.112,0.056,0.087,209,2182,1566,-9.01,1.10,290.19,0,0,0,0,0,0,14.86,14.92,14.88
$IRIDIUM_FIX,4726.11,-12218.96,240414,131324
$TT8_MAMPS,0.03745,0.03745
$HUMID,30.86
$INTERNAL_PRESSURE,8.98238
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.3,65.1
$SC_FREEKB,4013344
$24V_AH,13.9,1.702
$10V_AH,13.9,0.764
$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,24.200,61.450,261.775,31.125,0.000,50.825,53.907,203.933,0.750,0.000,6.923,1177.748,974.156,365.856,1219.399,47.512,33.206,859.689,0.000,848.661,0.000,7.739,0.000
$DEVICE_MAMPS,440.640,94.095,950.130,87.210,0.000,18.360,160.000,223.000,420.000,0.000,19.470,21.700,2.190,21.700,40.430,53.160,56.900,15.000,0.000,0.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3249.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.159,0.000,0.000,0.000
$MEM,322852
$DATA_FILE_SIZE,13402,516
$CAP_FILE_SIZE,92553,0
$CFSIZE,1024409600,1020493824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240414,151835,4742.919,-12224.161,26,1.1,26,16.3