version: 66.12
glider: 217
mission: 1
dive: 15
start: 4 24 114 8 0 38
data:
$ID,217
$MISSION,1
$DIVE,15
$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,-282.78238
$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,43
$R_STBD_OVSHOOT,32
$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
$GPS1,240414,074827,4742.380,-12225.341,3,0.9,4,16.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-75.8
$GPS2,240414,075943,4742.482,-12225.478,5,0.9,6,16.3
$SPEED_LIMITS,0.139,0.220
$TGT_NAME,SW
$TGT_LATLONG,4742.800,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.215,0.047
$KALMAN_X,-2501.1,336.1,-443.3,1956.2,-951.0
$KALMAN_Y,650.1,142.1,-1183.0,-120.3,-201.0
$MHEAD_RNG_PITCHd_Wd,61.4,1133,-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,-117.3,206,2190,1605,1536,0.0,0.0,0,79,0.00,0.00,-60.08,0.000,16386,0.000,0.000,206,2191,3174,3185,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.92,-117.3,206,2191,3186,3164,3.0,-5.6,11,101,12.32,2.55,-1.05,0.000,18692,0.438,0.122,2786,3600,3228,3250,3206,0,0,0,0,0,0,14.55,14.71,14.90
$GC,272,-0.92,-117.3,2786,3600,3251,3206,41.6,-18.2,48,279,0.00,2.35,0.00,0.000,1030,0.000,0.066,2786,2197,3228,3250,3206,0,0,0,0,0,0,28.83,14.79,28.83
$GC,341,-0.92,-117.3,2786,2195,3251,3206,53.0,-16.5,61,347,0.00,2.38,0.00,0.000,516,0.000,0.086,2786,800,3229,3252,3206,0,0,0,0,0,0,28.83,14.80,28.83
$GC,359,-0.92,-117.3,2787,801,3251,3206,55.8,-15.5,64,365,0.00,2.38,0.00,0.000,1030,0.000,0.076,2786,2198,3228,3251,3206,0,0,0,0,0,0,28.83,14.81,28.83
$GC,486,-0.92,-117.3,2786,2198,3252,3206,74.3,-14.8,89,493,0.00,2.47,0.00,0.000,260,0.000,0.106,2786,3609,3229,3252,3206,0,0,0,0,0,0,28.83,14.81,28.83
$GC,659,-0.92,-117.3,2786,3609,3252,3206,102.4,-15.7,123,666,0.00,2.35,0.00,0.000,1030,0.000,0.066,2785,2197,3228,3251,3206,0,0,0,0,0,0,28.83,14.88,28.83
$GC,792,-0.92,-117.3,2786,2195,3252,3206,122.1,-14.5,148,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2195,3229,3252,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,972,-0.92,-117.3,2786,2195,3252,3206,146.8,-12.3,166,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2195,3230,3255,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1152,-0.92,-117.3,2785,2195,3252,3206,171.3,-13.3,184,1158,0.00,2.35,0.00,0.000,516,0.000,0.086,2786,801,3229,3252,3206,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1204,-0.92,-117.3,2786,801,3252,3206,178.6,-14.5,189,1209,0.00,2.38,0.00,0.000,1030,0.000,0.077,2786,2208,3229,3252,3206,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,1224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1225,begin apogee
$GC,1228,-0.22,0.0,2786,1990,3252,3206,181.6,-13.8,191,1361,0.85,0.00,124.65,0.909,10246,0.274,0.000,3022,1990,2744,2797,2692,0,0,0,0,0,0,14.81,28.83,14.08
$STATE,1362,end apogee,CONTROL_FINISHED_OK
$STATE,1362,begin climb
$GC,1363,0.92,117.3,3022,1990,2795,2691,187.2,0.0,204,1458,1.20,2.55,85.80,0.953,10756,0.196,0.091,3390,601,2262,2322,2203,0,0,0,0,0,0,14.37,14.27,13.92
$GC,1474,0.98,156.3,3389,601,2315,2202,183.1,6.2,215,1511,0.00,2.45,29.38,0.923,9222,0.000,0.071,3390,2006,2104,2165,2043,0,0,0,0,0,0,28.83,14.35,13.94
$GC,1690,0.98,156.3,3390,2007,2158,2036,159.1,12.0,237,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2007,2097,2158,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1870,0.98,156.3,3387,2007,2157,2036,138.0,11.9,255,1875,0.00,2.42,0.00,0.000,516,0.000,0.093,3400,608,2096,2157,2036,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1921,0.98,156.3,3400,608,2157,2036,131.0,13.7,260,1927,0.00,2.35,0.00,0.000,1030,0.000,0.074,3400,1999,2096,2157,2036,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2108,0.98,156.3,3400,1999,2157,2036,105.4,14.0,288,2114,0.00,2.42,0.00,0.000,260,0.000,0.096,3400,3401,2096,2156,2036,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2185,0.98,156.3,3400,3401,2156,2036,93.5,15.7,303,2192,0.00,2.35,0.00,0.000,1030,0.000,0.068,3411,1999,2096,2157,2036,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2313,0.98,156.3,3410,1999,2157,2036,75.7,13.1,328,2319,0.00,2.40,0.00,0.000,516,0.000,0.093,3421,588,2096,2156,2036,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2341,0.98,156.3,3421,589,2156,2036,71.8,13.9,333,2347,0.00,2.38,0.00,0.000,1030,0.000,0.072,3421,2004,2096,2156,2036,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2469,0.98,156.3,3421,2005,2156,2036,56.2,11.2,358,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2003,2095,2155,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2596,0.98,156.3,3421,2005,2156,2036,42.4,11.0,383,2602,0.00,2.40,0.00,0.000,260,0.000,0.097,3421,3405,2096,2156,2036,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2688,0.98,156.3,3421,3405,2155,2036,31.1,12.6,401,2695,0.00,2.35,0.00,0.000,1030,0.000,0.068,3432,1995,2096,2156,2036,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2756,0.98,156.3,3432,1992,2154,2036,23.9,10.3,414,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1991,2096,2156,2036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2824,1.01,177.2,3430,1992,2156,2036,18.7,7.0,427,2836,0.00,0.00,8.73,0.141,8198,0.000,0.000,3431,1992,2028,2089,1967,0,0,0,0,0,0,28.83,28.83,14.85
$GC,2898,1.01,177.2,3431,1992,2103,1983,10.2,9.6,441,2905,0.00,2.53,1.75,0.095,8452,0.000,0.098,3431,3401,2030,2090,1971,0,0,0,0,0,0,28.83,14.88,14.88
$STATE,2976,end climb,SURFACE_DEPTH_REACHED
$STATE,2976,begin surface coast
$FINISH,0.4,1.021848
$STATE,2992,end surface coast,CONTROL_FINISHED_OK
$STATE,2992,begin surface
$SM_CCo,3009,53.35,0.087,0,0,1566,290.19
$SM_GC,1.12,9.40,2.05,53.35,0.110,0.065,0.087,212,2198,1566,-9.00,1.05,290.19,0,0,0,0,0,0,14.88,14.92,14.88
$IRIDIUM_FIX,4722.92,-12240.28,240414,060648
$TT8_MAMPS,0.035952,0.035952
$HUMID,31.13
$INTERNAL_PRESSURE,8.99215
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,166.0,43.3
$SC_FREEKB,4015264
$24V_AH,13.9,1.295
$10V_AH,13.9,0.568
$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,23.775,48.200,250.300,53.350,0.000,95.453,85.351,212.357,2.750,0.000,7.876,1054.805,1075.448,371.431,1208.742,42.873,33.214,810.056,0.000,748.496,0.000,19.853,0.000
$DEVICE_MAMPS,437.580,122.400,953.190,87.210,0.000,18.360,160.000,223.000,420.000,0.000,19.470,21.700,2.190,21.700,40.430,53.160,56.900,15.000,0.000,0.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2989.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.056,0.000,0.000,0.000
$MEM,322832
$DATA_FILE_SIZE,10099,459
$CAP_FILE_SIZE,85856,0
$CFSIZE,1024409600,1021083648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240414,085253,4742.402,-12225.237,35,0.9,35,16.3