version: 66.12
glider: 218
mission: 1
dive: 5
start: 4 23 114 21 7 25
data:
$ID,218
$MISSION,1
$DIVE,5
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51890
$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,-290.35583
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3855
$C_PITCH,3148
$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,260
$ROLL_MAX,3840
$ROLL_DEG,40
$C_ROLL_DIVE,1920
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3076
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,-49.013588
$PRESSURE_SLOPE,0.0001155959
$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,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.2
$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,0.004394019
$SEABIRD_T_H,0.00063509599
$SEABIRD_T_I,2.6066664e-05
$SEABIRD_T_J,3.2284852e-06
$SEABIRD_C_G,-9.7862835
$SEABIRD_C_H,1.1523048
$SEABIRD_C_I,-0.0016481688
$SEABIRD_C_J,0.00020067087
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,230414,205303,4743.910,-12224.535,44,1.3,44,16.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-75.9
$GPS2,230414,210628,4744.117,-12224.533,4,1.0,4,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.600
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.228,0.058
$KALMAN_X,-39.0,-226.9,-205.3,969.7,140.8
$KALMAN_Y,-187.4,-223.7,-71.5,2948.3,-104.3
$MHEAD_RNG_PITCHd_Wd,59.4,1173,-15.4,-8.000,-18.78,2604
$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,-0.85,-137.0,215,1913,1953,1847,0.0,0.0,0,73,0.00,0.00,-54.15,0.000,16386,0.000,0.000,215,1914,3401,3468,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.87,-146.6,215,1914,3467,3334,3.3,-5.8,10,99,12.18,2.35,-4.90,0.000,18692,0.431,0.104,2847,3321,3674,3763,3585,0,0,0,0,0,0,14.66,14.84,15.05
$GC,431,-0.87,-146.6,2847,3321,3763,3586,63.8,-14.6,80,438,0.00,2.30,0.00,0.000,1030,0.000,0.067,2848,1920,3674,3763,3586,0,0,0,0,0,0,28.83,14.92,28.83
$GC,559,-0.87,-146.6,2847,1920,3763,3586,83.4,-14.5,105,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1920,3674,3763,3585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,686,-0.87,-146.6,2847,1920,3763,3586,102.7,-15.1,130,692,0.00,2.33,0.00,0.000,260,0.000,0.086,2837,3320,3674,3763,3586,0,0,0,0,0,0,28.83,14.96,28.83
$GC,759,-0.87,-146.6,2837,3320,3761,3586,114.0,-15.4,144,766,0.12,2.28,0.00,0.000,3078,0.301,0.068,2863,1920,3674,3763,3586,0,0,0,0,0,0,14.88,14.98,28.83
$GC,892,-0.87,-146.6,2863,1920,3763,3586,131.8,-12.8,161,897,0.00,2.33,0.00,0.000,260,0.000,0.086,2855,3316,3674,3763,3586,0,0,0,0,0,0,28.83,15.00,28.83
$GC,934,-0.87,-146.6,2855,3316,3763,3586,137.4,-13.6,165,939,0.00,2.28,0.00,0.000,1030,0.000,0.068,2855,1911,3674,3763,3586,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1125,-0.87,-146.6,2855,1912,3763,3586,163.5,-13.5,184,1130,0.00,2.35,0.00,0.000,516,0.000,0.096,2855,515,3674,3763,3586,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1187,-0.87,-146.6,2857,515,3764,3586,172.3,-14.1,190,1192,0.00,2.25,0.00,0.000,1030,0.000,0.062,2844,1916,3674,3763,3586,0,0,0,0,0,0,28.83,15.04,28.83
$STATE,1208,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1208,begin apogee
$GC,1211,-0.22,0.0,2844,1916,3764,3586,175.3,-14.1,192,1324,0.77,0.00,108.10,1.040,10246,0.259,0.000,3064,1922,3074,3174,2974,0,0,0,0,0,0,14.90,28.83,14.13
$STATE,1325,end apogee,CONTROL_FINISHED_OK
$STATE,1325,begin climb
$GC,1326,0.87,146.6,3064,1922,3168,2968,180.0,0.0,203,1440,1.10,0.00,107.68,0.998,10758,0.177,0.000,3404,1923,2472,2563,2381,0,0,0,0,0,0,14.49,28.83,13.97
$GC,1618,0.87,146.6,3404,1923,2555,2373,158.5,9.7,233,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,1923,2463,2555,2372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1798,0.87,146.6,3405,1923,2554,2372,141.4,9.6,251,1803,0.00,2.42,0.00,0.000,516,0.000,0.099,3415,512,2463,2554,2373,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1894,0.87,146.6,3415,511,2554,2372,133.2,9.0,260,1900,0.00,2.30,0.00,0.000,1030,0.000,0.063,3415,1921,2463,2554,2372,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2080,0.87,146.6,3415,1922,2554,2372,115.8,9.4,283,2087,0.00,2.30,0.00,0.000,260,0.000,0.084,3415,3320,2463,2554,2373,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2158,0.87,146.6,3415,3320,2553,2374,107.8,10.2,298,2165,0.00,2.30,0.00,0.000,1030,0.000,0.070,3426,1911,2463,2553,2373,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2286,0.87,146.6,3426,1911,2553,2373,95.2,9.8,323,2293,0.00,2.33,0.00,0.000,260,0.000,0.083,3426,3321,2463,2553,2373,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2368,0.87,146.6,3426,3321,2553,2374,86.6,10.7,339,2375,0.00,2.28,0.00,0.000,1030,0.000,0.068,3437,1920,2463,2553,2373,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2496,0.87,146.6,3437,1920,2553,2373,73.5,10.2,364,2503,0.00,2.38,0.00,0.000,516,0.000,0.099,3448,508,2463,2553,2373,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2589,0.87,146.6,3448,508,2552,2373,63.6,11.1,382,2596,0.00,2.28,0.00,0.000,1030,0.000,0.063,3448,1922,2463,2553,2373,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2717,0.87,146.6,3448,1922,2553,2373,51.7,8.0,407,2723,0.00,2.28,0.00,0.000,260,0.000,0.083,3448,3320,2462,2552,2373,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2845,0.87,146.6,3447,3320,2551,2374,39.5,9.4,432,2852,0.12,2.28,0.00,0.000,5126,0.294,0.069,3432,1917,2462,2551,2374,0,0,0,0,0,0,14.91,15.01,28.83
$GC,2914,0.90,170.5,3432,1917,2552,2374,34.2,7.1,445,2938,0.00,2.45,18.40,0.844,8708,0.000,0.099,3441,517,2374,2462,2286,0,0,0,0,0,0,28.83,14.90,14.57
$GC,2980,0.90,170.5,3441,516,2457,2278,28.9,8.9,457,2986,0.00,2.28,0.00,0.000,1030,0.000,0.061,3441,1925,2367,2457,2278,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3048,0.95,217.3,3441,1926,2457,2278,24.0,6.2,470,3083,0.00,2.33,28.30,0.149,8452,0.000,0.083,3441,3317,2196,2281,2112,0,0,0,0,0,0,28.83,14.92,14.88
$GC,3194,0.95,217.3,3441,3317,2295,2124,10.2,9.9,498,3202,0.00,2.30,2.28,0.090,9222,0.000,0.068,3451,1915,2191,2276,2106,0,0,0,0,0,0,28.83,14.95,14.92
$GC,3263,0.95,217.3,3452,1916,2291,2120,3.7,9.4,511,3270,0.00,0.00,1.67,0.085,8198,0.000,0.000,3452,1916,2193,2278,2108,0,0,0,0,0,0,28.83,28.83,14.96
$STATE,3285,end climb,SURFACE_DEPTH_REACHED
$STATE,3285,begin surface coast
$FINISH,0.4,1.021486
$STATE,3306,end surface coast,CONTROL_FINISHED_OK
$STATE,3307,begin surface
$SM_CCo,3322,36.92,0.080,0,0,1892,290.19
$SM_GC,1.39,9.23,0.00,36.92,0.099,0.000,0.080,212,1911,1892,-9.13,-0.23,290.19,0,0,0,0,0,0,14.94,28.83,14.97
$IRIDIUM_FIX,4726.11,-12227.78,230414,191930
$TT8_MAMPS,0.025466,0.025466
$HUMID,33.77
$INTERNAL_PRESSURE,9.22419
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.1,69.7
$SC_FREEKB,4018496
$24V_AH,14.0,0.713
$10V_AH,14.0,0.208
$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,23.525,50.975,266.425,36.925,0.000,116.217,106.487,230.625,0.500,0.000,5.139,1183.328,1216.531,376.846,1361.970,40.126,33.206,850.228,0.000,835.888,0.000,5.605,0.000
$DEVICE_MAMPS,431.460,239.445,1039.635,80.325,0.000,19.120,160.000,223.000,420.000,0.000,20.220,11.960,2.190,11.960,29.190,42.670,45.670,15.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3316.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.782,0.000,0.000,0.000
$MEM,322828
$DATA_FILE_SIZE,13418,519
$CAP_FILE_SIZE,93918,0
$CFSIZE,1024409600,1022099456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230414,220402,4744.253,-12223.952,1,1.1,1,16.3