version: 66.12
glider: 218
mission: 1
dive: 6
start: 4 23 114 22 17 9
data:
$ID,218
$MISSION,1
$DIVE,6
$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,-291.81012
$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,28
$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
$GPS1,230414,220402,4744.253,-12223.952,1,1.1,1,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-76.1
$GPS2,230414,221613,4744.388,-12223.979,4,0.8,4,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.600
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.106,-0.108
$KALMAN_X,-434.3,-282.2,-45.5,1960.8,-9.5
$KALMAN_Y,61.9,-251.0,-80.6,3235.0,144.9
$MHEAD_RNG_PITCHd_Wd,119.4,586,-25.3,-8.000,-27.85,1018
$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,-1.19,-53.3,209,1910,1954,1847,0.0,0.0,0,72,0.00,0.00,-50.85,0.000,16390,0.000,0.000,211,1912,3295,3362,3228,0,0,0,0,0,0,28.83,28.83,15.07
$GC,74,-1.20,-61.6,211,1912,3361,3228,3.5,-7.2,10,93,11.77,2.33,-0.65,0.000,18692,0.435,0.097,2745,3320,3329,3405,3254,0,0,0,0,0,0,14.65,14.85,15.00
$GC,325,-1.20,-61.6,2749,3320,3407,3252,57.2,-16.5,59,331,0.00,2.30,0.00,0.000,1030,0.000,0.067,2743,1911,3329,3408,3250,0,0,0,0,0,0,28.83,14.90,28.83
$GC,453,-1.20,-61.6,2745,1911,3410,3249,76.7,-15.9,84,459,0.00,2.35,0.00,0.000,260,0.000,0.083,2735,3320,3329,3410,3249,0,0,0,0,0,0,28.83,14.93,28.83
$GC,540,-1.20,-61.6,2734,3320,3410,3249,91.8,-17.4,101,547,0.00,2.28,0.00,0.000,1030,0.000,0.067,2734,1918,3329,3410,3249,0,0,0,0,0,0,28.83,14.95,28.83
$GC,668,-1.20,-61.6,2734,1918,3410,3249,112.5,-16.3,126,675,0.00,2.33,0.00,0.000,260,0.000,0.083,2724,3317,3329,3410,3249,0,0,0,0,0,0,28.83,14.97,28.83
$GC,797,-1.20,-61.6,2724,3317,3410,3249,134.5,-17.0,143,803,0.15,2.28,0.00,0.000,3078,0.335,0.067,2755,1913,3329,3410,3249,0,0,0,0,0,0,14.85,14.98,28.83
$GC,989,-1.20,-61.6,2755,1914,3411,3248,164.6,-15.0,162,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1914,3329,3410,3248,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1028,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1028,begin apogee
$GC,1031,-0.22,0.0,2755,1914,3411,3248,170.7,-15.3,166,1084,1.15,0.00,48.17,1.043,10246,0.297,0.000,3067,1912,3073,3171,2975,0,0,0,0,0,0,14.87,28.83,14.34
$STATE,1086,end apogee,CONTROL_FINISHED_OK
$STATE,1086,begin climb
$GC,1087,1.20,61.6,3066,1912,3166,2968,173.5,0.0,171,1140,1.40,0.00,45.28,1.014,10502,0.176,0.000,3511,1911,2814,2906,2723,0,0,0,0,0,0,14.70,28.83,14.16
$GC,1319,1.22,74.9,3511,1911,2902,2721,159.9,6.7,195,1332,0.00,0.00,10.80,0.926,8198,0.000,0.000,3511,1911,2769,2857,2681,0,0,0,0,0,0,28.83,28.83,14.31
$GC,1509,1.22,74.9,3511,1911,2846,2671,144.3,8.3,214,1514,0.00,2.38,0.00,0.000,516,0.000,0.097,3522,516,2761,2850,2672,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1625,1.22,74.9,3522,517,2845,2673,135.0,8.6,225,1631,0.00,2.28,0.00,0.000,1030,0.000,0.061,3522,1923,2759,2846,2673,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1811,1.22,78.3,3522,1923,2846,2672,119.3,7.7,245,1817,0.00,2.30,0.00,0.000,260,0.000,0.082,3522,3317,2758,2844,2673,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1989,1.22,78.4,3522,3317,2845,2673,104.0,8.0,280,1996,0.00,2.28,0.00,0.000,1030,0.000,0.067,3532,1915,2759,2845,2673,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2118,1.22,80.4,3533,1915,2846,2672,94.4,7.8,305,2125,0.00,2.33,1.25,0.086,8452,0.000,0.080,3532,3322,2749,2835,2663,0,0,0,0,0,0,28.83,14.97,14.97
$GC,2172,1.23,85.8,3532,3322,2842,2673,90.2,7.5,315,2190,0.00,2.28,8.90,0.861,9222,0.000,0.067,3543,1916,2718,2803,2633,0,0,0,0,0,0,28.83,14.98,14.52
$GC,2311,1.23,85.8,3542,1916,2801,2632,79.2,8.0,342,2318,0.00,2.35,0.00,0.000,516,0.000,0.096,3554,518,2716,2800,2632,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2465,1.23,87.2,3554,519,2800,2632,66.4,7.9,372,2471,0.00,2.28,0.00,0.000,1030,0.000,0.063,3554,1929,2716,2800,2632,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2593,1.25,101.5,3554,1929,2800,2632,57.3,6.6,397,2611,0.00,2.35,12.85,0.875,8452,0.000,0.084,3554,3319,2653,2737,2570,0,0,0,0,0,0,28.83,14.93,14.54
$GC,2933,1.25,102.2,3554,3319,2733,2568,32.3,7.9,464,2939,0.00,2.28,0.00,0.000,1030,0.000,0.067,3565,1914,2649,2733,2565,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3002,1.27,117.0,3565,1915,2734,2568,27.6,6.5,477,3020,0.00,2.45,12.77,0.842,8708,0.000,0.097,3576,511,2589,2671,2507,0,0,0,0,0,0,28.83,14.90,14.55
$GC,3036,1.27,117.0,3576,511,2670,2504,24.6,8.4,483,3043,0.00,2.28,0.00,0.000,1030,0.000,0.062,3576,1919,2587,2670,2504,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3104,1.27,119.5,3576,1920,2670,2503,18.9,7.8,496,3111,0.00,2.33,0.00,0.000,260,0.000,0.083,3576,3324,2587,2670,2504,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3132,1.27,119.5,3576,3324,2669,2504,16.5,8.7,501,3139,0.00,2.28,0.00,0.000,1030,0.000,0.067,3586,1922,2587,2670,2504,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3201,1.31,153.0,3586,1924,2670,2503,12.0,4.6,514,3224,0.00,2.45,17.55,0.112,8708,0.000,0.096,3597,512,2462,2543,2381,0,0,0,0,0,0,28.83,14.90,14.92
$STATE,3375,end climb,SURFACE_DEPTH_REACHED
$STATE,3375,begin surface coast
$FINISH,0.5,1.011889
$STATE,3397,end surface coast,CONTROL_FINISHED_OK
$STATE,3397,begin surface
$SM_CCo,3415,68.35,0.079,0,0,1893,290.19
$SM_GC,1.82,9.60,2.33,68.35,0.096,0.064,0.079,213,1911,1893,-9.12,-1.39,290.19,0,0,0,0,0,0,14.94,14.97,14.95
$IRIDIUM_FIX,4729.30,-12226.80,230414,222235
$TT8_MAMPS,0.025466,0.025466
$HUMID,33.69
$INTERNAL_PRESSURE,9.22419
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.3,59.5
$SC_FREEKB,4018176
$24V_AH,14.2,0.780
$10V_AH,14.1,0.240
$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,24.075,51.025,157.575,68.350,0.000,68.196,95.130,324.025,1.000,0.000,5.300,1278.413,1140.515,321.300,1449.449,39.808,33.229,787.890,0.000,875.961,0.000,10.054,0.000
$DEVICE_MAMPS,434.520,97.155,1042.695,78.795,0.000,19.120,160.000,223.000,420.000,0.000,20.220,11.960,2.190,11.960,29.190,42.670,45.670,15.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3403.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.765,0.000,0.000,0.000
$MEM,322756
$DATA_FILE_SIZE,13433,552
$CAP_FILE_SIZE,97015,0
$CFSIZE,1024409600,1022001152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230414,231551,4744.357,-12223.791,2,1.1,2,16.3