version: 66.12
glider: 218
mission: 1
dive: 11
start: 4 24 114 3 28 53
data:
$ID,218
$MISSION,1
$DIVE,11
$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,80
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,-298.18372
$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,3143
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,22.799999
$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,30
$R_STBD_OVSHOOT,46
$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,0.0017
$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
$GPS1,240414,032057,4743.311,-12223.984,49,0.9,49,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-77.1
$GPS2,240414,032758,4743.277,-12224.024,4,0.9,4,16.3
$SPEED_LIMITS,0.080,0.183
$TGT_NAME,SW
$TGT_LATLONG,4742.800,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.162,-0.083
$KALMAN_X,-882.5,-107.1,-71.7,2197.9,110.4
$KALMAN_Y,579.6,87.9,475.7,-226.8,-277.5
$MHEAD_RNG_PITCHd_Wd,226.5,1221,-20.8,-8.000,-23.67,1492
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.04,-78.2,214,1940,1951,1847,0.0,0.0,0,69,0.00,0.00,-49.15,0.000,16386,0.000,0.000,212,1940,3266,3333,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-1.04,-78.2,212,1940,3334,3199,3.0,-5.6,9,95,12.10,2.50,-2.40,0.000,18948,0.437,0.119,2795,517,3396,3478,3314,0,0,0,0,0,0,14.60,14.76,14.99
$GC,287,-1.04,-78.2,2795,516,3480,3314,48.8,-17.9,51,293,0.00,2.28,0.00,0.000,1030,0.000,0.063,2795,1906,3397,3480,3314,0,0,0,0,0,0,28.83,14.90,28.83
$GC,355,-1.04,-78.2,2795,1909,3481,3314,60.4,-17.2,64,361,0.00,2.38,0.00,0.000,260,0.000,0.086,2794,3329,3397,3481,3314,0,0,0,0,0,0,28.83,14.88,28.83
$GC,482,-1.04,-78.2,2794,3329,3481,3311,80.6,-12.9,89,489,0.00,2.30,0.00,0.000,1030,0.000,0.067,2794,1919,3397,3481,3314,0,0,0,0,0,0,28.83,14.90,28.83
$GC,610,-1.04,-78.2,2794,1919,3481,3314,97.8,-14.3,114,617,0.00,2.38,0.00,0.000,516,0.000,0.093,2794,514,3397,3481,3314,0,0,0,0,0,0,28.83,14.91,28.83
$GC,638,-1.04,-78.2,2793,514,3482,3313,102.2,-16.4,119,645,0.00,2.30,0.00,0.000,1030,0.000,0.063,2794,1928,3397,3481,3313,0,0,0,0,0,0,28.83,14.95,28.83
$GC,771,-1.04,-78.2,2794,1927,3482,3314,121.7,-14.6,144,776,0.00,2.30,0.00,0.000,260,0.000,0.083,2783,3323,3397,3481,3313,0,0,0,0,0,0,28.83,14.95,28.83
$GC,793,-1.04,-78.2,2783,3323,3481,3313,124.9,-15.0,146,798,0.00,2.28,0.00,0.000,1030,0.000,0.065,2783,1919,3397,3481,3313,0,0,0,0,0,0,28.83,14.95,28.83
$GC,984,-1.04,-78.2,2783,1919,3482,3313,154.6,-16.1,165,989,0.00,2.35,0.00,0.000,260,0.000,0.083,2773,3331,3397,3482,3313,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1086,-1.04,-78.2,2773,3331,3482,3313,171.7,-16.4,175,1092,0.12,2.30,0.00,0.000,3078,0.334,0.065,2798,1910,3397,3481,3313,0,0,0,0,0,0,14.85,14.99,28.83
$STATE,1097,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1097,begin apogee
$GC,1100,-0.22,0.0,2799,1909,3482,3313,173.6,-16.3,176,1193,0.95,0.00,85.30,0.969,10246,0.277,0.000,3063,1906,3071,3170,2972,0,0,0,0,0,0,14.86,28.83,14.22
$STATE,1195,end apogee,CONTROL_FINISHED_OK
$STATE,1195,begin climb
$GC,1196,1.04,78.2,3063,1906,3169,2970,178.2,0.0,185,1264,1.27,2.50,57.58,1.015,10756,0.175,0.093,3473,514,2747,2834,2660,0,0,0,0,0,0,14.55,14.40,14.03
$GC,1301,1.10,109.2,3473,514,2833,2658,174.5,5.9,196,1332,0.00,2.35,23.60,0.982,9222,0.000,0.059,3473,1929,2623,2709,2537,0,0,0,0,0,0,28.83,14.57,14.07
$GC,1511,1.10,109.2,3473,1930,2706,2531,157.3,9.1,217,1516,0.00,2.33,0.00,0.000,260,0.000,0.082,3473,3320,2618,2706,2531,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1596,1.10,109.2,3473,3320,2705,2531,149.1,10.5,225,1603,0.00,2.30,0.00,0.000,1030,0.000,0.065,3483,1920,2618,2705,2531,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1782,1.10,109.2,3483,1920,2705,2531,130.0,10.0,244,1787,0.00,2.33,0.00,0.000,260,0.000,0.083,3483,3320,2618,2705,2531,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1824,1.10,109.2,3483,3320,2704,2531,125.6,10.7,248,1829,0.00,2.30,0.00,0.000,1030,0.000,0.068,3494,1914,2618,2705,2531,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2010,1.10,109.2,3494,1914,2705,2531,106.9,9.2,279,2017,0.00,2.38,0.00,0.000,516,0.000,0.096,3506,509,2618,2705,2531,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2093,1.10,109.2,3506,509,2704,2531,97.9,10.9,295,2099,0.00,2.28,0.00,0.000,1030,0.000,0.062,3506,1920,2617,2704,2531,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2221,1.10,109.2,3506,1921,2704,2532,83.8,11.5,320,2227,0.00,2.40,0.00,0.000,516,0.000,0.095,3517,510,2617,2703,2531,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2329,1.10,109.2,3517,510,2703,2531,70.3,13.0,341,2335,0.00,2.28,0.00,0.000,1030,0.000,0.062,3517,1922,2617,2703,2531,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2456,1.10,109.2,3517,1921,2703,2532,57.0,10.1,366,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,1922,2618,2704,2532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2583,1.10,109.2,3517,1922,2703,2531,43.9,9.7,391,2590,0.00,2.38,0.00,0.000,516,0.000,0.096,3528,515,2617,2703,2531,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2631,1.10,109.2,3528,515,2703,2531,39.5,8.8,400,2638,0.12,2.25,0.00,0.000,5126,0.298,0.060,3502,1931,2617,2703,2532,0,0,0,0,0,0,14.88,15.01,28.83
$GC,2700,1.10,109.2,3502,1930,2703,2532,33.7,8.4,413,2706,0.00,0.00,0.00,0.000,6,0.000,0.000,3503,1931,2617,2703,2532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2767,1.10,109.2,3502,1931,2703,2531,28.6,8.5,426,2774,0.00,2.25,0.00,0.000,260,0.000,0.082,3501,3309,2617,2703,2532,0,0,0,0,0,0,28.83,14.99,28.83
$GC,3025,1.15,143.1,3502,3309,2702,2532,11.4,5.7,477,3049,0.00,2.25,16.30,0.114,9222,0.000,0.066,3515,1915,2495,2581,2409,0,0,0,0,0,0,28.83,15.01,14.98
$GC,3110,1.22,178.6,3511,1915,2592,2421,6.7,5.6,493,3133,0.00,0.00,19.25,0.095,8198,0.000,0.000,3511,1915,2349,2433,2265,0,0,0,0,0,0,28.83,28.83,14.99
$STATE,3173,end climb,SURFACE_DEPTH_REACHED
$STATE,3173,begin surface coast
$FINISH,0.3,1.018434
$STATE,3195,end surface coast,CONTROL_FINISHED_OK
$STATE,3195,begin surface
$SM_CCo,3210,56.08,0.083,0,0,1893,290.19
$SM_GC,2.07,9.35,0.00,56.08,0.098,0.000,0.083,214,1914,1893,-9.10,-0.17,290.19,0,0,0,0,0,0,14.97,28.83,14.97
$IRIDIUM_FIX,4726.11,-12220.67,240414,020216
$TT8_MAMPS,0.025466,0.025466
$HUMID,32.67
$INTERNAL_PRESSURE,9.21442
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.1,67.3
$SC_FREEKB,4016576
$24V_AH,14.0,1.112
$10V_AH,13.3,0.387
$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,23.925,55.900,202.025,56.075,0.000,23.768,44.669,248.536,0.500,0.000,5.086,1192.508,898.735,344.182,1224.436,40.561,33.216,820.403,0.000,843.729,0.000,5.597,0.000
$DEVICE_MAMPS,436.815,119.340,1015.155,83.385,0.000,19.120,160.000,223.000,420.000,0.000,20.220,11.960,2.190,11.960,29.190,42.670,45.670,15.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3202.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.069,0.000,0.000,0.000
$MEM,322708
$DATA_FILE_SIZE,13424,509
$CAP_FILE_SIZE,91841,0
$CFSIZE,1024409600,1021493248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240414,042358,4742.827,-12224.646,1,1.2,1,16.3