version: 66.12
glider: 218
mission: 1
dive: 18
start: 4 24 114 11 16 21
data:
$ID,218
$MISSION,1
$DIVE,18
$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,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,-306.98309
$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,32
$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,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
$GPS1,240414,110703,4742.499,-12224.870,45,1.0,45,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-75.8
$GPS2,240414,111525,4742.619,-12224.827,4,0.7,4,16.3
$SPEED_LIMITS,0.139,0.220
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.125,0.180
$KALMAN_X,-5160.9,-44.4,-305.2,5640.7,-509.0
$KALMAN_Y,-2572.7,-409.0,-11.7,2688.1,39.5
$MHEAD_RNG_PITCHd_Wd,18.5,2563,-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,-0.94,-117.3,213,1903,1950,1845,0.0,0.0,0,79,0.00,0.00,-59.72,0.000,16386,0.000,0.000,213,1906,3551,3620,3483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.94,-117.3,213,1906,3619,3483,3.8,-8.9,11,100,12.10,2.38,0.00,0.000,2308,0.431,0.081,2832,3316,3552,3623,3481,0,0,0,0,0,0,14.64,14.82,28.83
$GC,341,-0.94,-117.3,2832,3316,3627,3479,55.5,-14.1,62,347,0.00,2.28,0.00,0.000,1030,0.000,0.066,2832,1920,3551,3629,3473,0,0,0,0,0,0,28.83,14.89,28.83
$GC,468,-0.94,-117.3,2831,1916,3631,3474,76.5,-20.8,87,475,0.00,2.33,0.00,0.000,260,0.000,0.083,2823,3314,3552,3630,3474,0,0,0,0,0,0,28.83,14.92,28.83
$GC,616,-0.94,-117.3,2823,3312,3630,3474,102.2,-16.8,116,623,0.00,2.25,0.00,0.000,1030,0.000,0.065,2823,1920,3553,3632,3474,0,0,0,0,0,0,28.83,14.95,28.83
$GC,749,-0.94,-117.3,2823,1920,3631,3474,123.6,-15.6,140,754,0.00,2.33,0.00,0.000,260,0.000,0.085,2812,3322,3552,3631,3474,0,0,0,0,0,0,28.83,14.96,28.83
$GC,868,-0.94,-117.3,2813,3322,3630,3474,142.9,-16.8,151,875,0.00,2.28,0.00,0.000,1030,0.000,0.066,2812,1920,3552,3630,3474,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1054,-0.94,-117.3,2812,1920,3631,3474,173.7,-15.0,170,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1920,3554,3630,3479,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1073,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1073,begin apogee
$GC,1076,-0.22,0.0,2812,1920,3631,3472,176.8,-15.5,172,1209,0.90,0.00,125.70,0.958,10246,0.267,0.000,3064,1919,3070,3167,2974,0,0,0,0,0,0,14.89,28.83,14.12
$STATE,1211,end apogee,CONTROL_FINISHED_OK
$STATE,1211,begin climb
$GC,1212,0.94,117.3,3064,1919,3168,2971,183.2,0.0,185,1305,1.15,0.00,87.25,1.009,10758,0.171,0.000,3421,1918,2591,2681,2502,0,0,0,0,0,0,14.44,28.83,13.94
$GC,1484,0.94,117.3,3421,1919,2675,2495,164.4,10.1,213,1489,0.00,2.40,0.00,0.000,516,0.000,0.093,3432,521,2585,2675,2496,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1570,0.94,117.3,3432,519,2675,2495,155.8,11.1,221,1576,0.00,2.30,0.00,0.000,1030,0.000,0.059,3432,1922,2585,2676,2495,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1756,0.94,117.3,3432,1923,2676,2493,136.8,9.6,240,1761,0.00,2.33,0.00,0.000,260,0.000,0.083,3431,3325,2584,2675,2494,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1827,0.94,117.3,3432,3324,2674,2497,129.7,9.8,247,1832,0.00,2.30,0.00,0.000,1030,0.000,0.064,3443,1913,2585,2674,2496,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2013,0.94,117.3,3443,1913,2674,2496,112.0,9.1,274,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1913,2585,2675,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2140,0.94,117.3,3443,1913,2674,2496,100.8,9.0,299,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1912,2585,2674,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2267,0.94,117.3,3443,1911,2674,2496,90.1,8.2,324,2274,0.00,2.33,0.00,0.000,260,0.000,0.083,3443,3318,2585,2674,2496,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2370,0.94,117.3,3442,3318,2674,2497,79.3,12.9,344,2377,0.00,2.28,0.00,0.000,1030,0.000,0.066,3454,1915,2585,2674,2496,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2498,0.94,117.3,3454,1909,2674,2496,67.7,13.2,369,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1908,2585,2674,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2625,1.03,175.0,3455,1909,2674,2496,55.2,5.4,394,2674,0.00,0.00,42.83,0.896,8710,0.000,0.000,3454,1909,2352,2439,2265,0,0,0,0,0,0,28.83,28.83,14.45
$GC,2795,1.03,175.0,3454,1909,2436,2259,38.1,9.9,427,2802,0.00,2.38,0.00,0.000,516,0.000,0.096,3466,511,2347,2436,2259,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2883,1.03,175.0,3466,511,2434,2259,28.7,10.6,444,2890,0.00,2.30,0.00,0.000,1030,0.000,0.061,3466,1928,2347,2437,2258,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2951,1.03,175.0,3466,1928,2437,2258,22.2,9.5,457,2958,0.00,2.30,0.00,0.000,260,0.000,0.083,3466,3321,2348,2437,2259,0,0,0,0,0,0,28.83,14.89,28.83
$GC,3034,1.03,175.0,3466,3321,2437,2261,13.5,10.9,473,3041,0.00,2.28,0.00,0.000,1030,0.000,0.066,3476,1921,2348,2436,2261,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3103,1.03,175.0,3476,1921,2437,2260,6.7,8.8,486,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,1922,2348,2436,2260,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3169,end climb,SURFACE_DEPTH_REACHED
$STATE,3169,begin surface coast
$FINISH,0.5,1.021300
$STATE,3200,end surface coast,CONTROL_FINISHED_OK
$STATE,3200,begin surface
$SM_CCo,3215,55.05,0.086,0,0,1893,290.19
$SM_GC,2.21,9.12,0.00,55.05,0.081,0.000,0.086,217,1917,1893,-9.10,-0.08,290.19,0,0,0,0,0,0,14.92,28.83,14.92
$IRIDIUM_FIX,4716.56,-12603.05,240414,111142
$TT8_MAMPS,0.025466,0.025466
$HUMID,32.51
$INTERNAL_PRESSURE,9.21442
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,165.9,25.8
$SC_FREEKB,4014336
$24V_AH,13.9,1.691
$10V_AH,13.9,0.603
$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,23.275,37.000,255.775,55.050,0.000,46.033,92.046,200.638,3.250,0.000,5.164,1153.777,972.377,373.576,1246.108,41.572,33.199,845.470,0.000,834.290,0.000,25.525,0.000
$DEVICE_MAMPS,431.460,96.390,1009.035,85.680,0.000,19.120,160.000,223.000,420.000,0.000,20.220,11.960,2.190,11.960,29.190,42.670,45.670,15.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3206.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.730,0.000,0.000,0.000
$MEM,322704
$DATA_FILE_SIZE,13424,505
$CAP_FILE_SIZE,86150,0
$CFSIZE,1024409600,1020805120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240414,121130,4742.932,-12224.407,2,1.0,2,16.3