version: 66.12
glider: 218
mission: 1
dive: 12
start: 4 24 114 4 33 12
data:
$ID,218
$MISSION,1
$DIVE,12
$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,-299.43988
$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,33
$R_STBD_OVSHOOT,52
$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
$GPS1,240414,042358,4742.827,-12224.646,1,1.2,1,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-76.9
$GPS2,240414,043216,4742.755,-12224.726,4,1.2,4,16.3
$SPEED_LIMITS,0.080,0.183
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.010,0.182
$KALMAN_X,-1318.7,81.6,25.9,1476.1,-40.5
$KALMAN_Y,266.3,119.3,155.4,-591.5,-501.6
$MHEAD_RNG_PITCHd_Wd,346.8,2306,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-1.04,-78.2,214,1914,1952,1847,0.0,0.0,0,73,0.00,0.00,-54.05,0.000,16390,0.000,0.000,214,1914,3396,3464,3328,0,0,0,0,0,0,28.83,28.83,15.04
$GC,76,-1.04,-78.2,214,1914,3464,3328,3.5,-8.0,10,94,12.00,2.38,0.00,0.000,2564,0.434,0.087,2796,516,3397,3469,3325,0,0,0,0,0,0,14.63,14.79,28.83
$GC,366,-1.04,-78.2,2796,517,3477,3318,64.1,-16.9,67,372,0.00,2.28,0.00,0.000,1030,0.000,0.064,2796,1909,3397,3478,3316,0,0,0,0,0,0,28.83,14.90,28.83
$GC,493,-1.04,-78.2,2796,1909,3478,3315,82.5,-14.2,92,500,0.00,2.35,0.00,0.000,260,0.000,0.086,2793,3323,3396,3478,3315,0,0,0,0,0,0,28.83,14.92,28.83
$GC,576,-1.04,-78.2,2793,3323,3478,3315,93.4,-13.5,108,583,0.00,2.30,0.00,0.000,1030,0.000,0.067,2793,1919,3396,3478,3315,0,0,0,0,0,0,28.83,14.92,28.83
$GC,704,-1.04,-78.2,2793,1918,3478,3315,110.5,-14.1,133,711,0.00,2.35,0.00,0.000,260,0.000,0.083,2782,3329,3396,3478,3315,0,0,0,0,0,0,28.83,14.95,28.83
$GC,792,-1.04,-78.2,2782,3329,3478,3315,122.4,-13.8,148,799,0.00,2.28,0.00,0.000,1030,0.000,0.066,2782,1922,3396,3478,3315,0,0,0,0,0,0,28.83,14.97,28.83
$GC,978,-1.04,-78.2,2782,1922,3478,3319,146.2,-10.7,167,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1921,3396,3478,3315,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1158,-1.04,-78.2,2782,1921,3478,3315,166.7,-12.0,185,1163,0.00,2.33,0.00,0.000,260,0.000,0.084,2772,3325,3396,3478,3315,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1244,-1.04,-78.2,2772,3325,3479,3315,178.0,-14.5,193,1251,0.15,2.28,0.00,0.000,3078,0.321,0.065,2803,1915,3396,3478,3315,0,0,0,0,0,0,14.88,15.02,28.83
$STATE,1259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1259,begin apogee
$GC,1262,-0.22,0.0,2803,1915,3478,3315,180.9,-14.7,195,1355,0.93,0.00,85.53,0.970,10246,0.282,0.000,3060,1911,3070,3169,2972,0,0,0,0,0,0,14.87,28.83,14.23
$STATE,1357,end apogee,CONTROL_FINISHED_OK
$STATE,1357,begin climb
$GC,1358,1.04,78.2,3060,1911,3168,2970,184.5,0.0,204,1421,1.27,0.00,57.72,1.016,10758,0.179,0.000,3458,1911,2751,2840,2662,0,0,0,0,0,0,14.56,28.83,14.04
$GC,1600,1.05,78.7,3457,1911,2832,2656,170.1,8.0,229,1605,0.00,2.38,0.00,0.000,260,0.000,0.082,3458,3324,2744,2833,2656,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1652,1.05,78.7,3458,3324,2832,2656,165.6,8.8,234,1657,0.00,2.33,0.00,0.000,1030,0.000,0.065,3469,1911,2744,2833,2656,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1843,1.05,78.7,3469,1911,2833,2656,148.5,9.2,253,1849,0.00,2.38,0.00,0.000,260,0.000,0.083,3469,3332,2744,2832,2656,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1935,1.05,78.7,3469,3332,2832,2656,139.2,10.4,262,1940,0.00,2.30,0.00,0.000,1030,0.000,0.064,3479,1919,2744,2832,2656,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2127,1.05,78.7,3479,1919,2832,2656,120.4,8.8,281,2132,0.00,2.38,0.00,0.000,516,0.000,0.096,3489,512,2744,2832,2656,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2153,1.05,78.7,3491,512,2831,2657,118.1,8.3,285,2160,0.00,2.30,0.00,0.000,1030,0.000,0.062,3490,1937,2744,2831,2657,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2281,1.05,78.7,3489,1937,2831,2658,107.1,8.4,310,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,1937,2744,2831,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2409,1.07,93.8,3490,1937,2832,2657,96.8,7.0,335,2427,0.00,2.35,12.15,0.893,8452,0.000,0.083,3490,3320,2684,2769,2600,0,0,0,0,0,0,28.83,14.90,14.52
$GC,2458,1.07,93.8,3490,3321,2765,2599,92.3,10.1,344,2465,0.00,2.28,0.00,0.000,1030,0.000,0.066,3502,1920,2682,2766,2598,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2586,1.07,93.8,3502,1920,2766,2598,79.8,9.6,369,2593,0.00,2.35,0.00,0.000,516,0.000,0.096,3513,518,2682,2766,2598,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2679,1.07,93.8,3513,518,2765,2599,72.0,8.6,387,2685,0.00,2.25,0.00,0.000,1030,0.000,0.061,3513,1919,2681,2765,2598,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2807,1.11,116.9,3513,1920,2765,2598,62.1,6.4,412,2831,0.00,2.38,17.90,0.889,8452,0.000,0.083,3513,3317,2590,2674,2506,0,0,0,0,0,0,28.83,14.89,14.52
$GC,2952,1.11,116.9,3513,3316,2669,2504,49.9,8.1,440,2958,0.00,2.28,0.00,0.000,1030,0.000,0.066,3523,1917,2586,2669,2504,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3020,1.12,124.2,3523,1917,2671,2503,44.9,7.5,453,3027,0.00,0.00,1.92,0.096,8198,0.000,0.000,3523,1917,2575,2660,2491,0,0,0,0,0,0,28.83,28.83,14.90
$GC,3089,1.13,127.8,3523,1917,2671,2503,39.2,7.8,466,3101,0.00,0.00,9.38,0.810,8198,0.000,0.000,3523,1917,2549,2635,2463,0,0,0,0,0,0,28.83,28.83,14.52
$GC,3163,1.13,127.8,3523,1917,2628,2456,32.6,9.5,480,3170,0.00,2.33,0.00,0.000,260,0.000,0.081,3523,3324,2542,2628,2456,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3191,1.13,127.8,3523,3324,2627,2456,29.7,10.4,485,3197,0.00,2.30,0.00,0.000,1030,0.000,0.067,3534,1913,2541,2628,2455,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3259,1.13,127.8,3534,1913,2628,2456,22.7,10.7,498,3266,0.00,2.38,0.00,0.000,516,0.000,0.096,3545,509,2541,2627,2456,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3392,1.13,127.8,3545,508,2626,2456,10.7,9.0,524,3399,0.15,2.28,0.00,0.000,5126,0.307,0.062,3512,1925,2541,2626,2456,0,0,0,0,0,0,14.81,14.96,28.83
$GC,3461,1.13,127.8,3512,1926,2626,2456,4.4,9.0,537,3468,0.00,2.28,0.00,0.000,260,0.000,0.081,3512,3316,2541,2626,2456,0,0,0,0,0,0,28.83,14.95,28.83
$STATE,3703,end climb,SURFACE_DEPTH_REACHED
$STATE,3703,begin surface coast
$FINISH,1.8,1.021307
$STATE,3890,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3890,begin surface
$SM_CCo,3908,76.45,0.079,0,0,1893,290.19
$SM_GC,2.01,9.85,2.33,76.45,0.139,0.063,0.079,212,1906,1893,-9.11,0.71,290.19,0,0,0,0,0,0,14.96,15.00,14.96
$IRIDIUM_FIX,4729.30,-12219.67,240414,030336
$TT8_MAMPS,0.026215,0.026215
$HUMID,32.79
$INTERNAL_PRESSURE,9.22419
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,136.2,61.7
$SC_FREEKB,4016256
$24V_AH,14.0,1.183
$10V_AH,14.0,0.422
$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,24.350,60.325,184.600,76.450,0.000,50.677,57.313,221.965,1.250,0.000,5.059,1443.902,1243.262,358.916,1406.122,45.622,33.219,900.190,0.000,1001.268,0.000,10.553,0.000
$DEVICE_MAMPS,433.755,96.390,1015.920,78.795,0.000,19.120,160.000,223.000,420.000,0.000,20.220,11.960,2.190,11.960,29.190,42.670,45.670,15.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3898.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.088,0.000,0.000,0.000
$MEM,322708
$DATA_FILE_SIZE,16732,622
$CAP_FILE_SIZE,105615,0
$CFSIZE,1024409600,1021362176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240414,054051,4742.589,-12225.296,37,1.0,37,16.3