version: 66.12
glider: 218
mission: 1
dive: 14
start: 4 24 114 6 55 48
data:
$ID,218
$MISSION,1
$DIVE,14
$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,-301.95386
$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,34
$R_STBD_OVSHOOT,42
$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
$GPS1,240414,064738,4742.393,-12225.505,1,1.3,1,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-74.4
$GPS2,240414,065452,4742.430,-12225.592,4,1.3,4,16.3
$SPEED_LIMITS,0.139,0.220
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.186,0.117
$KALMAN_X,-3548.6,522.4,67.0,2144.9,-975.6
$KALMAN_Y,-1247.6,173.0,-650.6,1070.8,-886.8
$MHEAD_RNG_PITCHd_Wd,41.6,3113,-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,-117.3,218,1908,1950,1847,0.0,0.0,0,74,0.00,0.00,-54.38,0.000,16386,0.000,0.000,219,1909,3393,3463,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.94,-117.3,218,1909,3463,3325,3.1,-6.1,10,100,12.15,2.42,-3.08,0.000,18692,0.434,0.111,2822,3318,3556,3641,3471,0,0,0,0,0,0,14.62,14.80,15.01
$GC,302,-0.94,-117.3,2822,3318,3642,3470,49.4,-17.5,54,308,0.00,2.28,0.00,0.000,1030,0.000,0.066,2822,1923,3555,3640,3471,0,0,0,0,0,0,28.83,14.88,28.83
$GC,370,-0.94,-117.3,2822,1923,3641,3471,60.8,-16.1,67,376,0.00,2.35,0.00,0.000,260,0.000,0.085,2812,3315,3555,3642,3469,0,0,0,0,0,0,28.83,14.89,28.83
$GC,467,-0.94,-117.3,2812,3315,3642,3471,77.6,-17.5,86,473,0.00,2.28,0.00,0.000,1030,0.000,0.065,2812,1914,3556,3642,3470,0,0,0,0,0,0,28.83,14.90,28.83
$GC,595,-0.94,-117.3,2812,1914,3642,3471,99.1,-16.0,111,601,0.00,2.38,0.00,0.000,516,0.000,0.092,2812,508,3556,3642,3471,0,0,0,0,0,0,28.83,14.92,28.83
$GC,653,-0.94,-117.3,2812,507,3642,3470,108.7,-16.8,122,660,0.15,2.28,0.00,0.000,3078,0.346,0.062,2838,1915,3556,3642,3471,0,0,0,0,0,0,14.83,14.96,28.83
$GC,782,-0.94,-117.3,2839,1922,3642,3470,127.3,-13.7,142,787,0.00,2.33,0.00,0.000,260,0.000,0.081,2830,3326,3556,3642,3470,0,0,0,0,0,0,28.83,14.96,28.83
$GC,875,-0.94,-117.3,2830,3326,3642,3471,140.6,-14.1,151,880,0.00,2.28,0.00,0.000,1030,0.000,0.066,2830,1920,3556,3642,3471,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1066,-0.94,-117.3,2830,1917,3642,3471,169.1,-16.4,170,1071,0.00,2.38,0.00,0.000,516,0.000,0.093,2830,508,3556,3642,3470,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1114,-0.94,-117.3,2830,508,3642,3471,175.7,-15.6,174,1121,0.00,2.28,0.00,0.000,1030,0.000,0.061,2819,1920,3556,3642,3470,0,0,0,0,0,0,28.83,15.02,28.83
$STATE,1140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1141,begin apogee
$GC,1143,-0.22,0.0,2819,1920,3642,3468,181.2,-16.7,177,1236,0.88,0.00,87.50,1.048,10246,0.271,0.000,3062,1926,3073,3172,2975,0,0,0,0,0,0,14.86,28.83,14.18
$STATE,1238,end apogee,CONTROL_FINISHED_OK
$STATE,1238,begin climb
$GC,1239,0.94,117.3,3062,1926,3166,2969,186.9,0.0,186,1333,1.15,2.58,85.80,1.017,10756,0.177,0.093,3431,512,2587,2677,2498,0,0,0,0,0,0,14.52,14.33,13.97
$GC,1365,0.99,149.6,3431,512,2674,2495,182.1,6.5,199,1396,0.00,2.35,24.73,0.978,9222,0.000,0.059,3431,1923,2460,2550,2370,0,0,0,0,0,0,28.83,14.50,14.02
$GC,1575,0.99,149.6,3431,1928,2543,2363,160.7,10.9,220,1580,0.00,2.45,0.00,0.000,516,0.000,0.096,3442,512,2453,2543,2363,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1611,0.99,149.6,3442,512,2543,2362,157.2,11.4,223,1617,0.00,2.33,0.00,0.000,1030,0.000,0.060,3442,1926,2453,2543,2363,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1797,0.99,149.6,3443,1932,2543,2362,136.8,10.9,242,1802,0.00,2.42,0.00,0.000,516,0.000,0.098,3454,518,2453,2543,2363,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1828,0.99,149.6,3454,518,2543,2362,133.1,11.6,245,1833,0.00,2.28,0.00,0.000,1030,0.000,0.060,3454,1920,2452,2543,2362,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2015,0.99,149.6,3454,1921,2543,2362,112.2,11.4,270,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1921,2452,2543,2362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2142,0.99,149.6,3454,1923,2543,2362,99.0,10.6,295,2148,0.00,2.40,0.00,0.000,516,0.000,0.097,3465,515,2452,2543,2362,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2205,0.99,149.6,3465,515,2543,2362,91.8,11.8,307,2211,0.00,2.28,0.00,0.000,1030,0.000,0.061,3465,1924,2453,2544,2362,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2332,0.99,149.6,3465,1925,2543,2362,77.7,11.2,332,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,1925,2452,2543,2362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2459,0.99,149.6,3465,1925,2543,2361,63.8,9.8,357,2466,0.00,2.30,0.00,0.000,260,0.000,0.083,3465,3326,2452,2542,2363,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2587,0.99,149.6,3465,3326,2541,2364,50.0,11.3,382,2594,0.00,2.28,0.00,0.000,1030,0.000,0.066,3475,1919,2453,2542,2364,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2715,0.99,149.6,3476,1919,2542,2364,37.1,9.0,407,2722,0.00,2.35,0.00,0.000,516,0.000,0.096,3486,516,2453,2542,2364,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2803,0.99,149.6,3486,516,2542,2364,28.5,8.7,424,2810,0.00,2.25,0.00,0.000,1030,0.000,0.060,3486,1924,2453,2542,2364,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2872,1.00,153.7,3486,1924,2541,2364,22.9,7.8,437,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1924,2452,2542,2363,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2939,1.00,155.3,3486,1925,2542,2363,17.7,7.9,450,2947,0.00,2.40,1.00,0.089,8708,0.000,0.094,3498,512,2445,2532,2359,0,0,0,0,0,0,28.83,14.97,15.00
$GC,2973,1.01,163.3,3498,511,2537,2365,15.0,7.6,456,2986,0.00,2.28,5.57,0.119,9222,0.000,0.062,3497,1925,2416,2502,2331,0,0,0,0,0,0,28.83,15.01,14.95
$GC,3048,1.02,167.6,3497,1930,2512,2339,9.3,7.8,470,3060,0.00,2.33,4.05,0.103,8452,0.000,0.086,3497,3309,2399,2485,2313,0,0,0,0,0,0,28.83,14.97,14.97
$STATE,3166,end climb,SURFACE_DEPTH_REACHED
$STATE,3166,begin surface coast
$FINISH,0.3,1.012081
$STATE,3192,end surface coast,CONTROL_FINISHED_OK
$STATE,3192,begin surface
$SM_CCo,3210,60.72,0.080,0,0,1893,290.19
$SM_GC,1.12,9.20,2.30,60.72,0.086,0.064,0.080,214,1914,1893,-9.11,0.88,290.19,0,0,0,0,0,0,14.99,15.00,14.98
$IRIDIUM_FIX,4722.92,-12223.37,240414,050546
$TT8_MAMPS,0.025466,0.025466
$HUMID,33.10
$INTERNAL_PRESSURE,9.21442
$TCM_TEMP,16.60
$XPDR_PINGS,0
$SC_FREEKB,4015616
$24V_AH,14.0,1.346
$10V_AH,13.2,0.484
$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,23.525,60.775,208.650,60.725,0.000,22.786,51.034,241.061,3.750,0.000,5.081,1164.406,923.333,361.067,1213.239,42.323,33.213,834.965,0.000,824.933,0.000,27.279,0.000
$DEVICE_MAMPS,433.755,110.925,1048.050,80.325,0.000,19.120,160.000,223.000,420.000,0.000,20.220,11.960,2.190,11.960,29.190,42.670,45.670,15.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3200.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.761,0.000,0.000,0.000
$MEM,322684
$DATA_FILE_SIZE,13379,498
$CAP_FILE_SIZE,93151,0
$CFSIZE,1024409600,1021198336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240414,075058,4742.231,-12225.516,3,1.3,4,16.3