version: 66.12
glider: 218
mission: 1
dive: 3
start: 4 23 114 18 44 2
data:
$ID,218
$MISSION,1
$DIVE,3
$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,-287.83975
$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,23
$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,1965
$C_ROLL_CLIMB,1965
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$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
$GPS1,230414,183337,4743.132,-12224.980,2,1.2,2,16.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-74.6
$GPS2,230414,184309,4743.216,-12225.008,4,1.2,4,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.098,0.222
$KALMAN_X,-139.1,-167.5,-156.2,374.4,-193.0
$KALMAN_Y,-21.9,-50.6,-38.4,915.7,-67.3
$MHEAD_RNG_PITCHd_Wd,7.4,1501,-14.9,-8.000,-18.27,2786
$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,-0.83,-146.6,209,1950,1952,1847,0.0,0.0,0,79,0.00,0.00,-59.60,0.000,16386,0.000,0.000,209,1951,3568,3636,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.83,-146.6,209,1951,3637,3501,3.9,-10.1,11,100,11.90,2.42,-1.83,0.000,18692,0.422,0.112,2863,3364,3676,3758,3594,0,0,0,0,0,0,14.78,14.96,15.16
$GC,492,-0.83,-146.6,2863,3364,3759,3594,73.9,-15.1,92,498,0.00,2.28,0.00,0.000,1030,0.000,0.067,2863,1960,3676,3759,3594,0,0,0,0,0,0,28.83,15.01,28.83
$GC,620,-0.83,-146.6,2863,1959,3759,3594,93.0,-14.6,117,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1960,3676,3759,3593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,748,-0.83,-146.6,2863,1960,3759,3594,110.5,-13.2,142,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1960,3676,3759,3594,0,0,0,0,0,0,28.83,28.83,28.83
$GC,875,-0.83,-146.6,2863,1960,3759,3594,128.5,-13.6,161,880,0.00,2.33,0.00,0.000,260,0.000,0.085,2852,3361,3676,3759,3593,0,0,0,0,0,0,28.83,15.04,28.83
$GC,941,-0.83,-146.6,2852,3361,3759,3594,137.0,-13.5,167,948,0.00,2.25,0.00,0.000,1030,0.000,0.065,2852,1961,3676,3759,3594,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1127,-0.83,-146.6,2852,1962,3757,3594,163.4,-13.9,186,1133,0.00,2.33,0.00,0.000,260,0.000,0.085,2841,3362,3676,3759,3593,0,0,0,0,0,0,28.83,15.05,28.83
$GC,1179,-0.83,-146.6,2841,3362,3759,3593,170.4,-14.2,191,1185,0.15,2.25,0.00,0.000,3078,0.281,0.066,2876,1965,3676,3759,3593,0,0,0,0,0,0,14.95,15.06,28.83
$STATE,1260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1260,begin apogee
$GC,1263,-0.22,0.0,2876,1963,3757,3594,180.8,-12.1,199,1376,0.65,0.00,107.10,1.055,10246,0.239,0.000,3066,1960,3070,3170,2971,0,0,0,0,0,0,14.95,28.83,14.16
$STATE,1378,end apogee,CONTROL_FINISHED_OK
$STATE,1378,begin climb
$GC,1379,0.83,146.6,3067,1960,3169,2970,185.5,0.0,210,1492,1.05,0.00,107.25,1.016,10502,0.172,0.000,3397,1960,2472,2563,2382,0,0,0,0,0,0,14.54,28.83,14.00
$GC,1671,0.83,146.6,3397,1960,2558,2377,166.7,8.6,240,1676,0.00,2.40,0.00,0.000,516,0.000,0.098,3406,565,2467,2558,2377,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1713,0.83,146.6,3407,566,2558,2377,163.0,9.1,244,1718,0.00,2.30,0.00,0.000,1030,0.000,0.062,3407,1967,2468,2559,2377,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1904,0.83,146.6,3407,1968,2559,2377,147.1,8.6,263,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,1968,2467,2558,2377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2085,0.87,183.6,3407,1969,2558,2377,133.7,6.6,281,2119,0.00,2.38,27.23,0.964,8452,0.000,0.086,3407,3366,2320,2404,2236,0,0,0,0,0,0,28.83,14.80,14.43
$GC,2150,0.91,211.1,3408,3363,2401,2233,129.4,7.0,287,2177,0.00,2.30,21.17,0.934,9222,0.000,0.067,3417,1966,2210,2295,2125,0,0,0,0,0,0,28.83,14.83,14.36
$GC,2356,0.91,211.1,3417,1966,2289,2117,109.2,15.1,316,2362,0.00,2.40,0.00,0.000,516,0.000,0.100,3428,554,2203,2289,2117,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2429,0.91,211.1,3429,554,2289,2117,99.3,14.7,330,2435,0.00,2.30,0.00,0.000,1030,0.000,0.062,3428,1967,2202,2289,2116,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2557,0.91,211.1,3428,1972,2289,2117,85.0,9.8,355,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1975,2203,2289,2117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2683,0.91,211.1,3428,1975,2289,2117,69.7,9.3,380,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1975,2202,2289,2116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2811,0.91,211.1,3428,1975,2289,2116,59.7,10.9,405,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1975,2202,2289,2116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2938,0.91,211.1,3428,1975,2289,2116,45.7,11.3,430,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1975,2202,2289,2116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3005,0.91,211.1,3429,1975,2289,2116,38.0,12.6,443,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1975,2202,2289,2116,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3072,0.91,211.1,3428,1975,2289,2115,31.1,9.7,456,3078,0.00,2.40,0.00,0.000,516,0.000,0.100,3439,561,2202,2289,2115,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3135,0.91,211.1,3440,561,2289,2115,24.4,11.3,468,3141,0.00,2.28,0.00,0.000,1030,0.000,0.064,3440,1966,2202,2289,2115,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3203,0.91,211.1,3440,1967,2289,2115,17.8,8.3,481,3210,0.00,2.40,0.00,0.000,516,0.000,0.099,3451,553,2202,2289,2115,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3266,0.91,211.1,3451,552,2289,2115,12.0,9.1,493,3272,0.00,2.30,0.00,0.000,1030,0.000,0.063,3456,1974,2202,2289,2115,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3334,0.93,229.6,3450,1975,2289,2115,6.5,7.3,506,3347,0.00,2.35,7.65,0.093,8452,0.000,0.085,3450,3365,2143,2226,2060,0,0,0,0,0,0,28.83,15.00,15.00
$STATE,3388,end climb,SURFACE_DEPTH_REACHED
$STATE,3388,begin surface coast
$FINISH,0.4,1.021367
$STATE,3409,end surface coast,CONTROL_FINISHED_OK
$STATE,3409,begin surface
$SM_CCo,3427,30.58,0.080,0,0,1893,290.19
$SM_GC,1.00,9.15,2.35,30.58,0.096,0.072,0.080,211,1967,1893,-9.12,0.76,290.19,0,0,0,0,0,0,15.00,15.01,15.01
$IRIDIUM_FIX,4726.11,-12222.38,230414,181839
$TT8_MAMPS,0.025466,0.025466
$HUMID,34.48
$INTERNAL_PRESSURE,9.23396
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,141.0,56.5
$SC_FREEKB,4019136
$24V_AH,14.0,0.528
$10V_AH,14.0,0.143
$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,22.900,42.000,270.400,30.575,0.000,0.000,0.000,0.000,2.500,0.000,6.044,1181.599,1057.823,377.640,877.310,24.851,31.305,851.884,0.000,842.330,0.000,18.109,0.000
$DEVICE_MAMPS,422.280,112.455,1054.935,79.560,0.000,0.000,0.000,0.000,420.000,0.000,20.220,11.960,2.190,11.960,29.190,42.670,45.670,15.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3392.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.594,0.000,0.000,0.000
$MEM,322812
$DATA_FILE_SIZE,13423,520
$CAP_FILE_SIZE,105784,0
$CFSIZE,1024409600,1022279680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230414,194258,4743.448,-12224.732,42,1.3,42,16.3