version: 66.12
glider: 218
mission: 1
dive: 4
start: 4 23 114 19 52 34
data:
$ID,218
$MISSION,1
$DIVE,4
$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,-289.09784
$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,21
$R_STBD_OVSHOOT,37
$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
$GPS1,230414,194258,4743.448,-12224.732,42,1.3,42,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-76.6
$GPS2,230414,195140,4743.537,-12224.749,4,1.3,4,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.031,0.230
$KALMAN_X,-172.8,-221.6,-191.7,817.3,-74.9
$KALMAN_Y,-226.0,-234.6,-33.7,1895.5,-186.7
$MHEAD_RNG_PITCHd_Wd,351.2,859,-15.7,-8.000,-18.99,2536
$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,-0.84,-133.4,211,1962,1951,1844,0.0,0.0,0,74,0.00,0.00,-54.25,0.000,16386,0.000,0.000,210,1962,3388,3454,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.86,-146.6,209,1962,3454,3322,3.1,-5.6,10,100,12.15,2.35,-5.25,0.000,18692,0.429,0.107,2856,3364,3675,3764,3586,0,0,0,0,0,0,14.67,14.84,15.05
$GC,492,-0.86,-146.6,2856,3364,3765,3586,69.7,-12.0,92,498,0.00,2.30,0.00,0.000,1030,0.000,0.067,2855,1951,3675,3765,3586,0,0,0,0,0,0,28.83,14.95,28.83
$GC,620,-0.86,-146.6,2855,1951,3765,3586,89.6,-14.9,117,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1951,3675,3765,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,748,-0.86,-146.6,2855,1950,3765,3586,108.4,-13.8,142,754,0.00,2.38,0.00,0.000,260,0.000,0.086,2845,3369,3675,3764,3586,0,0,0,0,0,0,28.83,14.98,28.83
$GC,835,-0.86,-146.6,2845,3370,3765,3586,121.3,-15.8,158,841,0.00,2.28,0.00,0.000,1030,0.000,0.067,2845,1965,3675,3765,3586,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1021,-0.86,-146.6,2845,1961,3765,3586,150.4,-13.4,177,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1961,3675,3765,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1201,-0.86,-146.6,2845,1961,3765,3586,176.7,-14.7,195,1206,0.00,2.38,0.00,0.000,516,0.000,0.095,2845,554,3675,3765,3586,0,0,0,0,0,0,28.83,15.00,28.83
$STATE,1222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1222,begin apogee
$GC,1228,-0.22,0.0,2834,1963,3770,3586,180.0,-15.4,197,1394,0.82,0.00,156.90,0.962,10246,0.262,0.000,3067,1967,3070,3170,2970,0,0,0,0,0,0,14.91,28.83,14.09
$STATE,1395,end apogee,CONTROL_FINISHED_OK
$STATE,1395,begin climb
$GC,1396,0.86,146.6,3067,1967,3169,2969,187.2,0.0,214,1514,1.10,0.00,108.05,1.007,10758,0.180,0.000,3406,1970,2468,2558,2378,0,0,0,0,0,0,14.42,28.83,13.97
$GC,1693,0.86,146.6,3407,1971,2555,2374,165.8,9.8,244,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,1970,2464,2555,2374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1873,0.86,146.6,3407,1969,2555,2375,149.4,8.3,262,1878,0.00,2.42,0.00,0.000,516,0.000,0.099,3417,559,2464,2555,2374,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2018,0.86,146.6,3417,559,2555,2374,136.1,10.0,276,2025,0.00,2.30,0.00,0.000,1030,0.000,0.064,3417,1967,2464,2555,2374,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2204,0.86,146.6,3417,1971,2555,2373,117.5,10.1,297,2211,0.00,2.33,0.00,0.000,260,0.000,0.086,3417,3376,2464,2554,2375,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2232,0.86,146.6,3417,3372,2553,2375,115.0,9.4,302,2239,0.00,2.30,0.00,0.000,1030,0.000,0.068,3428,1962,2464,2554,2374,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2360,0.86,146.6,3428,1961,2554,2375,103.4,9.2,327,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1961,2464,2554,2375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2487,0.86,146.6,3428,1961,2554,2375,91.4,10.3,352,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1961,2464,2554,2374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2614,0.86,146.6,3428,1961,2554,2374,78.3,10.1,377,2620,0.00,2.35,0.00,0.000,260,0.000,0.086,3428,3376,2464,2554,2375,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2632,0.86,146.6,3428,3376,2553,2375,76.4,10.8,380,2638,0.00,2.30,0.00,0.000,1030,0.000,0.067,3439,1959,2464,2553,2375,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2760,0.86,146.6,3440,1958,2553,2375,62.9,11.2,405,2766,0.00,2.35,0.00,0.000,516,0.000,0.099,3450,562,2464,2553,2375,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2833,0.86,146.6,3450,562,2553,2375,54.7,11.2,419,2839,0.00,2.28,0.00,0.000,1030,0.000,0.063,3450,1970,2464,2554,2375,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2961,0.86,146.6,3450,1971,2554,2375,41.1,10.4,444,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1971,2464,2553,2375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3028,0.86,146.6,3450,1971,2553,2375,34.6,9.2,457,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1971,2464,2554,2375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3095,0.86,146.6,3450,1973,2554,2375,28.6,8.6,470,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1973,2464,2553,2375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3162,0.86,147.3,3450,1973,2553,2375,23.0,8.0,483,3169,0.00,2.40,0.00,0.000,516,0.000,0.099,3461,560,2464,2553,2375,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3345,0.90,177.8,3462,560,2553,2374,9.7,6.8,519,3368,0.00,2.28,14.25,0.101,9222,0.000,0.063,3461,1975,2355,2441,2269,0,0,0,0,0,0,28.83,15.04,15.00
$GC,3430,0.98,243.9,3461,1975,2450,2277,4.7,5.3,535,3469,0.00,2.35,33.28,0.080,8452,0.000,0.086,3461,3362,2083,2165,2001,0,0,0,0,0,0,28.83,15.00,15.01
$STATE,3480,end climb,SURFACE_DEPTH_REACHED
$STATE,3480,begin surface coast
$FINISH,0.4,1.014008
$STATE,3506,end surface coast,CONTROL_FINISHED_OK
$STATE,3506,begin surface
$SM_CCo,3524,23.58,0.080,0,0,1893,290.19
$SM_GC,1.94,9.18,2.33,23.58,0.094,0.070,0.080,216,1967,1893,-9.11,1.02,290.19,0,0,0,0,0,0,14.99,15.01,15.01
$IRIDIUM_FIX,4726.11,-12223.37,230414,181805
$TT8_MAMPS,0.025466,0.025466
$HUMID,33.81
$INTERNAL_PRESSURE,9.23396
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,126.0,66.6
$SC_FREEKB,4018816
$24V_AH,14.0,0.623
$10V_AH,14.0,0.176
$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,23.250,41.975,312.475,23.575,0.000,49.852,66.125,230.529,1.750,0.000,5.041,1223.275,1104.098,401.591,1303.397,37.570,32.216,906.508,0.000,886.610,0.000,13.433,0.000
$DEVICE_MAMPS,429.165,107.100,1006.740,80.325,0.000,19.120,160.000,223.000,420.000,0.000,20.220,11.960,2.190,11.960,29.190,42.670,45.670,15.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3510.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.721,0.000,0.000,0.000
$MEM,322780
$DATA_FILE_SIZE,13418,549
$CAP_FILE_SIZE,93600,0
$CFSIZE,1024409600,1022197760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230414,205303,4743.910,-12224.535,44,1.3,44,16.3