version: 66.12
glider: 218
mission: 1
dive: 7
start: 4 23 114 23 23 40
data:
$ID,218
$MISSION,1
$DIVE,7
$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,-293.06769
$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,30
$R_STBD_OVSHOOT,32
$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
$GPS1,230414,231551,4744.357,-12223.791,2,1.1,2,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-76.3
$GPS2,230414,232244,4744.407,-12223.883,5,0.8,6,16.3
$SPEED_LIMITS,0.080,0.183
$TGT_NAME,SW
$TGT_LATLONG,4742.800,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.027,-0.181
$KALMAN_X,-937.2,-194.5,27.7,2421.0,-251.3
$KALMAN_Y,512.8,-332.9,56.1,2764.4,436.5
$MHEAD_RNG_PITCHd_Wd,155.2,3146,-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,17,-1.04,-78.2,213,1918,1951,1847,0.0,0.0,0,73,0.00,0.00,-53.75,0.000,16390,0.000,0.000,213,1920,3395,3463,3328,0,0,0,0,0,0,28.83,28.83,15.03
$GC,76,-1.04,-78.2,213,1919,3463,3328,3.6,-7.5,10,94,12.07,2.35,0.00,0.000,2308,0.437,0.074,2794,3330,3396,3467,3326,0,0,0,0,0,0,14.62,14.81,28.83
$GC,100,-1.04,-78.2,2799,3329,3470,3324,13.7,-36.4,14,107,0.00,2.33,0.00,0.000,1030,0.000,0.071,2794,1926,3397,3472,3322,0,0,0,0,0,0,28.83,14.79,28.83
$GC,168,-1.04,-78.2,2794,1925,3475,3318,27.4,-18.2,27,175,0.00,2.42,0.00,0.000,516,0.000,0.094,2794,505,3397,3475,3319,0,0,0,0,0,0,28.83,14.81,28.83
$GC,181,-1.04,-78.2,2793,505,3475,3318,29.6,-16.9,29,188,0.00,2.33,0.00,0.000,1030,0.000,0.061,2783,1927,3396,3475,3318,0,0,0,0,0,0,28.83,14.85,28.83
$GC,249,-1.04,-78.2,2784,1928,3476,3318,41.8,-18.4,42,255,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1928,3397,3476,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,316,-1.04,-78.2,2783,1928,3476,3318,54.2,-18.6,55,323,0.00,2.33,0.00,0.000,260,0.000,0.084,2773,3325,3396,3475,3318,0,0,0,0,0,0,28.83,14.88,28.83
$GC,439,-1.04,-78.2,2773,3325,3476,3318,74.3,-16.2,79,446,0.15,2.30,0.00,0.000,3078,0.318,0.067,2804,1914,3397,3476,3318,0,0,0,0,0,0,14.78,14.90,28.83
$GC,567,-1.04,-78.2,2805,1914,3476,3318,92.7,-13.9,104,574,0.00,2.38,0.00,0.000,516,0.000,0.095,2804,512,3396,3478,3315,0,0,0,0,0,0,28.83,14.91,28.83
$GC,600,-1.04,-78.2,2804,512,3478,3316,97.4,-13.8,110,607,0.00,2.30,0.00,0.000,1030,0.000,0.062,2796,1931,3396,3478,3315,0,0,0,0,0,0,28.83,14.96,28.83
$GC,728,-1.04,-78.2,2796,1931,3476,3315,114.8,-13.7,135,735,0.00,2.33,0.00,0.000,260,0.000,0.083,2785,3330,3396,3478,3315,0,0,0,0,0,0,28.83,14.95,28.83
$GC,783,-1.04,-78.2,2785,3330,3478,3315,122.5,-13.9,144,788,0.00,2.30,0.00,0.000,1030,0.000,0.067,2785,1914,3396,3478,3315,0,0,0,0,0,0,28.83,14.96,28.83
$GC,975,-1.04,-78.2,2785,1914,3478,3315,149.0,-13.7,163,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1913,3397,3479,3315,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1104,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1104,begin apogee
$GC,1107,-0.22,0.0,2785,1914,3479,3315,166.7,-13.6,176,1175,1.00,0.00,59.45,1.035,10246,0.282,0.000,3060,1910,3068,3168,2969,0,0,0,0,0,0,14.88,28.83,14.31
$STATE,1177,end apogee,CONTROL_FINISHED_OK
$STATE,1177,begin climb
$GC,1178,1.04,78.2,3060,1910,3167,2969,170.0,0.0,183,1246,1.25,2.50,57.15,1.005,10756,0.174,0.095,3469,516,2748,2835,2662,0,0,0,0,0,0,14.65,14.47,14.10
$GC,1258,1.12,122.3,3469,517,2834,2660,166.7,5.0,191,1300,0.05,2.35,32.95,0.980,11270,0.276,0.060,3496,1932,2569,2656,2483,0,0,0,0,0,0,14.50,14.57,14.05
$GC,1478,1.12,122.3,3495,1932,2653,2478,141.8,12.1,213,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,3496,1932,2565,2653,2478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1658,1.12,122.3,3496,1932,2653,2477,121.5,10.7,231,1663,0.00,2.45,0.00,0.000,516,0.000,0.098,3507,511,2565,2653,2478,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1749,1.12,122.3,3507,511,2653,2477,110.7,11.9,247,1756,0.00,2.30,0.00,0.000,1030,0.000,0.063,3511,1924,2565,2652,2478,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1878,1.12,122.3,3507,1924,2653,2478,96.4,11.7,272,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,1924,2567,2653,2482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2005,1.12,122.3,3507,1924,2653,2478,80.9,12.6,297,2011,0.00,2.40,0.00,0.000,516,0.000,0.097,3518,518,2564,2652,2477,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2043,1.12,122.3,3518,518,2652,2477,75.9,13.2,304,2049,0.00,2.28,0.00,0.000,1030,0.000,0.061,3518,1926,2564,2652,2477,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2171,1.12,122.3,3518,1926,2652,2478,59.8,12.3,329,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,1927,2565,2652,2478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2298,1.12,123.3,3518,1928,2652,2478,48.0,7.9,354,2305,0.00,2.28,0.00,0.000,260,0.000,0.084,3518,3319,2565,2652,2478,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2446,1.12,123.3,3518,3319,2652,2478,33.2,10.4,383,2452,0.00,2.28,0.00,0.000,1030,0.000,0.067,3528,1918,2564,2651,2478,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2514,1.12,123.3,3528,1917,2652,2479,26.5,9.5,396,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,1917,2565,2652,2478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2581,1.16,146.9,3528,1917,2652,2477,20.9,6.4,409,2600,0.00,2.40,12.90,0.141,8452,0.000,0.082,3528,3326,2483,2570,2397,0,0,0,0,0,0,28.83,14.97,14.94
$GC,2661,1.16,146.9,3528,3326,2577,2406,14.0,9.1,424,2669,0.00,2.28,1.90,0.095,9222,0.000,0.067,3539,1920,2478,2564,2392,0,0,0,0,0,0,28.83,14.98,14.95
$GC,2731,1.20,170.1,3539,1919,2576,2405,9.6,6.4,437,2754,0.00,2.45,13.68,0.103,8708,0.000,0.097,3550,509,2389,2471,2307,0,0,0,0,0,0,28.83,14.95,14.97
$STATE,2835,end climb,SURFACE_DEPTH_REACHED
$STATE,2835,begin surface coast
$FINISH,0.4,1.011769
$STATE,2856,end surface coast,CONTROL_FINISHED_OK
$STATE,2856,begin surface
$SM_CCo,2874,59.45,0.079,0,0,1893,290.19
$SM_GC,2.20,9.40,2.33,59.45,0.090,0.063,0.079,207,1916,1893,-9.12,-1.36,290.19,0,0,0,0,0,0,14.97,15.00,14.98
$IRIDIUM_FIX,4729.30,-12226.80,230414,222210
$TT8_MAMPS,0.025466,0.025466
$HUMID,33.34
$INTERNAL_PRESSURE,9.21442
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.6,56.0
$SC_FREEKB,4017856
$24V_AH,14.1,0.845
$10V_AH,13.2,0.268
$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,23.925,51.625,178.025,59.450,0.000,24.283,40.964,241.517,0.750,0.000,7.103,1058.883,823.544,334.812,1104.025,38.518,33.239,761.724,0.000,731.950,0.000,7.750,0.000
$DEVICE_MAMPS,436.815,97.920,1035.045,78.795,0.000,19.120,160.000,223.000,420.000,0.000,20.220,11.960,2.190,11.960,29.190,42.670,45.670,15.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2860.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.974,0.000,0.000,0.000
$MEM,322876
$DATA_FILE_SIZE,10107,461
$CAP_FILE_SIZE,85943,0
$CFSIZE,1024409600,1021886464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240414,001333,4744.251,-12223.818,23,1.1,23,16.3