version: 66.12
glider: 218
mission: 1
dive: 8
start: 4 24 114 0 21 1
data:
$ID,218
$MISSION,1
$DIVE,8
$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,-294.32422
$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,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,0.0017
$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
$GPS1,240414,001333,4744.251,-12223.818,23,1.1,23,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-76.7
$GPS2,240414,002005,4744.309,-12223.839,4,1.2,4,16.3
$SPEED_LIMITS,0.080,0.183
$TGT_NAME,SW
$TGT_LATLONG,4742.800,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.065,-0.171
$KALMAN_X,-1002.8,-227.0,46.9,2547.3,-351.0
$KALMAN_Y,1005.4,-367.6,225.6,1957.0,611.2
$MHEAD_RNG_PITCHd_Wd,143.0,2993,-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,-78.2,208,1923,1951,1847,0.0,0.0,0,72,0.00,0.00,-52.92,0.000,16390,0.000,0.000,208,1923,3395,3463,3327,0,0,0,0,0,0,28.83,28.83,15.04
$GC,74,-1.04,-78.2,208,1923,3463,3327,3.8,-8.8,10,93,12.00,2.35,0.00,0.000,2308,0.432,0.076,2795,3329,3396,3467,3325,0,0,0,0,0,0,14.62,14.82,28.83
$GC,104,-1.04,-78.2,2794,3329,3470,3323,15.3,-36.1,15,111,0.00,2.33,0.00,0.000,1030,0.000,0.069,2794,1920,3396,3473,3320,0,0,0,0,0,0,28.83,14.81,28.83
$GC,172,-1.04,-78.2,2795,1919,3474,3318,28.1,-16.1,28,179,0.00,2.35,0.00,0.000,260,0.000,0.083,2788,3322,3396,3474,3318,0,0,0,0,0,0,28.83,14.84,28.83
$GC,250,-1.04,-78.2,2784,3322,3474,3318,41.6,-17.6,43,257,0.00,2.30,0.00,0.000,1030,0.000,0.067,2785,1917,3398,3474,3322,0,0,0,0,0,0,28.83,14.87,28.83
$GC,319,-1.04,-78.2,2784,1917,3475,3317,53.3,-17.7,56,324,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1917,3396,3475,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,446,-1.04,-78.2,2784,1917,3476,3316,74.3,-14.8,81,452,0.00,2.35,0.00,0.000,260,0.000,0.083,2774,3323,3396,3476,3316,0,0,0,0,0,0,28.83,14.91,28.83
$GC,544,-1.04,-78.2,2774,3323,3476,3316,89.5,-15.1,100,551,0.12,2.30,0.00,0.000,3078,0.328,0.067,2798,1911,3396,3476,3316,0,0,0,0,0,0,14.81,14.94,28.83
$GC,672,-1.04,-78.2,2798,1911,3476,3316,108.4,-14.4,125,679,0.00,2.35,0.00,0.000,260,0.000,0.085,2789,3321,3396,3477,3315,0,0,0,0,0,0,28.83,14.94,28.83
$GC,730,-1.04,-78.2,2790,3321,3477,3315,116.9,-14.7,136,737,0.00,2.28,0.00,0.000,1030,0.000,0.066,2790,1917,3396,3477,3316,0,0,0,0,0,0,28.83,14.96,28.83
$GC,863,-1.04,-78.2,2789,1917,3477,3315,135.1,-13.2,151,868,0.00,2.38,0.00,0.000,516,0.000,0.094,2790,511,3396,3477,3315,0,0,0,0,0,0,28.83,14.95,28.83
$GC,929,-1.04,-78.2,2790,511,3478,3315,144.3,-15.5,157,935,0.00,2.28,0.00,0.000,1030,0.000,0.062,2779,1919,3396,3478,3314,0,0,0,0,0,0,28.83,15.00,28.83
$STATE,1084,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1084,begin apogee
$GC,1087,-0.22,0.0,2779,1920,3477,3314,167.6,-14.1,173,1155,1.02,0.00,59.33,1.037,10246,0.286,0.000,3059,1924,3068,3167,2969,0,0,0,0,0,0,14.86,28.83,14.29
$STATE,1157,end apogee,CONTROL_FINISHED_OK
$STATE,1157,begin climb
$GC,1158,1.04,78.2,3059,1924,3167,2969,170.8,0.0,180,1226,1.25,2.50,56.88,1.006,10756,0.170,0.094,3469,526,2747,2834,2660,0,0,0,0,0,0,14.64,14.47,14.09
$GC,1273,1.08,96.9,3470,526,2834,2659,165.4,6.7,191,1294,0.00,2.33,15.02,0.949,9222,0.000,0.060,3470,1930,2674,2760,2589,0,0,0,0,0,0,28.83,14.62,14.14
$GC,1480,1.08,96.9,3470,1931,2756,2582,146.5,9.1,212,1485,0.00,2.33,0.00,0.000,260,0.000,0.083,3474,3326,2669,2756,2582,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1516,1.08,96.9,3470,3326,2756,2582,143.4,9.8,215,1522,0.00,2.30,0.00,0.000,1030,0.000,0.066,3480,1922,2669,2756,2583,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1702,1.08,96.9,3480,1922,2756,2582,126.3,8.9,234,1707,0.00,2.38,0.00,0.000,516,0.000,0.096,3491,516,2669,2756,2582,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1818,1.08,96.9,3491,516,2755,2583,115.4,9.1,250,1825,0.00,2.28,0.00,0.000,1030,0.000,0.061,3492,1923,2668,2754,2583,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1946,1.08,96.9,3492,1924,2755,2583,104.1,8.8,275,1952,0.00,2.40,0.00,0.000,516,0.000,0.095,3502,515,2669,2755,2583,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1989,1.08,96.9,3503,515,2754,2583,100.3,9.3,283,1995,0.00,2.28,0.00,0.000,1030,0.000,0.060,3502,1928,2668,2754,2583,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2117,1.08,96.9,3503,1927,2754,2583,89.6,8.5,308,2123,0.00,2.28,0.00,0.000,260,0.000,0.083,3503,3316,2668,2754,2583,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2490,1.14,131.5,3502,3316,2754,2583,62.6,5.6,382,2524,0.00,2.28,25.83,0.901,9222,0.000,0.067,3514,1909,2530,2614,2446,0,0,0,0,0,0,28.83,14.99,14.50
$GC,2645,1.14,131.5,3514,1908,2613,2441,50.7,9.5,412,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,1908,2527,2613,2441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2772,1.14,131.5,3514,1908,2613,2441,39.1,8.5,437,2779,0.00,2.35,0.00,0.000,516,0.000,0.097,3524,512,2527,2613,2441,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2860,1.14,131.5,3524,512,2612,2441,31.0,9.6,454,2866,0.00,2.28,0.00,0.000,1030,0.000,0.062,3524,1918,2527,2613,2441,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2928,1.14,131.5,3525,1918,2613,2441,24.0,10.2,467,2935,0.00,2.38,0.00,0.000,516,0.000,0.096,3535,519,2527,2613,2441,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3006,1.14,131.5,3535,519,2618,2442,16.5,8.1,482,3013,0.00,2.28,0.00,0.000,1030,0.000,0.060,3535,1929,2526,2612,2440,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3075,1.15,142.4,3535,1930,2613,2441,11.6,7.2,495,3087,0.00,2.33,4.10,0.107,8452,0.000,0.083,3535,3316,2502,2587,2418,0,0,0,0,0,0,28.83,14.95,14.93
$GC,3109,1.15,142.4,3535,3316,2593,2422,8.8,8.3,501,3117,0.12,2.28,1.50,0.088,13318,0.311,0.065,3520,1912,2497,2583,2412,0,0,0,0,0,0,14.87,14.95,14.94
$GC,3179,1.22,181.4,3520,1912,2593,2422,4.7,5.3,514,3207,0.00,2.38,20.20,0.085,8452,0.000,0.081,3519,3313,2340,2424,2257,0,0,0,0,0,0,28.83,14.95,14.95
$STATE,3238,end climb,SURFACE_DEPTH_REACHED
$STATE,3238,begin surface coast
$FINISH,0.4,1.009256
$STATE,3293,end surface coast,CONTROL_FINISHED_OK
$STATE,3293,begin surface
$SM_CCo,3311,55.12,0.083,0,0,1892,290.19
$SM_GC,1.01,9.40,2.33,55.12,0.096,0.065,0.083,214,1911,1892,-9.11,0.76,290.19,0,0,0,0,0,0,14.95,14.97,14.95
$IRIDIUM_FIX,4729.30,-12226.80,230414,232330
$TT8_MAMPS,0.025466,0.025466
$HUMID,33.02
$INTERNAL_PRESSURE,9.21442
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.1,61.7
$SC_FREEKB,4017536
$24V_AH,14.1,0.909
$10V_AH,14.1,0.298
$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,23.925,65.150,182.850,55.125,0.000,25.959,42.667,225.962,0.500,0.000,5.030,1238.826,923.852,346.858,1223.444,40.989,33.221,836.914,0.000,867.832,0.000,5.581,0.000
$DEVICE_MAMPS,432.225,97.155,1037.340,83.385,0.000,19.120,160.000,223.000,420.000,0.000,20.220,11.960,2.190,11.960,29.190,42.670,45.670,15.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3295.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.917,0.000,0.000,0.000
$MEM,322872
$DATA_FILE_SIZE,13389,536
$CAP_FILE_SIZE,96073,0
$CFSIZE,1024409600,1021788160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,934.74,0x213786,0,24
$GPS,240414,011754,4744.042,-12223.677,9,1.5,9,16.3