version: 66.12
glider: 218
mission: 1
dive: 9
start: 4 24 114 1 25 27
data:
$ID,218
$MISSION,1
$DIVE,9
$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,-295.57681
$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,32
$R_STBD_OVSHOOT,40
$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
$GPS1,240414,011754,4744.042,-12223.677,9,1.5,9,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-76.8
$GPS2,240414,012432,4744.094,-12223.661,5,1.3,5,16.3
$SPEED_LIMITS,0.080,0.183
$TGT_NAME,SW
$TGT_LATLONG,4742.800,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.023,-0.181
$KALMAN_X,-850.9,-326.1,-66.8,2828.7,-65.5
$KALMAN_Y,1054.1,-206.4,383.9,1196.6,497.1
$MHEAD_RNG_PITCHd_Wd,171.1,2724,-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,16,begin dive
$GC,17,-1.04,-78.2,214,1906,1951,1846,0.0,0.0,0,69,0.00,0.00,-49.10,0.000,16386,0.000,0.000,214,1907,3287,3354,3220,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-1.04,-78.2,214,1906,3355,3220,3.3,-6.7,9,89,11.95,0.00,-2.08,0.000,18694,0.431,0.000,2795,1906,3396,3478,3314,0,0,0,0,0,0,14.61,28.83,15.00
$GC,150,-1.04,-78.2,2795,1905,3478,3315,21.7,-17.6,24,157,0.00,2.38,0.00,0.000,260,0.000,0.086,2794,3316,3396,3478,3314,0,0,0,0,0,0,28.83,14.81,28.83
$GC,229,-1.04,-78.2,2795,3316,3479,3314,34.8,-16.6,39,235,0.00,2.28,0.00,0.000,1030,0.000,0.067,2794,1923,3396,3479,3314,0,0,0,0,0,0,28.83,14.85,28.83
$GC,297,-1.04,-78.2,2795,1922,3479,3314,46.3,-16.7,52,303,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1922,3396,3479,3314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,364,-1.04,-78.2,2794,1922,3479,3314,58.7,-19.0,65,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1922,3396,3479,3314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,490,-1.04,-78.2,2795,1922,3478,3314,79.8,-15.5,90,497,0.00,2.35,0.00,0.000,260,0.000,0.084,2784,3326,3396,3479,3314,0,0,0,0,0,0,28.83,14.91,28.83
$GC,533,-1.04,-78.2,2784,3326,3479,3314,86.2,-15.1,98,540,0.00,2.30,0.00,0.000,1030,0.000,0.066,2785,1911,3396,3479,3314,0,0,0,0,0,0,28.83,14.93,28.83
$GC,661,-1.04,-78.2,2784,1911,3479,3314,106.0,-16.2,123,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1911,3399,3484,3314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,793,-1.04,-78.2,2784,1911,3479,3314,126.8,-15.5,145,798,0.00,2.35,0.00,0.000,260,0.000,0.083,2774,3322,3396,3479,3314,0,0,0,0,0,0,28.83,14.96,28.83
$GC,869,-1.04,-78.2,2774,3322,3479,3314,137.7,-15.3,152,876,0.12,2.28,0.00,0.000,3078,0.327,0.065,2798,1916,3396,3479,3314,0,0,0,0,0,0,14.84,14.97,28.83
$STATE,1014,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1014,begin apogee
$GC,1017,-0.22,0.0,2798,1917,3479,3314,159.0,-14.0,167,1110,0.95,0.00,85.85,0.949,10246,0.278,0.000,3062,1913,3072,3171,2973,0,0,0,0,0,0,14.85,28.83,14.22
$STATE,1112,end apogee,CONTROL_FINISHED_OK
$STATE,1112,begin climb
$GC,1113,1.04,78.2,3062,1913,3170,2971,163.2,0.0,176,1181,1.27,2.50,57.62,0.991,10756,0.175,0.093,3472,519,2748,2835,2661,0,0,0,0,0,0,14.56,14.42,14.05
$GC,1208,1.10,110.4,3472,519,2834,2659,159.4,5.8,186,1239,0.00,2.33,24.45,0.965,9222,0.000,0.058,3472,1921,2620,2708,2533,0,0,0,0,0,0,28.83,14.55,14.06
$GC,1418,1.10,110.4,3471,1921,2702,2527,139.6,10.0,207,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,3472,1921,2614,2702,2527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1597,1.10,110.4,3472,1923,2702,2527,122.3,9.3,225,1603,0.00,2.40,0.00,0.000,516,0.000,0.096,3482,517,2614,2702,2527,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1670,1.10,110.4,3482,516,2701,2528,115.2,10.3,236,1676,0.00,2.28,0.00,0.000,1030,0.000,0.061,3482,1920,2614,2701,2527,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1797,1.10,110.4,3482,1920,2701,2527,102.6,9.9,261,1804,0.00,2.30,0.00,0.000,260,0.000,0.083,3482,3321,2614,2701,2527,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1840,1.10,110.4,3482,3321,2701,2527,98.1,11.2,269,1847,0.00,2.28,0.00,0.000,1030,0.000,0.067,3493,1923,2614,2701,2527,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1968,1.10,110.4,3493,1923,2701,2527,83.9,11.4,294,1975,0.00,2.38,0.00,0.000,516,0.000,0.096,3504,516,2614,2701,2527,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1996,1.10,110.4,3504,517,2701,2528,80.9,10.9,299,2003,0.00,2.28,0.00,0.000,1030,0.000,0.060,3505,1926,2614,2701,2527,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2124,1.10,110.4,3505,1928,2701,2527,67.4,10.2,324,2131,0.00,2.30,0.00,0.000,260,0.000,0.083,3505,3327,2614,2701,2527,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2177,1.10,110.4,3505,3327,2701,2527,62.3,9.6,334,2183,0.00,2.30,0.00,0.000,1030,0.000,0.066,3515,1909,2614,2701,2527,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2304,1.10,110.4,3516,1908,2701,2527,51.2,8.2,359,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,1909,2614,2701,2527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2431,1.10,110.4,3515,1908,2705,2527,39.5,9.2,384,2438,0.00,2.33,0.00,0.000,260,0.000,0.083,3515,3323,2614,2701,2527,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2499,1.10,110.4,3515,3323,2701,2527,33.2,9.4,397,2506,0.00,2.28,0.00,0.000,1030,0.000,0.065,3526,1917,2614,2701,2527,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2568,1.10,112.1,3526,1917,2701,2527,27.5,7.9,410,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,3526,1917,2614,2701,2527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2635,1.12,122.8,3526,1917,2701,2527,22.4,7.3,423,2648,0.00,2.35,5.45,0.135,8708,0.000,0.093,3537,516,2586,2670,2503,0,0,0,0,0,0,28.83,14.97,14.93
$GC,2694,1.12,122.8,3537,517,2674,2509,17.3,9.2,434,2703,0.15,2.25,2.03,0.100,13318,0.287,0.059,3503,1932,2577,2662,2493,0,0,0,0,0,0,14.88,15.02,14.95
$GC,2765,1.17,149.2,3503,1932,2674,2506,12.8,6.2,447,2788,0.00,2.25,16.35,0.115,8452,0.000,0.079,3504,3306,2473,2558,2389,0,0,0,0,0,0,28.83,14.97,14.95
$GC,2830,1.17,149.2,3503,3306,2566,2395,8.3,8.4,459,2837,0.00,2.25,1.45,0.085,9222,0.000,0.067,3512,1916,2469,2555,2384,0,0,0,0,0,0,28.83,14.97,14.97
$GC,2899,1.19,166.1,3512,1916,2566,2396,3.5,6.8,472,2917,0.00,2.35,9.45,0.083,8964,0.000,0.081,3512,3307,2402,2487,2318,0,0,0,0,0,0,28.83,14.97,14.99
$STATE,2922,end climb,SURFACE_DEPTH_REACHED
$STATE,2922,begin surface coast
$FINISH,0.4,1.020865
$STATE,2949,end surface coast,CONTROL_FINISHED_OK
$STATE,2949,begin surface
$SM_CCo,2967,61.65,0.083,0,0,1892,290.19
$SM_GC,1.97,9.30,2.33,61.65,0.092,0.072,0.083,215,1920,1892,-9.10,0.82,290.19,0,0,0,0,0,0,14.97,14.97,14.96
$IRIDIUM_FIX,4726.11,-12222.38,240414,000009
$TT8_MAMPS,0.025466,0.025466
$HUMID,32.59
$INTERNAL_PRESSURE,9.21442
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.3,48.4
$SC_FREEKB,4017216
$24V_AH,14.1,0.976
$10V_AH,13.2,0.327
$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,23.750,55.625,202.650,61.650,0.000,25.300,39.875,229.895,1.000,0.000,6.012,1112.461,787.999,360.301,1137.970,40.369,33.202,815.528,0.000,777.565,0.000,9.978,0.000
$DEVICE_MAMPS,430.695,96.390,991.440,82.620,0.000,19.120,160.000,223.000,420.000,0.000,20.220,11.960,2.190,11.960,29.190,42.670,45.670,15.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2956.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.118,0.000,0.000,0.000
$MEM,322744
$DATA_FILE_SIZE,13411,481
$CAP_FILE_SIZE,91093,0
$CFSIZE,1024409600,1021689856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240414,021640,4743.745,-12223.674,8,1.5,8,16.3