version: 66.12
glider: 218
mission: 1
dive: 10
start: 4 24 114 2 24 5
data:
$ID,218
$MISSION,1
$DIVE,10
$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,-296.92471
$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,26
$R_STBD_OVSHOOT,52
$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
$GPS1,240414,021640,4743.745,-12223.674,8,1.5,8,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-76.8
$GPS2,240414,022310,4743.695,-12223.633,4,1.7,4,16.3
$SPEED_LIMITS,0.080,0.183
$TGT_NAME,SW
$TGT_LATLONG,4742.800,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.116,-0.141
$KALMAN_X,-699.5,-271.3,-125.8,2717.7,112.2
$KALMAN_Y,755.2,-1.9,544.7,393.5,118.0
$MHEAD_RNG_PITCHd_Wd,203.3,2125,-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,-78.2,215,1918,1952,1845,0.0,0.0,0,68,0.00,0.00,-49.05,0.000,16386,0.000,0.000,215,1919,3290,3357,3224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-1.04,-78.2,215,1918,3357,3224,3.3,-6.8,9,94,12.07,2.45,-1.98,0.000,18948,0.437,0.121,2795,523,3397,3478,3316,0,0,0,0,0,0,14.62,14.78,15.00
$GC,126,-1.04,-78.2,2795,518,3478,3315,18.9,-20.7,19,132,0.00,2.28,0.00,0.000,1030,0.000,0.063,2795,1904,3396,3478,3315,0,0,0,0,0,0,28.83,14.83,28.83
$GC,194,-1.04,-78.2,2799,1904,3479,3314,31.4,-17.2,32,200,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1904,3396,3479,3314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,261,-1.04,-78.2,2795,1904,3479,3314,43.0,-16.8,45,267,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1904,3396,3479,3314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,328,-1.04,-78.2,2795,1904,3479,3314,53.8,-15.9,58,334,0.00,2.38,0.00,0.000,260,0.000,0.087,2793,3324,3396,3479,3314,0,0,0,0,0,0,28.83,14.88,28.83
$GC,456,-1.04,-78.2,2794,3324,3479,3314,76.5,-17.4,83,462,0.00,2.30,0.00,0.000,1030,0.000,0.066,2794,1914,3396,3479,3314,0,0,0,0,0,0,28.83,14.91,28.83
$GC,584,-1.04,-78.2,2794,1914,3479,3314,95.8,-14.5,108,590,0.00,2.35,0.00,0.000,260,0.000,0.083,2784,3322,3397,3479,3315,0,0,0,0,0,0,28.83,14.92,28.83
$GC,612,-1.04,-78.2,2784,3321,3479,3314,99.7,-14.7,113,618,0.00,2.28,0.00,0.000,1030,0.000,0.066,2784,1920,3396,3479,3314,0,0,0,0,0,0,28.83,14.94,28.83
$GC,740,-1.04,-78.2,2784,1919,3479,3314,118.7,-13.9,138,746,0.00,2.35,0.00,0.000,260,0.000,0.084,2774,3329,3396,3479,3314,0,0,0,0,0,0,28.83,14.95,28.83
$GC,799,-1.04,-78.2,2774,3329,3479,3314,126.2,-14.3,144,807,0.12,2.30,0.00,0.000,3078,0.325,0.065,2798,1915,3396,3479,3314,0,0,0,0,0,0,14.83,14.97,28.83
$GC,986,-1.04,-78.2,2798,1914,3479,3314,151.7,-13.3,163,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1914,3396,3479,3314,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1075,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1075,begin apogee
$GC,1078,-0.22,0.0,2796,1914,3479,3314,163.9,-13.6,172,1167,0.95,0.00,82.40,0.968,10246,0.280,0.000,3061,1911,3071,3170,2972,0,0,0,0,0,0,14.87,28.83,14.24
$STATE,1169,end apogee,CONTROL_FINISHED_OK
$STATE,1169,begin climb
$GC,1170,1.04,78.2,3061,1911,3169,2971,167.5,0.0,181,1238,1.27,2.45,57.33,0.998,10756,0.177,0.094,3473,517,2747,2834,2660,0,0,0,0,0,0,14.57,14.43,14.04
$GC,1323,1.04,78.2,3473,518,2833,2658,158.4,8.0,196,1330,0.00,2.33,0.00,0.000,1030,0.000,0.059,3473,1926,2745,2833,2658,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1509,1.04,78.2,3473,1926,2833,2658,142.9,8.1,215,1515,0.00,2.33,0.00,0.000,260,0.000,0.083,3473,3323,2745,2832,2658,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1541,1.04,78.2,3473,3323,2833,2657,140.3,8.3,218,1546,0.00,2.30,0.00,0.000,1030,0.000,0.066,3483,1919,2745,2833,2658,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1733,1.06,85.7,3483,1919,2833,2658,124.8,7.5,237,1744,0.00,2.42,2.55,0.409,8708,0.000,0.096,3494,519,2734,2818,2650,0,0,0,0,0,0,28.83,14.84,14.36
$GC,1881,1.07,92.1,3495,519,2824,2657,113.6,7.6,259,1898,0.00,2.28,10.35,0.897,9222,0.000,0.060,3495,1926,2692,2778,2607,0,0,0,0,0,0,28.83,14.93,14.45
$GC,2020,1.08,97.0,3495,1926,2775,2605,102.7,7.7,286,2027,0.00,2.30,1.05,0.090,8452,0.000,0.080,3494,3321,2683,2767,2599,0,0,0,0,0,0,28.83,14.89,14.89
$GC,2153,1.08,97.0,3495,3322,2772,2606,91.1,9.3,312,2161,0.00,2.30,0.90,0.090,9222,0.000,0.067,3506,1915,2683,2767,2599,0,0,0,0,0,0,28.83,14.92,14.93
$GC,2282,1.08,97.0,3506,1915,2772,2606,79.7,8.7,337,2290,0.00,2.35,1.08,0.091,8708,0.000,0.094,3522,516,2683,2766,2600,0,0,0,0,0,0,28.83,14.92,14.94
$GC,2381,1.08,97.0,3517,516,2770,2607,70.5,8.7,356,2388,0.00,2.28,0.00,0.000,1030,0.000,0.060,3517,1931,2689,2771,2607,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2509,1.12,121.7,3517,1931,2772,2606,61.3,6.3,381,2536,0.00,0.00,22.55,0.908,8198,0.000,0.000,3517,1931,2569,2653,2485,0,0,0,0,0,0,28.83,28.83,14.50
$GC,2658,1.12,121.7,3517,1931,2651,2482,49.9,8.1,410,2664,0.00,2.28,0.00,0.000,260,0.000,0.083,3517,3316,2567,2652,2482,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2790,1.12,121.7,3517,3316,2651,2482,37.6,9.7,436,2797,0.00,2.28,0.00,0.000,1030,0.000,0.067,3527,1916,2566,2651,2482,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2859,1.12,121.7,3527,1916,2651,2482,31.2,9.6,449,2865,0.00,2.35,0.00,0.000,516,0.000,0.097,3538,516,2566,2651,2482,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2901,1.12,121.7,3538,517,2651,2482,27.0,9.5,457,2908,0.15,2.25,0.00,0.000,5126,0.295,0.060,3506,1928,2566,2651,2482,0,0,0,0,0,0,14.83,14.96,28.83
$GC,2970,1.12,121.7,3506,1928,2653,2482,20.8,9.2,470,2978,0.00,2.38,0.00,0.000,516,0.000,0.095,3515,511,2566,2651,2482,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2999,1.12,121.7,3515,511,2651,2482,17.9,9.8,475,3006,0.00,2.25,0.00,0.000,1030,0.000,0.060,3515,1910,2566,2651,2482,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3068,1.14,133.1,3515,1911,2652,2482,12.1,7.2,488,3081,0.00,2.38,4.30,0.113,8452,0.000,0.082,3515,3318,2540,2625,2456,0,0,0,0,0,0,28.83,14.93,14.93
$GC,3117,1.14,133.1,3515,3319,2632,2461,8.2,8.1,497,3124,0.00,2.28,1.62,0.093,9222,0.000,0.065,3526,1914,2534,2619,2450,0,0,0,0,0,0,28.83,14.95,14.94
$GC,3186,1.19,163.5,3525,1914,2631,2461,3.6,5.9,510,3209,0.00,2.35,15.90,0.085,8708,0.000,0.094,3540,516,2411,2493,2330,0,0,0,0,0,0,28.83,14.92,14.95
$STATE,3214,end climb,SURFACE_DEPTH_REACHED
$STATE,3214,begin surface coast
$FINISH,0.4,1.013487
$STATE,3245,end surface coast,CONTROL_FINISHED_OK
$STATE,3245,begin surface
$SM_CCo,3263,62.88,0.082,0,0,1893,290.19
$SM_GC,2.05,9.40,2.33,62.88,0.093,0.059,0.082,212,1932,1893,-9.11,-1.07,290.19,0,0,0,0,0,0,14.95,14.99,14.94
$IRIDIUM_FIX,4726.11,-12220.67,240414,010133
$TT8_MAMPS,0.025466,0.025466
$HUMID,32.39
$INTERNAL_PRESSURE,9.21442
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,126.2,51.6
$SC_FREEKB,4016896
$24V_AH,14.0,1.044
$10V_AH,14.0,0.357
$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,23.975,65.100,200.025,62.875,0.000,24.847,41.692,221.774,0.750,0.000,5.110,1212.289,906.378,370.235,1200.465,41.090,33.210,857.394,0.000,847.971,0.000,7.141,0.000
$DEVICE_MAMPS,436.815,120.870,998.325,81.855,0.000,19.120,160.000,223.000,420.000,0.000,20.220,11.960,2.190,11.960,29.190,42.670,45.670,15.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3248.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.789,0.000,0.000,0.000
$MEM,322756
$DATA_FILE_SIZE,13419,521
$CAP_FILE_SIZE,97627,0
$CFSIZE,1024409600,1021591552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2970.86,0x236616,1,24
$GPS,240414,032057,4743.311,-12223.984,49,0.9,49,16.3