version: 66.12
glider: 218
mission: 1
dive: 13
start: 4 24 114 5 49 5
data:
$ID,218
$MISSION,1
$DIVE,13
$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,120
$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,-300.6958
$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,36
$R_STBD_OVSHOOT,47
$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
$GPS1,240414,054051,4742.589,-12225.296,37,1.0,37,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-75.4
$GPS2,240414,054809,4742.543,-12225.404,3,0.9,4,16.3
$SPEED_LIMITS,0.139,0.220
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.128,0.178
$KALMAN_X,-2622.6,359.5,127.9,1562.2,-595.8
$KALMAN_Y,-666.6,191.2,-224.7,263.5,-862.5
$MHEAD_RNG_PITCHd_Wd,19.4,2837,-16.8,-8.000,-20.01,2232
$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,-0.94,-117.3,213,1903,1950,1848,0.0,0.0,0,74,0.00,0.00,-54.60,0.000,16386,0.000,0.000,212,1904,3397,3466,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.94,-117.3,212,1904,3466,3328,3.0,-5.8,10,100,12.15,2.40,-3.08,0.000,18692,0.431,0.107,2822,3306,3556,3642,3470,0,0,0,0,0,0,14.60,14.78,15.00
$GC,206,-0.94,-117.3,2822,3306,3642,3470,30.7,-18.0,35,213,0.00,2.28,0.00,0.000,1030,0.000,0.067,2821,1919,3556,3642,3470,0,0,0,0,0,0,28.83,14.83,28.83
$GC,275,-0.94,-117.3,2821,1918,3642,3470,42.3,-16.9,48,280,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1918,3556,3642,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,342,-0.94,-117.3,2822,1919,3642,3470,54.1,-17.5,61,348,0.00,2.35,0.00,0.000,260,0.000,0.084,2812,3318,3556,3642,3470,0,0,0,0,0,0,28.83,14.87,28.83
$GC,375,-0.94,-117.3,2812,3318,3642,3470,59.9,-17.6,67,382,0.12,2.28,0.00,0.000,3078,0.316,0.066,2837,1919,3556,3642,3470,0,0,0,0,0,0,14.76,14.89,28.83
$GC,503,-0.94,-117.3,2837,1919,3642,3470,79.4,-14.8,92,510,0.00,2.33,0.00,0.000,260,0.000,0.083,2828,3311,3556,3642,3470,0,0,0,0,0,0,28.83,14.91,28.83
$GC,576,-0.94,-117.3,2828,3311,3642,3470,89.6,-14.4,106,583,0.00,2.28,0.00,0.000,1030,0.000,0.065,2828,1910,3556,3642,3470,0,0,0,0,0,0,28.83,14.92,28.83
$GC,704,-0.94,-117.3,2828,1910,3643,3470,106.1,-12.4,131,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1910,3556,3642,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,831,-0.94,-117.3,2828,1910,3642,3470,123.6,-16.5,154,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1910,3556,3643,3470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1011,-0.94,-117.3,2828,1909,3643,3470,151.8,-14.7,172,1016,0.00,2.33,0.00,0.000,260,0.000,0.084,2818,3308,3555,3642,3469,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1128,-0.94,-117.3,2818,3308,3642,3470,169.6,-15.4,183,1133,0.00,2.25,0.00,0.000,1030,0.000,0.065,2817,1915,3556,3642,3470,0,0,0,0,0,0,28.83,15.00,28.83
$STATE,1199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1199,begin apogee
$GC,1202,-0.22,0.0,2818,1915,3643,3470,180.8,-15.6,190,1325,0.88,0.00,113.22,1.006,10246,0.267,0.000,3062,1912,3079,3178,2980,0,0,0,0,1,0,14.88,28.83,14.03
$STATE,1327,end apogee,CONTROL_FINISHED_OK
$STATE,1327,begin climb
$GC,1328,0.94,117.3,3062,1912,3183,2986,187.0,0.0,202,1426,1.17,2.47,89.40,1.017,10756,0.180,0.093,3434,513,2589,2678,2500,0,0,0,0,0,0,14.45,14.32,13.93
$GC,1467,0.97,139.4,3435,514,2674,2497,182.4,7.0,216,1494,0.00,2.35,17.60,0.954,9222,0.000,0.059,3435,1921,2497,2587,2408,0,0,0,0,0,0,28.83,14.50,14.03
$GC,1673,0.97,139.4,3435,1922,2586,2405,162.7,9.5,237,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1922,2495,2585,2405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1853,0.97,139.4,3435,1922,2585,2405,146.5,9.2,255,1858,0.00,2.33,0.00,0.000,260,0.000,0.083,3435,3319,2495,2585,2405,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1894,0.97,139.4,3435,3319,2584,2406,142.3,10.3,259,1899,0.00,2.30,0.00,0.000,1030,0.000,0.066,3446,1915,2495,2584,2406,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2086,0.97,139.4,3446,1914,2585,2406,123.9,8.6,278,2091,0.00,2.38,0.00,0.000,516,0.000,0.097,3457,514,2495,2584,2406,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2107,0.97,139.4,3457,514,2584,2406,121.6,9.8,280,2112,0.00,2.28,0.00,0.000,1030,0.000,0.059,3457,1926,2495,2584,2406,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2294,0.97,139.4,3457,1926,2585,2405,101.6,10.9,315,2300,0.00,2.28,0.00,0.000,260,0.000,0.083,3457,3314,2495,2584,2406,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2352,0.97,139.4,3457,3315,2584,2406,94.7,12.3,326,2358,0.00,2.28,0.00,0.000,1030,0.000,0.067,3468,1914,2495,2584,2406,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2479,0.97,139.4,3468,1914,2584,2406,80.1,10.6,351,2486,0.00,2.35,0.00,0.000,516,0.000,0.096,3478,516,2495,2584,2406,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2568,0.97,139.4,3479,516,2584,2406,70.0,11.5,368,2574,0.00,2.28,0.00,0.000,1030,0.000,0.061,3478,1929,2495,2584,2406,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2695,0.97,139.4,3479,1929,2584,2405,57.1,10.7,393,2702,0.00,2.28,0.00,0.000,260,0.000,0.083,3479,3318,2495,2584,2406,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2778,0.97,139.4,3479,3318,2583,2406,48.5,10.8,409,2785,0.15,2.28,0.00,0.000,5126,0.297,0.067,3456,1913,2494,2583,2406,0,0,0,0,0,0,14.88,14.98,28.83
$GC,2847,0.97,139.4,3456,1913,2584,2406,42.0,9.9,422,2854,0.00,2.35,0.00,0.000,516,0.000,0.096,3465,515,2495,2584,2406,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2910,0.97,139.4,3465,515,2584,2406,36.0,9.1,434,2916,0.00,2.25,0.00,0.000,1030,0.000,0.061,3465,1920,2495,2584,2406,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2978,0.97,139.4,3465,1920,2584,2405,29.8,9.2,447,2984,0.00,2.38,0.00,0.000,516,0.000,0.095,3475,511,2495,2584,2406,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3016,0.97,139.4,3476,511,2584,2406,26.2,9.2,454,3022,0.00,2.28,0.00,0.000,1030,0.000,0.061,3476,1926,2495,2584,2406,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3084,0.97,139.4,3476,1928,2584,2406,19.7,8.5,467,3091,0.00,2.40,0.00,0.000,516,0.000,0.094,3486,509,2494,2583,2406,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3142,1.00,152.3,3486,509,2584,2406,15.3,7.4,478,3155,0.00,2.28,5.25,0.119,9222,0.000,0.061,3486,1926,2459,2546,2372,0,0,0,0,0,0,28.83,15.01,14.96
$GC,3217,1.00,152.3,3486,1929,2556,2383,9.3,8.5,492,3223,0.00,0.00,1.75,0.096,8198,0.000,0.000,3486,1929,2458,2545,2371,0,0,0,0,0,0,28.83,28.83,14.97
$GC,3285,1.00,152.3,3486,1929,2559,2381,3.8,9.0,505,3292,0.00,2.30,1.45,0.093,8452,0.000,0.080,3486,3320,2458,2545,2372,0,0,0,0,0,0,28.83,14.98,14.97
$STATE,3328,end climb,SURFACE_DEPTH_REACHED
$STATE,3328,begin surface coast
$FINISH,0.4,1.021471
$STATE,3389,end surface coast,CONTROL_FINISHED_OK
$STATE,3389,begin surface
$SM_CCo,3407,69.28,0.086,0,0,1893,290.19
$SM_GC,2.13,9.30,2.33,69.28,0.098,0.065,0.086,218,1913,1893,-9.09,0.85,290.19,0,0,0,0,0,0,14.98,15.01,14.98
$IRIDIUM_FIX,4722.92,-12226.07,240414,040423
$TT8_MAMPS,0.025466,0.025466
$HUMID,32.63
$INTERNAL_PRESSURE,9.21442
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,166.1,36.4
$SC_FREEKB,4015936
$24V_AH,13.9,1.267
$10V_AH,13.9,0.454
$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,23.775,64.850,228.675,69.275,0.000,24.422,42.417,250.958,3.000,0.000,5.081,1221.874,996.804,393.736,1257.243,43.698,33.221,897.303,0.000,864.559,0.000,22.667,0.000
$DEVICE_MAMPS,431.460,107.100,1016.685,86.445,0.000,19.120,160.000,223.000,420.000,0.000,20.220,11.960,2.190,11.960,29.190,42.670,45.670,15.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3399.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.779,0.000,0.000,0.000
$MEM,322688
$DATA_FILE_SIZE,13407,525
$CAP_FILE_SIZE,98833,0
$CFSIZE,1024409600,1021280256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,240414,064738,4742.393,-12225.505,1,1.3,1,16.3