version: 66.12
glider: 218
mission: 1
dive: 15
start: 4 24 114 8 0 6
data:
$ID,218
$MISSION,1
$DIVE,15
$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,-303.20856
$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,34
$R_STBD_OVSHOOT,41
$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
$GPS1,240414,075058,4742.231,-12225.516,3,1.3,4,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-75.2
$GPS2,240414,075910,4742.267,-12225.599,5,1.3,5,16.3
$SPEED_LIMITS,0.139,0.220
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.211,0.062
$KALMAN_X,-4180.8,497.7,-119.0,2974.6,-1072.3
$KALMAN_Y,-1659.2,36.0,-928.0,1592.0,-636.8
$MHEAD_RNG_PITCHd_Wd,57.2,3400,-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,-117.3,213,1910,1949,1847,0.0,0.0,0,79,0.00,0.00,-59.95,0.000,16390,0.000,0.000,213,1911,3554,3624,3485,0,0,0,0,0,0,28.83,28.83,15.05
$GC,81,-0.94,-117.3,212,1911,3625,3488,3.7,-8.7,11,99,12.12,2.35,0.00,0.000,2308,0.432,0.073,2822,3322,3556,3628,3485,0,0,0,0,0,0,14.64,14.83,28.83
$GC,276,-0.94,-117.3,2823,3322,3631,3481,43.7,-16.0,49,282,0.00,2.28,0.00,0.000,1030,0.000,0.067,2822,1926,3557,3635,3480,0,0,0,0,0,0,28.83,14.88,28.83
$GC,344,-0.94,-117.3,2822,1926,3636,3480,54.4,-15.2,62,349,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1926,3557,3635,3480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,471,-0.94,-117.3,2823,1926,3635,3480,74.5,-15.7,87,477,0.00,2.35,0.00,0.000,260,0.000,0.084,2812,3317,3557,3635,3480,0,0,0,0,0,0,28.83,14.92,28.83
$GC,644,-0.94,-117.3,2812,3317,3635,3480,103.4,-17.2,121,650,0.00,2.28,0.00,0.000,1030,0.000,0.066,2812,1915,3558,3636,3480,0,0,0,0,0,0,28.83,14.95,28.83
$GC,779,-0.94,-117.3,2812,1914,3635,3480,125.3,-15.5,144,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1914,3558,3638,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,957,-0.94,-117.3,2812,1914,3636,3479,154.1,-16.2,162,962,0.00,2.33,0.00,0.000,260,0.000,0.083,2801,3316,3557,3636,3479,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1002,-0.94,-117.3,2801,3317,3636,3480,160.9,-16.7,166,1009,0.15,2.28,0.00,0.000,3078,0.304,0.066,2834,1911,3557,3635,3479,0,0,0,0,0,0,14.88,15.00,28.83
$STATE,1137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1137,begin apogee
$GC,1140,-0.22,0.0,2834,1909,3636,3479,180.3,-12.0,180,1250,0.80,0.00,98.88,1.111,10246,0.266,0.000,3060,1907,3077,3175,2980,0,0,0,0,1,0,14.88,28.83,14.04
$STATE,1251,end apogee,CONTROL_FINISHED_OK
$STATE,1251,begin climb
$GC,1252,0.94,117.3,3060,1907,3181,2985,182.8,0.0,191,1349,1.17,0.00,89.00,1.024,10758,0.174,0.000,3425,1907,2590,2679,2501,0,0,0,0,0,0,14.46,28.83,13.94
$GC,1528,0.94,117.3,3425,1907,2678,2497,162.1,9.5,219,1534,0.00,2.40,0.00,0.000,516,0.000,0.097,3436,517,2588,2678,2498,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1540,0.94,117.3,3436,516,2678,2498,161.3,8.5,220,1545,0.00,2.30,0.00,0.000,1030,0.000,0.060,3436,1919,2587,2678,2497,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1731,0.94,117.3,3436,1926,2678,2497,144.3,9.1,239,1736,0.00,2.33,0.00,0.000,260,0.000,0.083,3436,3319,2588,2679,2498,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1756,0.94,117.3,3436,3319,2676,2498,142.5,8.4,241,1763,0.00,2.33,0.00,0.000,1030,0.000,0.066,3447,1915,2587,2677,2498,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1943,0.94,117.3,3447,1914,2677,2498,121.1,15.9,260,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,1914,2587,2677,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2123,0.94,117.3,3447,1914,2677,2498,97.7,10.0,295,2130,0.00,2.38,0.00,0.000,516,0.000,0.096,3459,509,2587,2677,2498,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2176,0.94,117.3,3459,509,2676,2498,91.0,13.9,305,2183,0.00,2.30,0.00,0.000,1030,0.000,0.062,3459,1928,2587,2676,2498,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2304,0.94,117.3,3459,1929,2676,2498,71.8,14.4,330,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1929,2587,2676,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2431,0.94,117.3,3459,1930,2676,2498,56.9,10.3,355,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1931,2587,2676,2498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2558,1.01,159.7,3459,1931,2676,2498,48.5,6.1,380,2597,0.00,2.30,31.77,0.887,8452,0.000,0.081,3459,3319,2418,2504,2332,0,0,0,0,0,0,28.83,14.84,14.49
$GC,2674,1.01,161.6,3459,3319,2501,2332,39.7,7.9,402,2680,0.00,2.30,0.00,0.000,1030,0.000,0.067,3470,1911,2416,2502,2331,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2742,1.01,161.6,3470,1911,2502,2330,33.9,8.6,415,2748,0.00,2.40,0.00,0.000,516,0.000,0.099,3480,509,2416,2502,2331,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2765,1.01,161.6,3480,509,2502,2330,31.3,11.4,419,2771,0.00,2.30,0.00,0.000,1030,0.000,0.060,3480,1933,2416,2502,2330,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2833,1.01,161.6,3480,1929,2502,2330,24.9,9.6,432,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,3480,1929,2416,2502,2330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2900,1.01,161.6,3480,1931,2502,2330,18.4,8.7,445,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,3480,1930,2416,2502,2330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2967,1.01,161.6,3480,1934,2502,2330,12.4,9.0,458,2974,0.00,2.30,0.00,0.000,260,0.000,0.083,3480,3319,2416,2502,2330,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,3074,end climb,SURFACE_DEPTH_REACHED
$STATE,3074,begin surface coast
$FINISH,0.3,1.002613
$STATE,3095,end surface coast,CONTROL_FINISHED_OK
$STATE,3095,begin surface
$SM_CCo,3114,62.45,0.082,0,0,1892,290.19
$SM_GC,1.01,9.23,2.33,62.45,0.090,0.065,0.082,216,1917,1892,-9.10,0.93,290.19,0,0,0,0,0,0,14.93,14.95,14.93
$IRIDIUM_FIX,4722.92,-12307.73,240414,060635
$TT8_MAMPS,0.025466,0.025466
$HUMID,32.39
$INTERNAL_PRESSURE,9.21442
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.1,67.6
$SC_FREEKB,4015296
$24V_AH,13.9,1.431
$10V_AH,13.9,0.513
$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,23.475,41.800,219.650,62.450,0.000,46.755,53.269,227.192,1.000,0.000,6.053,1093.058,1019.458,363.798,1164.108,41.236,33.203,809.818,0.000,773.205,0.000,8.771,0.000
$DEVICE_MAMPS,432.225,98.685,1110.780,81.855,0.000,19.120,160.000,223.000,420.000,0.000,20.220,11.960,2.190,11.960,29.190,42.670,45.670,15.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3098.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.843,0.000,0.000,0.000
$MEM,322704
$DATA_FILE_SIZE,13402,483
$CAP_FILE_SIZE,85110,0
$CFSIZE,1024409600,1021100032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,240414,085403,4742.069,-12225.427,24,1.4,24,16.3