version: 66.12
glider: 218
mission: 1
dive: 16
start: 4 24 114 9 8 13
data:
$ID,218
$MISSION,1
$DIVE,16
$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,-304.46838
$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,45
$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
$GPS1,240414,085403,4742.069,-12225.427,24,1.4,24,16.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-73.7
$GPS2,240414,090717,4742.154,-12225.516,17,1.4,17,16.3
$SPEED_LIMITS,0.139,0.220
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.203,0.084
$KALMAN_X,-4663.4,349.6,-316.3,3904.8,-875.4
$KALMAN_Y,-1946.4,-161.3,-922.5,1861.1,-249.3
$MHEAD_RNG_PITCHd_Wd,51.3,3567,-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,16,begin dive
$GC,17,-0.94,-117.3,215,1913,1945,1842,0.0,0.0,0,79,0.00,0.00,-59.42,0.000,16386,0.000,0.000,216,1914,3499,3568,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.94,-117.3,219,1914,3568,3429,3.1,-5.9,11,101,12.23,2.40,-1.02,0.000,18692,0.438,0.102,2821,3316,3556,3637,3476,0,0,0,0,0,0,14.64,14.82,15.00
$GC,417,-0.94,-117.3,2821,3316,3638,3476,68.4,-15.7,77,424,0.00,2.28,0.00,0.000,1030,0.000,0.066,2820,1917,3557,3638,3476,0,0,0,0,0,0,28.83,14.92,28.83
$GC,545,-0.94,-117.3,2821,1917,3638,3476,87.7,-13.8,102,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1917,3557,3638,3476,0,0,0,0,0,0,28.83,28.83,28.83
$GC,672,-0.94,-117.3,2820,1917,3638,3476,105.0,-12.6,127,678,0.00,2.33,0.00,0.000,260,0.000,0.081,2810,3315,3557,3638,3476,0,0,0,0,0,0,28.83,14.95,28.83
$GC,745,-0.94,-117.3,2810,3315,3638,3476,113.0,-11.9,141,752,0.12,2.25,0.00,0.000,3078,0.317,0.066,2835,1921,3557,3638,3476,0,0,0,0,0,0,14.85,14.97,28.83
$GC,874,-0.94,-117.3,2835,1916,3638,3476,125.5,-10.1,161,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1916,3557,3638,3476,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1054,-0.94,-117.3,2835,1916,3638,3476,146.7,-13.6,179,1059,0.00,2.33,0.00,0.000,260,0.000,0.085,2827,3318,3556,3638,3475,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1089,-0.94,-117.3,2827,3317,3638,3475,150.2,-11.3,182,1096,0.00,2.25,0.00,0.000,1030,0.000,0.062,2826,1911,3557,3638,3476,0,0,0,0,0,0,28.83,15.02,28.83
$STATE,1244,end dive,NO_VERTICAL_VELOCITY
$STATE,1245,begin apogee
$GC,1247,-0.22,0.0,2827,1910,3639,3475,150.6,0.0,198,1340,0.75,0.00,85.78,1.018,10246,0.183,0.000,3064,1906,3070,3170,2970,0,0,0,0,0,0,14.95,28.83,14.21
$STATE,1342,end apogee,CONTROL_FINISHED_OK
$STATE,1342,begin climb
$GC,1343,0.94,117.3,3064,1905,3170,2969,150.5,0.0,207,1438,1.17,2.50,85.47,0.985,10500,0.185,0.081,3425,3315,2589,2678,2501,0,0,0,0,0,0,14.54,14.37,14.00
$GC,1489,0.94,117.3,3425,3315,2674,2501,140.7,11.7,222,1494,0.00,2.33,0.00,0.000,1030,0.000,0.063,3436,1921,2588,2674,2502,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1681,0.94,117.3,3435,1921,2674,2500,121.2,9.9,241,1686,0.00,2.35,0.00,0.000,260,0.000,0.082,3436,3316,2587,2674,2501,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1772,0.94,117.3,3436,3316,2674,2501,112.1,9.9,257,1779,0.00,2.30,0.00,0.000,1030,0.000,0.066,3447,1914,2587,2674,2501,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1901,0.94,120.1,3448,1914,2674,2501,100.6,7.9,282,1907,0.00,2.40,0.00,0.000,516,0.000,0.096,3459,511,2587,2674,2500,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1954,0.94,120.1,3459,511,2674,2500,95.5,9.5,292,1960,0.00,2.28,0.00,0.000,1030,0.000,0.060,3459,1915,2587,2674,2500,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2082,0.94,120.1,3459,1916,2674,2500,84.4,9.1,317,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1916,2587,2674,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2208,0.94,120.1,3459,1921,2672,2500,69.3,12.5,342,2215,0.00,2.33,0.00,0.000,260,0.000,0.083,3459,3320,2587,2674,2500,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2290,0.94,120.1,3459,3320,2674,2500,60.5,8.6,358,2297,0.00,2.28,0.00,0.000,1030,0.000,0.065,3470,1916,2589,2674,2505,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2419,1.04,177.3,3470,1916,2674,2500,49.9,5.4,383,2469,0.00,2.42,44.67,0.874,8452,0.000,0.081,3470,3317,2346,2432,2260,0,0,0,0,0,0,28.83,14.76,14.41
$GC,2491,1.04,177.3,3470,3318,2429,2258,43.6,9.6,396,2497,0.00,2.30,0.00,0.000,1030,0.000,0.067,3480,1921,2343,2428,2258,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2559,1.04,177.3,3480,1921,2429,2257,37.3,10.9,409,2565,0.00,2.38,0.00,0.000,516,0.000,0.093,3491,515,2344,2429,2260,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2627,1.04,177.3,3491,515,2429,2257,29.9,11.1,422,2634,0.00,2.28,0.00,0.000,1030,0.000,0.059,3491,1921,2343,2429,2257,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2696,1.04,177.3,3491,1922,2429,2257,22.9,10.2,435,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,1922,2343,2429,2257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2762,1.04,177.3,3491,1923,2429,2257,15.8,10.2,448,2768,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,1923,2343,2429,2257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2830,1.04,177.3,3491,1923,2429,2257,8.4,11.7,461,2836,0.00,2.30,0.00,0.000,260,0.000,0.082,3491,3323,2343,2429,2257,0,0,0,0,0,0,28.83,14.88,28.83
$STATE,2887,end climb,SURFACE_DEPTH_REACHED
$STATE,2887,begin surface coast
$FINISH,0.9,1.021169
$STATE,2908,end surface coast,CONTROL_FINISHED_OK
$STATE,2908,begin surface
$SM_CCo,2926,55.33,0.084,0,0,1892,290.19
$SM_GC,1.94,9.35,2.35,55.33,0.093,0.063,0.084,214,1908,1892,-9.11,0.68,290.19,0,0,0,0,0,0,14.88,14.92,14.90
$IRIDIUM_FIX,4722.92,-12223.37,240414,070715
$TT8_MAMPS,0.025466,0.025466
$HUMID,32.71
$INTERNAL_PRESSURE,9.22419
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.2,54.0
$SC_FREEKB,4014976
$24V_AH,14.0,1.512
$10V_AH,14.0,0.542
$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,23.625,46.600,215.925,55.325,0.000,116.930,103.547,210.523,0.500,0.000,18.383,1078.876,1038.068,349.708,1281.661,41.609,33.202,790.250,0.000,772.032,0.000,5.563,0.000
$DEVICE_MAMPS,437.580,101.745,1018.215,84.150,0.000,19.120,160.000,223.000,420.000,0.000,20.220,11.960,2.190,11.960,29.190,42.670,45.670,15.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2914.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.939,0.000,0.000,0.000
$MEM,322664
$DATA_FILE_SIZE,13409,476
$CAP_FILE_SIZE,85984,0
$CFSIZE,1024409600,1021001728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240414,095839,4742.185,-12225.174,8,1.4,8,16.3