version: 66.12
glider: 218
mission: 1
dive: 17
start: 4 24 114 10 14 53
data:
$ID,218
$MISSION,1
$DIVE,17
$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,-305.72644
$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
$GPS1,240414,095839,4742.185,-12225.174,8,1.4,8,16.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-74.0
$GPS2,240414,101357,4742.373,-12225.282,10,1.3,10,16.3
$SPEED_LIMITS,0.139,0.220
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.194,0.103
$KALMAN_X,-5071.5,203.1,-366.1,4799.7,-739.5
$KALMAN_Y,-1999.9,-372.4,-610.5,2218.1,91.7
$MHEAD_RNG_PITCHd_Wd,45.8,3099,-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,-117.3,215,1904,1951,1842,0.0,0.0,0,76,0.00,0.00,-56.33,0.000,16386,0.000,0.000,215,1905,3510,3579,3442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.94,-117.3,215,1904,3580,3443,3.7,-8.1,10,97,12.23,2.45,-0.77,0.000,18692,0.436,0.109,2832,3318,3556,3635,3478,0,0,0,0,0,0,14.62,14.79,14.95
$GC,318,-0.94,-117.3,2832,3318,3636,3477,49.7,-17.2,57,325,0.00,2.30,0.00,0.000,1030,0.000,0.067,2832,1923,3556,3635,3477,0,0,0,0,0,0,28.83,14.86,28.83
$GC,387,-0.94,-117.3,2832,1923,3636,3478,61.6,-16.8,70,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1923,3556,3636,3477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,514,-0.94,-117.3,2833,1923,3636,3478,84.1,-16.1,95,520,0.00,2.33,0.00,0.000,260,0.000,0.083,2824,3316,3556,3636,3477,0,0,0,0,0,0,28.83,14.91,28.83
$GC,632,-0.94,-117.3,2824,3316,3636,3477,101.3,-13.5,118,639,0.00,2.28,0.00,0.000,1030,0.000,0.066,2824,1919,3556,3636,3477,0,0,0,0,0,0,28.83,14.93,28.83
$GC,760,-0.94,-117.3,2824,1919,3636,3478,119.5,-14.4,143,771,0.00,2.33,0.00,0.000,260,0.000,0.083,2813,3318,3556,3636,3477,0,0,0,0,0,0,28.83,14.95,28.83
$GC,802,-0.94,-117.3,2813,3318,3634,3477,125.1,-14.7,147,808,0.00,2.28,0.00,0.000,1030,0.000,0.065,2813,1916,3556,3636,3477,0,0,0,0,0,0,28.83,14.96,28.83
$GC,988,-0.94,-117.3,2813,1915,3636,3477,154.8,-15.7,166,993,0.00,2.35,0.00,0.000,260,0.000,0.086,2814,3322,3556,3636,3477,0,0,0,0,0,0,28.83,14.97,28.83
$STATE,1138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1138,begin apogee
$GC,1144,-0.22,0.0,2808,1914,3635,3477,180.7,-18.1,181,1240,0.93,0.00,86.38,1.053,10246,0.272,0.000,3064,1914,3068,3167,2969,0,0,0,0,0,0,14.86,28.83,14.17
$STATE,1241,end apogee,CONTROL_FINISHED_OK
$STATE,1242,begin climb
$GC,1243,0.94,117.3,3064,1914,3167,2969,186.9,0.0,191,1333,1.10,0.00,85.60,1.025,10502,0.102,0.000,3450,1913,2595,2683,2507,0,0,0,0,0,0,14.57,28.83,13.97
$GC,1510,1.03,172.4,3450,1913,2674,2496,176.9,5.5,218,1561,0.00,2.45,40.72,1.004,8452,0.000,0.081,3450,3314,2364,2450,2278,0,0,0,0,0,0,28.83,14.51,14.13
$GC,1612,1.03,172.4,3450,3314,2446,2276,169.3,8.6,228,1617,0.00,2.33,0.00,0.000,1030,0.000,0.064,3461,1914,2361,2446,2276,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1804,1.03,172.4,3461,1914,2446,2275,144.4,14.5,247,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1914,2360,2446,2275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1984,1.03,172.4,3461,1913,2447,2274,119.8,13.7,265,1990,0.00,2.35,0.00,0.000,260,0.000,0.082,3461,3322,2360,2447,2274,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2042,1.03,172.4,3461,3322,2446,2275,110.9,16.1,276,2048,0.00,2.30,0.00,0.000,1030,0.000,0.066,3471,1915,2360,2446,2275,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2170,1.03,172.4,3472,1915,2446,2274,92.4,13.0,301,2176,0.00,2.38,0.00,0.000,516,0.000,0.096,3482,512,2360,2446,2274,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2212,1.03,172.4,3482,512,2446,2273,86.4,13.3,309,2219,0.00,2.28,0.00,0.000,1030,0.000,0.059,3482,1924,2359,2446,2273,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2341,1.03,172.4,3482,1930,2446,2273,72.3,8.5,334,2347,0.00,2.30,0.00,0.000,260,0.000,0.083,3482,3322,2360,2446,2274,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2433,1.03,172.4,3482,3322,2446,2275,62.0,12.0,352,2440,0.00,2.28,0.00,0.000,1030,0.000,0.066,3493,1919,2360,2446,2275,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2561,1.03,172.4,3493,1919,2446,2274,47.5,11.4,377,2568,0.00,2.35,0.00,0.000,516,0.000,0.095,3505,515,2360,2446,2274,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2714,1.03,172.4,3505,515,2445,2273,30.2,13.3,407,2721,0.12,2.25,0.00,0.000,5126,0.291,0.060,3478,1921,2359,2446,2273,0,0,0,0,0,0,14.88,15.00,28.83
$GC,2783,1.03,172.4,3478,1925,2446,2273,21.8,11.9,420,2790,0.00,2.28,0.00,0.000,260,0.000,0.082,3478,3316,2360,2446,2274,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2816,1.03,172.4,3478,3315,2446,2274,17.6,12.7,426,2823,0.00,2.28,0.00,0.000,1030,0.000,0.065,3486,1910,2360,2446,2274,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2884,1.03,172.4,3486,1910,2446,2274,9.3,11.7,439,2891,0.00,2.33,0.00,0.000,260,0.000,0.081,3486,3319,2360,2446,2274,0,0,0,0,0,0,28.83,14.97,28.83
$STATE,2952,end climb,SURFACE_DEPTH_REACHED
$STATE,2952,begin surface coast
$FINISH,0.3,1.021607
$STATE,2973,end surface coast,CONTROL_FINISHED_OK
$STATE,2973,begin surface
$SM_CCo,2991,55.97,0.084,0,0,1893,290.19
$SM_GC,1.93,9.35,2.33,55.97,0.103,0.062,0.084,213,1909,1893,-9.11,0.71,290.19,0,0,0,0,0,0,14.97,15.00,14.97
$IRIDIUM_FIX,4722.92,-12223.37,240414,101047
$TT8_MAMPS,0.025466,0.025466
$HUMID,32.31
$INTERNAL_PRESSURE,9.21442
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.2,80.4
$SC_FREEKB,4014656
$24V_AH,14.0,1.601
$10V_AH,13.9,0.572
$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,23.725,51.075,212.700,55.975,0.000,122.703,170.777,256.879,0.500,0.000,11.027,1060.227,1132.603,348.715,1395.042,43.377,33.203,789.434,0.000,760.894,0.000,5.621,0.000
$DEVICE_MAMPS,436.050,109.395,1053.405,84.150,0.000,19.120,160.000,223.000,420.000,0.000,20.220,11.960,2.190,11.960,29.190,42.670,45.670,15.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2974.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.660,0.000,0.000,0.000
$MEM,322688
$DATA_FILE_SIZE,10100,456
$CAP_FILE_SIZE,86616,0
$CFSIZE,1024409600,1020903424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,67.16,0x236616,0,24
$GPS,240414,110703,4742.499,-12224.870,45,1.0,45,16.3