version: 66.12
glider: 218
mission: 1
dive: 20
start: 4 24 114 13 20 55
data:
$ID,218
$MISSION,1
$DIVE,20
$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,-309.58603
$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,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
$GPS1,240414,131330,4743.462,-12224.276,1,1.4,1,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-73.8
$GPS2,240414,131959,4743.581,-12224.209,4,1.4,4,16.3
$SPEED_LIMITS,0.139,0.220
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.079,0.205
$KALMAN_X,-4867.2,-441.9,137.9,6073.2,52.7
$KALMAN_Y,-3526.8,-496.4,1024.8,4470.0,-531.8
$MHEAD_RNG_PITCHd_Wd,322.5,989,-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,-117.3,212,1937,1956,1845,0.0,0.0,0,74,0.00,0.00,-54.50,0.000,16386,0.000,0.000,212,1937,3414,3485,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.94,-117.3,212,1936,3485,3344,3.4,-7.3,10,100,12.05,2.47,-2.67,0.000,18948,0.428,0.110,2829,512,3557,3642,3472,0,0,0,0,0,0,14.62,14.78,14.99
$GC,282,-0.94,-117.3,2829,512,3642,3472,46.4,-20.2,50,288,0.00,2.28,0.00,0.000,1030,0.000,0.063,2829,1905,3557,3642,3472,0,0,0,0,0,0,28.83,14.88,28.83
$GC,350,-0.94,-117.3,2829,1905,3642,3472,58.5,-16.5,63,357,0.00,2.38,0.00,0.000,260,0.000,0.086,2829,3327,3557,3642,3472,0,0,0,0,0,0,28.83,14.87,28.83
$GC,443,-0.94,-117.3,2829,3327,3642,3472,73.8,-15.8,81,450,0.00,2.30,0.00,0.000,1030,0.000,0.065,2828,1914,3557,3642,3472,0,0,0,0,0,0,28.83,14.90,28.83
$GC,571,-0.94,-117.3,2828,1913,3639,3472,94.5,-16.3,106,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1913,3557,3642,3472,0,0,0,0,0,0,28.83,28.83,28.83
$GC,698,-0.94,-117.3,2826,1913,3642,3472,114.7,-15.5,131,705,0.00,2.35,0.00,0.000,260,0.000,0.083,2818,3325,3557,3642,3472,0,0,0,0,0,0,28.83,14.93,28.83
$GC,803,-0.94,-117.3,2818,3325,3642,3472,131.1,-15.1,145,809,0.00,2.28,0.00,0.000,1030,0.000,0.064,2818,1917,3557,3642,3472,0,0,0,0,0,0,28.83,14.95,28.83
$GC,995,-0.94,-117.3,2818,1918,3642,3472,160.6,-15.5,164,1000,0.00,2.35,0.00,0.000,260,0.000,0.083,2807,3328,3557,3642,3472,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1031,-0.94,-117.3,2808,3328,3642,3472,165.6,-15.9,167,1038,0.12,2.28,0.00,0.000,3078,0.327,0.065,2833,1919,3557,3642,3472,0,0,0,0,0,0,14.88,15.00,28.83
$STATE,1066,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1066,begin apogee
$GC,1069,-0.22,0.0,2834,1919,3642,3472,171.6,-15.2,171,1162,0.80,0.00,87.72,1.043,10246,0.265,0.000,3060,1915,3073,3171,2975,0,0,0,0,0,0,14.88,28.83,14.16
$STATE,1164,end apogee,CONTROL_FINISHED_OK
$STATE,1164,begin climb
$GC,1165,0.94,117.3,3060,1916,3168,2970,176.4,0.0,180,1258,1.17,0.00,86.82,1.010,10246,0.176,0.000,3424,1916,2590,2680,2501,0,0,0,0,0,0,14.51,28.83,13.97
$GC,1437,0.94,117.3,3424,1916,2675,2495,158.8,8.3,208,1442,0.00,2.40,0.00,0.000,516,0.000,0.093,3435,518,2585,2675,2495,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1492,0.94,117.3,3435,518,2675,2494,153.4,10.8,213,1499,0.00,2.33,0.00,0.000,1030,0.000,0.060,3435,1932,2584,2675,2494,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1678,0.94,117.3,3435,1934,2675,2494,134.2,11.1,232,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1935,2584,2674,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1858,0.94,117.3,3435,1935,2675,2493,117.8,8.4,252,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1935,2584,2675,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1985,0.94,117.3,3435,1935,2675,2493,107.3,8.5,277,1992,0.00,2.42,0.00,0.000,516,0.000,0.093,3447,510,2584,2675,2494,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2068,0.94,117.3,3447,511,2674,2493,100.1,8.3,293,2075,0.00,2.30,0.00,0.000,1030,0.000,0.060,3447,1923,2584,2675,2493,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2196,0.94,117.3,3447,1923,2675,2493,89.8,9.0,318,2203,0.00,2.30,0.00,0.000,260,0.000,0.083,3447,3324,2584,2674,2495,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2319,0.94,117.3,3447,3324,2674,2495,78.9,8.6,342,2326,0.00,2.28,0.00,0.000,1030,0.000,0.064,3458,1916,2584,2674,2495,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2448,1.01,161.1,3458,1916,2674,2495,69.6,6.0,367,2487,0.00,2.38,32.53,0.902,8708,0.000,0.092,3469,515,2408,2497,2320,0,0,0,0,0,0,28.83,14.81,14.47
$GC,2553,1.01,161.1,3469,515,2493,2316,59.2,12.1,387,2560,0.00,2.28,0.00,0.000,1030,0.000,0.059,3469,1920,2404,2493,2316,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2681,1.01,161.1,3469,1922,2493,2315,45.2,10.6,412,2688,0.00,2.30,0.00,0.000,260,0.000,0.082,3469,3323,2404,2492,2316,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2724,1.01,161.1,3469,3323,2492,2316,40.5,11.1,420,2731,0.00,2.28,0.00,0.000,1030,0.000,0.064,3479,1923,2404,2492,2316,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2793,1.03,174.2,3479,1927,2492,2317,34.6,7.4,433,2811,0.00,2.38,10.30,0.803,8708,0.000,0.093,3490,516,2357,2445,2269,0,0,0,0,0,0,28.83,14.85,14.52
$GC,2892,1.03,174.2,3490,516,2443,2266,23.4,11.6,452,2899,0.00,2.28,0.00,0.000,1030,0.000,0.060,3490,1920,2354,2443,2266,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2961,1.03,174.2,3490,1927,2444,2266,15.0,12.9,465,2967,0.00,2.38,0.00,0.000,516,0.000,0.093,3501,515,2356,2446,2266,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2984,1.03,174.2,3501,515,2443,2267,11.8,13.6,469,2990,0.00,2.28,0.00,0.000,1030,0.000,0.059,3501,1927,2354,2443,2266,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3052,1.03,174.2,3501,1929,2444,2266,4.2,8.4,482,3058,0.00,2.40,0.00,0.000,516,0.000,0.093,3513,509,2354,2443,2266,0,0,0,0,0,0,28.83,14.90,28.83
$STATE,3083,end climb,SURFACE_DEPTH_REACHED
$STATE,3083,begin surface coast
$FINISH,0.4,1.021665
$STATE,3110,end surface coast,CONTROL_FINISHED_OK
$STATE,3110,begin surface
$SM_CCo,3128,55.53,0.085,0,0,1892,290.19
$SM_GC,1.90,9.38,2.35,55.53,0.095,0.061,0.085,218,1919,1892,-9.10,-1.05,290.19,0,0,0,0,0,0,14.92,14.95,14.92
$IRIDIUM_FIX,4726.11,-12220.67,240414,121207
$TT8_MAMPS,0.025466,0.025466
$HUMID,32.91
$INTERNAL_PRESSURE,9.22419
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.7,65.6
$SC_FREEKB,4013696
$24V_AH,14.0,1.853
$10V_AH,14.0,0.661
$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,23.525,55.975,217.375,55.525,0.000,24.516,42.422,219.879,0.500,0.000,5.092,1128.245,908.888,373.106,1132.719,44.073,33.205,821.169,0.000,787.187,0.000,5.591,0.000
$DEVICE_MAMPS,428.400,110.160,1043.460,84.915,0.000,19.120,160.000,223.000,420.000,0.000,20.220,11.960,2.190,11.960,29.190,42.670,45.670,15.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3117.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.697,0.000,0.000,0.000
$MEM,322656
$DATA_FILE_SIZE,13400,493
$CAP_FILE_SIZE,88527,0
$CFSIZE,1024409600,1020608512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240414,141438,4743.957,-12224.306,3,1.2,4,16.3