version: 66.12
glider: 218
mission: 1
dive: 21
start: 4 24 114 14 22 26
data:
$ID,218
$MISSION,1
$DIVE,21
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$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,44
$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,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$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,-310.84146
$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,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,44
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,240414,141438,4743.957,-12224.306,3,1.2,4,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-74.8
$GPS2,240414,142127,4744.025,-12224.218,6,1.2,6,16.3
$SPEED_LIMITS,0.181,0.340
$TGT_NAME,SE
$TGT_LATLONG,4743.200,-12223.700
$TGT_RADIUS,400.000
$KALMAN_CONTROL,0.151,-0.304
$KALMAN_X,-4784.3,-448.2,430.8,5692.7,70.2
$KALMAN_Y,-3511.8,-627.5,1075.3,5357.0,-281.8
$MHEAD_RNG_PITCHd_Wd,137.3,1658,-22.0,-15.152,-24.04,1972
$D_GRID,174
$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,-1.30,-195.5,216,2121,1951,1845,0.0,0.0,0,74,0.00,0.00,-54.70,0.000,16386,0.000,0.000,216,2122,3395,3465,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.30,-195.5,216,2122,3465,3325,3.0,-5.9,10,105,11.62,2.38,-8.80,0.000,18692,0.434,0.112,2709,3496,3873,3967,3779,0,0,0,0,0,0,14.62,14.78,15.00
$GC,252,-1.30,-195.5,2709,3496,3971,3779,56.4,-27.4,44,258,0.00,2.28,0.00,0.000,1030,0.000,0.064,2709,2099,3875,3971,3779,0,0,0,0,0,0,28.83,14.87,28.83
$GC,379,-1.30,-195.5,2709,2099,3971,3779,92.2,-26.4,69,386,0.00,2.38,0.00,0.000,516,0.000,0.087,2709,688,3875,3971,3779,0,0,0,0,0,0,28.83,14.88,28.83
$GC,412,-1.30,-195.5,2709,687,3971,3779,100.2,-24.0,75,419,0.00,2.30,0.00,0.000,1030,0.000,0.063,2709,2091,3875,3971,3779,0,0,0,0,0,0,28.83,14.91,28.83
$GC,545,-1.30,-195.5,2709,2090,3971,3779,133.5,-25.5,96,550,0.00,2.35,0.00,0.000,260,0.000,0.087,2705,3502,3875,3971,3779,0,0,0,0,0,0,28.83,14.92,28.83
$GC,627,-1.30,-195.5,2705,3502,3977,3779,154.0,-25.3,104,632,0.00,2.28,0.00,0.000,1030,0.000,0.063,2713,2097,3875,3971,3779,0,0,0,0,0,0,28.83,14.95,28.83
$STATE,708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,708,begin apogee
$GC,711,-0.22,0.0,2713,2096,3971,3779,174.5,-25.1,112,860,1.27,0.00,143.85,1.032,10246,0.294,0.000,3060,2088,3075,3174,2976,0,0,0,0,0,0,14.82,28.83,14.00
$STATE,862,end apogee,CONTROL_FINISHED_OK
$STATE,862,begin climb
$GC,863,1.30,195.5,3060,2088,3167,2969,182.8,0.0,127,1015,1.55,2.45,142.73,0.988,11012,0.169,0.086,3552,699,2270,2356,2185,0,0,0,0,0,0,14.34,14.27,13.89
$GC,1026,1.30,199.2,3552,698,2351,2180,169.2,15.0,143,1032,0.00,2.38,0.00,0.000,1030,0.000,0.059,3552,2101,2265,2351,2179,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1211,1.30,199.2,3552,2101,2350,2178,134.4,18.7,162,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,2102,2264,2350,2178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1392,1.30,199.2,3552,2104,2350,2178,100.7,19.2,190,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,2104,2265,2352,2178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1519,1.30,199.2,3552,2104,2350,2178,76.3,17.4,215,1525,0.00,2.42,0.00,0.000,516,0.000,0.090,3563,689,2264,2350,2178,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1647,1.30,199.2,3562,689,2350,2178,54.7,16.3,240,1653,0.00,2.33,0.00,0.000,1030,0.000,0.062,3563,2107,2263,2349,2178,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1775,1.30,199.2,3563,2108,2350,2178,33.2,16.5,265,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,2108,2264,2350,2178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1842,1.30,199.2,3563,2108,2350,2180,22.1,16.5,278,1848,0.00,2.33,0.00,0.000,260,0.000,0.086,3563,3508,2263,2349,2178,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1890,1.30,199.2,3563,3508,2349,2178,14.3,16.6,287,1896,0.00,2.30,0.00,0.000,1030,0.000,0.063,3573,2089,2263,2349,2178,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1959,1.34,220.5,3574,2088,2349,2178,3.9,14.0,300,1976,0.00,2.38,10.25,0.086,8452,0.000,0.086,3574,3501,2180,2263,2097,0,0,0,0,0,0,28.83,14.92,14.93
$STATE,1981,end climb,SURFACE_DEPTH_REACHED
$STATE,1981,begin surface coast
$FINISH,0.3,1.006365
$STATE,1998,end surface coast,CONTROL_FINISHED_OK
$STATE,1998,begin surface
$SM_CCo,2017,35.38,0.084,0,0,1892,290.19
$SM_GC,1.27,9.68,2.33,35.38,0.104,0.063,0.084,210,2096,1892,-9.12,1.10,290.19,0,0,0,0,0,0,14.92,14.95,14.92
$IRIDIUM_FIX,4726.11,-12220.67,240414,131310
$TT8_MAMPS,0.025466,0.025466
$HUMID,32.20
$INTERNAL_PRESSURE,9.22419
$TCM_TEMP,16.70
$XPDR_PINGS,0
$SC_FREEKB,4013376
$24V_AH,13.9,1.954
$10V_AH,13.6,0.682
$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,24.125,33.125,296.825,35.375,0.000,25.546,44.014,233.160,0.000,0.000,7.079,690.688,505.967,375.829,870.122,35.871,33.206,706.234,0.000,516.086,0.000,0.535,0.000
$DEVICE_MAMPS,433.755,111.690,1031.985,84.150,0.000,19.120,160.000,223.000,420.000,0.000,20.220,11.960,2.190,11.960,29.190,42.670,45.670,15.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2004.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.742,0.000,0.000,0.000
$MEM,322976
$DATA_FILE_SIZE,6802,307
$CAP_FILE_SIZE,60306,0
$CFSIZE,1024409600,1020542976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240414,145751,4743.744,-12223.985,35,1.0,35,16.3