version: 66.11
glider: 213
mission: 2
dive: 3
start: 3 4 114 21 30 27
data:
$ID,213
$MISSION,2
$DIVE,3
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,50
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,60
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53651
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$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,220
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$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,-415.54428
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,183
$PITCH_MAX,3870
$C_PITCH,2803
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,177
$ROLL_MAX,3769
$ROLL_DEG,40
$C_ROLL_DIVE,2276
$C_ROLL_CLIMB,2276
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2000
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-62.665058
$PRESSURE_SLOPE,0.0001166174
$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,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.67000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,131
$DEVICE4,150
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$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,0.0044059665
$SEABIRD_T_H,0.00063814322
$SEABIRD_T_I,2.5834664e-05
$SEABIRD_T_J,3.1443233e-06
$SEABIRD_C_G,-9.841713
$SEABIRD_C_H,1.1572895
$SEABIRD_C_I,-0.0012496368
$SEABIRD_C_J,0.0001680319
$GPS1,040314,212523,4744.132,-12225.216,3,2.6,23,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-62.5
$GPS2,040314,212929,4744.167,-12225.236,5,2.7,25,16.3
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.118,-0.229
$KALMAN_X,51.0,42.1,52.2,-350.5,38.1
$KALMAN_Y,261.6,289.9,257.6,422.2,331.1
$MHEAD_RNG_PITCHd_Wd,136.4,736,-17.6,-10.000,-21.21,2209
$D_GRID,195
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.06,-146.6,168,2282,515,470,0.0,0.0,0,78,0.00,0.00,-61.12,0.000,16386,0.000,0.000,168,2282,2337,2292,2382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-1.06,-146.6,168,2283,2292,2382,3.2,-6.2,8,105,8.95,2.22,-5.45,0.000,19204,0.239,0.078,2448,862,2600,2584,2617,0,0,0,0,0,0,26.48,26.67,27.06
$GC,199,-1.06,-146.6,2449,862,2587,2617,26.4,-16.5,27,207,0.00,2.17,0.00,0.000,1030,0.000,0.053,2449,2283,2602,2587,2617,0,0,0,0,0,0,28.83,26.80,28.83
$GC,277,-1.06,-146.6,2449,2283,2587,2617,38.8,-16.2,40,286,0.00,2.15,0.00,0.000,260,0.000,0.061,2448,3685,2602,2587,2617,0,0,0,0,0,0,28.83,26.80,28.83
$GC,368,-1.06,-146.6,2449,3686,2587,2617,54.8,-17.6,55,375,0.00,2.12,0.00,0.000,1030,0.000,0.053,2449,2262,2601,2587,2616,0,0,0,0,0,0,28.83,26.80,28.83
$GC,523,-1.06,-146.6,2448,2261,2587,2616,81.9,-17.3,80,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2261,2601,2587,2616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,692,-1.06,-146.6,2448,2261,2587,2616,112.0,-19.9,105,698,0.00,2.10,0.00,0.000,516,0.000,0.067,2449,874,2601,2587,2616,0,0,0,0,0,0,28.83,26.84,28.83
$GC,762,-1.06,-146.6,2449,873,2587,2616,126.2,-18.9,116,772,0.00,2.12,0.00,0.000,1030,0.000,0.050,2449,2279,2601,2587,2616,0,0,0,0,0,0,28.83,26.94,28.83
$STATE,905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,905,begin apogee
$GC,908,-0.25,0.0,2449,2279,2586,2616,150.8,-15.9,138,1033,0.82,0.00,115.78,0.997,10246,0.142,0.000,2715,2279,2000,2022,1979,0,0,0,0,1,0,26.81,28.83,24.46
$STATE,1034,end apogee,CONTROL_FINISHED_OK
$STATE,1035,begin climb
$GC,1036,1.06,146.6,2715,2278,2024,1983,156.0,0.0,155,1157,1.25,0.00,114.78,0.527,10758,0.072,0.000,3145,2278,1395,1438,1353,0,0,0,0,0,0,25.31,28.83,25.00
$GC,1311,1.06,146.6,3144,2278,1431,1348,126.1,15.3,196,1321,0.00,2.22,0.00,0.000,260,0.000,0.061,3144,3687,1389,1430,1348,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1335,1.06,146.6,3144,3687,1429,1348,122.8,15.7,199,1342,0.00,2.17,0.00,0.000,1030,0.000,0.054,3145,2275,1388,1429,1348,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1489,1.06,146.6,3145,2275,1428,1348,100.7,13.6,224,1499,0.00,2.25,0.00,0.000,516,0.000,0.070,3145,869,1388,1428,1349,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1561,1.06,146.6,3144,869,1428,1348,91.6,13.3,235,1567,0.00,2.12,0.00,0.000,1030,0.000,0.052,3145,2277,1388,1428,1348,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1704,1.06,146.6,3145,2278,1428,1348,71.9,13.2,260,1712,0.00,2.17,0.00,0.000,260,0.000,0.063,3145,3678,1388,1428,1348,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1852,1.06,146.6,3144,3678,1427,1348,52.0,13.6,285,1858,0.00,2.12,0.00,0.000,1030,0.000,0.057,3145,2277,1387,1427,1348,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2007,1.06,146.6,3145,2277,1428,1348,32.3,13.2,310,2017,0.00,2.20,0.00,0.000,260,0.000,0.064,3145,3691,1387,1426,1348,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2053,1.06,146.6,3145,3690,1427,1348,25.4,14.5,317,2062,0.00,2.17,0.00,0.000,1030,0.000,0.057,3145,2282,1387,1427,1348,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2139,1.06,146.6,3144,2282,1426,1348,14.3,12.9,330,2149,0.00,2.22,0.00,0.000,516,0.000,0.071,3145,870,1387,1426,1348,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,2244,end climb,SURFACE_DEPTH_REACHED
$STATE,2244,begin surface coast
$FINISH,0.3,1.022530
$STATE,2267,end surface coast,CONTROL_FINISHED_OK
$STATE,2267,begin surface
$SM_CCo,2282,23.30,0.138,0,0,1099,220.03
$SM_GC,2.73,7.88,2.17,23.30,0.047,0.055,0.138,171,2280,1099,-8.16,-1.07,220.03,0,0,0,0,0,0,26.89,26.89,26.69
$IRIDIUM_FIX,4729.30,-12226.80,040314,212151
$TT8_MAMPS,0.030709,0.030709
$HUMID,44.01
$INTERNAL_PRESSURE,8.637
$TCM_TEMP,11.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.5,7.4
$24V_AH,24.5,0.371
$10V_AH,10.2,0.249
$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,18.900,34.750,230.550,23.300,0.000,0.000,0.000,0.000,1.750,0.000,26.103,778.567,189.939,267.446,1128.801,25.210,31.305,685.105,0.000,1107.912,0.000,14.510,0.000
$DEVICE_MAMPS,238.680,78.030,996.795,138.465,0.000,0.000,0.000,0.000,420.000,0.000,26.220,15.460,2.190,15.460,41.670,63.390,67.890,16.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,232.131,286.617,469.031,871.771,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,45.690,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322304
$DATA_FILE_SIZE,23729,347
$CAP_FILE_SIZE,64002,0
$CFSIZE,1024393216,1022951424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,040314,220950,4743.873,-12225.114,4,2.2,24,16.3