version: 66.11
glider: 213
mission: 2
dive: 10
start: 3 5 114 3 38 7
data:
$ID,213
$MISSION,2
$DIVE,10
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,83
$T_MISSION,100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,60
$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,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,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,-424.61484
$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,30
$R_STBD_OVSHOOT,34
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,050314,033121,4742.707,-12224.791,16,0.9,16,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-69.2
$GPS2,050314,033709,4742.845,-12224.869,7,0.9,7,16.3
$SPEED_LIMITS,0.125,0.228
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.180,0.085
$KALMAN_X,-2325.4,1.2,-108.2,2679.1,-810.2
$KALMAN_Y,-2241.1,-83.0,-610.6,1721.5,-686.4
$MHEAD_RNG_PITCHd_Wd,48.5,281,-15.5,-7.229,-19.99,2186
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.91,-105.7,168,2283,1101,1108,0.0,0.0,0,56,0.00,0.00,-39.42,0.000,16386,0.000,0.000,168,2283,2318,2273,2364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.93,-123.7,168,2283,2274,2363,3.4,-6.4,5,83,9.27,2.20,-4.00,0.000,18948,0.243,0.069,2492,866,2507,2486,2529,0,0,0,0,0,0,26.39,26.56,26.88
$GC,319,-0.93,-123.7,2491,866,2486,2529,41.2,-11.3,49,325,0.00,2.10,0.00,0.000,1030,0.000,0.049,2492,2277,2507,2486,2529,0,0,0,0,0,0,28.83,26.77,28.83
$GC,462,-0.93,-123.7,2491,2277,2487,2528,57.1,-10.0,74,470,0.00,2.15,0.00,0.000,260,0.000,0.063,2492,3677,2507,2487,2528,0,0,0,0,0,0,28.83,26.79,28.83
$GC,632,-0.93,-123.7,2492,3677,2488,2527,77.4,-13.6,103,639,0.00,2.08,0.00,0.000,1030,0.000,0.043,2492,2255,2507,2488,2527,0,0,0,0,0,0,28.83,26.86,28.83
$GC,776,-0.93,-123.7,2491,2253,2489,2527,97.1,-15.0,128,784,0.00,2.10,0.00,0.000,516,0.000,0.055,2492,872,2507,2488,2527,0,0,0,0,0,0,28.83,26.87,28.83
$GC,912,-0.93,-123.7,2491,871,2488,2527,114.0,-13.1,151,920,0.00,2.08,0.00,0.000,1030,0.000,0.050,2492,2277,2508,2489,2527,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1065,-0.93,-123.7,2491,2277,2488,2527,134.8,-12.1,176,1079,0.00,2.15,0.00,0.000,260,0.000,0.065,2492,3680,2507,2488,2527,0,0,0,0,0,0,28.83,26.95,28.83
$GC,1149,-0.93,-123.7,2491,3680,2489,2526,146.6,-15.1,189,1156,0.00,2.08,0.00,0.000,1030,0.000,0.053,2492,2280,2507,2489,2526,0,0,0,0,0,0,28.83,26.97,28.83
$GC,1293,-0.93,-123.7,2492,2280,2489,2526,167.0,-12.6,214,1301,0.00,2.12,0.00,0.000,516,0.000,0.056,2492,874,2508,2490,2526,0,0,0,0,0,0,28.83,26.96,28.83
$STATE,1348,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1349,begin apogee
$GC,1354,-0.25,0.0,2491,2277,2489,2526,173.6,-12.2,223,1458,0.68,0.00,95.32,1.022,10246,0.137,0.000,2714,2277,2001,2015,1987,0,0,0,0,1,0,26.89,28.83,24.56
$STATE,1459,end apogee,CONTROL_FINISHED_OK
$STATE,1459,begin climb
$GC,1460,0.93,123.7,2714,2277,2018,1990,178.5,0.0,239,1571,1.12,2.33,100.00,0.549,10500,0.073,0.064,3100,3677,1486,1516,1456,0,0,0,0,0,0,25.36,25.36,24.93
$GC,1602,0.93,123.7,3100,3677,1512,1453,168.6,12.3,261,1608,0.00,2.17,0.00,0.000,1030,0.000,0.048,3100,2287,1482,1512,1452,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1746,0.93,123.7,3100,2286,1510,1450,149.3,12.2,286,1754,0.00,2.25,0.00,0.000,516,0.000,0.060,3100,868,1480,1510,1451,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1905,0.93,123.7,3100,868,1507,1451,131.9,10.8,313,1912,0.00,2.15,0.00,0.000,1030,0.000,0.052,3100,2284,1479,1507,1451,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2049,0.93,123.7,3100,2285,1506,1451,114.1,12.3,338,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2285,1478,1506,1451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2195,0.93,123.7,3100,2285,1506,1450,97.6,10.7,363,2202,0.00,2.17,0.00,0.000,516,0.000,0.061,3100,864,1478,1506,1450,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2300,0.93,123.7,3100,865,1505,1451,86.1,10.6,381,2307,0.00,2.12,0.00,0.000,1030,0.000,0.050,3100,2289,1477,1504,1451,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2444,0.93,123.7,3100,2288,1504,1451,68.9,12.8,406,2453,0.00,2.15,0.00,0.000,260,0.000,0.063,3100,3679,1477,1504,1450,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2557,0.93,123.7,3100,3679,1504,1451,54.3,12.9,425,2564,0.00,2.10,0.00,0.000,1030,0.000,0.047,3100,2260,1477,1504,1451,0,0,0,0,0,0,28.83,26.80,28.83
$GC,2704,0.93,123.7,3100,2260,1504,1450,39.1,10.8,450,2712,0.00,2.20,0.00,0.000,260,0.000,0.062,3100,3684,1477,1504,1450,0,0,0,0,0,0,28.83,26.86,28.83
$GC,2805,0.93,123.7,3100,3684,1504,1451,26.9,12.3,467,2814,0.00,2.12,0.00,0.000,1030,0.000,0.048,3100,2277,1477,1504,1450,0,0,0,0,0,0,28.83,26.86,28.83
$GC,2884,0.93,123.7,3100,2277,1504,1450,19.7,8.2,480,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2277,1477,1504,1450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2963,0.93,123.7,3100,2277,1504,1451,13.7,8.0,493,2971,0.00,2.17,0.00,0.000,516,0.000,0.062,3100,867,1477,1504,1451,0,0,0,0,0,0,28.83,26.87,28.83
$GC,3093,0.93,123.7,3100,868,1504,1450,3.6,7.9,515,3101,0.00,2.12,0.00,0.000,1030,0.000,0.050,3100,2277,1476,1503,1450,0,0,0,0,0,0,28.83,26.96,28.83
$STATE,3113,end climb,SURFACE_DEPTH_REACHED
$STATE,3113,begin surface coast
$FINISH,0.4,1.004611
$STATE,3138,end surface coast,CONTROL_FINISHED_OK
$STATE,3138,begin surface
$SM_CCo,3151,32.30,0.140,0,0,1099,220.03
$SM_GC,3.05,7.82,0.00,32.30,0.053,0.000,0.140,174,2277,1099,-8.16,0.03,220.03,0,0,0,0,0,0,26.96,28.83,26.74
$IRIDIUM_FIX,4722.92,-12226.07,050314,030316
$TT8_MAMPS,0.02996,0.02996
$HUMID,43.58
$INTERNAL_PRESSURE,8.61747
$TCM_TEMP,11.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.4,58.1
$24V_AH,24.6,0.749
$10V_AH,10.3,0.624
$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,18.900,47.275,195.325,32.300,0.000,29.598,46.109,197.941,2.750,0.000,8.953,1183.026,322.433,284.655,1716.228,42.832,33.194,787.809,0.000,1418.897,0.000,22.560,0.000
$DEVICE_MAMPS,243.270,68.850,1022.040,139.995,0.000,13.010,160.000,223.000,420.000,0.000,26.220,15.460,2.190,15.460,41.670,63.390,67.890,16.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,352.378,424.186,692.781,1060.516,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,45.690,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322260
$DATA_FILE_SIZE,37029,522
$CAP_FILE_SIZE,58489,0
$CFSIZE,1024393216,1022509056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,050314,043221,4742.938,-12224.387,36,1.2,36,16.3