version: 66.11
glider: 213
mission: 2
dive: 12
start: 3 5 114 5 47 1
data:
$ID,213
$MISSION,2
$DIVE,12
$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,-427.22244
$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,27
$R_STBD_OVSHOOT,29
$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
$GPS1,050314,053958,4742.921,-12224.551,23,1.0,24,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-69.5
$GPS2,050314,054603,4742.974,-12224.502,35,1.3,35,16.3
$SPEED_LIMITS,0.125,0.228
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.099,-0.205
$KALMAN_X,-1387.9,-522.4,-540.5,3149.0,207.5
$KALMAN_Y,-1160.5,-643.0,-746.6,1573.0,631.1
$MHEAD_RNG_PITCHd_Wd,189.5,629,-12.6,-7.229,-17.58,3010
$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,15,-0.81,-146.6,178,2271,1093,1104,0.0,0.0,0,56,0.00,0.00,-39.22,0.000,16386,0.000,0.000,178,2271,2322,2276,2368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.81,-146.6,178,2271,2277,2368,3.3,-5.1,5,83,9.38,2.22,-5.65,0.000,18692,0.243,0.077,2521,3685,2600,2584,2617,0,0,0,0,0,0,26.36,26.55,26.86
$GC,171,-0.81,-146.6,2521,3685,2586,2617,21.7,-13.7,23,179,0.00,2.15,0.00,0.000,1030,0.000,0.047,2521,2273,2601,2586,2616,0,0,0,0,0,0,28.83,26.62,28.83
$GC,249,-0.81,-146.6,2521,2273,2586,2617,32.3,-12.5,36,258,0.00,2.20,0.00,0.000,260,0.000,0.063,2521,3688,2601,2586,2617,0,0,0,0,0,0,28.83,26.67,28.83
$GC,332,-0.81,-146.6,2521,3688,2586,2617,44.3,-12.7,50,340,0.00,2.15,0.00,0.000,1030,0.000,0.047,2521,2269,2601,2586,2616,0,0,0,0,0,0,28.83,26.71,28.83
$GC,479,-0.81,-146.6,2520,2269,2587,2617,60.2,-10.6,75,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2269,2602,2587,2617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,622,-0.81,-146.6,2521,2269,2586,2618,74.4,-9.7,100,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2269,2602,2587,2617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,768,-0.81,-146.6,2521,2269,2586,2617,90.6,-11.4,125,775,0.00,2.15,0.00,0.000,260,0.000,0.063,2521,3693,2602,2587,2617,0,0,0,0,0,0,28.83,26.87,28.83
$GC,816,-0.81,-146.6,2521,3693,2587,2616,95.8,-10.4,133,823,0.00,2.10,0.00,0.000,1030,0.000,0.047,2521,2269,2602,2587,2617,0,0,0,0,0,0,28.83,26.87,28.83
$GC,960,-0.81,-146.6,2521,2268,2587,2617,111.2,-10.8,158,968,0.00,2.12,0.00,0.000,516,0.000,0.059,2521,876,2602,2587,2617,0,0,0,0,0,0,28.83,26.88,28.83
$GC,1042,-0.81,-146.6,2520,876,2587,2616,119.9,-9.8,172,1053,0.00,2.12,0.00,0.000,1030,0.000,0.050,2521,2279,2602,2587,2617,0,0,0,0,0,0,28.83,26.95,28.83
$GC,1192,-0.81,-146.6,2521,2280,2587,2616,134.8,-10.1,197,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2279,2602,2587,2617,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1335,-0.81,-146.6,2521,2280,2587,2616,145.7,-6.9,222,1344,0.00,2.15,0.00,0.000,516,0.000,0.060,2521,876,2602,2587,2617,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1418,-0.81,-146.6,2521,876,2587,2617,153.1,-11.1,236,1426,0.00,2.10,0.00,0.000,1030,0.000,0.050,2521,2273,2602,2587,2617,0,0,0,0,0,0,28.83,27.01,28.83
$GC,1565,-0.81,-146.6,2521,2274,2587,2617,171.3,-12.7,261,1572,0.00,2.10,0.00,0.000,516,0.000,0.060,2521,872,2601,2586,2616,0,0,0,0,0,0,28.83,26.96,28.83
$STATE,1583,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1583,begin apogee
$GC,1588,-0.25,0.0,2521,2286,2587,2617,173.6,-11.3,264,1744,0.57,0.00,146.43,0.612,10246,0.129,0.000,2714,2287,2001,2018,1984,0,0,0,0,1,0,26.93,28.83,24.70
$STATE,1745,end apogee,CONTROL_FINISHED_OK
$STATE,1746,begin climb
$GC,1747,0.81,146.6,2714,2287,2023,1988,180.1,0.0,288,1872,1.00,0.00,118.38,0.550,10502,0.075,0.000,3060,2286,1393,1429,1358,0,0,0,0,0,0,25.50,28.83,24.92
$GC,2011,0.81,146.6,3060,2286,1420,1351,159.2,11.9,331,2018,0.00,2.25,0.00,0.000,516,0.000,0.065,3060,869,1385,1420,1350,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2071,0.81,146.6,3060,869,1418,1351,151.7,13.0,341,2078,0.00,2.15,0.00,0.000,1030,0.000,0.047,3060,2289,1384,1418,1350,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2215,0.81,146.6,3060,2289,1418,1350,133.0,12.6,366,2224,0.00,2.25,0.00,0.000,516,0.000,0.062,3060,871,1383,1417,1350,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2309,0.81,146.6,3060,871,1416,1350,121.3,12.8,382,2318,0.00,2.15,0.00,0.000,1030,0.000,0.048,3060,2277,1383,1417,1350,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2457,0.81,146.6,3060,2277,1416,1350,104.4,10.9,407,2463,0.00,2.17,0.00,0.000,516,0.000,0.061,3060,860,1383,1416,1350,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2475,0.81,146.6,3060,860,1416,1350,102.4,10.4,410,2483,0.00,2.15,0.00,0.000,1030,0.000,0.049,3060,2271,1383,1416,1350,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2622,0.81,146.6,3060,2271,1416,1350,84.3,13.4,435,2629,0.00,2.15,0.00,0.000,260,0.000,0.062,3061,3688,1383,1416,1350,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2648,0.81,146.6,3060,3688,1415,1350,80.8,13.4,439,2655,0.00,2.10,0.00,0.000,1030,0.000,0.048,3060,2278,1382,1415,1350,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2792,0.81,146.6,3059,2277,1415,1350,62.1,11.5,464,2800,0.00,2.17,0.00,0.000,260,0.000,0.062,3060,3679,1382,1415,1350,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3014,0.81,146.6,3060,3679,1415,1350,38.1,9.5,502,3022,0.00,2.12,0.00,0.000,1030,0.000,0.048,3060,2276,1382,1415,1350,0,0,0,0,0,0,28.83,26.84,28.83
$GC,3093,0.81,146.6,3060,2276,1415,1350,30.9,9.0,515,3101,0.00,2.17,0.00,0.000,516,0.000,0.063,3060,872,1382,1415,1350,0,0,0,0,0,0,28.83,26.84,28.83
$GC,3154,0.81,146.6,3060,872,1414,1350,25.4,9.0,525,3163,0.00,2.12,0.00,0.000,1030,0.000,0.050,3061,2276,1382,1414,1350,0,0,0,0,0,0,28.83,26.91,28.83
$GC,3234,0.81,146.6,3060,2277,1414,1350,18.2,9.4,538,3242,0.00,2.17,0.00,0.000,260,0.000,0.063,3060,3690,1382,1414,1350,0,0,0,0,0,0,28.83,26.90,28.83
$STATE,3380,end climb,SURFACE_DEPTH_REACHED
$STATE,3380,begin surface coast
$FINISH,0.3,1.021186
$STATE,3399,end surface coast,CONTROL_FINISHED_OK
$STATE,3399,begin surface
$SM_CCo,3415,24.45,0.141,0,0,1101,220.03
$SM_GC,4.39,7.75,2.17,24.45,0.056,0.049,0.141,179,2257,1101,-8.15,0.59,220.03,0,0,0,0,0,0,26.94,26.94,26.74
$IRIDIUM_FIX,4726.11,-12227.78,050314,050550
$TT8_MAMPS,0.02996,0.02996
$HUMID,43.69
$INTERNAL_PRESSURE,8.61747
$TCM_TEMP,12.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.4,72.6
$24V_AH,24.7,0.845
$10V_AH,10.3,0.754
$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,18.700,56.050,264.800,24.450,0.000,27.267,41.513,195.024,1.500,0.000,36.876,1262.196,354.966,331.962,1827.373,45.870,33.204,902.210,0.000,1516.100,0.000,11.902,0.000
$DEVICE_MAMPS,242.505,77.265,612.000,140.760,0.000,13.010,160.000,223.000,420.000,0.000,26.220,15.460,2.190,15.460,41.670,63.390,67.890,16.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,380.866,446.239,729.403,1116.526,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,45.690,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322264
$DATA_FILE_SIZE,40355,566
$CAP_FILE_SIZE,65189,0
$CFSIZE,1024393216,1022377984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,050314,064509,4742.766,-12224.646,15,0.9,15,16.3