version: 66.11
glider: 213
mission: 2
dive: 13
start: 3 5 114 6 56 34
data:
$ID,213
$MISSION,2
$DIVE,13
$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,-428.48212
$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,36
$R_STBD_OVSHOOT,32
$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
$GPS1,050314,064509,4742.766,-12224.646,15,0.9,15,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-69.5
$GPS2,050314,065537,4742.865,-12224.523,4,1.3,4,16.3
$SPEED_LIMITS,0.125,0.228
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.111,-0.200
$KALMAN_X,-1238.9,-366.0,-359.7,2638.4,633.0
$KALMAN_Y,-951.9,-507.9,-252.0,537.8,1067.0
$MHEAD_RNG_PITCHd_Wd,192.7,461,-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,14,begin dive
$GC,15,-0.81,-146.6,179,2257,1104,1107,0.0,0.0,0,56,0.00,0.00,-38.75,0.000,16386,0.000,0.000,178,2257,2318,2273,2363,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.81,-146.6,180,2257,2274,2363,3.2,-3.8,5,83,9.38,2.15,-6.10,0.000,18948,0.243,0.069,2529,871,2599,2586,2613,0,0,0,0,0,0,26.39,26.56,26.89
$GC,176,-0.81,-146.6,2529,871,2587,2613,20.1,-11.9,24,185,0.00,2.17,0.00,0.000,1030,0.000,0.054,2530,2285,2600,2587,2613,0,0,0,0,0,0,28.83,26.68,28.83
$GC,255,-0.81,-146.6,2529,2286,2587,2614,29.9,-12.2,37,264,0.00,2.17,0.00,0.000,260,0.000,0.065,2530,3691,2600,2587,2613,0,0,0,0,0,0,28.83,26.70,28.83
$GC,283,-0.81,-146.6,2529,3691,2587,2613,33.3,-12.3,41,291,0.00,2.15,0.00,0.000,1030,0.000,0.047,2530,2270,2600,2587,2613,0,0,0,0,0,0,28.83,26.72,28.83
$GC,360,-0.81,-146.6,2529,2269,2587,2613,42.7,-11.6,54,368,0.00,2.15,0.00,0.000,516,0.000,0.057,2530,866,2600,2588,2613,0,0,0,0,0,0,28.83,26.76,28.83
$GC,439,-0.81,-146.6,2529,866,2587,2613,52.4,-12.9,67,445,0.00,2.12,0.00,0.000,1030,0.000,0.052,2530,2289,2600,2587,2613,0,0,0,0,0,0,28.83,26.81,28.83
$GC,582,-0.81,-146.6,2529,2289,2587,2613,72.1,-13.8,92,591,0.00,2.15,0.00,0.000,260,0.000,0.063,2530,3691,2600,2587,2613,0,0,0,0,0,0,28.83,26.84,28.83
$GC,710,-0.81,-146.6,2529,3692,2587,2613,85.6,-10.1,114,719,0.00,2.12,0.00,0.000,1030,0.000,0.046,2530,2273,2600,2587,2613,0,0,0,0,0,0,28.83,26.89,28.83
$GC,859,-0.81,-146.6,2529,2272,2587,2613,100.0,-10.2,139,866,0.00,2.12,0.00,0.000,260,0.000,0.063,2530,3683,2600,2588,2613,0,0,0,0,0,0,28.83,26.91,28.83
$GC,888,-0.81,-146.6,2529,3683,2587,2613,103.5,-11.0,144,897,0.00,2.10,0.00,0.000,1030,0.000,0.047,2530,2282,2600,2587,2613,0,0,0,0,0,0,28.83,26.88,28.83
$GC,1037,-0.81,-146.6,2530,2282,2588,2613,118.1,-9.2,169,1044,0.00,2.10,0.00,0.000,516,0.000,0.056,2530,869,2600,2587,2613,0,0,0,0,0,0,28.83,26.91,28.83
$GC,1151,-0.81,-146.6,2529,869,2587,2613,129.7,-10.1,188,1160,0.00,2.12,0.00,0.000,1030,0.000,0.050,2530,2278,2599,2586,2613,0,0,0,0,0,0,28.83,26.98,28.83
$GC,1301,-0.81,-146.6,2529,2278,2587,2613,143.3,-8.8,213,1307,0.00,2.10,0.00,0.000,516,0.000,0.056,2529,867,2600,2587,2613,0,0,0,0,0,0,28.83,26.96,28.83
$GC,1376,-0.81,-146.6,2530,867,2588,2613,151.4,-10.7,226,1384,0.00,2.12,0.00,0.000,1030,0.000,0.050,2530,2277,2600,2588,2613,0,0,0,0,0,0,28.83,27.02,28.83
$GC,1524,-0.81,-146.6,2529,2277,2587,2613,166.8,-10.8,251,1530,0.00,2.10,0.00,0.000,516,0.000,0.055,2529,863,2599,2587,2612,0,0,0,0,0,0,28.83,27.00,28.83
$STATE,1586,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1586,begin apogee
$GC,1592,-0.25,0.0,2529,2284,2587,2613,173.9,-11.0,262,1722,0.55,0.00,119.00,0.968,10246,0.127,0.000,2716,2285,2004,2023,1986,0,0,0,0,1,0,26.95,28.83,24.47
$STATE,1723,end apogee,CONTROL_FINISHED_OK
$STATE,1723,begin climb
$GC,1724,0.81,146.6,2716,2284,2025,1989,178.0,0.0,282,1851,1.02,2.35,118.10,0.547,10756,0.074,0.057,3066,876,1393,1429,1357,0,0,0,0,0,0,25.27,25.29,24.91
$GC,1933,0.81,146.6,3066,876,1421,1354,162.0,13.3,315,1939,0.00,2.15,0.00,0.000,1030,0.000,0.047,3065,2276,1387,1421,1353,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2076,0.81,146.6,3065,2276,1420,1352,141.1,15.4,340,2085,0.00,2.22,0.00,0.000,260,0.000,0.061,3066,3685,1385,1420,1351,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2091,0.81,146.6,3066,3685,1419,1351,139.5,12.8,342,2099,0.00,2.17,0.00,0.000,1030,0.000,0.047,3066,2284,1385,1419,1351,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2238,0.81,146.6,3065,2283,1419,1351,121.2,11.7,367,2245,0.00,2.20,0.00,0.000,516,0.000,0.060,3066,853,1384,1418,1351,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2344,0.81,146.6,3066,853,1417,1350,109.5,10.9,385,2350,0.00,2.12,0.00,0.000,1030,0.000,0.047,3066,2277,1383,1417,1350,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2488,0.81,146.6,3065,2277,1417,1351,89.8,13.0,410,2496,0.00,2.17,0.00,0.000,260,0.000,0.060,3066,3681,1383,1417,1349,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2753,0.81,146.6,3065,3682,1416,1350,55.9,12.9,456,2762,0.00,2.12,0.00,0.000,1030,0.000,0.044,3066,2270,1383,1416,1350,0,0,0,0,0,0,28.83,26.78,28.83
$GC,2901,0.81,146.6,3065,2270,1416,1350,39.8,10.5,481,2910,0.00,2.15,0.00,0.000,516,0.000,0.060,3066,874,1383,1416,1350,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3032,0.81,146.6,3065,874,1415,1350,26.9,9.8,503,3040,0.00,2.10,0.00,0.000,1030,0.000,0.047,3066,2270,1383,1416,1350,0,0,0,0,0,0,28.83,26.89,28.83
$GC,3111,0.81,146.6,3066,2270,1415,1350,19.4,10.0,516,3119,0.00,2.17,0.00,0.000,260,0.000,0.061,3065,3688,1383,1416,1350,0,0,0,0,0,0,28.83,26.88,28.83
$GC,3201,0.81,146.6,3066,3688,1416,1350,9.6,10.3,531,3209,0.00,2.12,0.00,0.000,1030,0.000,0.047,3066,2274,1382,1415,1350,0,0,0,0,0,0,28.83,26.90,28.83
$STATE,3267,end climb,SURFACE_DEPTH_REACHED
$STATE,3267,begin surface coast
$FINISH,0.5,1.021818
$STATE,3287,end surface coast,CONTROL_FINISHED_OK
$STATE,3287,begin surface
$SM_CCo,3300,24.70,0.137,0,0,1102,220.03
$SM_GC,4.59,7.72,0.00,24.70,0.051,0.000,0.137,173,2274,1102,-8.16,-0.06,220.03,0,0,0,0,0,0,26.93,28.83,26.74
$IRIDIUM_FIX,4726.11,-12227.78,050314,060645
$TT8_MAMPS,0.02996,0.02996
$HUMID,43.06
$INTERNAL_PRESSURE,8.61747
$TCM_TEMP,11.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.4,58.2
$24V_AH,24.5,0.916
$10V_AH,10.3,0.818
$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,18.675,60.200,237.100,24.700,0.000,88.543,145.619,194.455,2.500,0.000,5.861,1230.006,457.501,311.224,1922.973,45.924,33.211,858.677,0.000,1468.476,0.000,19.484,0.000
$DEVICE_MAMPS,243.270,68.850,968.490,136.935,0.000,13.010,160.000,223.000,420.000,0.000,26.220,15.460,2.190,15.460,41.670,63.390,67.890,16.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,367.010,434.380,710.003,1086.996,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,45.690,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322268
$DATA_FILE_SIZE,40403,545
$CAP_FILE_SIZE,65179,0
$CFSIZE,1024393216,1022312448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,050314,075239,4742.618,-12224.480,7,1.5,8,16.3