version: 66.11
glider: 213
mission: 2
dive: 14
start: 3 5 114 7 59 54
data:
$ID,213
$MISSION,2
$DIVE,14
$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,-429.73666
$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,31
$R_STBD_OVSHOOT,36
$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
$GPS1,050314,075239,4742.618,-12224.480,7,1.5,8,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-68.7
$GPS2,050314,075857,4742.824,-12224.543,9,1.1,10,16.3
$SPEED_LIMITS,0.125,0.228
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.127,-0.189
$KALMAN_X,-1523.2,-39.0,122.3,2092.7,479.2
$KALMAN_Y,-1145.1,-182.5,529.2,-448.9,832.2
$MHEAD_RNG_PITCHd_Wd,197.6,393,-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,-146.6,172,2274,1104,1105,0.0,0.0,0,63,0.00,0.00,-46.30,0.000,16386,0.000,0.000,172,2274,2542,2495,2589,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.81,-146.6,172,2274,2495,2590,3.7,-6.6,6,83,9.48,2.15,-1.05,0.000,18948,0.246,0.067,2530,861,2598,2565,2631,0,0,0,0,0,0,26.37,26.54,26.79
$GC,342,-0.81,-146.6,2530,861,2572,2626,45.7,-12.0,53,348,0.00,2.10,0.00,0.000,1030,0.000,0.050,2530,2276,2599,2575,2623,0,0,0,0,0,0,28.83,26.76,28.83
$GC,485,-0.81,-146.6,2530,2276,2577,2621,60.4,-8.8,78,493,0.00,2.15,0.00,0.000,516,0.000,0.057,2530,874,2599,2577,2621,0,0,0,0,0,0,28.83,26.77,28.83
$GC,556,-0.81,-146.6,2530,873,2577,2621,67.2,-9.9,90,564,0.00,2.12,0.00,0.000,1030,0.000,0.049,2530,2277,2598,2576,2621,0,0,0,0,0,0,28.83,26.84,28.83
$GC,703,-0.81,-146.6,2530,2277,2577,2620,80.2,-9.4,115,710,0.00,2.10,0.00,0.000,260,0.000,0.061,2530,3681,2598,2577,2620,0,0,0,0,0,0,28.83,26.86,28.83
$GC,789,-0.81,-146.6,2530,3682,2578,2619,88.0,-9.2,130,798,0.00,2.10,0.00,0.000,1030,0.000,0.044,2530,2273,2598,2578,2619,0,0,0,0,0,0,28.83,26.90,28.83
$GC,937,-0.81,-146.6,2530,2272,2578,2619,103.5,-12.2,155,944,0.00,2.12,0.00,0.000,260,0.000,0.061,2530,3691,2598,2578,2619,0,0,0,0,0,0,28.83,26.91,28.83
$GC,974,-0.81,-146.6,2530,3691,2578,2619,107.1,-9.6,161,980,0.00,2.08,0.00,0.000,1030,0.000,0.043,2530,2263,2598,2578,2619,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1119,-0.81,-146.6,2530,2264,2578,2619,121.4,-11.0,186,1128,0.00,2.10,0.00,0.000,516,0.000,0.056,2530,878,2598,2579,2618,0,0,0,0,0,0,28.83,26.93,28.83
$GC,1190,-0.81,-146.6,2530,878,2578,2619,129.9,-10.4,198,1199,0.00,2.10,0.00,0.000,1030,0.000,0.050,2530,2275,2598,2578,2618,0,0,0,0,0,0,28.83,26.99,28.83
$GC,1338,-0.81,-146.6,2530,2275,2579,2619,145.7,-12.5,223,1345,0.00,2.10,0.00,0.000,260,0.000,0.063,2530,3682,2598,2578,2618,0,0,0,0,0,0,28.83,26.98,28.83
$GC,1379,-0.81,-146.6,2530,3682,2579,2618,151.5,-14.1,230,1388,0.00,2.10,0.00,0.000,1030,0.000,0.045,2530,2273,2598,2579,2618,0,0,0,0,0,0,28.83,26.99,28.83
$STATE,1423,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1423,begin apogee
$GC,1426,-0.25,0.0,2530,2273,2579,2618,156.7,-11.0,237,1569,0.55,0.00,130.30,0.783,10246,0.125,0.000,2717,2273,2005,2023,1987,0,0,0,0,1,0,26.91,28.83,24.56
$STATE,1570,end apogee,CONTROL_FINISHED_OK
$STATE,1570,begin climb
$GC,1571,0.81,146.6,2717,2273,2024,1988,162.8,0.0,259,1702,1.00,2.30,118.10,0.539,10756,0.074,0.060,3059,884,1391,1428,1355,0,0,0,0,0,0,25.37,25.29,24.94
$GC,1716,0.81,146.6,3058,884,1423,1354,156.5,8.7,281,1723,0.00,2.17,0.00,0.000,1030,0.000,0.050,3059,2272,1388,1423,1353,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1860,0.81,146.6,3058,2272,1421,1350,140.1,11.6,306,1868,0.00,2.25,0.00,0.000,260,0.000,0.063,3059,3683,1384,1420,1349,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1897,0.81,146.6,3058,3684,1419,1349,135.3,13.0,312,1906,0.00,2.17,0.00,0.000,1030,0.000,0.047,3059,2288,1384,1419,1349,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2045,0.81,146.6,3058,2287,1419,1349,118.1,13.0,337,2051,0.00,2.20,0.00,0.000,516,0.000,0.060,3059,862,1383,1418,1349,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2097,0.81,146.6,3058,862,1417,1349,110.2,15.0,346,2106,0.00,2.17,0.00,0.000,1030,0.000,0.050,3058,2277,1383,1417,1349,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2245,0.81,146.6,3058,2278,1417,1349,92.0,11.4,371,2251,0.00,2.15,0.00,0.000,260,0.000,0.061,3059,3689,1382,1416,1349,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2293,0.81,146.6,3058,3689,1416,1349,85.2,13.1,379,2300,0.00,2.12,0.00,0.000,1030,0.000,0.047,3059,2266,1382,1416,1349,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2437,0.81,146.6,3058,2265,1416,1349,68.6,11.0,404,2445,0.00,2.17,0.00,0.000,516,0.000,0.060,3059,867,1382,1416,1349,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2504,0.81,146.6,3058,867,1415,1349,61.6,11.4,415,2511,0.00,2.10,0.00,0.000,1030,0.000,0.048,3059,2282,1382,1415,1349,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2648,0.81,146.6,3058,2282,1415,1348,47.2,9.4,440,2656,0.00,2.20,0.00,0.000,516,0.000,0.060,3058,864,1382,1416,1349,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2830,0.81,146.6,3058,864,1414,1349,29.7,9.3,471,2838,0.00,2.12,0.00,0.000,1030,0.000,0.047,3059,2277,1381,1415,1348,0,0,0,0,0,0,28.83,26.87,28.83
$GC,2909,0.81,146.6,3058,2277,1414,1349,22.1,9.3,484,2917,0.00,2.15,0.00,0.000,260,0.000,0.061,3059,3678,1382,1415,1349,0,0,0,0,0,0,28.83,26.86,28.83
$GC,3022,0.81,146.6,3059,3678,1414,1349,10.4,10.7,503,3031,0.00,2.10,0.00,0.000,1030,0.000,0.044,3059,2275,1381,1414,1349,0,0,0,0,0,0,28.83,26.89,28.83
$GC,3101,0.81,146.6,3058,2275,1414,1349,3.6,8.2,516,3110,0.00,2.15,0.00,0.000,516,0.000,0.060,3059,875,1381,1414,1349,0,0,0,0,0,0,28.83,26.89,28.83
$STATE,3122,end climb,SURFACE_DEPTH_REACHED
$STATE,3122,begin surface coast
$FINISH,0.4,1.021668
$STATE,3147,end surface coast,CONTROL_FINISHED_OK
$STATE,3147,begin surface
$SM_CCo,3162,24.62,0.138,0,0,1101,220.03
$SM_GC,4.91,7.68,2.12,24.62,0.050,0.047,0.138,177,2277,1101,-8.14,-1.22,220.03,0,0,0,0,0,0,26.93,26.94,26.73
$IRIDIUM_FIX,4726.11,-12227.78,050314,070732
$TT8_MAMPS,0.02996,0.02996
$HUMID,42.63
$INTERNAL_PRESSURE,8.6077
$TCM_TEMP,12.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.3,66.0
$24V_AH,24.6,0.982
$10V_AH,10.3,0.879
$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,18.700,60.000,248.400,24.625,0.000,26.999,41.411,234.266,1.000,0.000,10.860,1170.125,310.098,322.750,1728.875,49.794,33.217,857.004,0.000,1411.973,0.000,8.758,0.000
$DEVICE_MAMPS,245.565,66.555,783.360,138.465,0.000,13.010,160.000,223.000,420.000,0.000,26.220,15.460,2.190,15.460,41.670,63.390,67.890,16.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,351.554,419.886,686.375,1050.749,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,45.690,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322364
$DATA_FILE_SIZE,37094,523
$CAP_FILE_SIZE,62912,0
$CFSIZE,1024393216,1022246912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,050314,085431,4742.458,-12224.499,55,1.1,55,16.3