version: 66.11
glider: 213
mission: 2
dive: 15
start: 3 5 114 9 4 50
data:
$ID,213
$MISSION,2
$DIVE,15
$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,-430.99704
$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,32
$R_STBD_OVSHOOT,35
$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
$GPS1,050314,085431,4742.458,-12224.499,55,1.1,55,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-70.8
$GPS2,050314,090352,4742.565,-12224.671,36,1.4,36,16.3
$SPEED_LIMITS,0.125,0.228
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.121,0.033
$KALMAN_X,-1774.8,279.5,528.6,1459.5,264.3
$KALMAN_Y,-1799.3,273.5,1163.5,-1361.3,129.3
$MHEAD_RNG_PITCHd_Wd,269.0,297,-26.7,-7.229,-30.00,826
$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,-1.38,-39.3,176,2277,1102,1106,0.0,0.0,0,54,0.00,0.00,-34.28,0.000,16390,0.000,0.000,177,2278,2160,2119,2201,0,0,0,0,0,0,28.83,28.83,26.97
$GC,56,-1.41,-59.0,176,2278,2120,2201,3.3,-4.8,5,74,8.68,2.15,-1.95,0.000,18692,0.246,0.070,2332,3691,2241,2213,2270,0,0,0,0,0,0,26.42,26.61,26.88
$GC,330,-1.41,-59.0,2332,3692,2217,2266,51.8,-19.4,52,339,0.00,2.12,0.00,0.000,1030,0.000,0.042,2333,2271,2242,2218,2267,0,0,0,0,0,0,28.83,26.75,28.83
$GC,478,-1.41,-59.0,2332,2271,2217,2266,76.1,-13.8,77,484,0.00,2.12,0.00,0.000,260,0.000,0.058,2325,3691,2242,2218,2266,0,0,0,0,0,0,28.83,26.82,28.83
$GC,660,-1.41,-59.0,2325,3691,2218,2266,108.9,-13.9,108,668,0.00,2.10,0.00,0.000,1030,0.000,0.041,2324,2274,2242,2218,2266,0,0,0,0,0,0,28.83,26.89,28.83
$GC,807,-1.41,-59.0,2324,2274,2219,2265,130.0,-16.4,133,814,0.00,2.08,0.00,0.000,516,0.000,0.053,2325,866,2242,2219,2265,0,0,0,0,0,0,28.83,26.89,28.83
$GC,902,-1.41,-59.0,2324,866,2219,2265,147.0,-19.3,149,908,0.00,2.08,0.00,0.000,1030,0.000,0.047,2325,2277,2242,2219,2265,0,0,0,0,0,0,28.83,26.96,28.83
$STATE,961,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,961,begin apogee
$GC,964,-0.25,0.0,2324,2277,2219,2265,157.9,-17.3,159,1035,1.27,0.00,65.15,0.529,10246,0.166,0.000,2714,2277,1996,2000,1992,0,0,0,0,0,0,26.80,28.83,25.83
$STATE,1036,end apogee,CONTROL_FINISHED_OK
$STATE,1036,begin climb
$GC,1037,1.41,59.0,2714,2277,1999,1989,161.4,0.0,170,1090,1.52,0.00,45.17,0.547,10246,0.076,0.000,3255,2278,1749,1759,1739,0,0,0,0,0,0,26.23,28.83,25.44
$GC,1228,1.41,59.0,3255,2278,1755,1734,143.9,11.7,202,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2278,1744,1755,1734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1374,1.41,59.0,3255,2277,1754,1734,128.4,9.2,227,1381,0.00,2.15,0.00,0.000,260,0.000,0.057,3255,3692,1744,1754,1734,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1480,1.41,59.0,3255,3692,1753,1734,118.1,13.2,245,1486,0.00,2.10,0.00,0.000,1030,0.000,0.044,3255,2285,1743,1753,1734,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1623,1.41,59.0,3255,2285,1753,1734,100.4,12.3,270,1632,0.00,2.20,0.00,0.000,516,0.000,0.061,3255,871,1743,1753,1734,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1889,1.41,59.0,3255,871,1753,1734,73.0,7.9,316,1897,0.00,2.12,0.00,0.000,1030,0.000,0.046,3255,2280,1743,1753,1734,0,0,0,0,0,0,28.83,26.81,28.83
$GC,2037,1.43,76.6,3255,2280,1753,1734,63.8,5.1,341,2057,0.00,2.12,12.30,0.505,8452,0.000,0.057,3255,3688,1677,1688,1667,0,0,0,0,0,0,28.83,26.68,26.29
$GC,2201,1.43,76.6,3255,3688,1686,1666,49.6,10.4,369,2208,0.00,2.10,0.00,0.000,1030,0.000,0.046,3257,2270,1676,1687,1665,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2348,1.43,76.6,3256,2269,1686,1665,37.8,8.3,394,2357,0.00,2.17,0.00,0.000,516,0.000,0.061,3257,864,1676,1687,1665,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2610,1.43,76.6,3256,864,1687,1666,13.7,8.1,439,2619,0.00,2.12,0.00,0.000,1030,0.000,0.046,3257,2280,1676,1687,1665,0,0,0,0,0,0,28.83,26.92,28.83
$GC,2689,1.43,76.6,3256,2281,1687,1665,7.8,7.5,452,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,2281,1675,1686,1665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2768,1.47,109.5,3257,2280,1687,1665,4.5,3.2,465,2785,0.00,2.12,10.62,0.143,8452,0.000,0.054,3257,3696,1550,1568,1532,0,0,0,0,0,0,28.83,26.90,26.79
$STATE,2820,end climb,SURFACE_DEPTH_REACHED
$STATE,2820,begin surface coast
$FINISH,0.4,1.022104
$STATE,2850,end surface coast,CONTROL_FINISHED_OK
$STATE,2850,begin surface
$SM_CCo,2867,40.72,0.135,0,0,1098,220.03
$SM_GC,3.21,8.90,2.15,40.72,0.097,0.042,0.135,182,2262,1098,-8.15,0.76,220.03,0,0,0,0,0,0,26.89,26.91,26.67
$IRIDIUM_FIX,4726.11,-12227.78,050314,080801
$TT8_MAMPS,0.02996,0.02996
$HUMID,42.36
$INTERNAL_PRESSURE,8.61747
$TCM_TEMP,12.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.9,71.4
$24V_AH,25.4,1.024
$10V_AH,10.3,0.938
$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,20.375,34.025,133.250,40.725,0.000,57.740,54.055,284.156,0.750,0.000,37.115,1107.439,353.348,225.530,1755.691,44.527,33.207,658.608,0.000,1318.946,0.000,7.197,0.000
$DEVICE_MAMPS,245.565,69.615,546.975,135.405,0.000,13.010,160.000,223.000,420.000,0.000,26.220,15.460,2.190,15.460,41.670,63.390,67.890,16.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,324.057,400.765,654.080,1001.392,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,45.690,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322412
$DATA_FILE_SIZE,33751,478
$CAP_FILE_SIZE,52610,0
$CFSIZE,1024393216,1022181376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050314,095404,4742.737,-12224.794,12,0.9,12,16.3