version: 66.11
glider: 213
mission: 2
dive: 16
start: 3 5 114 10 3 20
data:
$ID,213
$MISSION,2
$DIVE,16
$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,-432.25848
$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,33
$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
$GPS1,050314,095404,4742.737,-12224.794,12,0.9,12,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-68.2
$GPS2,050314,100221,4742.609,-12225.004,13,0.9,13,16.3
$SPEED_LIMITS,0.125,0.228
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.094,0.167
$KALMAN_X,-2232.9,643.8,801.1,866.3,-213.2
$KALMAN_Y,-2545.9,693.8,1382.2,-1173.9,-667.9
$MHEAD_RNG_PITCHd_Wd,12.9,305,-16.3,-7.229,-20.64,2021
$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,-0.93,-97.5,181,2262,1097,1103,0.0,0.0,0,55,0.00,0.00,-38.50,0.000,16386,0.000,0.000,181,2262,2270,2225,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,57,-0.98,-134.3,181,2262,2226,2316,3.0,-5.4,5,81,9.12,0.00,-6.22,0.000,18950,0.242,0.000,2478,2262,2548,2535,2562,0,0,0,0,0,0,26.42,28.83,26.91
$GC,151,-0.98,-134.3,2479,2262,2536,2562,16.9,-13.4,20,160,0.00,2.20,0.00,0.000,260,0.000,0.059,2479,3686,2549,2536,2562,0,0,0,0,0,0,28.83,26.65,28.83
$GC,207,-0.98,-134.3,2479,3687,2536,2562,25.3,-15.8,29,216,0.00,2.12,0.00,0.000,1030,0.000,0.043,2479,2274,2549,2536,2562,0,0,0,0,0,0,28.83,26.69,28.83
$GC,286,-0.98,-134.3,2479,2273,2536,2562,37.0,-14.2,42,294,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2273,2549,2536,2562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,365,-0.98,-134.3,2478,2273,2537,2562,48.9,-15.0,55,371,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2273,2549,2536,2562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,507,-0.98,-134.3,2479,2273,2537,2562,70.5,-13.2,80,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2273,2549,2537,2562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,653,-0.98,-134.3,2478,2273,2537,2562,88.8,-12.4,105,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2273,2549,2537,2562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,798,-0.98,-134.3,2479,2273,2537,2562,107.9,-14.3,130,807,0.00,2.12,0.00,0.000,516,0.000,0.056,2479,872,2549,2537,2562,0,0,0,0,0,0,28.83,26.87,28.83
$GC,880,-0.98,-134.3,2478,872,2537,2562,119.0,-13.7,143,888,0.00,2.08,0.00,0.000,1030,0.000,0.047,2479,2281,2549,2537,2562,0,0,0,0,0,0,28.83,26.93,28.83
$GC,1025,-0.98,-134.3,2478,2281,2537,2562,139.0,-13.3,168,1034,0.00,2.12,0.00,0.000,260,0.000,0.060,2479,3678,2549,2537,2562,0,0,0,0,0,0,28.83,26.95,28.83
$GC,1093,-0.98,-134.3,2479,3678,2537,2562,147.5,-12.1,179,1099,0.00,2.05,0.00,0.000,1030,0.000,0.043,2479,2271,2549,2537,2562,0,0,0,0,0,0,28.83,26.95,28.83
$GC,1236,-0.98,-134.3,2479,2270,2537,2562,166.1,-12.4,204,1245,0.00,2.15,0.00,0.000,260,0.000,0.060,2478,3678,2549,2537,2562,0,0,0,0,0,0,28.83,26.98,28.83
$GC,1273,-0.98,-134.3,2479,3678,2537,2562,171.0,-13.3,210,1282,0.00,2.10,0.00,0.000,1030,0.000,0.043,2479,2270,2549,2537,2562,0,0,0,0,0,0,28.83,26.98,28.83
$STATE,1332,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1332,begin apogee
$GC,1335,-0.25,0.0,2479,2270,2537,2562,178.6,-12.7,220,1465,0.70,0.00,121.47,0.545,10246,0.131,0.000,2713,2269,1995,2012,1978,0,0,0,0,0,0,26.88,28.83,25.38
$STATE,1466,end apogee,CONTROL_FINISHED_OK
$STATE,1466,begin climb
$GC,1467,0.98,134.3,2712,2269,2012,1978,183.5,0.0,240,1580,1.15,2.33,104.35,0.545,10500,0.073,0.056,3115,3678,1440,1473,1407,0,0,0,0,0,0,25.82,25.41,24.98
$GC,1643,0.98,134.3,3115,3678,1467,1403,166.4,15.9,268,1652,0.00,2.20,0.00,0.000,1030,0.000,0.046,3116,2283,1434,1466,1402,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1791,0.98,134.3,3115,2283,1465,1401,144.2,15.9,293,1797,0.00,2.17,0.00,0.000,260,0.000,0.059,3115,3689,1433,1465,1401,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1862,0.98,134.3,3115,3688,1463,1401,132.5,16.7,305,1868,0.00,2.15,0.00,0.000,1030,0.000,0.046,3116,2267,1431,1463,1400,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2005,0.98,134.3,3115,2267,1463,1400,111.6,14.2,330,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2267,1431,1463,1400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2152,0.98,134.3,3115,2267,1462,1400,92.2,13.2,355,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2267,1431,1462,1400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2294,0.98,134.3,3115,2267,1462,1400,72.4,14.1,380,2303,0.00,2.17,0.00,0.000,516,0.000,0.061,3116,867,1431,1462,1400,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2468,0.98,134.3,3116,868,1461,1400,49.4,11.6,410,2477,0.00,2.12,0.00,0.000,1030,0.000,0.048,3116,2274,1430,1461,1400,0,0,0,0,0,0,28.83,26.80,28.83
$GC,2617,0.98,134.3,3115,2274,1460,1400,32.5,11.4,435,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2274,1430,1461,1400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2696,0.98,134.3,3115,2274,1460,1400,23.1,11.5,448,2704,0.00,2.17,0.00,0.000,260,0.000,0.061,3116,3689,1430,1460,1400,0,0,0,0,0,0,28.83,26.85,28.83
$STATE,2871,end climb,SURFACE_DEPTH_REACHED
$STATE,2871,begin surface coast
$FINISH,0.2,1.011470
$STATE,2890,end surface coast,CONTROL_FINISHED_OK
$STATE,2890,begin surface
$SM_CCo,2905,28.90,0.135,0,0,1102,220.03
$SM_GC,3.34,7.88,2.15,28.90,0.052,0.044,0.135,173,2261,1102,-8.16,0.74,220.03,0,0,0,0,0,0,26.91,26.91,26.70
$IRIDIUM_FIX,4722.92,-12223.37,050314,090941
$TT8_MAMPS,0.02996,0.02996
$HUMID,42.87
$INTERNAL_PRESSURE,8.62723
$TCM_TEMP,12.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,125.4,72.7
$24V_AH,25.0,1.077
$10V_AH,10.3,0.994
$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,18.850,34.425,225.825,28.900,0.000,55.815,113.573,185.839,2.250,0.000,14.226,1079.534,357.945,291.906,1674.838,45.805,33.201,780.983,0.000,1296.294,0.000,13.469,0.000
$DEVICE_MAMPS,241.740,61.200,544.680,135.405,0.000,13.010,160.000,223.000,420.000,0.000,26.220,15.460,2.190,15.460,41.670,63.390,67.890,16.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,323.618,382.986,626.096,958.432,0.000,0.000,0.000,0.000,0.000,0.000
$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,33683,481
$CAP_FILE_SIZE,55414,0
$CFSIZE,1024393216,1022115840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050314,105300,4742.945,-12224.852,12,1.0,12,16.3