version: 66.11
glider: 213
mission: 2
dive: 19
start: 3 5 114 13 15 21
data:
$ID,213
$MISSION,2
$DIVE,19
$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,-436.02704
$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,34
$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
$GPS1,050314,130813,4742.638,-12224.760,3,1.3,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-68.6
$GPS2,050314,131423,4742.618,-12224.854,5,1.1,6,16.3
$SPEED_LIMITS,0.125,0.228
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.218,0.066
$KALMAN_X,-3902.8,1083.5,-65.0,3143.2,-1410.0
$KALMAN_Y,-2742.6,816.9,-601.1,893.0,-1017.3
$MHEAD_RNG_PITCHd_Wd,56.9,167,-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,-146.6,169,2286,1107,1098,0.0,0.0,0,56,0.00,0.00,-39.10,0.000,16386,0.000,0.000,169,2286,2292,2248,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.81,-146.6,169,2286,2249,2337,3.0,-5.1,5,83,9.43,2.17,-6.90,0.000,18692,0.243,0.073,2534,3684,2598,2585,2611,0,0,0,0,0,0,26.37,26.56,26.87
$GC,96,-0.81,-146.6,2534,3684,2586,2611,8.8,-13.2,10,105,0.00,2.15,0.00,0.000,1030,0.000,0.045,2533,2263,2598,2586,2611,0,0,0,0,0,0,28.83,26.59,28.83
$GC,175,-0.81,-146.6,2533,2263,2587,2611,17.9,-11.9,23,184,0.00,2.12,0.00,0.000,516,0.000,0.053,2533,873,2599,2587,2611,0,0,0,0,0,0,28.83,26.63,28.83
$GC,210,-0.81,-146.6,2533,873,2587,2612,21.8,-12.1,28,219,0.00,2.15,0.00,0.000,1030,0.000,0.050,2533,2278,2599,2587,2612,0,0,0,0,0,0,28.83,26.67,28.83
$GC,289,-0.81,-146.6,2533,2279,2587,2611,31.0,-11.2,41,298,0.00,2.17,0.00,0.000,260,0.000,0.063,2534,3686,2599,2588,2611,0,0,0,0,0,0,28.83,26.70,28.83
$GC,420,-0.81,-146.6,2533,3686,2587,2612,46.5,-12.7,63,426,0.00,2.08,0.00,0.000,1030,0.000,0.042,2534,2267,2599,2587,2611,0,0,0,0,0,0,28.83,26.78,28.83
$GC,563,-0.81,-146.6,2533,2267,2587,2611,61.0,-10.1,88,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2267,2599,2587,2611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,709,-0.81,-146.6,2533,2267,2587,2611,75.1,-9.1,113,716,0.00,2.15,0.00,0.000,260,0.000,0.060,2534,3697,2599,2587,2611,0,0,0,0,0,0,28.83,26.86,28.83
$GC,746,-0.81,-146.6,2533,3697,2587,2611,78.8,-10.7,119,752,0.00,2.08,0.00,0.000,1030,0.000,0.042,2533,2271,2599,2587,2611,0,0,0,0,0,0,28.83,26.89,28.83
$GC,889,-0.81,-146.6,2533,2272,2587,2611,94.7,-10.9,144,898,0.00,2.17,0.00,0.000,260,0.000,0.061,2534,3690,2599,2587,2611,0,0,0,0,0,0,28.83,26.91,28.83
$GC,960,-0.81,-146.6,2533,3691,2587,2611,102.9,-11.9,155,967,0.00,2.05,0.00,0.000,1030,0.000,0.041,2534,2272,2599,2588,2611,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1106,-0.81,-146.6,2533,2272,2588,2612,119.4,-12.7,180,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2272,2599,2587,2611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1253,-0.81,-146.6,2533,2272,2587,2612,142.5,-18.0,205,1259,0.00,2.05,0.00,0.000,516,0.000,0.053,2534,879,2599,2587,2611,0,0,0,0,0,0,28.83,26.96,28.83
$STATE,1279,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1279,begin apogee
$GC,1284,-0.25,0.0,2533,2281,2587,2611,147.3,-19.0,209,1446,0.55,0.00,151.60,0.527,10246,0.133,0.000,2718,2282,2002,2021,1984,0,0,0,0,1,0,26.90,28.83,24.95
$STATE,1448,end apogee,CONTROL_FINISHED_OK
$STATE,1448,begin climb
$GC,1449,0.81,146.6,2717,2282,2024,1988,159.7,0.0,234,1580,1.00,2.30,116.00,1.015,11012,0.076,0.057,3063,883,1406,1442,1371,0,0,0,0,1,0,25.67,24.96,24.26
$GC,1839,0.81,146.6,3064,882,1442,1371,146.1,12.3,299,1846,0.00,2.10,0.00,0.000,1030,0.000,0.046,3064,2278,1407,1443,1371,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1983,0.81,146.6,3064,2278,1442,1371,132.5,9.7,324,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2278,1406,1442,1371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2129,0.81,146.6,3064,2278,1442,1371,119.0,8.9,349,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2278,1406,1442,1371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2272,0.81,146.6,3064,2278,1442,1370,106.9,9.1,374,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2278,1406,1442,1371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2418,0.81,146.6,3064,2278,1442,1371,96.5,7.8,399,2425,0.00,2.10,0.00,0.000,516,0.000,0.056,3064,883,1406,1442,1371,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2459,0.81,146.6,3064,882,1441,1371,92.6,9.3,406,2467,0.00,2.10,0.00,0.000,1030,0.000,0.047,3064,2272,1406,1441,1371,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2606,0.81,146.6,3064,2272,1441,1371,78.7,10.5,431,2612,0.00,2.12,0.00,0.000,260,0.000,0.061,3064,3688,1406,1441,1371,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2666,0.81,146.6,3063,3688,1441,1371,71.9,11.7,441,2672,0.00,2.08,0.00,0.000,1030,0.000,0.044,3064,2276,1406,1441,1371,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2810,0.81,146.6,3064,2276,1441,1371,57.0,10.3,466,2818,0.00,2.12,0.00,0.000,516,0.000,0.057,3064,880,1406,1441,1371,0,0,0,0,0,0,28.83,26.84,28.83
$GC,2831,0.81,146.6,3063,880,1441,1371,54.9,10.3,469,2838,0.00,2.08,0.00,0.000,1030,0.000,0.048,3065,2287,1406,1441,1371,0,0,0,0,0,0,28.83,26.88,28.83
$GC,2977,0.81,146.6,3064,2287,1441,1371,38.3,11.7,494,2985,0.00,2.12,0.00,0.000,260,0.000,0.060,3064,3681,1406,1441,1371,0,0,0,0,0,0,28.83,26.89,28.83
$GC,3033,0.81,146.6,3064,3681,1441,1371,31.6,12.0,503,3041,0.00,2.10,0.00,0.000,1030,0.000,0.044,3064,2276,1406,1441,1371,0,0,0,0,0,0,28.83,26.91,28.83
$GC,3112,0.81,146.6,3064,2276,1441,1371,22.9,10.2,516,3120,0.00,2.12,0.00,0.000,516,0.000,0.057,3064,876,1406,1441,1371,0,0,0,0,0,0,28.83,26.91,28.83
$GC,3173,0.81,146.6,3064,876,1441,1371,16.6,9.7,526,3182,0.00,2.10,0.00,0.000,1030,0.000,0.047,3064,2277,1406,1441,1371,0,0,0,0,0,0,28.83,26.96,28.83
$GC,3253,0.81,146.6,3064,2277,1441,1370,8.2,11.0,539,3261,0.00,2.12,0.00,0.000,260,0.000,0.060,3064,3671,1406,1441,1371,0,0,0,0,0,0,28.83,26.95,28.83
$STATE,3308,end climb,SURFACE_DEPTH_REACHED
$STATE,3308,begin surface coast
$FINISH,0.3,1.001301
$STATE,3327,end surface coast,CONTROL_FINISHED_OK
$STATE,3327,begin surface
$SM_CCo,3342,27.25,0.140,0,0,1101,220.03
$SM_GC,4.63,7.78,2.10,27.25,0.057,0.042,0.140,171,2270,1101,-8.16,1.05,220.03,0,0,0,0,0,0,26.96,26.97,26.77
$IRIDIUM_FIX,4722.92,-12223.37,050314,131313
$TT8_MAMPS,0.02996,0.02996
$HUMID,43.38
$INTERNAL_PRESSURE,8.6077
$TCM_TEMP,12.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.3,61.9
$24V_AH,24.3,1.285
$10V_AH,10.3,1.188
$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,18.750,55.150,267.600,27.250,0.000,34.069,42.828,220.056,1.000,0.000,6.881,1227.599,342.200,345.702,1789.382,51.420,33.195,908.187,0.000,1480.543,0.000,10.076,0.000
$DEVICE_MAMPS,243.270,72.675,1015.155,139.995,0.000,13.010,160.000,223.000,420.000,0.000,26.220,15.460,2.190,15.460,41.670,63.390,67.890,16.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,370.281,436.969,714.364,1093.401,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,45.690,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322360
$DATA_FILE_SIZE,40419,551
$CAP_FILE_SIZE,64619,0
$CFSIZE,1024393216,1021919232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,050314,141207,4742.373,-12224.756,3,1.0,3,16.3