version: 66.11
glider: 213
mission: 2
dive: 22
start: 3 5 114 15 39 31
data:
$ID,213
$MISSION,2
$DIVE,22
$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,-439.7908
$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,20
$R_STBD_OVSHOOT,34
$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
$GPS1,050314,153158,4742.364,-12224.615,34,1.0,34,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-61.4
$GPS2,050314,153834,4742.440,-12224.587,5,0.9,5,16.3
$SPEED_LIMITS,0.125,0.228
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.182,0.137
$KALMAN_X,-4044.3,-182.6,-1319.3,6140.0,-1476.2
$KALMAN_Y,-2943.5,534.7,-1507.5,1957.2,-431.7
$MHEAD_RNG_PITCHd_Wd,36.8,550,-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,-146.6,180,2296,562,456,0.0,0.0,0,78,0.00,0.00,-61.03,0.000,16386,0.000,0.000,180,2296,2353,2310,2396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.81,-146.6,180,2297,2310,2396,3.2,-5.6,8,105,9.32,2.17,-5.45,0.000,18692,0.241,0.074,2526,3683,2600,2585,2616,0,0,0,0,0,0,26.38,26.55,26.85
$GC,319,-0.81,-146.6,2526,3683,2586,2615,36.4,-14.7,48,327,0.00,2.12,0.00,0.000,1030,0.000,0.042,2526,2264,2600,2586,2615,0,0,0,0,0,0,28.83,26.71,28.83
$GC,397,-0.81,-146.6,2525,2264,2586,2615,47.5,-12.8,61,403,0.00,2.08,0.00,0.000,516,0.000,0.054,2526,875,2600,2586,2615,0,0,0,0,0,0,28.83,26.72,28.83
$GC,434,-0.81,-146.6,2526,875,2586,2615,52.6,-13.4,67,440,0.00,2.08,0.00,0.000,1030,0.000,0.046,2526,2278,2600,2586,2615,0,0,0,0,0,0,28.83,26.77,28.83
$GC,577,-0.81,-146.6,2525,2278,2587,2615,69.3,-11.8,92,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2278,2601,2587,2615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,724,-0.81,-146.6,2525,2278,2587,2615,85.5,-10.3,117,730,0.00,2.10,0.00,0.000,260,0.000,0.057,2526,3691,2600,2586,2615,0,0,0,0,0,0,28.83,26.85,28.83
$GC,821,-0.81,-146.6,2525,3692,2586,2615,95.2,-9.6,134,830,0.00,2.10,0.00,0.000,1030,0.000,0.041,2526,2269,2601,2587,2615,0,0,0,0,0,0,28.83,26.90,28.83
$STATE,878,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,879,begin apogee
$GC,881,-0.25,0.0,2525,2269,2586,2615,100.6,-10.2,143,986,0.57,0.00,90.00,0.656,10246,0.124,0.000,2720,2269,2006,2028,1984,0,0,0,0,1,0,26.82,28.83,25.12
$STATE,987,end apogee,CONTROL_FINISHED_OK
$STATE,987,begin climb
$GC,988,0.81,146.6,2719,2269,2031,1987,103.5,0.0,159,1111,0.98,2.22,114.62,0.494,10756,0.073,0.056,3060,877,1392,1439,1345,0,0,0,0,0,0,25.79,25.41,25.06
$GC,1165,0.81,146.6,3060,877,1430,1344,89.1,12.4,187,1171,0.00,2.15,0.00,0.000,1030,0.000,0.043,3060,2284,1386,1430,1343,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1308,0.81,146.6,3060,2284,1428,1340,73.0,10.8,212,1316,0.00,2.20,0.00,0.000,260,0.000,0.057,3060,3686,1383,1428,1339,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1421,0.81,146.6,3060,3686,1428,1340,61.7,11.7,231,1428,0.00,2.10,0.00,0.000,1030,0.000,0.044,3060,2284,1384,1428,1340,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1565,0.81,146.6,3059,2284,1428,1339,46.5,9.5,256,1573,0.00,2.20,0.00,0.000,516,0.000,0.058,3060,871,1383,1428,1339,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1598,0.81,146.6,3060,871,1427,1339,43.6,8.9,261,1604,0.00,2.10,0.00,0.000,1030,0.000,0.044,3060,2283,1383,1428,1339,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1743,0.81,146.6,3060,2283,1427,1339,30.2,9.7,286,1751,0.00,2.15,0.00,0.000,260,0.000,0.057,3060,3678,1383,1427,1339,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1765,0.81,146.6,3060,3678,1426,1339,27.9,10.7,289,1773,0.00,2.12,0.00,0.000,1030,0.000,0.042,3060,2270,1382,1426,1339,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1844,0.81,146.6,3060,2270,1426,1339,19.4,10.9,302,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2270,1382,1426,1339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1922,0.81,146.6,3060,2270,1426,1339,10.9,10.6,315,1931,0.00,2.15,0.00,0.000,516,0.000,0.058,3060,877,1382,1426,1339,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1980,0.81,146.6,3060,877,1425,1339,4.8,11.1,324,1988,0.00,2.10,0.00,0.000,1030,0.000,0.044,3060,2277,1382,1425,1339,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,2012,end climb,SURFACE_DEPTH_REACHED
$STATE,2012,begin surface coast
$FINISH,0.5,1.021802
$STATE,2037,end surface coast,CONTROL_FINISHED_OK
$STATE,2037,begin surface
$SM_CCo,2050,24.58,0.135,0,0,1102,220.03
$SM_GC,5.13,7.70,0.00,24.58,0.048,0.000,0.135,176,2277,1102,-8.15,0.03,220.03,0,0,0,0,0,0,26.77,28.83,26.60
$IRIDIUM_FIX,4722.92,-12234.89,050314,151559
$TT8_MAMPS,0.029211,0.029211
$HUMID,42.79
$INTERNAL_PRESSURE,8.61747
$TCM_TEMP,11.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.0,20.3
$24V_AH,25.1,1.446
$10V_AH,10.3,1.300
$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,18.575,34.150,204.625,24.575,0.000,64.037,83.823,126.545,0.500,0.000,5.894,743.633,213.131,273.431,1228.215,37.551,33.200,655.821,0.000,948.774,0.000,5.491,0.000
$DEVICE_MAMPS,240.975,74.205,655.605,135.405,0.000,13.010,160.000,223.000,420.000,0.000,26.220,15.460,2.190,15.460,41.670,63.390,67.890,16.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,222.376,295.847,484.087,741.193,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,45.690,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322388
$DATA_FILE_SIZE,23758,333
$CAP_FILE_SIZE,43476,0
$CFSIZE,1024393216,1021788160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,050314,161444,4742.591,-12224.252,3,0.9,3,16.3