version: 66.11
glider: 214
mission: 1
dive: 20
start: 3 5 114 9 57 20
data:
$ID,214
$MISSION,1
$DIVE,20
$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,75
$T_MISSION,90
$T_ABORT,1440
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,1.0236
$MASS,53556
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,250
$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,-608.49554
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,203
$PITCH_MAX,3954
$C_PITCH,2565
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,239
$ROLL_MAX,3849
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2638
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$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,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-63.143688
$PRESSURE_SLOPE,0.0001163525
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.8
$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,0.0043900511
$SEABIRD_T_H,0.00063215959
$SEABIRD_T_I,2.4258828e-05
$SEABIRD_T_J,2.8292754e-06
$SEABIRD_C_G,-9.7247963
$SEABIRD_C_H,1.117072
$SEABIRD_C_I,-0.00093423709
$SEABIRD_C_J,0.00013718182
$GPS1,050314,094728,4744.042,-12225.281,97,1.5,97,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-65.1
$GPS2,050314,095622,4744.171,-12225.544,12,1.2,12,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.182,-0.160
$KALMAN_X,3541.2,-186.2,669.6,-5005.7,-170.3
$KALMAN_Y,4450.7,-2518.3,1828.2,-1866.8,369.7
$MHEAD_RNG_PITCHd_Wd,115.1,1054,-14.9,-8.000,-18.27,2786
$D_GRID,253
$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,-0.92,-146.5,196,2809,1681,1559,0.0,0.0,0,65,0.00,0.00,-48.92,0.000,16386,0.000,0.000,196,2810,3062,3087,3038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.92,-146.5,196,2810,3087,3038,3.1,-3.5,6,87,8.12,2.25,-3.83,0.000,18948,0.251,0.063,2260,1380,3236,3281,3192,0,0,0,0,0,0,26.02,26.24,26.52
$GC,188,-0.92,-146.5,1328,1378,3268,3187,24.3,-16.2,27,195,0.00,2.30,0.00,0.000,1030,0.000,0.057,2251,2795,3234,3279,3190,0,0,0,0,0,0,28.83,26.28,28.83
$GC,263,-0.92,-146.5,1312,2798,3269,3186,36.9,-17.0,40,270,0.00,1.70,0.00,0.000,260,0.000,0.068,2243,3847,3237,3284,3190,0,0,0,0,0,0,28.83,26.32,28.83
$GC,314,-0.92,-146.5,2243,3846,3284,3189,45.6,-17.0,49,321,0.00,1.62,0.00,0.000,1030,0.000,0.054,2243,2801,3240,3284,3196,0,0,0,0,0,0,28.83,26.39,28.83
$GC,445,-0.92,-146.5,2243,2801,3284,3190,66.0,-16.3,74,452,0.00,2.22,0.00,0.000,516,0.000,0.054,2243,1390,3236,3284,3189,0,0,0,0,0,0,28.83,26.46,28.83
$GC,468,-0.92,-146.5,2243,1390,3284,3189,69.9,-15.9,78,476,0.08,2.28,0.00,0.000,3078,0.167,0.059,2268,2791,3236,3284,3189,0,0,0,0,0,0,26.31,26.44,28.83
$GC,601,-0.92,-146.5,2267,2791,3281,3189,88.3,-13.8,103,607,0.00,1.67,0.00,0.000,260,0.000,0.069,2260,3862,3237,3286,3188,0,0,0,0,0,0,28.83,26.45,28.83
$GC,649,-0.92,-146.5,2260,3862,3286,3189,95.3,-14.7,112,656,0.00,1.70,0.00,0.000,1030,0.000,0.055,2259,2798,3237,3285,3189,0,0,0,0,0,0,28.83,26.51,28.83
$GC,781,-0.92,-146.5,2260,2798,3286,3188,114.2,-13.9,137,787,0.00,2.17,0.00,0.000,516,0.000,0.054,2260,1384,3236,3285,3188,0,0,0,0,0,0,28.83,26.52,28.83
$GC,839,-0.92,-146.5,2260,1384,3286,3188,122.9,-14.4,148,846,0.00,2.30,0.00,0.000,1030,0.000,0.061,2251,2801,3237,3286,3188,0,0,0,0,0,0,28.83,26.51,28.83
$GC,975,-0.92,-146.5,2250,2800,3286,3188,141.9,-14.3,173,981,0.00,1.65,0.00,0.000,260,0.000,0.071,2242,3852,3236,3285,3188,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1083,-0.92,-146.5,2242,3851,3286,3188,157.7,-15.0,193,1090,0.00,1.62,0.00,0.000,1030,0.000,0.054,2243,2797,3237,3286,3188,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1215,-0.92,-146.5,2242,2797,3286,3188,177.6,-16.7,218,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2797,3237,3286,3188,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1235,begin apogee
$GC,1237,-0.25,0.0,2242,2796,3286,3188,180.8,-16.0,221,1351,0.73,0.00,106.90,0.535,10246,0.148,0.000,2484,2797,2631,2709,2553,0,0,0,0,0,0,26.50,28.83,25.11
$STATE,1352,end apogee,CONTROL_FINISHED_OK
$STATE,1352,begin climb
$GC,1353,0.92,146.5,2482,2797,2707,2549,186.6,0.0,240,1473,1.08,2.40,107.72,0.514,10756,0.094,0.059,2867,1389,2027,2135,1920,0,0,0,0,0,0,25.53,25.14,24.71
$GC,1541,0.92,146.5,2867,1390,2131,1916,174.6,10.0,273,1548,0.00,2.33,0.00,0.000,1030,0.000,0.060,2868,2795,2026,2130,1923,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1674,0.92,146.5,2868,2795,2131,1914,160.6,9.4,298,1681,0.00,2.35,0.00,0.000,516,0.000,0.063,2877,1389,2023,2131,1916,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1749,0.92,146.5,2878,1385,2131,1916,153.8,9.4,311,1756,0.00,2.30,0.00,0.000,1030,0.000,0.061,2878,2800,2023,2131,1916,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1884,0.92,146.5,2881,2799,2130,1916,138.4,12.2,336,1894,0.00,2.33,0.00,0.000,516,0.000,0.064,2888,1394,2023,2131,1916,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1946,0.92,146.5,2893,1394,2130,1916,131.3,11.2,347,1953,0.00,2.28,0.00,0.000,1030,0.000,0.060,2888,2805,2022,2130,1915,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2076,0.92,146.5,2888,2806,2130,1915,115.3,12.3,372,2084,0.00,2.33,0.00,0.000,516,0.000,0.062,2899,1388,2023,2130,1916,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2137,0.92,146.5,2899,1388,2130,1916,107.5,13.2,383,2144,0.12,2.28,0.00,0.000,5126,0.179,0.063,2868,2799,2023,2130,1916,0,0,0,0,0,0,26.20,26.31,28.83
$GC,2267,0.92,146.5,2868,2799,2130,1916,91.0,13.0,408,2274,0.00,2.33,0.00,0.000,516,0.000,0.065,2878,1384,2024,2130,1919,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2421,0.92,146.5,2878,1384,2130,1916,71.7,12.4,437,2428,0.00,2.28,0.00,0.000,1030,0.000,0.062,2879,2806,2023,2130,1916,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2556,0.92,146.5,2878,2806,2129,1916,55.0,11.8,462,2563,0.00,1.70,0.00,0.000,260,0.000,0.072,2879,3848,2023,2130,1916,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2724,0.92,146.5,1824,3847,2090,1911,32.8,11.7,494,2731,0.00,1.67,0.00,0.000,1030,0.000,0.058,2888,2805,2023,2130,1916,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2795,0.92,146.5,1808,2803,2090,1911,25.2,11.1,507,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2805,2022,2129,1916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2863,0.92,146.5,1824,2803,2093,1911,18.1,9.7,520,2871,0.00,2.28,0.00,0.000,516,0.000,0.063,2898,1388,2022,2129,1916,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,3038,end climb,SURFACE_DEPTH_REACHED
$STATE,3039,begin surface coast
$FINISH,0.8,1.022056
$STATE,3055,end surface coast,CONTROL_FINISHED_OK
$STATE,3055,begin surface
$SM_CCo,3071,31.83,0.135,0,0,1614,250.21
$SM_GC,3.83,7.47,2.30,31.83,0.099,0.059,0.135,196,2802,1614,-7.34,-0.76,250.21,0,0,0,0,0,0,26.58,26.60,26.39
$IRIDIUM_FIX,4726.11,-12223.37,050314,090937
$TT8_MAMPS,0.033705,0.033705
$HUMID,34.76
$INTERNAL_PRESSURE,9.03049
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,160.2,83.8
$24V_AH,24.7,1.055
$10V_AH,10.3,1.136
$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,17.600,54.625,214.625,31.825,0.000,52.691,76.870,249.319,2.500,0.000,13.051,1272.628,441.304,321.274,1564.495,51.680,33.206,836.275,0.000,1146.706,0.000,18.402,0.000
$DEVICE_MAMPS,250.920,71.910,534.735,135.405,0.000,12.240,160.000,223.000,420.000,0.000,28.460,17.710,2.190,17.710,47.660,64.140,71.630,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,375.824,447.125,518.487,772.373,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,9.740,43.440,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322216
$DATA_FILE_SIZE,43827,557
$CAP_FILE_SIZE,84473,0
$CFSIZE,1024393216,1021362176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050314,105121,4743.501,-12225.288,104,1.0,104,16.3