version: 66.11
glider: 214
mission: 2
dive: 6
start: 3 12 114 22 0 31
data:
$ID,214
$MISSION,2
$DIVE,6
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,100
$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,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,120
$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,1.0236
$MASS,53169
$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,550
$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,-953.02405
$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,2583
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$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,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3292
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$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,-63.391636
$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,15
$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,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,-1
$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
$GPS1,120314,215156,4742.650,-12224.609,13,1.0,13,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-68.7
$GPS2,120314,215933,4742.711,-12225.140,15,1.0,15,16.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.180,0.066
$KALMAN_X,-1001.6,-404.0,-56.9,1088.8,-232.1
$KALMAN_Y,-1487.1,-742.3,-142.1,2438.1,-255.6
$MHEAD_RNG_PITCHd_Wd,53.7,424,-25.2,-10.000,-27.54,1167
$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,-1.04,-76.3,195,2795,1123,1003,0.0,0.0,0,81,0.00,0.00,-64.60,0.000,16386,0.000,0.000,195,2796,3068,3103,3033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.06,-126.8,195,2796,3103,3033,3.5,-5.6,10,118,8.20,2.25,-16.08,0.000,18948,0.259,0.067,2233,1382,3810,3867,3753,0,0,0,0,0,0,26.03,26.27,26.58
$GC,134,-1.06,-126.8,2233,1382,3867,3753,11.9,-15.8,18,142,0.00,2.30,0.00,0.000,1030,0.000,0.054,2224,2804,3810,3867,3753,0,0,0,0,0,0,28.83,26.29,28.83
$GC,204,-1.06,-126.8,1312,2802,3866,3752,26.2,-19.9,31,211,0.00,2.25,0.00,0.000,516,0.000,0.050,2224,1388,3810,3867,3753,0,0,0,0,0,0,28.83,26.34,28.83
$GC,615,-1.06,-126.8,2223,1388,3868,3753,104.8,-19.8,111,622,0.00,2.22,0.00,0.000,1030,0.000,0.056,2213,2800,3810,3868,3753,0,0,0,0,0,0,28.83,26.51,28.83
$GC,748,-1.06,-126.8,2213,2800,3867,3753,131.9,-20.6,136,755,0.00,2.22,0.00,0.000,516,0.000,0.051,2214,1391,3810,3867,3753,0,0,0,0,0,0,28.83,26.56,28.83
$GC,831,-1.06,-126.8,2213,1391,3868,3753,147.8,-19.3,151,838,0.15,2.22,0.00,0.000,3078,0.196,0.057,2242,2801,3810,3868,3752,0,0,0,0,0,0,26.41,26.56,28.83
$GC,961,-1.06,-126.8,2241,2801,3867,3753,171.9,-17.1,176,968,0.00,2.25,0.00,0.000,516,0.000,0.053,2243,1381,3810,3867,3754,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,1003,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1003,begin apogee
$GC,1009,-0.20,0.0,2235,2611,3867,3753,179.6,-16.4,184,1151,0.85,0.00,135.57,0.475,10246,0.158,0.000,2510,2611,3287,3363,3211,0,0,0,0,0,0,26.46,28.83,25.11
$STATE,1152,end apogee,CONTROL_FINISHED_OK
$STATE,1152,begin climb
$GC,1153,1.06,126.8,2510,2611,3360,3207,186.6,0.0,208,1256,1.17,2.42,93.18,0.498,10756,0.092,0.060,2934,1188,2762,2845,2679,0,0,0,0,0,0,25.50,25.18,24.78
$GC,1329,1.06,126.8,2933,1187,2840,2672,175.0,13.4,239,1336,0.00,2.33,0.00,0.000,1030,0.000,0.056,2934,2600,2756,2840,2673,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1458,1.06,126.8,2934,2600,2840,2672,157.6,13.3,264,1465,0.00,2.33,0.00,0.000,516,0.000,0.060,2945,1202,2756,2841,2672,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1539,1.06,126.8,2945,1201,2839,2672,147.7,12.6,279,1545,0.00,2.28,0.00,0.000,1030,0.000,0.057,2944,2606,2756,2840,2672,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1668,1.06,126.8,2944,2606,2840,2672,131.4,12.4,304,1675,0.00,2.35,0.00,0.000,516,0.000,0.063,2955,1188,2756,2840,2672,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1864,1.06,126.8,2955,1188,2840,2672,106.5,13.0,342,1872,0.08,2.30,0.00,0.000,5126,0.171,0.057,2931,2601,2755,2839,2672,0,0,0,0,0,0,26.20,26.32,28.83
$GC,1996,1.06,126.8,2931,2601,2839,2672,90.2,12.3,367,2003,0.00,1.98,0.00,0.000,260,0.000,0.068,2931,3844,2755,2839,2672,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2034,1.06,126.8,2931,3844,2839,2672,84.8,14.0,374,2041,0.00,2.00,0.00,0.000,1030,0.000,0.057,2941,2605,2755,2839,2672,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2165,1.06,126.8,2941,2606,2839,2672,67.9,13.3,399,2172,0.00,2.28,0.00,0.000,516,0.000,0.065,2952,1181,2755,2838,2672,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2270,1.06,126.8,2952,1181,2839,2672,54.9,12.6,419,2277,0.00,2.28,0.00,0.000,1030,0.000,0.060,2952,2606,2755,2839,2672,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2399,1.06,126.8,2951,2606,2840,2672,41.3,10.1,444,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2606,2755,2839,2672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2528,1.07,148.2,1872,2604,2806,2665,30.8,8.1,469,2542,0.00,2.33,5.65,0.193,8708,0.000,0.061,2962,1188,2693,2773,2613,0,0,0,0,0,0,28.83,26.52,26.35
$GC,2615,1.08,166.2,1888,1186,2755,2623,23.5,8.4,485,2630,0.08,2.28,7.60,0.177,13318,0.164,0.057,2938,2597,2610,2693,2528,0,0,0,0,0,0,26.42,26.54,26.36
$GC,2693,1.08,169.2,1872,2594,2674,2538,16.5,9.7,499,2701,0.00,2.28,2.20,0.187,8708,0.000,0.060,2948,1185,2600,2685,2516,0,0,0,0,0,0,28.83,26.53,26.39
$GC,2854,1.14,338.4,1856,1183,2663,2529,4.4,-4.8,530,2918,0.00,2.28,55.62,0.135,9222,0.000,0.057,2949,2594,1906,2006,1807,0,0,0,0,0,0,28.83,26.57,26.32
$STATE,2944,end climb,SURFACE_DEPTH_REACHED
$STATE,2944,begin surface coast
$FINISH,1.5,1.018195
$STATE,2970,end surface coast,CONTROL_FINISHED_OK
$STATE,2970,begin surface
$SM_CCo,2984,69.65,0.128,0,0,1047,550.21
$SM_GC,1.42,7.40,0.35,69.65,0.080,0.077,0.128,196,2812,1047,-7.40,-0.51,550.21,0,0,0,0,0,0,26.44,26.45,26.19
$IRIDIUM_FIX,4726.11,-12223.37,120314,212102
$TT8_MAMPS,0.029211,0.029211
$HUMID,34.48
$INTERNAL_PRESSURE,8.884
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.6,58.9
$24V_AH,24.8,1.914
$10V_AH,10.3,2.845
$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,17.925,49.750,299.825,69.650,0.000,51.674,62.671,195.333,2.250,0.000,16.270,1195.830,427.397,417.674,1440.624,43.919,33.217,936.359,0.000,1096.716,0.000,16.584,0.000
$DEVICE_MAMPS,259.335,77.265,498.015,127.755,0.000,12.240,160.000,223.000,420.000,0.000,28.460,17.710,2.190,17.710,47.660,64.140,71.630,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,369.806,463.641,0.000,750.486,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,9.740,0.000,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321764
$DATA_FILE_SIZE,37001,550
$CAP_FILE_SIZE,61774,0
$CFSIZE,1024393216,1022181376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120314,225303,4742.651,-12224.485,64,1.3,64,16.3