version: 66.11
glider: 214
mission: 2
dive: 8
start: 3 13 114 0 0 46
data:
$ID,214
$MISSION,2
$DIVE,8
$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,-955.53296
$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,24
$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
$GPS1,120314,235409,4742.809,-12224.728,3,1.5,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.9
$GPS2,120314,235949,4742.817,-12224.708,4,1.5,5,16.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.031,0.260
$KALMAN_X,-778.4,-434.5,17.6,1347.8,67.1
$KALMAN_Y,-2173.6,-744.9,63.3,3118.1,-139.9
$MHEAD_RNG_PITCHd_Wd,337.0,2009,-18.1,-10.000,-20.93,2235
$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,-0.78,-146.5,189,2804,610,449,0.0,0.0,0,94,0.00,0.00,-76.80,0.000,16386,0.000,0.000,189,2804,2905,2941,2870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.78,-146.5,189,2804,2941,2870,3.4,-5.4,12,136,8.50,1.70,-22.55,0.000,18692,0.255,0.087,2313,3843,3891,3947,3836,0,0,0,0,0,0,25.96,26.19,26.53
$GC,333,-0.78,-146.5,1348,3842,3945,3835,38.5,-17.8,57,340,0.00,1.65,0.00,0.000,1030,0.000,0.050,2313,2803,3891,3947,3836,0,0,0,0,0,0,28.83,26.39,28.83
$GC,402,-0.78,-146.5,2311,2803,3947,3835,50.1,-15.8,70,409,0.00,2.22,0.00,0.000,516,0.000,0.052,2313,1391,3891,3947,3836,0,0,0,0,0,0,28.83,26.39,28.83
$GC,523,-0.78,-146.5,2312,1391,3947,3836,68.0,-14.7,93,529,0.00,2.25,0.00,0.000,1030,0.000,0.058,2303,2804,3891,3947,3835,0,0,0,0,0,0,28.83,26.42,28.83
$GC,652,-0.78,-146.5,2302,2804,3947,3836,87.3,-14.6,118,659,0.00,1.67,0.00,0.000,260,0.000,0.067,2295,3845,3891,3947,3835,0,0,0,0,0,0,28.83,26.46,28.83
$GC,686,-0.78,-146.5,2295,3845,3947,3835,92.5,-15.7,124,694,0.10,1.65,0.00,0.000,3078,0.161,0.051,2328,2806,3891,3947,3836,0,0,0,0,0,0,26.34,26.52,28.83
$GC,820,-0.78,-146.5,2328,2806,3947,3835,109.9,-12.5,149,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2806,3891,3947,3836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,954,-0.78,-146.5,2328,2806,3947,3836,127.0,-12.7,174,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2806,3891,3947,3836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1087,-0.78,-146.5,2328,2806,3947,3836,142.7,-12.1,199,1093,0.00,1.65,0.00,0.000,260,0.000,0.067,2321,3849,3891,3947,3836,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1131,-0.78,-146.5,2321,3850,3947,3835,148.5,-13.1,207,1138,0.00,1.62,0.00,0.000,1030,0.000,0.050,2321,2790,3891,3947,3835,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1260,-0.78,-146.5,2321,2790,3947,3836,165.2,-13.4,232,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2791,3890,3946,3835,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1359,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1360,begin apogee
$GC,1363,-0.20,0.0,2321,2588,3947,3835,177.9,-12.9,251,1476,0.57,0.00,107.72,0.516,10246,0.136,0.000,2516,2587,3287,3364,3210,0,0,0,0,0,0,26.53,28.83,25.19
$STATE,1477,end apogee,CONTROL_FINISHED_OK
$STATE,1477,begin climb
$GC,1478,0.78,146.5,2516,2588,3356,3201,182.3,0.0,270,1593,0.88,2.20,106.40,0.494,10500,0.092,0.065,2827,3844,2681,2765,2597,0,0,0,0,0,0,25.58,25.15,24.77
$GC,1626,0.79,156.7,2827,3844,2759,2589,175.3,9.5,295,1634,0.00,2.03,1.92,0.165,9222,0.000,0.052,2838,2604,2649,2735,2564,0,0,0,0,0,0,28.83,25.45,25.32
$GC,1756,0.80,175.3,2838,2604,2757,2585,162.6,9.1,320,1782,0.00,2.38,21.00,0.477,8708,0.000,0.058,2848,1190,2567,2656,2478,0,0,0,0,0,0,28.83,25.65,25.27
$GC,1871,0.80,175.3,2847,1190,2650,2467,150.7,10.9,341,1878,0.00,2.30,0.00,0.000,1030,0.000,0.055,2848,2608,2559,2650,2468,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2000,0.80,175.3,2848,2608,2650,2468,135.3,12.2,366,2008,0.00,2.05,0.00,0.000,260,0.000,0.068,2848,3845,2559,2650,2468,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2075,0.80,175.3,2848,3845,2650,2468,125.3,14.1,380,2082,0.00,2.03,0.00,0.000,1030,0.000,0.054,2858,2599,2559,2650,2468,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2206,0.80,175.3,2858,2599,2650,2467,108.9,13.0,405,2213,0.00,2.25,0.00,0.000,516,0.000,0.060,2868,1185,2558,2650,2467,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2250,0.80,175.3,2868,1185,2650,2468,103.5,12.8,413,2257,0.00,2.28,0.00,0.000,1030,0.000,0.057,2868,2604,2558,2649,2467,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2380,0.80,175.3,2868,2604,2650,2467,87.6,13.0,438,2387,0.00,2.03,0.00,0.000,260,0.000,0.069,2868,3842,2558,2649,2467,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2410,0.80,175.3,2868,3842,2649,2468,83.7,13.2,443,2417,0.15,1.98,0.00,0.000,5126,0.182,0.057,2839,2594,2559,2650,2468,0,0,0,0,0,0,26.23,26.37,28.83
$GC,2540,0.80,196.9,2839,2594,2649,2467,69.9,9.0,468,2548,0.00,0.00,5.70,0.246,8198,0.000,0.000,2839,2594,2487,2579,2396,0,0,0,0,0,0,28.83,28.83,26.12
$GC,2672,0.80,196.9,2839,2594,2611,2422,56.0,10.0,493,2679,0.00,0.00,2.25,0.182,8198,0.000,0.000,2839,2594,2489,2583,2396,0,0,0,0,0,0,28.83,28.83,26.22
$GC,2801,0.82,223.3,2839,2594,2609,2421,43.9,8.8,518,2822,0.00,2.28,10.45,0.215,8708,0.000,0.057,2849,1190,2383,2477,2290,0,0,0,0,0,0,28.83,26.43,26.22
$GC,2929,0.82,223.3,1792,1189,2455,2303,31.3,11.2,542,2938,0.00,2.28,1.75,0.159,9222,0.000,0.055,2849,2599,2380,2475,2285,0,0,0,0,0,0,28.83,26.46,26.32
$GC,2999,0.82,223.3,1792,2596,2453,2297,23.7,11.1,555,3007,0.00,0.00,1.52,0.192,8198,0.000,0.000,2849,2599,2381,2476,2286,0,0,0,0,0,0,28.83,28.83,26.34
$GC,3069,0.82,223.3,1792,2597,2452,2297,16.6,10.8,568,3076,0.00,0.00,1.38,0.197,8198,0.000,0.000,2849,2599,2380,2476,2285,0,0,0,0,0,0,28.83,28.83,26.36
$GC,3138,0.83,267.7,1792,2597,2454,2298,10.1,8.0,581,3159,0.00,2.33,15.55,0.148,8708,0.000,0.057,2859,1183,2197,2297,2097,0,0,0,0,0,0,28.83,26.46,26.36
$GC,3197,0.85,310.7,1808,1182,2269,2098,5.4,8.0,591,3217,0.00,2.30,14.75,0.132,9222,0.000,0.056,2860,2603,2018,2122,1915,0,0,0,0,0,0,28.83,26.48,26.34
$STATE,3263,end climb,SURFACE_DEPTH_REACHED
$STATE,3263,begin surface coast
$FINISH,2.0,1.019014
$STATE,3300,end surface coast,CONTROL_FINISHED_OK
$STATE,3300,begin surface
$SM_CCo,3302,127.22,0.123,0,0,499,684.88
$SM_GC,1.17,6.88,0.32,0.00,0.048,0.074,0.000,185,2805,513,-7.41,-0.68,681.93,0,0,0,0,0,0,26.27,26.25,28.83
$IRIDIUM_FIX,4729.30,-12222.38,120314,222255
$TT8_MAMPS,0.030709,0.030709
$HUMID,34.44
$INTERNAL_PRESSURE,8.85471
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.7,71.7
$24V_AH,24.8,2.016
$10V_AH,10.3,2.947
$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,17.075,45.725,290.400,127.225,0.000,25.120,41.225,203.206,1.500,0.000,5.884,1345.619,507.019,492.454,1489.126,52.080,33.238,1062.142,0.000,1204.455,0.000,11.913,0.000
$DEVICE_MAMPS,254.745,87.210,515.610,123.165,0.000,12.240,160.000,223.000,420.000,0.000,28.460,17.710,2.190,17.710,47.660,64.140,71.630,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,410.542,498.252,0.000,806.205,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,9.740,0.000,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321852
$DATA_FILE_SIZE,40447,610
$CAP_FILE_SIZE,70857,0
$CFSIZE,1024393216,1022033920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130314,010014,4743.373,-12224.659,3,1.3,3,16.3