version: 66.11
glider: 214
mission: 2
dive: 15
start: 3 13 114 7 20 37
data:
$ID,214
$MISSION,2
$DIVE,15
$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,600
$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,-964.41931
$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,2590
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$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,24
$R_STBD_OVSHOOT,25
$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,0.0020000001
$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
$GPS1,130314,071406,4743.105,-12224.776,15,1.0,15,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-64.6
$GPS2,130314,071939,4742.895,-12225.189,14,1.1,14,16.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.162,-0.061
$KALMAN_X,-759.9,290.5,-84.2,121.5,87.1
$KALMAN_Y,-3668.0,411.9,-217.8,3885.6,-218.9
$MHEAD_RNG_PITCHd_Wd,94.3,605,-27.8,-10.000,-30.00,959
$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,-1.29,-62.7,200,2810,918,792,0.0,0.0,0,94,0.00,0.00,-76.78,0.000,16386,0.000,0.000,200,2810,3234,3270,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-1.38,-109.7,200,2810,3271,3199,3.4,-5.0,12,123,7.72,2.33,-11.05,0.000,18948,0.256,0.064,2136,1374,3741,3798,3685,0,0,0,0,0,0,25.99,26.21,26.51
$GC,474,-1.38,-109.7,2136,1374,3798,3685,86.8,-21.5,85,480,0.00,2.25,0.00,0.000,1030,0.000,0.053,2127,2802,3741,3798,3685,0,0,0,0,0,0,28.83,26.42,28.83
$GC,604,-1.38,-109.7,1288,2798,3795,3684,117.6,-24.6,110,611,0.00,2.25,0.00,0.000,516,0.000,0.050,2127,1382,3741,3798,3685,0,0,0,0,0,0,28.83,26.48,28.83
$GC,701,-1.38,-109.7,2126,1382,3798,3685,140.4,-24.2,127,708,0.00,2.25,0.00,0.000,1030,0.000,0.054,2117,2811,3741,3798,3685,0,0,0,0,0,0,28.83,26.49,28.83
$GC,831,-1.38,-109.7,2116,2810,3798,3685,173.9,-26.6,152,838,0.12,0.00,0.00,0.000,2054,0.215,0.000,2149,2811,3741,3798,3685,0,0,0,0,0,0,26.39,28.83,28.83
$STATE,843,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,843,begin apogee
$GC,847,-0.21,0.0,2150,2592,3798,3685,177.2,-26.0,154,948,1.17,0.00,88.10,0.856,10246,0.171,0.000,2517,2592,3296,3370,3222,0,0,0,0,1,0,26.39,28.83,24.44
$STATE,949,end apogee,CONTROL_FINISHED_OK
$STATE,949,begin climb
$GC,950,1.38,109.7,2517,2592,3373,3223,183.7,0.0,171,1046,1.45,2.40,85.18,0.514,10756,0.086,0.057,3038,1196,2833,2909,2758,0,0,0,0,0,0,25.19,25.06,24.67
$GC,1089,1.38,109.7,3037,1196,2909,2756,177.2,10.3,195,1096,0.00,2.33,0.00,0.000,1030,0.000,0.054,3038,2604,2832,2909,2756,0,0,0,0,0,0,28.83,25.40,28.83
$GC,1219,1.38,109.7,3037,2603,2909,2756,161.8,11.3,220,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2603,2832,2909,2756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1351,1.38,109.7,3037,2603,2909,2756,144.1,13.9,245,1357,0.00,2.30,0.00,0.000,516,0.000,0.058,3049,1189,2832,2909,2756,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1415,1.38,109.7,3048,1189,2909,2756,134.8,14.3,257,1421,0.00,2.28,0.00,0.000,1030,0.000,0.055,3048,2600,2832,2909,2756,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1544,1.38,109.7,3048,2600,2909,2756,117.3,14.2,282,1552,0.00,2.33,0.00,0.000,516,0.000,0.059,3059,1189,2832,2909,2756,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1680,1.38,109.7,3059,1189,2909,2756,100.0,12.6,308,1687,0.00,2.30,0.00,0.000,1030,0.000,0.055,3059,2600,2832,2909,2756,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1811,1.38,109.7,3059,2600,2909,2756,80.9,14.8,333,1817,0.00,2.25,0.00,0.000,516,0.000,0.058,3070,1195,2832,2908,2756,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1966,1.38,109.7,3070,1195,2909,2756,59.2,13.1,363,1973,0.15,2.25,0.00,0.000,5126,0.200,0.055,3034,2611,2832,2909,2756,0,0,0,0,0,0,26.26,26.41,28.83
$GC,2096,1.38,109.7,3034,2611,2909,2756,42.4,11.6,388,2104,0.00,2.30,0.00,0.000,516,0.000,0.060,3045,1200,2832,2909,2756,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2221,1.39,116.0,1968,1200,2877,2750,30.1,9.3,412,2230,0.00,2.28,1.25,0.174,9222,0.000,0.057,3045,2603,2816,2893,2740,0,0,0,0,0,0,28.83,26.50,26.35
$GC,2292,1.43,137.0,1984,2601,2875,2747,24.0,7.8,425,2306,0.00,2.00,7.80,0.188,8452,0.000,0.066,3045,3851,2733,2806,2660,0,0,0,0,0,0,28.83,26.45,26.34
$GC,2363,1.44,141.7,1984,3850,2780,2664,18.3,9.5,438,2371,0.00,2.00,2.40,0.177,9222,0.000,0.055,3055,2604,2711,2784,2638,0,0,0,0,0,0,28.83,26.51,26.35
$GC,2434,1.53,182.7,1992,2601,2763,2643,13.0,5.6,451,2455,0.00,2.25,13.93,0.159,8708,0.000,0.061,3065,1188,2546,2627,2466,0,0,0,0,0,0,28.83,26.44,26.34
$GC,2478,1.59,213.2,3065,1188,2635,2473,10.3,6.7,458,2499,0.00,2.30,10.68,0.146,9222,0.000,0.059,3065,2598,2418,2502,2335,0,0,0,0,0,0,28.83,26.45,26.32
$GC,2561,1.79,313.3,2016,2595,2472,2334,3.9,-0.7,473,2600,0.25,0.00,33.55,0.135,10502,0.070,0.000,3181,2598,2008,2100,1916,0,0,0,0,0,0,26.50,28.83,26.28
$GC,2662,2.00,418.3,2144,2595,2072,1914,2.8,-1.2,491,2703,0.12,2.35,34.88,0.133,10756,0.103,0.060,3248,1184,1580,1670,1491,0,0,0,0,0,0,26.44,26.32,26.23
$STATE,2719,end climb,SURFACE_DEPTH_REACHED
$STATE,2719,begin surface coast
$FINISH,1.8,1.018524
$STATE,2725,end surface coast,CONTROL_FINISHED_OK
$STATE,2725,begin surface
$SM_CCo,2742,60.30,0.129,0,0,841,600.00
$SM_GC,1.54,8.75,2.65,60.30,0.109,0.057,0.129,192,2801,841,-7.44,-0.82,600.00,0,0,0,0,0,0,26.32,26.34,26.11
$IRIDIUM_FIX,4729.30,-12222.38,130314,060606
$TT8_MAMPS,0.030709,0.030709
$HUMID,34.32
$INTERNAL_PRESSURE,8.86447
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.0,66.3
$24V_AH,24.4,2.414
$10V_AH,10.4,3.306
$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,19.750,45.975,277.750,60.300,0.000,24.963,44.558,183.121,2.000,0.000,15.887,1098.282,322.627,399.227,1293.100,40.361,33.233,884.859,0.000,1007.499,0.000,16.644,0.000
$DEVICE_MAMPS,256.275,65.790,856.035,129.285,0.000,12.240,160.000,223.000,420.000,0.000,28.460,17.710,2.190,17.710,47.660,64.140,71.630,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,336.326,432.948,0.000,701.138,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,9.740,0.000,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321752
$DATA_FILE_SIZE,33638,501
$CAP_FILE_SIZE,58492,0
$CFSIZE,1024393216,1021591552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,130314,080828,4742.544,-12224.951,33,1.9,34,16.3