version: 66.11
glider: 214
mission: 2
dive: 16
start: 3 13 114 8 15 4
data:
$ID,214
$MISSION,2
$DIVE,16
$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,-965.67719
$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,28
$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,0.0020000001
$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
$GPS1,130314,080828,4742.544,-12224.951,33,1.9,34,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-68.6
$GPS2,130314,081407,4743.280,-12223.951,17,2.0,19,16.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.185,-0.185
$KALMAN_X,134.8,397.2,-141.3,696.9,270.2
$KALMAN_Y,-2658.9,507.9,-400.8,3655.2,266.1
$MHEAD_RNG_PITCHd_Wd,208.7,1507,-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,15,-1.05,-146.5,192,2801,913,793,0.0,0.0,0,94,0.00,0.00,-76.68,0.000,16386,0.000,0.000,192,2801,3255,3293,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-1.05,-146.5,192,2801,3293,3217,3.7,-5.5,12,124,8.07,2.33,-14.27,0.000,18948,0.251,0.066,2245,1380,3891,3946,3837,0,0,0,0,0,0,26.03,26.21,26.51
$GC,478,-1.05,-146.5,2245,1380,3946,3837,75.3,-19.8,86,485,0.00,2.30,0.00,0.000,1030,0.000,0.057,2236,2798,3891,3945,3837,0,0,0,0,0,0,28.83,26.41,28.83
$GC,613,-1.05,-146.5,2236,2798,3946,3837,100.3,-18.5,111,620,0.00,2.20,0.00,0.000,516,0.000,0.053,2236,1388,3891,3946,3837,0,0,0,0,0,0,28.83,26.46,28.83
$GC,647,-1.05,-146.5,2236,1388,3946,3837,107.4,-18.4,117,654,0.00,2.25,0.00,0.000,1030,0.000,0.057,2227,2802,3891,3946,3837,0,0,0,0,0,0,28.83,26.46,28.83
$GC,776,-1.05,-146.5,2225,2803,3946,3837,133.6,-19.9,142,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2802,3891,3946,3837,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,829,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,829,begin apogee
$GC,832,-0.21,0.0,2226,2588,3946,3837,144.6,-21.7,152,946,0.90,0.00,106.40,0.498,10246,0.155,0.000,2518,2588,3283,3360,3206,0,0,0,0,0,0,26.41,28.83,25.19
$STATE,947,end apogee,CONTROL_FINISHED_OK
$STATE,947,begin climb
$GC,948,1.05,146.5,2517,2588,3358,3203,151.4,0.0,171,1062,1.15,2.40,106.00,0.480,10756,0.090,0.058,2935,1194,2682,2765,2600,0,0,0,0,0,0,25.55,25.15,24.78
$GC,1100,1.05,146.5,2934,1194,2760,2593,140.5,13.9,197,1106,0.00,2.35,0.00,0.000,1030,0.000,0.055,2935,2609,2676,2760,2593,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1229,1.05,146.5,2935,2609,2760,2593,120.0,14.6,222,1236,0.00,2.08,0.00,0.000,260,0.000,0.068,2935,3847,2676,2759,2593,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1249,1.05,146.5,2935,3847,2759,2593,116.9,15.7,225,1255,0.00,2.03,0.00,0.000,1030,0.000,0.057,2945,2596,2676,2759,2593,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1378,1.05,146.5,2945,2596,2759,2593,97.8,14.5,250,1386,0.00,2.33,0.00,0.000,516,0.000,0.063,2955,1187,2675,2759,2592,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1402,1.05,146.5,2955,1187,2759,2593,94.3,14.4,254,1409,0.00,2.35,0.00,0.000,1030,0.000,0.059,2955,2602,2676,2759,2593,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1533,1.05,146.5,2955,2602,2759,2593,74.4,14.5,279,1540,0.00,2.30,0.00,0.000,516,0.000,0.061,2966,1185,2676,2760,2593,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1612,1.05,146.5,2965,1185,2759,2593,62.6,14.9,294,1620,0.10,2.33,0.00,0.000,5126,0.164,0.059,2935,2599,2676,2759,2593,0,0,0,0,0,0,26.12,26.22,28.83
$GC,1744,1.05,146.5,2934,2600,2759,2593,44.8,13.9,319,1750,0.00,2.28,0.00,0.000,516,0.000,0.060,2945,1185,2676,2759,2593,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1823,1.05,146.5,1888,1184,2724,2586,36.1,10.8,334,1830,0.00,2.33,0.00,0.000,1030,0.000,0.059,2945,2603,2675,2758,2593,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1892,1.05,146.5,1872,2601,2723,2586,28.5,11.6,347,1899,0.00,2.03,0.00,0.000,260,0.000,0.070,2945,3841,2675,2758,2593,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2021,1.05,146.5,1856,3841,2721,2587,15.0,10.6,372,2029,0.00,2.00,0.00,0.000,1030,0.000,0.055,2955,2600,2675,2758,2593,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2091,1.14,194.1,1888,2597,2722,2586,8.8,7.8,385,2111,0.00,2.05,14.15,0.145,8452,0.000,0.067,2955,3855,2497,2585,2410,0,0,0,0,0,0,28.83,26.39,26.30
$GC,2713,1.61,425.8,1856,3854,2559,2414,5.3,-0.6,508,2797,0.32,2.00,75.50,0.131,11270,0.048,0.052,3112,2594,1551,1648,1454,0,0,0,0,0,0,26.61,26.62,26.30
$STATE,2818,end climb,SURFACE_DEPTH_REACHED
$STATE,2818,begin surface coast
$FINISH,1.0,1.016973
$STATE,2835,end surface coast,CONTROL_FINISHED_OK
$STATE,2835,begin surface
$SM_CCo,2849,57.92,0.125,0,0,844,600.00
$SM_GC,1.32,8.00,0.38,57.92,0.088,0.072,0.125,200,2813,844,-7.41,-0.51,600.00,0,0,0,0,0,0,26.40,26.42,26.20
$IRIDIUM_FIX,4726.11,-12227.78,130314,070712
$TT8_MAMPS,0.030709,0.030709
$HUMID,34.24
$INTERNAL_PRESSURE,8.86447
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.3,58.7
$24V_AH,24.8,2.463
$10V_AH,10.4,3.356
$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,18.550,40.625,302.050,57.925,0.000,23.980,44.492,184.040,0.500,0.000,20.364,1138.438,295.339,398.542,1388.969,40.865,33.227,896.248,0.000,1101.903,0.000,5.599,0.000
$DEVICE_MAMPS,250.920,71.910,498.015,125.460,0.000,12.240,160.000,223.000,420.000,0.000,28.460,17.710,2.190,17.710,47.660,64.140,71.630,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,355.298,516.879,0.000,836.562,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,9.740,0.000,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321736
$DATA_FILE_SIZE,36957,528
$CAP_FILE_SIZE,55194,0
$CFSIZE,1024393216,1021526016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130314,090433,4742.067,-12225.301,28,1.3,28,16.3