version: 66.11
glider: 214
mission: 2
dive: 21
start: 3 13 114 12 5 7
data:
$ID,214
$MISSION,2
$DIVE,21
$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,-980.65448
$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,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,0.0020000001
$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
$GPS1,130314,115927,4741.861,-12225.532,38,1.0,38,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-68.4
$GPS2,130314,120410,4741.857,-12225.573,4,0.9,5,16.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.095,0.243
$KALMAN_X,-1721.0,-223.7,-512.6,1534.2,-430.1
$KALMAN_Y,-6434.2,-510.1,-718.5,6141.3,-1019.0
$MHEAD_RNG_PITCHd_Wd,5.0,1834,-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,-1.05,-146.5,193,2805,917,795,0.0,0.0,0,81,0.00,0.00,-64.45,0.000,16386,0.000,0.000,192,2805,2881,2917,2846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.05,-146.5,192,2805,2917,2846,3.5,-5.9,10,118,8.10,1.73,-21.30,0.000,18692,0.252,0.083,2234,3847,3890,3946,3835,0,0,0,0,0,0,25.98,26.18,26.51
$GC,245,-1.05,-146.5,1312,3846,3945,3835,35.9,-24.0,40,252,0.00,1.67,0.00,0.000,1030,0.000,0.049,2234,2794,3891,3946,3836,0,0,0,0,0,0,28.83,26.32,28.83
$GC,316,-1.05,-146.5,2234,2794,3946,3836,51.9,-24.3,53,322,0.00,2.17,0.00,0.000,516,0.000,0.050,2234,1386,3891,3946,3836,0,0,0,0,0,0,28.83,26.34,28.83
$GC,341,-1.05,-146.5,2234,1385,3947,3836,57.2,-21.8,57,348,0.00,2.25,0.00,0.000,1030,0.000,0.057,2224,2798,3891,3946,3836,0,0,0,0,0,0,28.83,26.34,28.83
$GC,470,-1.05,-146.5,2224,2798,3947,3836,85.6,-21.4,82,477,0.00,2.25,0.00,0.000,516,0.000,0.053,2224,1391,3891,3946,3836,0,0,0,0,0,0,28.83,26.41,28.83
$GC,557,-1.05,-146.5,2224,1391,3946,3836,103.4,-19.3,98,565,0.08,2.28,0.00,0.000,3078,0.175,0.058,2246,2796,3891,3946,3836,0,0,0,0,0,0,26.31,26.42,28.83
$GC,690,-1.05,-146.5,2245,2796,3947,3836,128.2,-21.3,123,697,0.00,1.65,0.00,0.000,260,0.000,0.069,2239,3848,3891,3946,3836,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,937,end dive,NO_VERTICAL_VELOCITY
$STATE,937,begin apogee
$GC,942,-0.21,0.0,2239,2594,3947,3836,147.8,0.0,171,1061,0.82,0.00,109.38,1.014,10246,0.129,0.000,2518,2593,3291,3368,3215,0,0,0,0,1,0,26.46,28.83,24.11
$STATE,1062,end apogee,CONTROL_FINISHED_OK
$STATE,1062,begin climb
$GC,1063,1.05,146.5,2518,2593,3372,3220,148.1,0.0,191,1182,1.23,0.00,110.90,0.484,10502,0.106,0.000,2923,2593,2686,2772,2600,0,0,0,0,0,0,24.81,28.83,24.63
$GC,1306,1.05,146.5,2923,2593,2770,2598,135.4,10.5,235,1312,0.00,2.10,0.00,0.000,260,0.000,0.068,2923,3846,2684,2770,2598,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1350,1.05,146.5,2923,3846,2770,2598,130.1,12.5,243,1356,0.00,2.03,0.00,0.000,1030,0.000,0.054,2933,2595,2684,2770,2599,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1479,1.07,158.2,2933,2595,2770,2599,118.6,9.5,268,1493,0.00,2.28,6.65,0.540,8708,0.000,0.057,2944,1188,2641,2726,2556,0,0,0,0,0,0,28.83,25.89,25.53
$GC,1524,1.14,189.9,2943,1188,2727,2555,114.4,8.5,276,1556,0.00,2.35,22.15,0.487,9222,0.000,0.057,2944,2603,2507,2597,2417,0,0,0,0,0,0,28.83,25.94,25.40
$GC,1680,1.14,189.9,2944,2603,2596,2415,93.8,15.1,305,1686,0.00,2.03,0.00,0.000,260,0.000,0.070,2944,3845,2506,2596,2416,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1744,1.14,189.9,2944,3845,2597,2415,82.8,16.8,317,1751,0.00,2.00,0.00,0.000,1030,0.000,0.054,2953,2592,2506,2597,2416,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1873,1.14,189.9,2953,2592,2596,2415,61.6,17.1,342,1880,0.00,2.30,0.00,0.000,516,0.000,0.061,2964,1186,2506,2596,2416,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2039,1.14,189.9,1920,1185,2559,2409,37.5,12.0,374,2047,0.00,2.33,0.00,0.000,1030,0.000,0.060,2964,2599,2506,2596,2416,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2108,1.14,189.9,1888,2597,2557,2409,28.3,13.9,387,2116,0.00,2.33,0.00,0.000,516,0.000,0.062,2974,1188,2506,2596,2416,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2178,1.14,189.9,1904,1187,2557,2409,20.2,12.8,400,2185,0.00,2.33,0.00,0.000,1030,0.000,0.060,2974,2601,2505,2596,2415,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2247,1.18,212.5,1920,2598,2558,2409,13.0,9.0,413,2262,0.00,2.03,6.75,0.163,8452,0.000,0.069,2974,3850,2421,2512,2330,0,0,0,0,0,0,28.83,26.33,26.25
$GC,2289,1.22,231.8,1936,3850,2478,2329,9.5,9.1,420,2304,0.00,2.03,6.57,0.149,9222,0.000,0.056,2983,2600,2343,2434,2252,0,0,0,0,0,0,28.83,26.39,26.25
$GC,2366,1.62,431.1,1920,2597,2400,2250,5.7,0.9,434,2438,0.32,2.33,65.32,0.132,10756,0.063,0.060,3133,1191,1528,1622,1435,0,0,0,0,0,0,26.42,26.22,26.15
$STATE,2444,end climb,SURFACE_DEPTH_REACHED
$STATE,2444,begin surface coast
$FINISH,0.3,1.009357
$STATE,2456,end surface coast,CONTROL_FINISHED_OK
$STATE,2456,begin surface
$SM_CCo,2472,55.88,0.125,0,0,844,600.00
$SM_GC,1.79,7.82,2.65,55.88,0.067,0.057,0.125,187,2801,844,-7.44,-0.74,600.00,0,0,0,0,0,0,26.27,26.24,26.06
$IRIDIUM_FIX,4722.92,-12223.37,130314,111121
$TT8_MAMPS,0.030709,0.030709
$HUMID,33.30
$INTERNAL_PRESSURE,8.86447
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.7,69.6
$24V_AH,24.1,2.715
$10V_AH,10.4,3.549
$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,18.375,47.075,327.725,55.875,0.000,26.618,37.823,149.905,1.000,0.000,5.887,954.671,286.264,422.507,1128.136,37.255,33.208,881.144,0.000,894.956,0.000,10.105,0.000
$DEVICE_MAMPS,252.450,83.385,1014.390,125.460,0.000,12.240,160.000,223.000,420.000,0.000,28.460,17.710,2.190,17.710,47.660,64.140,71.630,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,298.905,375.675,0.000,608.975,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,9.740,0.000,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321748
$DATA_FILE_SIZE,30458,448
$CAP_FILE_SIZE,53858,0
$CFSIZE,1024393216,1021280256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,130314,124751,4742.079,-12225.363,4,1.0,4,16.3