version: 66.11
glider: 215
mission: 1
dive: 7
start: 3 5 114 2 5 12
data:
$ID,215
$MISSION,1
$DIVE,7
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,210
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,50
$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,88
$T_MISSION,105
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,60
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,-1
$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,1.0235
$MASS,53499
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$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,240
$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,-452.96671
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,198
$PITCH_MAX,3925
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,260
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2200
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.493416
$PRESSURE_SLOPE,0.0001163634
$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,90
$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,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,131
$DEVICE4,150
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044005844
$SEABIRD_T_H,0.00063442322
$SEABIRD_T_I,2.5163401e-05
$SEABIRD_T_J,3.0001177e-06
$SEABIRD_C_G,-9.7719641
$SEABIRD_C_H,1.1567575
$SEABIRD_C_I,-0.00080766954
$SEABIRD_C_J,0.00014343993
$GPS1,050314,015817,4743.480,-12225.058,3,1.0,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-69.8
$GPS2,050314,020411,4743.476,-12225.013,5,1.0,5,16.3
$SPEED_LIMITS,0.138,0.237
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.032,0.235
$KALMAN_X,-514.8,-47.2,-15.4,177.4,-238.2
$KALMAN_Y,-1649.3,505.1,-236.7,1559.0,-1326.2
$MHEAD_RNG_PITCHd_Wd,351.6,829,-14.1,-7.955,-18.57,2750
$D_GRID,178
$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,14,begin dive
$GC,15,-0.82,-146.6,179,2517,1221,1219,0.0,0.0,0,56,0.00,0.00,-38.88,0.000,16386,0.000,0.000,179,2518,2360,2334,2386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.82,-146.6,179,2518,2334,2386,3.2,-6.2,5,84,9.23,2.17,-9.52,0.000,18948,0.244,0.067,2549,1105,2799,2796,2802,0,0,0,0,0,0,26.32,26.52,26.86
$GC,190,-0.82,-146.6,2549,1106,2797,2802,22.5,-14.1,26,198,0.00,2.17,0.00,0.000,1030,0.000,0.053,2540,2505,2799,2796,2802,0,0,0,0,0,0,28.83,26.65,28.83
$GC,269,-0.82,-146.6,2540,2505,2797,2802,34.0,-14.1,39,276,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2505,2799,2797,2802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,345,-0.82,-146.6,2539,2505,2797,2802,48.5,-19.2,52,353,0.00,2.05,0.00,0.000,260,0.000,0.063,2530,3808,2799,2797,2802,0,0,0,0,0,0,28.83,26.71,28.83
$GC,609,-0.82,-146.6,2530,3809,2797,2802,93.0,-13.5,98,618,0.00,1.98,0.00,0.000,1030,0.000,0.043,2530,2503,2799,2797,2802,0,0,0,0,0,0,28.83,26.86,28.83
$GC,758,-0.82,-146.6,2530,2503,2797,2802,114.4,-14.8,123,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2503,2799,2796,2802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,905,-0.82,-146.6,2530,2503,2797,2802,138.5,-14.1,148,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2503,2799,2797,2802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1051,-0.82,-146.6,2530,2503,2797,2802,156.9,-11.7,173,1057,0.00,2.00,0.00,0.000,260,0.000,0.060,2520,3809,2799,2797,2802,0,0,0,0,0,0,28.83,26.91,28.83
$GC,1145,-0.82,-146.6,2520,3809,2797,2802,172.0,-15.9,189,1152,0.12,1.95,0.00,0.000,3078,0.179,0.041,2552,2494,2799,2797,2802,0,0,0,0,0,0,26.83,27.00,28.83
$STATE,1193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1193,begin apogee
$GC,1196,-0.23,0.0,2552,2494,2797,2802,178.3,-12.7,197,1332,0.55,0.00,121.88,1.180,10246,0.135,0.000,2741,2493,2207,2224,2191,0,0,0,0,1,0,26.85,28.83,24.15
$STATE,1333,end apogee,CONTROL_FINISHED_OK
$STATE,1333,begin climb
$GC,1334,0.82,146.6,2740,2493,2228,2191,184.9,0.0,218,1465,1.00,2.30,119.30,0.599,10756,0.096,0.060,3084,1114,1591,1616,1567,0,0,0,0,0,0,25.11,25.25,24.82
$GC,1568,0.82,146.6,3084,1113,1610,1560,173.3,8.5,256,1576,0.00,2.20,0.00,0.000,1030,0.000,0.049,3084,2498,1584,1609,1559,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1715,0.82,146.6,3083,2498,1609,1558,160.4,8.8,281,1722,0.00,2.17,0.00,0.000,516,0.000,0.057,3095,1106,1583,1609,1558,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1888,0.82,146.6,3094,1106,1608,1558,145.3,8.3,311,1895,0.00,2.12,0.00,0.000,1030,0.000,0.050,3095,2502,1583,1609,1558,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2032,0.82,146.6,3094,2502,1608,1559,131.0,10.1,336,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2502,1583,1608,1558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2179,0.82,146.6,3094,2502,1608,1559,115.5,10.7,361,2186,0.00,2.03,0.00,0.000,260,0.000,0.060,3095,3806,1583,1608,1558,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2239,0.82,146.6,3095,3806,1608,1558,108.0,12.6,371,2246,0.00,1.98,0.00,0.000,1030,0.000,0.043,3105,2487,1583,1608,1558,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2382,0.82,146.6,3105,2488,1608,1558,92.0,9.8,396,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2487,1583,1608,1558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2529,0.82,146.6,3105,2488,1607,1558,78.5,9.8,421,2536,0.00,2.10,0.00,0.000,516,0.000,0.057,3115,1096,1583,1608,1558,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2715,0.82,146.6,3115,1096,1608,1558,59.7,11.3,453,2723,0.12,2.12,0.00,0.000,5126,0.174,0.050,3082,2512,1582,1607,1558,0,0,0,0,0,0,26.77,26.88,28.83
$GC,2860,0.82,146.6,3082,2513,1607,1558,45.7,9.6,478,2868,0.00,2.00,0.00,0.000,260,0.000,0.060,3083,3799,1583,1607,1559,0,0,0,0,0,0,28.83,26.90,28.83
$GC,2882,0.82,146.6,3082,3798,1607,1558,44.0,8.8,481,2888,0.00,1.95,0.00,0.000,1030,0.000,0.044,3092,2501,1582,1607,1558,0,0,0,0,0,0,28.83,26.92,28.83
$GC,3029,1.03,318.3,3092,2501,1607,1558,37.2,1.6,506,3099,0.15,2.05,61.35,0.207,10500,0.103,0.058,3162,3810,900,926,874,0,0,0,0,0,0,26.95,26.65,26.51
$GC,3118,1.03,318.3,3161,3810,928,874,30.1,11.2,518,3127,0.00,2.00,0.00,0.000,1030,0.000,0.043,3169,2507,901,928,874,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3197,1.03,318.3,3169,2506,928,873,14.6,20.8,531,3206,0.00,2.17,0.00,0.000,516,0.000,0.058,3179,1096,900,928,872,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,3270,end climb,SURFACE_DEPTH_REACHED
$STATE,3270,begin surface coast
$FINISH,0.6,1.011543
$STATE,3283,end surface coast,CONTROL_FINISHED_OK
$STATE,3283,begin surface
$SM_CCo,3358,0.00,0.000,0,0,897,319.63
$SM_GC,1.36,7.65,2.17,0.00,0.044,0.050,0.000,185,2495,897,-8.15,-1.10,319.63,0,0,0,0,0,0,26.80,26.78,28.83
$IRIDIUM_FIX,4726.11,-12225.08,050314,010114
$TT8_MAMPS,0.02996,0.02996
$HUMID,40.54
$INTERNAL_PRESSURE,8.87383
$TCM_TEMP,9.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.5,65.4
$24V_AH,24.2,0.691
$10V_AH,10.3,0.615
$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,18.825,41.700,302.525,0.000,0.000,30.752,42.398,208.868,2.500,0.000,5.914,1215.742,409.107,317.055,1739.702,46.350,33.244,872.118,0.000,1445.643,0.000,18.082,0.000
$DEVICE_MAMPS,244.035,66.555,1180.395,0.000,0.000,11.480,160.000,223.000,420.000,0.000,29.960,26.200,2.190,26.200,53.160,75.630,77.880,12.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,366.207,426.661,694.323,1063.674,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,10.490,44.190,45.690,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322276
$DATA_FILE_SIZE,43881,545
$CAP_FILE_SIZE,60018,0
$CFSIZE,1024393216,1022443520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,050314,030203,4743.504,-12224.894,21,2.0,21,16.3