version: 66.11
glider: 215
mission: 1
dive: 12
start: 3 5 114 7 24 42
data:
$ID,215
$MISSION,1
$DIVE,12
$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,-459.25046
$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,47
$R_STBD_OVSHOOT,33
$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
$GPS1,050314,071701,4744.123,-12224.810,3,1.2,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-69.2
$GPS2,050314,072340,4744.210,-12224.713,16,1.6,16,16.3
$SPEED_LIMITS,0.138,0.237
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.129,-0.198
$KALMAN_X,1057.0,-24.5,78.0,-1137.2,566.5
$KALMAN_Y,-1335.2,-295.4,78.5,3092.7,816.6
$MHEAD_RNG_PITCHd_Wd,196.8,2799,-14.1,-7.955,-18.57,2750
$D_GRID,175
$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,-0.82,-146.6,184,2485,1215,1219,0.0,0.0,0,56,0.00,0.00,-39.33,0.000,16386,0.000,0.000,185,2485,2415,2379,2451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.82,-146.6,184,2485,2378,2451,3.3,-4.2,5,83,9.12,2.10,-7.90,0.000,18948,0.242,0.065,2547,1107,2798,2789,2807,0,0,0,0,0,0,26.39,26.55,26.88
$GC,233,-0.82,-146.6,2546,1107,2791,2807,39.4,-16.6,34,242,0.00,2.15,0.00,0.000,1030,0.000,0.049,2537,2501,2799,2791,2807,0,0,0,0,0,0,28.83,26.70,28.83
$GC,312,-0.82,-146.6,2537,2501,2791,2807,53.2,-18.5,47,319,0.00,2.10,0.00,0.000,516,0.000,0.050,2537,1110,2799,2791,2807,0,0,0,0,0,0,28.83,26.70,28.83
$GC,372,-0.82,-146.6,2537,1110,2791,2807,63.0,-15.1,57,379,0.00,2.10,0.00,0.000,1030,0.000,0.049,2528,2505,2798,2791,2806,0,0,0,0,0,0,28.83,26.75,28.83
$GC,515,-0.82,-146.6,2528,2505,2791,2806,83.1,-14.7,82,524,0.00,2.03,0.00,0.000,260,0.000,0.061,2517,3802,2799,2792,2806,0,0,0,0,0,0,28.83,26.80,28.83
$GC,587,-0.82,-146.6,2517,3802,2791,2807,94.7,-17.9,94,599,0.10,1.98,0.00,0.000,3078,0.155,0.043,2551,2505,2799,2791,2807,0,0,0,0,0,0,26.72,26.87,28.83
$GC,740,-0.82,-146.6,2551,2505,2791,2807,115.0,-12.9,119,746,0.00,2.10,0.00,0.000,516,0.000,0.054,2550,1094,2798,2791,2806,0,0,0,0,0,0,28.83,26.85,28.83
$GC,823,-0.82,-146.6,1584,1094,2757,2801,125.9,-12.0,133,829,0.00,2.10,0.00,0.000,1030,0.000,0.049,2542,2499,2799,2792,2806,0,0,0,0,0,0,28.83,26.90,28.83
$GC,969,-0.82,-146.6,2541,2499,2791,2807,146.1,-14.9,158,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2499,2799,2791,2807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1117,-0.82,-146.6,2542,2499,2792,2806,164.2,-11.6,183,1123,0.00,1.98,0.00,0.000,260,0.000,0.059,2532,3806,2798,2791,2806,0,0,0,0,0,0,28.83,26.94,28.83
$STATE,1198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1198,begin apogee
$GC,1203,-0.23,0.0,2532,2485,2791,2806,175.4,-14.3,197,1339,0.62,0.00,123.22,1.034,10246,0.138,0.000,2743,2485,2205,2218,2192,0,0,0,0,1,0,26.87,28.83,24.23
$STATE,1340,end apogee,CONTROL_FINISHED_OK
$STATE,1340,begin climb
$GC,1342,0.82,146.6,2742,2485,2223,2192,181.0,0.0,218,1473,0.98,2.30,119.07,0.608,10756,0.085,0.054,3086,1106,1592,1617,1567,0,0,0,0,0,0,25.14,25.23,24.79
$GC,1485,0.82,147.8,3086,1106,1614,1564,174.3,7.9,240,1494,0.00,2.25,0.00,0.000,1030,0.000,0.047,3087,2496,1587,1613,1562,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1633,0.82,147.8,3086,2496,1611,1558,158.5,11.6,265,1639,0.00,2.10,0.00,0.000,260,0.000,0.059,3086,3814,1584,1611,1558,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1738,0.82,147.8,3086,3814,1611,1558,146.6,11.8,283,1745,0.00,2.00,0.00,0.000,1030,0.000,0.041,3097,2502,1584,1610,1558,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1881,0.82,147.8,3097,2502,1610,1558,129.3,12.2,308,1890,0.00,2.17,0.00,0.000,516,0.000,0.057,3107,1113,1584,1610,1558,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2053,0.82,147.8,3107,1113,1610,1558,108.3,13.6,337,2059,0.00,2.10,0.00,0.000,1030,0.000,0.048,3107,2505,1584,1610,1558,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2196,0.82,147.8,3107,2506,1610,1558,91.3,9.8,362,2205,0.00,2.20,0.00,0.000,516,0.000,0.056,3117,1099,1584,1610,1558,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2434,0.82,147.8,3116,1099,1609,1558,62.8,14.0,403,2442,0.12,2.10,0.00,0.000,5126,0.167,0.048,3084,2499,1583,1609,1558,0,0,0,0,0,0,26.68,26.78,28.83
$GC,2578,0.82,147.8,3083,2499,1609,1558,46.8,8.5,428,2587,0.00,2.05,0.00,0.000,260,0.000,0.060,3083,3808,1584,1610,1558,0,0,0,0,0,0,28.83,26.81,28.83
$GC,2650,0.82,147.8,3083,3809,1609,1558,39.9,9.7,440,2658,0.00,1.98,0.00,0.000,1030,0.000,0.042,3093,2500,1583,1609,1558,0,0,0,0,0,0,28.83,26.89,28.83
$GC,2729,0.87,187.1,3093,2500,1609,1558,34.5,6.5,453,2753,0.00,2.17,13.80,0.197,8708,0.000,0.056,3104,1097,1438,1464,1413,0,0,0,0,0,0,28.83,26.78,26.63
$GC,2863,0.87,187.1,3104,1096,1474,1413,22.9,9.5,475,2872,0.00,2.15,0.00,0.000,1030,0.000,0.049,3104,2501,1443,1474,1412,0,0,0,0,0,0,28.83,26.83,28.83
$GC,2942,0.87,187.1,3104,2501,1473,1412,15.9,8.8,488,2951,0.00,2.03,0.00,0.000,260,0.000,0.060,3104,3804,1442,1473,1412,0,0,0,0,0,0,28.83,26.86,28.83
$STATE,3083,end climb,SURFACE_DEPTH_REACHED
$STATE,3083,begin surface coast
$FINISH,0.7,1.020793
$STATE,3096,end surface coast,CONTROL_FINISHED_OK
$STATE,3096,begin surface
$SM_CCo,3112,19.23,0.131,0,0,1220,240.15
$SM_GC,5.02,7.47,2.00,19.23,0.047,0.040,0.131,182,2488,1220,-8.17,1.07,240.15,0,0,0,0,0,0,26.91,26.94,26.74
$IRIDIUM_FIX,4729.30,-12210.84,050314,060649
$TT8_MAMPS,0.030709,0.030709
$HUMID,39.99
$INTERNAL_PRESSURE,8.9129
$TCM_TEMP,9.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.1,63.6
$24V_AH,24.2,1.022
$10V_AH,10.3,0.976
$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,18.425,50.225,256.100,19.225,0.000,32.908,46.538,234.142,2.500,0.000,18.056,1161.298,313.045,313.460,1711.955,49.801,33.211,830.542,0.000,1377.276,0.000,18.074,0.000
$DEVICE_MAMPS,241.740,65.025,1033.515,130.815,0.000,11.480,160.000,223.000,420.000,0.000,29.960,26.200,2.190,26.200,53.160,75.630,77.880,12.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.717,410.980,668.512,1024.443,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,10.490,44.190,45.690,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322392
$DATA_FILE_SIZE,40766,514
$CAP_FILE_SIZE,59584,0
$CFSIZE,1024393216,1022099456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,050314,081733,4744.271,-12224.568,6,2.0,6,16.3