version: 66.11
glider: 213
mission: 2
dive: 23
start: 3 5 114 16 20 36
data:
$ID,213
$MISSION,2
$DIVE,23
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,83
$T_MISSION,100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,60
$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,1.023
$MASS,53651
$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,220
$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,-441.04599
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,183
$PITCH_MAX,3870
$C_PITCH,2803
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,177
$ROLL_MAX,3769
$ROLL_DEG,40
$C_ROLL_DIVE,2276
$C_ROLL_CLIMB,2276
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2000
$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,20
$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,-62.665058
$PRESSURE_SLOPE,0.0001166174
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$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,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.67000002
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044059665
$SEABIRD_T_H,0.00063814322
$SEABIRD_T_I,2.5834664e-05
$SEABIRD_T_J,3.1443233e-06
$SEABIRD_C_G,-9.841713
$SEABIRD_C_H,1.1572895
$SEABIRD_C_I,-0.0012496368
$SEABIRD_C_J,0.0001680319
$GPS1,050314,161444,4742.591,-12224.252,3,0.9,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-66.4
$GPS2,050314,161938,4742.633,-12224.220,5,1.0,5,16.3
$SPEED_LIMITS,0.125,0.228
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.003,0.194
$KALMAN_X,-3330.6,-1029.4,-1533.3,6943.2,-732.1
$KALMAN_Y,-3638.9,468.7,-1061.8,2629.3,-842.2
$MHEAD_RNG_PITCHd_Wd,344.5,733,-16.0,-7.229,-20.41,2076
$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,-0.92,-100.2,175,2277,1114,1103,0.0,0.0,0,56,0.00,0.00,-39.38,0.000,16386,0.000,0.000,176,2277,2303,2260,2347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.98,-146.6,174,2277,2260,2346,3.0,-4.9,5,83,9.23,2.17,-6.50,0.000,19204,0.245,0.070,2472,3681,2599,2582,2616,0,0,0,0,0,0,26.34,26.53,26.82
$GC,342,-0.98,-146.6,2472,3681,2584,2616,54.4,-19.4,53,348,0.00,2.08,0.00,0.000,1030,0.000,0.041,2472,2267,2599,2584,2615,0,0,0,0,0,0,28.83,26.72,28.83
$GC,485,-0.98,-146.6,2472,2266,2584,2616,78.6,-16.5,78,493,0.00,2.12,0.00,0.000,516,0.000,0.061,2472,870,2599,2584,2615,0,0,0,0,0,0,28.83,26.76,28.83
$GC,564,-0.98,-146.6,2472,870,2584,2615,90.5,-14.2,91,570,0.00,2.08,0.00,0.000,1030,0.000,0.046,2472,2278,2599,2584,2615,0,0,0,0,0,0,28.83,26.82,28.83
$STATE,650,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,650,begin apogee
$GC,653,-0.25,0.0,2472,2278,2584,2615,102.2,-12.3,106,739,0.75,0.00,72.28,0.791,10246,0.137,0.000,2716,2278,2007,2029,1986,0,0,0,0,1,0,26.74,28.83,25.07
$STATE,740,end apogee,CONTROL_FINISHED_OK
$STATE,740,begin climb
$GC,741,0.98,146.6,2716,2278,2031,1989,107.1,0.0,119,864,1.15,0.00,114.28,0.507,10502,0.079,0.000,3113,2278,1392,1438,1347,0,0,0,0,0,0,25.75,28.83,25.01
$GC,1001,0.98,146.6,3113,2278,1430,1343,84.8,11.4,162,1010,0.00,2.20,0.00,0.000,260,0.000,0.056,3113,3673,1387,1430,1344,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1058,0.98,146.6,3113,3673,1429,1343,77.0,14.9,171,1064,0.00,2.10,0.00,0.000,1030,0.000,0.042,3113,2280,1386,1429,1343,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1202,0.98,146.6,3112,2279,1429,1343,57.6,14.5,196,1210,0.00,2.20,0.00,0.000,516,0.000,0.057,3113,871,1386,1429,1343,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1326,0.98,146.6,3112,871,1428,1343,42.0,12.7,217,1333,0.00,2.10,0.00,0.000,1030,0.000,0.044,3113,2284,1385,1428,1343,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1473,0.98,146.6,3113,2285,1428,1343,24.3,12.0,242,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2285,1385,1428,1343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1552,0.98,146.6,3113,2284,1428,1343,14.5,13.0,255,1560,0.00,2.20,0.00,0.000,516,0.000,0.057,3113,867,1385,1427,1343,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1602,0.98,146.6,3112,867,1427,1343,7.6,13.4,263,1610,0.00,2.12,0.00,0.000,1030,0.000,0.044,3113,2277,1385,1427,1343,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,1663,end climb,SURFACE_DEPTH_REACHED
$STATE,1663,begin surface coast
$FINISH,0.7,1.022156
$STATE,1688,end surface coast,CONTROL_FINISHED_OK
$STATE,1688,begin surface
$SM_CCo,1702,24.98,0.136,0,0,1100,220.03
$SM_GC,4.54,8.07,0.00,24.98,0.065,0.000,0.136,174,2277,1100,-8.14,0.03,220.03,0,0,0,0,0,0,26.76,28.83,26.55
$IRIDIUM_FIX,4726.11,-12227.78,050314,161631
$TT8_MAMPS,0.02996,0.02996
$HUMID,43.06
$INTERNAL_PRESSURE,8.61747
$TCM_TEMP,12.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,100.7,21.4
$24V_AH,25.0,1.492
$10V_AH,10.3,1.336
$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,19.200,21.375,186.550,24.975,0.000,27.982,41.588,160.127,0.750,0.000,5.889,626.822,128.518,230.742,1022.723,33.549,33.204,544.414,0.000,789.843,0.000,5.495,0.000
$DEVICE_MAMPS,244.800,69.615,791.010,136.170,0.000,13.010,160.000,223.000,420.000,0.000,26.220,15.460,2.190,15.460,41.670,63.390,67.890,16.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,185.133,244.618,400.172,612.764,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,45.690,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322336
$DATA_FILE_SIZE,20379,277
$CAP_FILE_SIZE,35407,0
$CFSIZE,1024393216,1021739008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,050314,164959,4742.867,-12224.173,3,0.9,3,16.3