version: 66.11
glider: 214
mission: 1
dive: 21
start: 3 5 114 11 5 13
data:
$ID,214
$MISSION,1
$DIVE,21
$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,75
$T_MISSION,90
$T_ABORT,1440
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,53556
$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,250
$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,-609.75116
$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,2565
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2638
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,-63.143688
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$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
$DEVICE3,131
$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,0.0043900511
$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
$GPS1,050314,105121,4743.501,-12225.288,104,1.0,104,16.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-70.6
$GPS2,050314,110415,4743.403,-12225.341,4,1.0,5,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.153,0.188
$KALMAN_X,3171.9,-224.2,487.8,-4168.7,-611.1
$KALMAN_Y,3214.4,-1901.5,1713.8,-2538.1,-743.7
$MHEAD_RNG_PITCHd_Wd,22.8,1140,-14.9,-8.000,-18.27,2786
$D_GRID,184
$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,-146.5,195,2802,1684,1564,0.0,0.0,0,51,0.00,0.00,-34.70,0.000,16386,0.000,0.000,195,2803,2682,2715,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,53,-0.92,-146.5,194,2802,2714,2648,3.0,-4.5,4,80,8.02,2.33,-12.55,0.000,18948,0.247,0.065,2260,1373,3237,3290,3184,0,0,0,0,0,0,26.06,26.27,26.58
$GC,180,-0.92,-146.5,1328,1371,3276,3179,20.3,-14.3,26,187,0.00,2.30,0.00,0.000,1030,0.000,0.056,2251,2793,3237,3291,3183,0,0,0,0,0,0,28.83,26.34,28.83
$GC,252,-0.92,-146.5,1320,2790,3276,3179,31.4,-16.3,39,259,0.00,1.70,0.00,0.000,260,0.000,0.067,2243,3846,3236,3290,3183,0,0,0,0,0,0,28.83,26.36,28.83
$GC,463,-0.92,-146.5,2242,3846,3290,3184,68.2,-16.8,80,470,0.00,1.67,0.00,0.000,1030,0.000,0.051,2243,2791,3237,3291,3183,0,0,0,0,0,0,28.83,26.50,28.83
$GC,595,-0.92,-146.5,2242,2791,3291,3183,90.4,-17.7,105,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2790,3237,3291,3183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,723,-0.92,-146.5,2242,2791,3291,3183,110.9,-15.5,130,730,0.00,1.70,0.00,0.000,260,0.000,0.065,2235,3841,3240,3291,3190,0,0,0,0,0,0,28.83,26.53,28.83
$GC,832,-0.92,-146.5,2234,3841,3291,3183,128.2,-15.1,150,840,0.08,1.65,0.00,0.000,3078,0.158,0.052,2260,2796,3237,3291,3183,0,0,0,0,0,0,26.46,26.59,28.83
$GC,964,-0.92,-146.5,2259,2796,3291,3183,146.2,-14.0,175,971,0.00,2.15,0.00,0.000,516,0.000,0.054,2260,1386,3236,3290,3183,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1046,-0.92,-146.5,2260,1385,3291,3183,158.4,-13.9,189,1053,0.00,2.22,0.00,0.000,1030,0.000,0.057,2251,2799,3236,3290,3183,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1196,-0.92,-146.5,2251,2798,3291,3182,179.5,-13.8,214,1203,0.00,2.25,0.00,0.000,516,0.000,0.054,2251,1376,3236,3290,3183,0,0,0,0,0,0,28.83,26.64,28.83
$STATE,1208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1208,begin apogee
$GC,1214,-0.25,0.0,2241,2810,3290,3183,181.3,-13.0,216,1339,0.73,0.00,111.30,1.065,10246,0.151,0.000,2481,2810,2641,2718,2564,0,0,0,0,1,0,26.52,28.83,24.04
$STATE,1340,end apogee,CONTROL_FINISHED_OK
$STATE,1340,begin climb
$GC,1341,0.92,146.5,2481,2810,2720,2566,186.9,0.0,237,1462,1.08,1.83,112.70,0.520,10500,0.095,0.067,2850,3850,2033,2143,1924,0,0,0,0,0,0,24.90,24.98,24.60
$GC,1494,0.92,146.5,2850,3849,2138,1916,178.4,12.1,263,1501,0.00,1.73,0.00,0.000,1030,0.000,0.056,2858,2800,2028,2137,1920,0,0,0,0,0,0,28.83,25.32,28.83
$GC,1624,0.92,146.5,2858,2800,2137,1915,163.1,11.3,288,1631,0.00,2.35,0.00,0.000,516,0.000,0.062,2869,1382,2028,2137,1919,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1844,0.92,146.5,2869,1382,2137,1919,138.1,10.4,329,1850,0.00,2.30,0.00,0.000,1030,0.000,0.059,2869,2802,2028,2137,1920,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1973,0.92,146.5,2869,2802,2137,1920,121.1,14.9,354,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2802,2028,2137,1920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2106,0.92,146.5,2869,2802,2137,1919,104.1,11.9,379,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2802,2028,2137,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2235,0.92,146.5,2868,2802,2136,1920,87.7,12.1,404,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2802,2028,2137,1920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2368,0.92,146.5,2868,2805,2137,1920,71.6,14.3,429,2375,0.00,1.65,0.00,0.000,260,0.000,0.068,2869,3846,2028,2137,1920,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2423,0.92,146.5,2868,3846,2137,1920,63.4,14.9,439,2429,0.00,1.65,0.00,0.000,1030,0.000,0.054,2877,2788,2028,2137,1919,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2561,0.92,146.5,2877,2788,2137,1919,45.9,11.0,464,2571,0.00,2.25,0.00,0.000,516,0.000,0.063,2887,1389,2028,2137,1920,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2643,0.92,146.5,1832,1385,2097,1914,36.7,10.7,479,2651,0.00,2.30,0.00,0.000,1030,0.000,0.061,2888,2801,2028,2137,1920,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2717,0.92,146.5,1824,2798,2096,1914,29.7,10.0,492,2724,0.00,1.70,0.00,0.000,260,0.000,0.072,2887,3844,2028,2137,1920,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2793,0.92,146.5,1824,3843,2097,1914,20.5,11.9,506,2801,0.10,1.67,0.00,0.000,5126,0.174,0.059,2864,2803,2028,2137,1920,0,0,0,0,0,0,26.43,26.55,28.83
$GC,2865,0.92,146.5,1792,2801,2096,1914,13.3,11.1,519,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2803,2028,2137,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2933,0.92,146.5,1800,2800,2091,1914,6.0,10.6,532,2940,0.00,1.73,0.00,0.000,260,0.000,0.071,2864,3850,2028,2137,1920,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,2976,end climb,SURFACE_DEPTH_REACHED
$STATE,2976,begin surface coast
$FINISH,0.4,1.005978
$STATE,2998,end surface coast,CONTROL_FINISHED_OK
$STATE,2998,begin surface
$SM_CCo,3012,32.33,0.135,0,0,1614,250.21
$SM_GC,2.48,6.88,1.70,32.33,0.055,0.057,0.135,183,2798,1614,-7.35,0.82,250.21,0,0,0,0,0,0,26.60,26.60,26.39
$IRIDIUM_FIX,4722.92,-12226.07,050314,101000
$TT8_MAMPS,0.033705,0.033705
$HUMID,34.76
$INTERNAL_PRESSURE,9.02073
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.5,85.2
$24V_AH,24.0,1.129
$10V_AH,10.3,1.196
$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,16.875,43.150,224.000,32.325,0.000,99.754,212.586,201.938,0.500,0.000,5.875,1228.424,556.095,318.639,1681.216,49.526,33.208,823.863,0.000,1148.760,0.000,5.881,0.000
$DEVICE_MAMPS,247.095,71.910,1064.880,134.640,0.000,12.240,160.000,223.000,420.000,0.000,28.460,17.710,2.190,17.710,47.660,64.140,71.630,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,367.021,440.403,506.694,785.571,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,9.740,43.440,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322248
$DATA_FILE_SIZE,43873,544
$CAP_FILE_SIZE,80330,0
$CFSIZE,1024393216,1021313024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,050314,115636,4743.279,-12225.068,4,0.8,4,16.3