version: 66.11
glider: 215
mission: 1
dive: 9
start: 3 5 114 4 18 35
data:
$ID,215
$MISSION,1
$DIVE,9
$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,-455.48026
$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,36
$R_STBD_OVSHOOT,36
$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
$GPS1,050314,040708,4743.713,-12224.766,3,1.6,3,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-70.6
$GPS2,050314,041734,4743.709,-12224.593,16,1.6,33,16.3
$SPEED_LIMITS,0.138,0.237
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.110,0.185
$KALMAN_X,153.0,-245.0,-109.3,322.1,225.5
$KALMAN_Y,-2066.2,32.9,-997.8,3638.3,-445.5
$MHEAD_RNG_PITCHd_Wd,313.0,438,-16.1,-7.955,-20.32,2199
$D_GRID,174
$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,-0.88,-116.6,181,2519,1213,1217,0.0,0.0,0,56,0.00,0.00,-39.20,0.000,16386,0.000,0.000,181,2519,2381,2349,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.91,-146.6,181,2519,2350,2413,3.3,-5.2,5,84,9.02,2.20,-9.15,0.000,18948,0.243,0.067,2516,1092,2797,2791,2804,0,0,0,0,0,0,26.39,26.56,26.90
$GC,143,-0.91,-146.6,2515,1092,2791,2804,17.7,-16.0,18,151,0.00,2.17,0.00,0.000,1030,0.000,0.051,2506,2494,2797,2791,2804,0,0,0,0,0,0,28.83,26.64,28.83
$GC,222,-0.91,-146.6,2506,2495,2791,2804,31.3,-17.4,31,230,0.00,2.05,0.00,0.000,260,0.000,0.062,2496,3799,2798,2791,2805,0,0,0,0,0,0,28.83,26.67,28.83
$GC,285,-0.91,-146.6,2496,3799,2791,2804,43.1,-20.3,41,292,0.12,1.98,0.00,0.000,3078,0.181,0.044,2529,2484,2797,2790,2804,0,0,0,0,0,0,26.60,26.76,28.83
$GC,429,-0.91,-146.6,2528,2484,2792,2804,68.7,-18.8,66,437,0.00,2.10,0.00,0.000,516,0.000,0.055,2529,1113,2798,2792,2804,0,0,0,0,0,0,28.83,26.74,28.83
$GC,500,-0.91,-146.6,2528,1113,2792,2804,81.2,-16.1,78,508,0.00,2.15,0.00,0.000,1030,0.000,0.051,2519,2509,2798,2792,2804,0,0,0,0,0,0,28.83,26.81,28.83
$GC,651,-0.91,-146.6,2519,2510,2791,2804,104.5,-14.7,103,658,0.00,1.98,0.00,0.000,260,0.000,0.061,2509,3807,2798,2792,2804,0,0,0,0,0,0,28.83,26.83,28.83
$GC,785,-0.91,-146.6,2508,3807,2792,2804,127.2,-17.1,125,791,0.00,1.95,0.00,0.000,1030,0.000,0.042,2509,2501,2798,2792,2804,0,0,0,0,0,0,28.83,26.93,28.83
$GC,928,-0.91,-146.6,2509,2500,2792,2804,152.1,-16.7,150,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2500,2798,2792,2805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1076,-0.91,-146.6,2508,2500,2792,2804,172.8,-13.9,175,1082,0.00,2.00,0.00,0.000,260,0.000,0.060,2499,3808,2798,2792,2804,0,0,0,0,0,0,28.83,26.92,28.83
$STATE,1090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1090,begin apogee
$GC,1096,-0.23,0.0,2499,2489,2792,2804,174.9,-13.8,177,1219,0.73,0.00,113.85,1.196,10246,0.142,0.000,2739,2489,2200,2208,2192,0,0,0,0,1,0,26.83,28.83,24.17
$STATE,1220,end apogee,CONTROL_FINISHED_OK
$STATE,1220,begin climb
$GC,1221,0.91,146.6,2739,2489,2220,2193,181.8,0.0,196,1348,1.08,2.33,118.72,0.616,10756,0.087,0.059,3115,1104,1594,1618,1571,0,0,0,0,0,0,25.06,25.22,24.79
$GC,1535,0.91,146.6,3114,1104,1610,1563,162.4,9.1,248,1544,0.00,2.20,0.00,0.000,1030,0.000,0.050,3114,2495,1586,1609,1563,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1684,0.92,149.8,3114,2495,1609,1561,150.2,7.8,273,1691,0.00,2.15,0.00,0.000,516,0.000,0.057,3125,1106,1585,1609,1561,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1771,0.92,149.8,3124,1106,1609,1561,141.9,9.8,288,1779,0.00,2.17,0.00,0.000,1030,0.000,0.050,3125,2503,1585,1609,1561,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1918,0.92,149.8,3124,2503,1608,1561,127.2,10.1,313,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2503,1585,1609,1561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2060,0.92,149.8,3125,2503,1609,1561,113.4,9.2,338,2069,0.00,2.17,0.00,0.000,516,0.000,0.057,3131,1112,1585,1609,1561,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2116,0.92,149.8,3131,1112,1609,1561,108.6,8.0,347,2123,0.00,2.10,0.00,0.000,1030,0.000,0.052,3131,2503,1584,1608,1561,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2260,0.92,149.8,3131,2503,1608,1561,94.5,10.0,372,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2503,1584,1608,1561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2407,0.92,149.8,3131,2503,1608,1561,80.8,10.7,397,2414,0.00,2.03,0.00,0.000,260,0.000,0.064,3131,3810,1584,1608,1561,0,0,0,0,0,0,28.83,26.80,28.83
$GC,2490,0.92,149.8,3131,3810,1608,1561,70.7,12.3,411,2496,0.00,1.98,0.00,0.000,1030,0.000,0.047,3141,2510,1584,1608,1561,0,0,0,0,0,0,28.83,26.84,28.83
$GC,2633,0.92,149.8,3140,2510,1608,1561,57.1,10.1,436,2641,0.00,2.17,0.00,0.000,516,0.000,0.060,3140,1099,1585,1609,1561,0,0,0,0,0,0,28.83,26.83,28.83
$GC,2900,0.92,149.8,3140,1099,1608,1561,30.1,10.2,482,2908,0.00,2.15,0.00,0.000,1030,0.000,0.053,3141,2499,1584,1608,1561,0,0,0,0,0,0,28.83,26.94,28.83
$GC,2979,0.92,149.8,3140,2499,1608,1561,22.4,8.8,495,2987,0.00,2.17,0.00,0.000,516,0.000,0.060,3141,1097,1584,1608,1561,0,0,0,0,0,0,28.83,26.91,28.83
$GC,3086,0.92,149.8,3140,1097,1608,1561,12.7,8.8,513,3095,0.05,2.15,0.00,0.000,5126,0.169,0.052,3122,2501,1584,1608,1561,0,0,0,0,0,0,26.86,26.96,28.83
$GC,3165,0.92,149.8,3122,2500,1608,1561,5.2,9.1,526,3174,0.00,2.03,0.00,0.000,260,0.000,0.063,3122,3802,1584,1608,1561,0,0,0,0,0,0,28.83,26.98,28.83
$STATE,3198,end climb,SURFACE_DEPTH_REACHED
$STATE,3198,begin surface coast
$FINISH,0.5,1.012533
$STATE,3217,end surface coast,CONTROL_FINISHED_OK
$STATE,3217,begin surface
$SM_CCo,3232,31.12,0.130,0,0,1217,240.15
$SM_GC,3.79,7.55,2.00,31.12,0.051,0.044,0.130,182,2489,1217,-8.17,1.16,240.15,0,0,0,0,0,0,26.99,27.03,26.78
$IRIDIUM_FIX,4726.11,-12252.58,050314,040409
$TT8_MAMPS,0.030709,0.030709
$HUMID,39.95
$INTERNAL_PRESSURE,8.9129
$TCM_TEMP,9.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.7,63.8
$24V_AH,24.2,0.828
$10V_AH,10.3,0.765
$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,18.550,50.375,232.575,31.125,0.000,63.038,77.755,294.571,2.250,0.000,34.309,1223.474,397.307,312.095,1926.510,48.342,33.204,838.850,0.000,1424.046,0.000,16.514,0.000
$DEVICE_MAMPS,242.505,66.555,1195.695,130.050,0.000,11.480,160.000,223.000,420.000,0.000,29.960,26.200,2.190,26.200,53.160,75.630,77.880,12.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,359.825,424.316,690.032,1057.213,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,10.490,44.190,45.690,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322260
$DATA_FILE_SIZE,43806,534
$CAP_FILE_SIZE,63338,0
$CFSIZE,1024393216,1022312448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,050314,051347,4744.041,-12224.765,14,1.0,14,16.3