version: 66.11
glider: 213
mission: 2
dive: 4
start: 3 4 114 22 17 30
data:
$ID,213
$MISSION,2
$DIVE,4
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,70
$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,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,0
$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,-416.89334
$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,24
$R_STBD_OVSHOOT,37
$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,0
$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,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
$GPS1,040314,220950,4743.873,-12225.114,4,2.2,24,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-66.6
$GPS2,040314,221631,4743.880,-12225.145,6,2.0,6,16.3
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.167,-0.066
$KALMAN_X,-95.8,-24.8,44.1,-15.2,-77.6
$KALMAN_Y,328.0,354.0,305.4,-276.0,229.8
$MHEAD_RNG_PITCHd_Wd,95.1,431,-26.3,-10.000,-29.12,1037
$D_GRID,185
$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,-1.40,-68.3,171,2279,1101,1099,0.0,0.0,0,57,0.00,0.00,-39.03,0.000,16390,0.000,0.000,171,2280,2280,2233,2328,0,0,0,0,0,0,28.83,28.83,26.94
$GC,59,-1.44,-106.8,171,2280,2232,2328,3.3,-6.2,5,77,8.62,2.22,-3.42,0.000,18692,0.243,0.077,2321,3691,2437,2410,2465,0,0,0,0,0,0,26.36,26.57,26.87
$GC,142,-1.44,-106.8,2321,3691,2412,2465,21.6,-21.2,18,151,0.00,2.17,0.00,0.000,1030,0.000,0.049,2320,2263,2439,2413,2465,0,0,0,0,0,0,28.83,26.62,28.83
$GC,232,-1.44,-106.8,2320,2262,2413,2465,41.3,-24.9,31,239,0.00,2.17,0.00,0.000,260,0.000,0.061,2312,3692,2439,2413,2465,0,0,0,0,0,0,28.83,26.68,28.83
$GC,286,-1.44,-106.8,2312,3692,2415,2464,54.4,-22.2,39,292,0.00,2.10,0.00,0.000,1030,0.000,0.044,2312,2272,2439,2415,2464,0,0,0,0,0,0,28.83,26.70,28.83
$GC,446,-1.44,-106.8,2312,2271,2415,2464,89.5,-22.5,64,457,0.00,2.17,0.00,0.000,260,0.000,0.060,2302,3687,2439,2415,2463,0,0,0,0,0,0,28.83,26.78,28.83
$GC,479,-1.44,-106.8,2302,3687,2415,2464,96.0,-22.4,68,490,0.10,2.12,0.00,0.000,3078,0.181,0.047,2332,2279,2440,2416,2464,0,0,0,0,0,0,26.64,26.78,28.83
$GC,646,-1.44,-106.8,2331,2279,2417,2464,127.9,-18.6,93,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2279,2440,2416,2464,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,751,begin apogee
$GC,754,-0.25,0.0,2332,2279,2416,2463,150.9,-22.1,110,864,1.25,0.00,95.82,0.755,10246,0.160,0.000,2717,2279,2004,2016,1992,0,0,0,0,1,0,26.74,28.83,24.77
$STATE,864,end apogee,CONTROL_FINISHED_OK
$STATE,865,begin climb
$GC,866,1.44,106.8,2717,2279,2018,1994,156.0,0.0,125,960,1.52,2.38,85.15,0.534,10756,0.070,0.067,3265,867,1555,1581,1530,0,0,0,0,0,0,25.62,25.44,25.05
$GC,1033,1.44,106.8,3265,867,1575,1529,140.3,16.1,149,1040,0.00,2.17,0.00,0.000,1030,0.000,0.050,3266,2277,1551,1574,1528,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1189,1.44,106.8,3266,2277,1574,1526,113.0,19.2,174,1197,0.00,2.20,0.00,0.000,260,0.000,0.062,3266,3675,1550,1574,1526,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1291,1.44,106.8,3266,3675,1573,1526,93.0,20.1,191,1297,0.00,2.12,0.00,0.000,1030,0.000,0.050,3266,2274,1549,1573,1526,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1434,1.44,106.8,3265,2274,1573,1526,68.4,16.7,216,1443,0.00,2.22,0.00,0.000,516,0.000,0.067,3266,865,1549,1573,1526,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1622,1.44,106.8,3266,865,1572,1526,39.1,13.2,248,1630,0.00,2.15,0.00,0.000,1030,0.000,0.050,3266,2277,1549,1573,1526,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1701,1.44,106.8,3266,2277,1572,1526,29.5,12.3,261,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,2277,1549,1572,1526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1782,1.44,106.8,3266,2277,1573,1526,18.8,14.2,274,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,2277,1549,1573,1526,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1876,1.44,106.8,3266,2277,1573,1525,5.5,12.7,287,1886,0.00,2.17,0.00,0.000,260,0.000,0.062,3266,3691,1549,1572,1526,0,0,0,0,0,0,28.83,26.82,28.83
$STATE,1902,end climb,SURFACE_DEPTH_REACHED
$STATE,1902,begin surface coast
$FINISH,0.3,1.022762
$STATE,1918,end surface coast,CONTROL_FINISHED_OK
$STATE,1918,begin surface
$SM_CCo,1934,37.15,0.138,0,0,1098,220.03
$SM_GC,3.26,8.32,2.17,37.15,0.055,0.047,0.138,171,2269,1098,-8.16,0.68,220.03,0,0,0,0,0,0,26.85,26.82,26.61
$IRIDIUM_FIX,4726.11,-12222.38,040314,222241
$TT8_MAMPS,0.02996,0.02996
$HUMID,43.69
$INTERNAL_PRESSURE,8.637
$TCM_TEMP,11.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.4,13.6
$24V_AH,24.8,0.425
$10V_AH,10.2,0.290
$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,19.825,30.575,180.975,37.150,0.000,30.621,39.891,264.208,1.250,0.000,6.916,682.061,160.817,238.373,1285.431,29.055,32.215,593.029,0.000,938.155,0.000,11.339,0.000
$DEVICE_MAMPS,243.270,77.265,755.055,138.465,0.000,13.010,160.000,223.000,420.000,0.000,26.220,15.460,2.190,15.460,41.670,63.390,67.890,16.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,195.510,241.990,395.876,735.598,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,45.690,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322276
$DATA_FILE_SIZE,20391,292
$CAP_FILE_SIZE,46364,0
$CFSIZE,1024393216,1022902272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,040314,225058,4743.657,-12224.917,3,1.5,3,16.3