version: 66.11
glider: 213
mission: 2
dive: 6
start: 3 4 114 23 41 8
data:
$ID,213
$MISSION,2
$DIVE,6
$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,-419.39685
$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,25
$R_STBD_OVSHOOT,32
$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,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
$GPS1,040314,233414,4743.524,-12224.693,8,1.5,8,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-64.6
$GPS2,040314,234008,4743.537,-12224.694,5,1.5,5,16.3
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.056,0.251
$KALMAN_X,-328.4,-59.5,19.5,829.4,-201.1
$KALMAN_Y,-736.4,371.5,481.4,-33.8,-587.0
$MHEAD_RNG_PITCHd_Wd,356.3,685,-17.6,-10.000,-21.21,2209
$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,14,-1.06,-146.6,173,2265,1100,1107,0.0,0.0,0,56,0.00,0.00,-39.30,0.000,16386,0.000,0.000,173,2265,2303,2258,2348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-1.06,-146.6,172,2265,2258,2348,3.3,-6.4,5,83,9.12,2.17,-6.35,0.000,19204,0.245,0.071,2451,867,2598,2585,2612,0,0,0,0,0,0,26.35,26.52,26.87
$GC,343,-1.06,-146.6,2451,866,2587,2612,49.2,-15.2,53,349,0.00,2.10,0.00,0.000,1030,0.000,0.050,2451,2279,2599,2587,2612,0,0,0,0,0,0,28.83,26.74,28.83
$GC,486,-1.06,-146.6,2451,2280,2587,2612,69.8,-16.8,78,494,0.00,2.15,0.00,0.000,260,0.000,0.063,2451,3677,2599,2587,2612,0,0,0,0,0,0,28.83,26.79,28.83
$GC,553,-1.06,-146.6,2451,3677,2587,2612,81.3,-16.7,89,560,0.00,2.08,0.00,0.000,1030,0.000,0.044,2451,2269,2599,2587,2612,0,0,0,0,0,0,28.83,26.82,28.83
$GC,697,-1.06,-146.6,2451,2269,2587,2612,106.4,-17.3,114,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2270,2599,2587,2612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,851,-1.06,-146.6,2451,2269,2587,2612,133.0,-19.8,139,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2269,2599,2587,2612,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,963,begin apogee
$GC,966,-0.25,0.0,2451,2269,2587,2612,150.4,-14.6,158,1096,0.82,0.00,118.93,0.871,10246,0.144,0.000,2716,2269,2005,2023,1987,0,0,0,0,1,0,26.79,28.83,24.50
$STATE,1097,end apogee,CONTROL_FINISHED_OK
$STATE,1097,begin climb
$GC,1098,1.06,146.6,2715,2269,2024,1989,155.3,0.0,178,1224,1.25,2.28,116.32,0.522,10500,0.076,0.057,3141,3684,1392,1428,1357,0,0,0,0,0,0,25.33,25.39,24.97
$GC,1318,1.06,146.6,3141,3684,1421,1355,130.9,19.0,213,1324,0.00,2.17,0.00,0.000,1030,0.000,0.050,3141,2284,1387,1420,1355,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1462,1.06,146.6,3141,2284,1419,1353,106.3,17.9,238,1470,0.00,2.25,0.00,0.000,516,0.000,0.064,3141,872,1386,1419,1353,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1521,1.06,146.6,3141,872,1417,1353,95.8,17.9,248,1530,0.00,2.17,0.00,0.000,1030,0.000,0.051,3141,2277,1385,1417,1353,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1669,1.06,146.6,3141,2276,1417,1353,73.1,12.7,273,1675,0.00,2.15,0.00,0.000,260,0.000,0.063,3141,3683,1385,1417,1353,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1706,1.07,157.4,3141,3683,1417,1353,69.2,9.5,279,1714,0.00,2.12,2.35,0.356,9222,0.000,0.050,3141,2269,1357,1389,1325,0,0,0,0,0,0,28.83,26.55,25.86
$GC,1851,1.07,157.4,3141,2270,1403,1344,49.4,16.1,304,1861,0.00,2.20,1.38,0.200,8452,0.000,0.058,3141,3688,1364,1392,1336,0,0,0,0,0,0,28.83,26.65,26.50
$GC,1880,1.07,157.4,3141,3688,1398,1344,44.9,15.6,308,1891,0.00,2.15,1.23,0.185,9222,0.000,0.049,3141,2280,1360,1389,1332,0,0,0,0,0,0,28.83,26.64,26.51
$GC,2063,1.07,157.4,3141,2280,1400,1343,19.3,13.5,333,2073,0.00,2.22,0.95,0.220,8708,0.000,0.065,3141,861,1364,1393,1336,0,0,0,0,0,0,28.83,26.71,26.65
$STATE,2200,end climb,SURFACE_DEPTH_REACHED
$STATE,2200,begin surface coast
$FINISH,0.5,1.022820
$STATE,2216,end surface coast,CONTROL_FINISHED_OK
$STATE,2216,begin surface
$SM_CCo,2231,22.70,0.140,0,0,1099,220.03
$SM_GC,4.58,7.93,2.17,22.70,0.050,0.050,0.140,176,2279,1099,-8.14,-1.02,220.03,0,0,0,0,0,0,26.83,26.83,26.63
$IRIDIUM_FIX,4729.30,-12222.38,040314,232304
$TT8_MAMPS,0.02996,0.02996
$HUMID,43.50
$INTERNAL_PRESSURE,8.62723
$TCM_TEMP,10.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.1,60.2
$24V_AH,24.5,0.545
$10V_AH,10.3,0.376
$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,19.125,30.400,241.150,22.700,0.000,33.126,38.451,218.927,3.000,0.000,6.828,797.752,193.106,268.447,1342.008,30.863,33.230,657.110,0.000,1034.868,0.000,22.530,0.000
$DEVICE_MAMPS,244.800,71.145,871.335,139.995,0.000,13.010,160.000,223.000,420.000,0.000,26.220,15.460,2.190,15.460,41.670,63.390,67.890,16.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,236.946,289.378,473.334,788.803,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,45.690,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322240
$DATA_FILE_SIZE,23725,354
$CAP_FILE_SIZE,47322,0
$CFSIZE,1024393216,1022803968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,050314,001958,4743.514,-12224.938,42,1.2,43,16.3