version: 66.11
glider: 213
mission: 2
dive: 9
start: 3 5 114 2 32 33
data:
$ID,213
$MISSION,2
$DIVE,9
$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,-423.26303
$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,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,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
$GPS1,050314,022551,4743.013,-12225.003,40,1.1,40,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-68.3
$GPS2,050314,023135,4742.993,-12224.959,4,1.1,4,16.3
$SPEED_LIMITS,0.125,0.228
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.169,0.088
$KALMAN_X,-1600.4,-36.4,-60.8,1834.2,-647.9
$KALMAN_Y,-2050.6,181.4,-363.1,1290.8,-972.2
$MHEAD_RNG_PITCHd_Wd,46.4,578,-16.4,-7.229,-20.77,1989
$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,-0.94,-96.0,175,2267,1089,1108,0.0,0.0,0,54,0.00,0.00,-37.40,0.000,16386,0.000,0.000,175,2267,2233,2190,2277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55,-0.94,-96.0,175,2267,2189,2277,3.0,-6.2,4,76,9.23,2.15,-3.60,0.000,18948,0.241,0.070,2496,865,2392,2370,2414,0,0,0,0,0,0,26.38,26.55,26.87
$GC,335,-0.94,-96.0,2496,865,2372,2414,43.1,-12.6,50,344,0.00,2.15,0.00,0.000,1030,0.000,0.050,2497,2279,2392,2372,2413,0,0,0,0,0,0,28.83,26.77,28.83
$GC,482,-0.94,-96.0,2496,2279,2373,2413,59.6,-10.0,75,489,0.00,2.10,0.00,0.000,260,0.000,0.061,2497,3682,2392,2372,2413,0,0,0,0,0,0,28.83,26.79,28.83
$GC,610,-0.94,-96.0,2496,3682,2373,2412,72.6,-10.6,97,617,0.00,2.08,0.00,0.000,1030,0.000,0.044,2497,2265,2392,2374,2411,0,0,0,0,0,0,28.83,26.84,28.83
$GC,754,-0.94,-96.0,2496,2265,2374,2411,88.2,-12.0,122,762,0.00,2.12,0.00,0.000,516,0.000,0.058,2497,874,2392,2374,2411,0,0,0,0,0,0,28.83,26.85,28.83
$GC,825,-0.94,-96.0,2496,873,2374,2411,97.0,-11.9,134,833,0.00,2.12,0.00,0.000,1030,0.000,0.048,2496,2285,2392,2374,2411,0,0,0,0,0,0,28.83,26.92,28.83
$GC,972,-0.94,-96.0,2496,2285,2373,2411,114.3,-11.4,159,980,0.00,2.10,0.00,0.000,260,0.000,0.060,2497,3693,2392,2374,2411,0,0,0,0,0,0,28.83,26.92,28.83
$GC,1109,-0.94,-96.0,2496,3692,2374,2411,131.3,-13.3,182,1118,0.00,2.10,0.00,0.000,1030,0.000,0.043,2497,2276,2392,2374,2411,0,0,0,0,0,0,28.83,26.93,28.83
$GC,1257,-0.94,-96.0,2496,2276,2374,2411,150.5,-14.3,207,1263,0.00,2.08,0.00,0.000,516,0.000,0.058,2497,878,2393,2375,2411,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1396,-0.94,-96.0,2496,879,2374,2411,168.1,-12.4,231,1403,0.00,2.05,0.00,0.000,1030,0.000,0.049,2497,2276,2392,2374,2411,0,0,0,0,0,0,28.83,27.02,28.83
$STATE,1478,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1478,begin apogee
$GC,1481,-0.25,0.0,2497,2276,2374,2410,177.8,-11.3,245,1572,0.68,0.00,81.80,0.560,10246,0.135,0.000,2720,2276,1996,2007,1985,0,0,0,0,0,0,26.91,28.83,25.65
$STATE,1573,end apogee,CONTROL_FINISHED_OK
$STATE,1573,begin climb
$GC,1575,0.94,96.0,2719,2276,2007,1984,181.6,0.0,259,1659,1.08,2.30,74.22,0.557,10500,0.072,0.061,3105,3682,1597,1622,1573,0,0,0,0,0,0,26.12,25.61,25.17
$GC,1702,0.94,96.0,3105,3683,1618,1569,175.0,11.4,279,1708,0.00,2.15,0.00,0.000,1030,0.000,0.047,3106,2287,1593,1618,1569,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1845,0.94,96.0,3106,2287,1616,1567,159.0,10.8,304,1853,0.00,2.25,0.00,0.000,516,0.000,0.061,3106,869,1591,1616,1567,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2027,0.94,96.0,3106,869,1614,1567,143.3,8.4,335,2034,0.00,2.10,0.00,0.000,1030,0.000,0.048,3107,2278,1590,1614,1567,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2171,0.94,96.0,3106,2278,1613,1567,126.6,14.2,360,2179,0.00,2.17,0.00,0.000,260,0.000,0.061,3106,3676,1590,1614,1567,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2261,0.94,96.0,3106,3676,1613,1567,112.4,16.9,375,2267,0.00,2.10,0.00,0.000,1030,0.000,0.046,3106,2263,1590,1614,1567,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2404,0.94,96.0,3106,2262,1613,1567,94.1,8.9,400,2413,0.00,2.17,0.00,0.000,516,0.000,0.063,3106,867,1590,1613,1567,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2624,0.94,96.0,3106,867,1613,1567,68.4,11.4,438,2632,0.00,2.12,0.00,0.000,1030,0.000,0.048,3106,2275,1590,1613,1567,0,0,0,0,0,0,28.83,26.84,28.83
$GC,2771,0.94,96.0,3106,2276,1613,1567,52.9,11.7,463,2777,0.00,2.12,0.00,0.000,260,0.000,0.060,3106,3691,1590,1613,1567,0,0,0,0,0,0,28.83,26.86,28.83
$GC,2990,0.94,96.0,3106,3691,1613,1567,32.1,9.5,501,2999,0.00,2.12,0.00,0.000,1030,0.000,0.047,3107,2275,1589,1612,1567,0,0,0,0,0,0,28.83,26.94,28.83
$GC,3069,0.95,101.8,3106,2276,1612,1567,26.0,6.9,514,3078,0.00,2.15,0.00,0.000,516,0.000,0.060,3106,872,1589,1612,1566,0,0,0,0,0,0,28.83,26.90,28.83
$GC,3166,0.96,112.9,3106,871,1612,1567,19.5,6.7,530,3175,0.00,2.10,4.25,0.177,9222,0.000,0.048,3106,2273,1537,1561,1514,0,0,0,0,0,0,28.83,26.98,26.78
$GC,3247,1.01,153.2,3106,2273,1576,1529,14.6,5.2,543,3271,0.00,2.17,15.40,0.168,8708,0.000,0.058,3107,868,1378,1410,1346,0,0,0,0,0,0,28.83,26.86,26.75
$STATE,3414,end climb,SURFACE_DEPTH_REACHED
$STATE,3415,begin surface coast
$FINISH,0.4,1.011337
$STATE,3439,end surface coast,CONTROL_FINISHED_OK
$STATE,3439,begin surface
$SM_CCo,3454,24.02,0.137,0,0,1101,220.03
$SM_GC,3.40,7.85,2.15,24.02,0.053,0.048,0.137,169,2282,1101,-8.16,-0.96,220.03,0,0,0,0,0,0,26.95,26.96,26.75
$IRIDIUM_FIX,4726.11,-12225.08,050314,020246
$TT8_MAMPS,0.02996,0.02996
$HUMID,43.34
$INTERNAL_PRESSURE,8.61747
$TCM_TEMP,12.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.1,67.7
$24V_AH,25.2,0.689
$10V_AH,10.2,0.564
$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,18.825,51.250,175.675,24.025,0.000,32.546,39.966,200.398,2.000,0.000,5.987,1314.321,366.333,249.233,1865.018,44.656,33.209,780.780,0.000,1575.625,0.000,15.036,0.000
$DEVICE_MAMPS,240.975,70.380,559.980,136.935,0.000,13.010,160.000,223.000,420.000,0.000,26.220,15.460,2.190,15.460,41.670,63.390,67.890,16.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,389.511,466.623,761.658,1183.078,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,45.690,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322264
$DATA_FILE_SIZE,40513,575
$CAP_FILE_SIZE,62159,0
$CFSIZE,1024393216,1022574592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050314,033121,4742.707,-12224.791,16,0.9,16,16.3