version: 66.11
glider: 213
mission: 2
dive: 11
start: 3 5 114 4 41 21
data:
$ID,213
$MISSION,2
$DIVE,11
$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,-425.87122
$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,29
$R_STBD_OVSHOOT,35
$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
$GPS1,050314,043221,4742.938,-12224.387,36,1.2,36,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-68.7
$GPS2,050314,044024,4742.947,-12224.286,5,1.2,5,16.3
$SPEED_LIMITS,0.125,0.228
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.073,-0.101
$KALMAN_X,-1872.7,-366.4,-344.3,3549.4,-486.8
$KALMAN_Y,-2027.6,-397.7,-724.7,2125.5,-249.9
$MHEAD_RNG_PITCHd_Wd,199.6,787,-26.7,-7.229,-30.00,826
$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,15,-1.38,-39.3,174,2277,1098,1103,0.0,0.0,0,55,0.00,0.00,-35.10,0.000,16390,0.000,0.000,174,2277,2158,2115,2202,0,0,0,0,0,0,28.83,28.83,26.94
$GC,57,-1.39,-47.3,174,2278,2115,2202,3.2,-6.2,5,74,8.68,2.12,-0.70,0.000,18692,0.245,0.070,2332,3685,2190,2160,2221,0,0,0,0,0,0,26.37,26.57,26.77
$GC,332,-1.39,-47.3,2332,3685,2168,2214,52.5,-14.9,52,340,0.00,2.15,0.00,0.000,1030,0.000,0.047,2332,2261,2191,2168,2214,0,0,0,0,0,0,28.83,26.75,28.83
$GC,479,-1.39,-47.3,2332,2262,2168,2214,71.3,-12.5,77,486,0.00,2.08,0.00,0.000,516,0.000,0.056,2332,873,2191,2168,2214,0,0,0,0,0,0,28.83,26.78,28.83
$GC,527,-1.39,-47.3,2332,872,2169,2214,78.3,-15.2,85,534,0.00,2.10,0.00,0.000,1030,0.000,0.050,2330,2286,2191,2169,2214,0,0,0,0,0,0,28.83,26.84,28.83
$GC,671,-1.39,-47.3,2330,2286,2168,2214,99.0,-14.4,110,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2286,2191,2168,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,822,-1.39,-47.3,2330,2286,2169,2214,120.2,-15.3,135,828,0.00,2.10,0.00,0.000,260,0.000,0.060,2330,3693,2191,2169,2214,0,0,0,0,0,0,28.83,26.91,28.83
$GC,855,-1.39,-47.3,2330,3695,2169,2213,125.4,-16.0,140,864,0.00,2.12,0.00,0.000,1030,0.000,0.044,2330,2272,2191,2170,2213,0,0,0,0,0,0,28.83,26.91,28.83
$GC,1002,-1.39,-47.3,2330,2271,2169,2213,147.2,-13.3,165,1009,0.00,2.08,0.00,0.000,516,0.000,0.057,2331,874,2191,2169,2213,0,0,0,0,0,0,28.83,26.91,28.83
$GC,1040,-1.39,-47.3,2330,874,2169,2213,152.6,-14.6,171,1046,0.00,2.08,0.00,0.000,1030,0.000,0.051,2331,2276,2191,2170,2213,0,0,0,0,0,0,28.83,26.96,28.83
$STATE,1182,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1182,begin apogee
$GC,1185,-0.25,0.0,2330,2276,2170,2213,173.9,-15.0,196,1246,1.25,0.00,52.25,0.545,10246,0.164,0.000,2716,2277,1994,1996,1993,0,0,0,0,0,0,26.83,28.83,25.94
$STATE,1247,end apogee,CONTROL_FINISHED_OK
$STATE,1247,begin climb
$GC,1248,1.39,47.3,2715,2277,1996,1993,177.2,0.0,205,1294,1.50,2.25,36.55,0.571,10756,0.074,0.065,3250,872,1798,1803,1793,0,0,0,0,0,0,26.36,25.96,25.57
$GC,1363,1.40,49.3,3250,872,1802,1790,171.3,7.0,224,1372,0.00,2.17,0.00,0.000,1030,0.000,0.048,3251,2276,1795,1801,1790,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1511,1.40,49.3,3250,2276,1801,1789,159.6,9.7,249,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2276,1795,1801,1790,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1653,1.40,49.3,3250,2276,1801,1790,148.5,8.1,274,1662,0.00,2.20,0.00,0.000,516,0.000,0.063,3250,878,1795,1801,1790,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1702,1.40,49.3,3250,878,1801,1790,144.6,7.5,282,1710,0.00,2.15,0.00,0.000,1030,0.000,0.050,3250,2282,1795,1801,1790,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1849,1.40,49.3,3250,2282,1801,1790,132.7,8.1,307,1856,0.00,2.15,0.00,0.000,516,0.000,0.061,3250,872,1795,1801,1790,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2035,1.40,49.3,3250,872,1801,1790,117.5,7.8,339,2042,0.00,2.10,0.00,0.000,1030,0.000,0.048,3250,2289,1795,1801,1790,0,0,0,0,0,0,28.83,26.81,28.83
$GC,2179,1.41,60.8,3250,2289,1801,1790,108.6,5.8,364,2194,0.00,2.25,8.98,0.552,8708,0.000,0.061,3250,871,1744,1752,1736,0,0,0,0,0,0,28.83,26.68,26.29
$GC,2225,1.41,63.6,3250,870,1751,1736,105.7,6.9,371,2231,0.00,2.10,0.00,0.000,1030,0.000,0.048,3250,2283,1743,1751,1735,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2368,1.41,63.6,3250,2283,1751,1735,92.4,9.7,396,2377,0.00,2.17,0.00,0.000,516,0.000,0.060,3250,878,1743,1751,1735,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2634,1.41,63.6,3250,877,1752,1735,66.1,10.1,442,2642,0.00,2.10,0.00,0.000,1030,0.000,0.048,3250,2274,1743,1751,1735,0,0,0,0,0,0,28.83,26.91,28.83
$GC,2782,1.44,86.4,3250,2274,1751,1735,56.2,4.4,467,2809,0.00,2.12,19.45,0.498,8452,0.000,0.059,3250,3682,1638,1650,1627,0,0,0,0,0,0,28.83,26.69,26.29
$GC,2918,1.44,86.4,3250,3682,1648,1626,44.5,8.4,490,2927,0.00,2.12,0.00,0.000,1030,0.000,0.048,3250,2285,1636,1648,1625,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3066,1.44,86.4,3250,2285,1647,1625,30.6,11.3,515,3074,0.00,2.20,0.00,0.000,516,0.000,0.063,3250,868,1636,1648,1625,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3116,1.44,86.4,3250,868,1647,1625,25.7,10.1,523,3125,0.00,2.12,0.00,0.000,1030,0.000,0.050,3250,2272,1636,1648,1625,0,0,0,0,0,0,28.83,26.86,28.83
$GC,3195,1.44,86.4,3250,2272,1648,1625,18.7,7.7,536,3204,0.00,2.17,0.00,0.000,260,0.000,0.062,3250,3688,1636,1648,1625,0,0,0,0,0,0,28.83,26.86,28.83
$STATE,3377,end climb,SURFACE_DEPTH_REACHED
$STATE,3377,begin surface coast
$FINISH,0.6,1.021618
$STATE,3395,end surface coast,CONTROL_FINISHED_OK
$STATE,3395,begin surface
$SM_CCo,3412,46.45,0.137,0,0,1099,220.03
$SM_GC,3.50,8.93,2.15,46.45,0.099,0.046,0.137,178,2271,1099,-8.16,0.82,220.03,0,0,0,0,0,0,26.89,26.90,26.65
$IRIDIUM_FIX,4726.11,-12225.08,050314,040410
$TT8_MAMPS,0.02996,0.02996
$HUMID,43.30
$INTERNAL_PRESSURE,8.61747
$TCM_TEMP,12.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.4,68.5
$24V_AH,25.6,0.785
$10V_AH,10.3,0.689
$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,20.350,51.375,117.225,46.450,0.000,65.220,83.794,172.840,1.750,0.000,5.835,1327.519,443.936,247.776,1894.961,44.625,33.195,756.766,0.000,1524.915,0.000,13.474,0.000
$DEVICE_MAMPS,244.800,69.615,570.690,136.935,0.000,13.010,160.000,223.000,420.000,0.000,26.220,15.460,2.190,15.460,41.670,63.390,67.890,16.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,386.700,448.229,731.530,1119.769,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,45.690,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322248
$DATA_FILE_SIZE,40510,570
$CAP_FILE_SIZE,63766,0
$CFSIZE,1024393216,1022443520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050314,053958,4742.921,-12224.551,23,1.0,24,16.3