version: 66.11
glider: 213
mission: 2
dive: 17
start: 3 5 114 10 59 28
data:
$ID,213
$MISSION,2
$DIVE,17
$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,-433.5159
$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,36
$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
$GPS1,050314,105300,4742.945,-12224.852,12,1.0,12,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-69.2
$GPS2,050314,105830,4742.892,-12224.951,11,1.0,11,16.3
$SPEED_LIMITS,0.125,0.228
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.190,0.126
$KALMAN_X,-3143.9,1066.1,865.3,1357.2,-953.7
$KALMAN_Y,-2559.4,767.1,1052.1,-385.2,-1104.3
$MHEAD_RNG_PITCHd_Wd,40.3,402,-12.6,-7.229,-17.58,3010
$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,-0.81,-146.6,173,2261,1106,1106,0.0,0.0,0,56,0.00,0.00,-39.35,0.000,16386,0.000,0.000,174,2261,2304,2259,2350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.81,-146.6,174,2261,2259,2350,3.3,-6.2,5,83,9.38,2.15,-6.32,0.000,18948,0.242,0.068,2533,869,2598,2586,2611,0,0,0,0,0,0,26.39,26.55,26.89
$GC,102,-0.81,-146.6,2532,869,2586,2611,10.5,-12.5,11,110,0.00,2.15,0.00,0.000,1030,0.000,0.050,2533,2274,2599,2587,2611,0,0,0,0,0,0,28.83,26.63,28.83
$GC,181,-0.81,-146.6,2532,2274,2586,2612,19.4,-11.3,24,189,0.00,2.17,0.00,0.000,260,0.000,0.062,2533,3681,2599,2587,2611,0,0,0,0,0,0,28.83,26.65,28.83
$GC,221,-0.81,-146.6,2533,3681,2587,2612,24.0,-11.8,30,230,0.00,2.12,0.00,0.000,1030,0.000,0.043,2533,2268,2599,2587,2612,0,0,0,0,0,0,28.83,26.70,28.83
$GC,300,-0.81,-146.6,2532,2269,2587,2612,33.5,-11.9,43,308,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2269,2599,2587,2611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,376,-0.81,-146.6,2532,2268,2586,2612,43.1,-12.0,56,385,0.00,2.12,0.00,0.000,516,0.000,0.054,2533,873,2599,2587,2611,0,0,0,0,0,0,28.83,26.74,28.83
$GC,410,-0.81,-146.6,2532,873,2587,2612,47.0,-13.3,61,416,0.00,2.10,0.00,0.000,1030,0.000,0.048,2533,2289,2599,2587,2611,0,0,0,0,0,0,28.83,26.79,28.83
$GC,553,-0.81,-146.6,2532,2290,2587,2612,64.1,-12.4,86,561,0.00,2.15,0.00,0.000,260,0.000,0.061,2532,3693,2599,2587,2612,0,0,0,0,0,0,28.83,26.82,28.83
$GC,647,-0.81,-146.6,2532,3692,2587,2612,75.9,-11.4,102,656,0.00,2.12,0.00,0.000,1030,0.000,0.043,2532,2269,2599,2587,2612,0,0,0,0,0,0,28.83,26.86,28.83
$GC,794,-0.81,-146.6,2532,2270,2587,2611,92.2,-10.9,127,801,0.00,2.08,0.00,0.000,516,0.000,0.054,2533,870,2599,2587,2612,0,0,0,0,0,0,28.83,26.87,28.83
$GC,843,-0.81,-146.6,2533,870,2587,2611,97.9,-11.7,135,850,0.00,2.08,0.00,0.000,1030,0.000,0.048,2532,2279,2599,2587,2611,0,0,0,0,0,0,28.83,26.92,28.83
$GC,986,-0.81,-146.6,2532,2280,2587,2611,113.8,-10.9,160,995,0.00,2.12,0.00,0.000,260,0.000,0.062,2533,3673,2598,2586,2611,0,0,0,0,0,0,28.83,26.93,28.83
$GC,1091,-0.81,-146.6,2532,3674,2586,2612,124.6,-9.8,178,1100,0.00,2.08,0.00,0.000,1030,0.000,0.042,2532,2270,2599,2587,2612,0,0,0,0,0,0,28.83,26.97,28.83
$GC,1242,-0.81,-146.6,2532,2270,2587,2612,138.9,-9.6,203,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2270,2599,2587,2611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1388,-0.81,-146.6,2532,2270,2587,2612,153.3,-9.7,228,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2270,2599,2587,2611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1534,-0.81,-146.6,2533,2270,2588,2611,167.4,-9.6,253,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2270,2599,2588,2611,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1607,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1607,begin apogee
$GC,1610,-0.25,0.0,2532,2270,2587,2611,175.5,-10.6,266,1754,0.52,0.00,133.02,0.705,10246,0.122,0.000,2714,2270,2003,2022,1984,0,0,0,0,1,0,26.96,28.83,24.65
$STATE,1755,end apogee,CONTROL_FINISHED_OK
$STATE,1755,begin climb
$GC,1756,0.81,146.6,2713,2270,2026,1989,180.7,0.0,288,1882,1.00,2.30,118.68,0.550,10756,0.074,0.056,3059,884,1392,1429,1356,0,0,0,0,0,0,25.43,25.30,24.91
$GC,1919,0.81,146.6,3059,883,1422,1350,170.2,11.1,313,1925,0.00,2.17,0.00,0.000,1030,0.000,0.047,3059,2285,1386,1422,1350,0,0,0,0,0,0,28.83,25.69,28.83
$GC,2063,0.81,146.6,3058,2285,1419,1348,153.0,12.0,338,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2285,1384,1420,1348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2209,0.81,146.6,3059,2285,1418,1348,135.7,11.7,363,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2285,1383,1418,1348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2351,0.81,146.6,3058,2285,1417,1348,118.7,11.4,388,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2285,1382,1417,1348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2498,0.81,146.6,3058,2285,1416,1348,103.5,10.7,413,2504,0.00,2.12,0.00,0.000,260,0.000,0.060,3059,3686,1382,1417,1348,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2573,0.81,146.6,3058,3686,1416,1348,94.2,12.5,426,2581,0.00,2.12,0.00,0.000,1030,0.000,0.046,3059,2284,1382,1416,1348,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2721,0.81,146.6,3058,2284,1415,1348,77.7,10.8,451,2727,0.00,2.15,0.00,0.000,516,0.000,0.059,3059,865,1382,1416,1348,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2967,0.81,146.6,3059,865,1414,1348,51.7,10.8,494,2975,0.00,2.15,0.00,0.000,1030,0.000,0.048,3058,2287,1381,1415,1348,0,0,0,0,0,0,28.83,26.86,28.83
$GC,3114,0.81,146.6,3059,2287,1414,1348,38.1,9.6,519,3123,0.00,2.15,0.00,0.000,260,0.000,0.060,3058,3687,1380,1414,1347,0,0,0,0,0,0,28.83,26.87,28.83
$GC,3176,0.81,146.6,3059,3687,1414,1348,31.4,11.6,529,3184,0.00,2.12,0.00,0.000,1030,0.000,0.047,3059,2274,1381,1414,1348,0,0,0,0,0,0,28.83,26.89,28.83
$GC,3255,0.81,146.6,3059,2274,1415,1347,23.0,11.2,542,3264,0.00,2.15,0.00,0.000,516,0.000,0.059,3059,872,1381,1414,1348,0,0,0,0,0,0,28.83,26.89,28.83
$GC,3306,0.81,146.6,3058,872,1414,1348,17.2,11.9,550,3314,0.00,2.12,0.00,0.000,1030,0.000,0.048,3059,2282,1380,1414,1347,0,0,0,0,0,0,28.83,26.93,28.83
$GC,3385,0.81,146.6,3058,2282,1414,1348,8.9,10.1,563,3393,0.00,2.15,0.00,0.000,260,0.000,0.060,3059,3686,1381,1414,1348,0,0,0,0,0,0,28.83,26.93,28.83
$STATE,3451,end climb,SURFACE_DEPTH_REACHED
$STATE,3451,begin surface coast
$FINISH,0.3,1.005103
$STATE,3470,end surface coast,CONTROL_FINISHED_OK
$STATE,3470,begin surface
$SM_CCo,3486,24.80,0.136,0,0,1098,220.03
$SM_GC,2.71,7.65,2.15,24.80,0.047,0.046,0.136,177,2263,1098,-8.15,0.79,220.03,0,0,0,0,0,0,26.95,26.94,26.76
$IRIDIUM_FIX,4726.11,-12225.08,050314,101049
$TT8_MAMPS,0.02996,0.02996
$HUMID,42.95
$INTERNAL_PRESSURE,8.6077
$TCM_TEMP,12.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.3,54.8
$24V_AH,24.6,1.138
$10V_AH,10.3,1.059
$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,18.550,51.325,251.700,24.800,0.000,25.486,39.618,190.376,2.750,0.000,12.865,1290.645,367.153,329.821,1820.470,51.306,33.194,911.402,0.000,1543.882,0.000,21.034,0.000
$DEVICE_MAMPS,241.740,68.085,704.565,136.170,0.000,13.010,160.000,223.000,420.000,0.000,26.220,15.460,2.190,15.460,41.670,63.390,67.890,16.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.476,454.092,742.283,1136.281,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,45.690,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322360
$DATA_FILE_SIZE,40405,577
$CAP_FILE_SIZE,66262,0
$CFSIZE,1024393216,1022033920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,050314,115904,4742.795,-12224.720,31,1.0,31,16.3