version: 66.11
glider: 213
mission: 2
dive: 18
start: 3 5 114 12 11 8
data:
$ID,213
$MISSION,2
$DIVE,18
$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,-434.77133
$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,34
$R_STBD_OVSHOOT,34
$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
$GPS1,050314,115904,4742.795,-12224.720,31,1.0,31,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-69.2
$GPS2,050314,121010,4742.745,-12224.859,5,0.9,5,16.3
$SPEED_LIMITS,0.125,0.228
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.179,0.141
$KALMAN_X,-3875.7,1248.0,593.4,2291.2,-1414.1
$KALMAN_Y,-2777.5,835.0,331.3,214.1,-1254.0
$MHEAD_RNG_PITCHd_Wd,35.5,111,-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,-146.6,176,2264,1106,1100,0.0,0.0,0,62,0.00,0.00,-45.92,0.000,16386,0.000,0.000,177,2264,2531,2485,2577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.81,-146.6,177,2264,2485,2576,3.6,-6.1,6,82,9.43,2.17,-1.30,0.000,18692,0.244,0.069,2519,3688,2598,2568,2628,0,0,0,0,0,0,26.37,26.55,26.80
$GC,153,-0.81,-146.6,2519,3688,2575,2622,19.2,-12.7,20,161,0.00,2.15,0.00,0.000,1030,0.000,0.044,2519,2264,2599,2576,2622,0,0,0,0,0,0,28.83,26.63,28.83
$GC,233,-0.81,-146.6,2518,2264,2576,2622,28.6,-11.9,33,241,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2264,2599,2576,2622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,312,-0.81,-146.6,2519,2263,2576,2622,38.4,-12.9,46,319,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2264,2599,2577,2622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,390,-0.81,-146.6,2518,2264,2576,2622,48.5,-12.2,59,396,0.00,2.17,0.00,0.000,260,0.000,0.062,2519,3693,2599,2576,2622,0,0,0,0,0,0,28.83,26.74,28.83
$GC,453,-0.81,-146.6,2518,3693,2578,2619,56.6,-12.1,70,462,0.00,2.12,0.00,0.000,1030,0.000,0.044,2519,2271,2598,2578,2619,0,0,0,0,0,0,28.83,26.79,28.83
$GC,601,-0.81,-146.6,2518,2272,2578,2619,72.9,-10.5,95,607,0.00,2.08,0.00,0.000,516,0.000,0.054,2519,874,2598,2578,2619,0,0,0,0,0,0,28.83,26.82,28.83
$GC,649,-0.81,-146.6,2518,874,2578,2619,78.1,-9.9,103,655,0.00,2.08,0.00,0.000,1030,0.000,0.048,2519,2278,2598,2578,2619,0,0,0,0,0,0,28.83,26.86,28.83
$GC,792,-0.81,-146.6,2518,2278,2578,2619,93.5,-10.8,128,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2278,2598,2578,2619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,941,-0.81,-146.6,2518,2278,2578,2619,109.3,-11.8,153,948,0.00,2.10,0.00,0.000,260,0.000,0.061,2519,3685,2598,2578,2619,0,0,0,0,0,0,28.83,26.91,28.83
$GC,1058,-0.81,-146.6,2519,3685,2579,2618,122.0,-10.9,173,1064,0.00,2.05,0.00,0.000,1030,0.000,0.043,2518,2272,2598,2579,2618,0,0,0,0,0,0,28.83,26.96,28.83
$GC,1205,-0.81,-146.6,2518,2271,2580,2618,137.5,-10.7,198,1214,0.00,2.10,0.00,0.000,516,0.000,0.054,2518,877,2599,2580,2618,0,0,0,0,0,0,28.83,26.95,28.83
$GC,1285,-0.81,-146.6,2518,876,2578,2618,147.0,-13.0,211,1291,0.00,2.08,0.00,0.000,1030,0.000,0.049,2519,2287,2598,2579,2618,0,0,0,0,0,0,28.83,26.99,28.83
$GC,1429,-0.81,-146.6,2518,2288,2580,2618,163.9,-11.0,236,1437,0.00,2.12,0.00,0.000,260,0.000,0.063,2519,3683,2598,2579,2618,0,0,0,0,0,0,28.83,27.01,28.83
$GC,1485,-0.81,-146.6,2518,3683,2580,2618,169.8,-10.9,245,1491,0.00,2.05,0.00,0.000,1030,0.000,0.044,2519,2269,2598,2579,2618,0,0,0,0,0,0,28.83,27.01,28.83
$STATE,1547,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1547,begin apogee
$GC,1550,-0.25,0.0,2519,2270,2580,2618,176.6,-9.8,256,1675,0.57,0.00,111.38,1.017,10246,0.123,0.000,2715,2269,2006,2024,1988,0,0,0,0,1,0,26.94,28.83,24.49
$STATE,1676,end apogee,CONTROL_FINISHED_OK
$STATE,1676,begin climb
$GC,1677,0.81,146.6,2715,2269,2026,1990,180.9,0.0,275,1800,1.00,0.00,118.10,0.552,10502,0.073,0.000,3059,2269,1399,1437,1362,0,0,0,0,0,0,25.29,28.83,24.89
$GC,1937,0.81,146.6,3058,2269,1423,1349,160.5,11.6,318,1945,0.00,2.25,0.00,0.000,260,0.000,0.060,3058,3681,1385,1422,1349,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1974,0.81,146.6,3058,3680,1422,1349,155.9,13.0,324,1982,0.00,2.15,0.00,0.000,1030,0.000,0.044,3059,2289,1385,1421,1349,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2122,0.81,146.6,3058,2289,1421,1348,139.4,11.9,349,2128,0.00,2.17,0.00,0.000,516,0.000,0.057,3059,869,1384,1420,1349,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2285,0.81,146.6,3058,870,1419,1349,122.5,11.7,377,2291,0.00,2.10,0.00,0.000,1030,0.000,0.047,3059,2279,1383,1419,1348,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2429,0.81,146.6,3058,2279,1419,1349,105.4,11.0,402,2437,0.00,2.17,0.00,0.000,260,0.000,0.060,3059,3682,1383,1418,1348,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2496,0.81,146.6,3059,3682,1417,1348,96.4,13.5,413,2503,0.00,2.08,0.00,0.000,1030,0.000,0.044,3058,2272,1383,1418,1348,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2640,0.81,146.6,3058,2270,1416,1348,77.2,13.3,438,2648,0.00,2.17,0.00,0.000,260,0.000,0.059,3059,3678,1383,1418,1348,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2684,0.81,146.6,3058,3678,1417,1349,71.3,14.1,445,2691,0.00,2.08,0.00,0.000,1030,0.000,0.044,3059,2270,1383,1418,1348,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2828,0.81,146.6,3059,2269,1417,1348,52.3,11.9,470,2837,0.00,2.15,0.00,0.000,516,0.000,0.057,3059,872,1382,1417,1348,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2953,0.81,146.6,3058,872,1417,1348,40.9,8.0,491,2959,0.00,2.08,0.00,0.000,1030,0.000,0.047,3059,2281,1382,1416,1348,0,0,0,0,0,0,28.83,26.86,28.83
$GC,3098,0.81,146.6,3058,2281,1417,1348,27.0,10.5,516,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2281,1382,1416,1348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3176,0.81,146.6,3059,2281,1416,1348,18.5,11.1,529,3185,0.00,2.15,0.00,0.000,260,0.000,0.060,3059,3684,1382,1417,1348,0,0,0,0,0,0,28.83,26.89,28.83
$GC,3233,0.81,146.6,3059,3683,1416,1348,11.7,12.4,538,3241,0.00,2.10,0.00,0.000,1030,0.000,0.044,3059,2278,1382,1417,1348,0,0,0,0,0,0,28.83,26.91,28.83
$GC,3312,0.81,146.6,3058,2278,1416,1348,3.5,10.5,551,3320,0.00,2.15,0.00,0.000,516,0.000,0.057,3059,873,1382,1416,1348,0,0,0,0,0,0,28.83,26.91,28.83
$STATE,3327,end climb,SURFACE_DEPTH_REACHED
$STATE,3327,begin surface coast
$FINISH,0.3,1.021914
$STATE,3346,end surface coast,CONTROL_FINISHED_OK
$STATE,3346,begin surface
$SM_CCo,3362,25.05,0.136,0,0,1100,220.03
$SM_GC,2.84,7.65,2.15,25.05,0.048,0.048,0.136,169,2284,1100,-8.16,-0.85,220.03,0,0,0,0,0,0,26.95,26.95,26.75
$IRIDIUM_FIX,4726.11,-12220.67,050314,121200
$TT8_MAMPS,0.02996,0.02996
$HUMID,42.67
$INTERNAL_PRESSURE,8.61747
$TCM_TEMP,12.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,140.3,55.9
$24V_AH,24.5,1.211
$10V_AH,10.3,1.125
$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,18.650,55.225,229.475,25.050,0.000,79.313,154.173,226.727,3.250,0.000,5.858,1253.691,463.276,317.979,1982.198,52.930,33.203,873.192,0.000,1489.116,0.000,23.959,0.000
$DEVICE_MAMPS,244.035,68.850,1017.450,136.170,0.000,13.010,160.000,223.000,420.000,0.000,26.220,15.460,2.190,15.460,41.670,63.390,67.890,16.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,374.338,439.744,718.627,1099.974,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,45.690,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322388
$DATA_FILE_SIZE,40463,556
$CAP_FILE_SIZE,67890,0
$CFSIZE,1024393216,1021968384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,050314,130813,4742.638,-12224.760,3,1.3,3,16.3