version: 66.11
glider: 213
mission: 2
dive: 20
start: 3 5 114 14 19 2
data:
$ID,213
$MISSION,2
$DIVE,20
$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,-437.27969
$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,38
$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
$GPS1,050314,141207,4742.373,-12224.756,3,1.0,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-69.6
$GPS2,050314,141805,4742.365,-12224.827,6,1.2,6,16.3
$SPEED_LIMITS,0.125,0.228
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.226,0.027
$KALMAN_X,-4002.3,781.2,-679.6,4195.4,-1157.0
$KALMAN_Y,-2716.4,709.5,-1291.8,1199.0,-621.4
$MHEAD_RNG_PITCHd_Wd,66.8,621,-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,15,-0.81,-146.6,171,2270,1102,1096,0.0,0.0,0,56,0.00,0.00,-38.92,0.000,16386,0.000,0.000,171,2270,2289,2245,2333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.81,-146.6,171,2270,2245,2333,3.3,-5.5,5,83,9.38,2.20,-6.72,0.000,18692,0.242,0.073,2530,3679,2599,2586,2612,0,0,0,0,0,0,26.44,26.58,26.89
$GC,131,-0.81,-146.6,2529,3679,2587,2612,14.2,-12.8,16,139,0.00,2.10,0.00,0.000,1030,0.000,0.041,2529,2278,2599,2587,2612,0,0,0,0,0,0,28.83,26.65,28.83
$GC,210,-0.81,-146.6,2529,2278,2587,2612,22.7,-11.4,29,217,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2278,2599,2587,2612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,288,-0.81,-146.6,2529,2278,2588,2612,31.1,-10.4,42,296,0.00,2.12,0.00,0.000,516,0.000,0.052,2530,878,2599,2587,2612,0,0,0,0,0,0,28.83,26.71,28.83
$GC,350,-0.81,-146.6,2529,878,2587,2612,37.6,-9.8,52,358,0.00,2.10,0.00,0.000,1030,0.000,0.047,2529,2266,2600,2588,2612,0,0,0,0,0,0,28.83,26.77,28.83
$GC,430,-0.81,-146.6,2529,2267,2588,2612,45.2,-10.2,65,436,0.00,2.12,0.00,0.000,260,0.000,0.060,2529,3686,2600,2588,2612,0,0,0,0,0,0,28.83,26.77,28.83
$GC,468,-0.81,-146.6,2529,3686,2588,2612,49.4,-11.3,71,474,0.00,2.08,0.00,0.000,1030,0.000,0.041,2529,2262,2600,2588,2612,0,0,0,0,0,0,28.83,26.81,28.83
$GC,611,-0.81,-146.6,2528,2262,2588,2612,66.5,-12.4,96,619,0.00,2.17,0.00,0.000,260,0.000,0.059,2529,3683,2600,2588,2612,0,0,0,0,0,0,28.83,26.84,28.83
$GC,667,-0.81,-146.6,2529,3683,2588,2612,73.4,-12.0,105,673,0.00,2.05,0.00,0.000,1030,0.000,0.041,2530,2269,2600,2588,2612,0,0,0,0,0,0,28.83,26.88,28.83
$GC,810,-0.81,-146.6,2529,2268,2588,2612,88.0,-12.8,130,819,0.00,2.10,0.00,0.000,516,0.000,0.053,2529,877,2599,2588,2611,0,0,0,0,0,0,28.83,26.90,28.83
$GC,947,-0.81,-146.6,2529,877,2588,2612,96.2,0.2,153,953,0.00,2.05,0.00,0.000,1030,0.000,0.045,2529,2282,2600,2589,2612,0,0,0,0,0,0,28.83,26.95,28.83
$STATE,960,end dive,NO_VERTICAL_VELOCITY
$STATE,960,begin apogee
$GC,963,-0.25,0.0,2529,2282,2589,2612,96.2,0.0,155,1080,0.52,0.00,108.50,0.515,10246,0.070,0.000,2734,2282,1996,2015,1978,0,0,0,0,0,0,26.95,28.83,25.54
$STATE,1081,end apogee,CONTROL_FINISHED_OK
$STATE,1081,begin climb
$GC,1082,0.81,146.6,2733,2282,2014,1977,96.2,0.0,173,1200,0.90,0.00,112.47,0.491,11014,0.053,0.000,3076,2281,1397,1434,1361,0,0,0,0,0,0,25.97,28.83,25.12
$GC,1340,0.81,146.6,3075,2282,1420,1349,73.6,12.8,215,1346,0.00,2.17,0.00,0.000,516,0.000,0.054,3076,878,1384,1420,1349,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1468,0.81,146.6,3076,878,1417,1348,56.4,13.2,237,1475,0.00,2.10,0.00,0.000,1030,0.000,0.044,3076,2283,1383,1417,1349,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1612,0.81,146.6,3076,2283,1416,1348,40.2,10.9,262,1620,0.00,2.17,0.00,0.000,260,0.000,0.057,3076,3686,1382,1417,1348,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1709,0.81,146.6,3076,3686,1416,1349,28.9,12.5,278,1718,0.00,2.12,0.00,0.000,1030,0.000,0.044,3076,2284,1382,1416,1348,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1788,0.81,146.6,3076,2284,1416,1348,20.7,8.5,291,1797,0.00,2.17,0.00,0.000,516,0.000,0.057,3076,878,1382,1416,1348,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1839,0.81,146.6,3075,877,1416,1348,15.8,9.6,299,1847,0.00,2.10,0.00,0.000,1030,0.000,0.044,3076,2269,1381,1415,1348,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1917,0.81,146.6,3076,2269,1415,1348,7.1,11.3,312,1926,0.00,2.17,0.00,0.000,260,0.000,0.058,3076,3678,1381,1415,1348,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1934,0.81,146.6,3076,3678,1415,1348,5.2,11.7,314,1942,0.00,2.12,0.00,0.000,1030,0.000,0.044,3076,2273,1381,1415,1348,0,0,0,0,0,0,28.83,26.69,28.83
$STATE,1960,end climb,SURFACE_DEPTH_REACHED
$STATE,1960,begin surface coast
$FINISH,0.3,1.022276
$STATE,1979,end surface coast,CONTROL_FINISHED_OK
$STATE,1979,begin surface
$SM_CCo,1993,25.10,0.136,0,0,1100,220.03
$SM_GC,4.45,7.78,0.00,25.10,0.048,0.000,0.136,173,2273,1100,-8.16,-0.08,220.03,0,0,0,0,0,0,26.73,28.83,26.54
$IRIDIUM_FIX,4726.11,-12227.78,050314,141459
$TT8_MAMPS,0.02996,0.02996
$HUMID,42.12
$INTERNAL_PRESSURE,8.61747
$TCM_TEMP,12.10
$XPDR_PINGS,0
$24V_AH,25.1,1.333
$10V_AH,10.3,1.230
$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,18.575,38.250,220.975,25.100,0.000,26.307,40.507,219.077,0.000,0.000,6.902,725.065,148.245,272.806,1205.587,39.937,33.202,651.176,0.000,918.622,0.000,1.008,0.000
$DEVICE_MAMPS,241.740,72.675,514.845,136.170,0.000,13.010,160.000,223.000,420.000,0.000,26.220,15.460,2.190,15.460,41.670,63.390,67.890,16.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,214.118,286.590,469.071,718.037,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,45.690,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322412
$DATA_FILE_SIZE,23731,321
$CAP_FILE_SIZE,45294,0
$CFSIZE,1024393216,1021886464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050314,145318,4742.262,-12224.699,4,0.8,4,16.3