version: 66.11
glider: 214
mission: 1
dive: 7
start: 3 4 114 22 6 23
data:
$ID,214
$MISSION,1
$DIVE,7
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,53556
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,250
$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,-591.94861
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,203
$PITCH_MAX,3954
$C_PITCH,2585
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,239
$ROLL_MAX,3849
$ROLL_DEG,40
$C_ROLL_DIVE,2605
$C_ROLL_CLIMB,2575
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2638
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$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,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-63.143688
$PRESSURE_SLOPE,0.0001163525
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.8
$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,0.0043900511
$SEABIRD_T_H,0.00063215959
$SEABIRD_T_I,2.4258828e-05
$SEABIRD_T_J,2.8292754e-06
$SEABIRD_C_G,-9.7247963
$SEABIRD_C_H,1.117072
$SEABIRD_C_I,-0.00093423709
$SEABIRD_C_J,0.00013718182
$GPS1,040314,220249,4745.266,-12224.224,1,1.1,1,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-64.1
$GPS2,040314,220527,4745.285,-12224.180,5,1.3,5,16.3
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.037,-0.259
$KALMAN_X,505.3,391.1,237.4,-425.8,55.9
$KALMAN_Y,2350.9,1154.3,773.1,-315.3,594.5
$MHEAD_RNG_PITCHd_Wd,171.8,2679,-18.1,-10.000,-20.93,2236
$D_GRID,183
$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,-1.09,-146.6,197,2622,1678,1561,0.0,0.0,0,65,0.00,0.00,-47.97,0.000,16386,0.000,0.000,196,2622,3077,3105,3049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-1.09,-146.6,197,2622,3104,3049,3.9,-6.7,5,86,7.95,1.92,-3.17,0.000,18692,0.250,0.077,2222,3837,3235,3280,3191,0,0,0,0,0,0,26.11,26.34,26.70
$GC,110,-1.09,-146.6,2222,3837,3280,3191,14.3,-22.6,10,119,0.00,1.98,0.00,0.000,1030,0.000,0.051,2221,2591,3236,3281,3191,0,0,0,0,0,0,28.83,26.41,28.83
$GC,200,-1.09,-146.6,2221,2596,3282,3190,30.9,-17.2,23,209,0.00,2.03,0.00,0.000,260,0.000,0.067,2213,3831,3234,3280,3188,0,0,0,0,0,0,28.83,26.39,28.83
$GC,304,-1.09,-146.6,2213,3832,3282,3197,52.0,-20.4,39,311,0.00,1.90,0.00,0.000,1030,0.000,0.052,2213,2604,3236,3282,3190,0,0,0,0,0,0,28.83,26.49,28.83
$GC,456,-1.09,-146.6,2213,2604,3282,3189,82.4,-19.1,64,465,0.00,2.22,0.00,0.000,516,0.000,0.059,2213,1202,3236,3283,3189,0,0,0,0,0,0,28.83,26.48,28.83
$GC,491,-1.09,-146.6,2212,1202,3282,3189,88.5,-18.4,69,499,0.12,2.20,0.00,0.000,3078,0.194,0.057,2234,2597,3236,3283,3189,0,0,0,0,0,0,26.33,26.48,28.83
$GC,645,-1.09,-146.6,2233,2597,3283,3188,116.6,-15.5,94,654,0.00,2.00,0.00,0.000,260,0.000,0.069,2225,3842,3234,3280,3188,0,0,0,0,0,0,28.83,26.48,28.83
$GC,678,-1.09,-146.6,1360,3842,3270,3185,121.7,-16.3,99,684,0.00,1.92,0.00,0.000,1030,0.000,0.054,2225,2598,3235,3283,3188,0,0,0,0,0,0,28.83,26.58,28.83
$GC,834,-1.09,-146.6,2225,2597,3283,3188,147.4,-16.5,124,844,0.00,2.03,0.00,0.000,260,0.000,0.067,2216,3841,3237,3283,3191,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,858,begin apogee
$GC,864,-0.25,0.0,2216,2560,3283,3188,151.0,-16.8,127,977,0.85,0.00,106.50,0.519,10246,0.151,0.000,2494,2560,2634,2712,2557,0,0,0,0,0,0,26.40,28.83,25.11
$STATE,978,end apogee,CONTROL_FINISHED_OK
$STATE,978,begin climb
$GC,979,1.09,146.6,2494,2560,2711,2555,155.6,0.0,143,1096,1.25,2.35,107.62,0.504,10756,0.094,0.069,2943,1175,2033,2136,1931,0,0,0,0,0,0,25.56,25.19,24.76
$GC,1141,1.09,146.6,2944,1175,2132,1930,140.8,16.0,167,1147,0.00,2.33,0.00,0.000,1030,0.000,0.062,2944,2569,2030,2132,1929,0,0,0,0,0,0,28.83,25.52,28.83
$GC,1292,1.09,146.6,2944,2569,2131,1929,111.6,21.6,192,1301,0.00,2.35,0.00,0.000,516,0.000,0.069,2954,1179,2030,2131,1929,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1340,1.09,146.6,2954,1179,2131,1929,103.5,17.4,199,1346,0.00,2.30,0.00,0.000,1030,0.000,0.063,2954,2584,2030,2132,1929,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1499,1.09,146.6,2954,2584,2131,1929,75.7,15.6,224,1508,0.00,2.38,0.00,0.000,516,0.000,0.073,2965,1175,2030,2131,1930,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1788,1.09,146.6,2965,1180,2131,1929,32.4,13.4,268,1797,0.08,2.30,0.00,0.000,5126,0.168,0.063,2941,2573,2030,2131,1929,0,0,0,0,0,0,26.22,26.35,28.83
$GC,1876,1.09,146.6,2941,2576,2131,1929,20.7,14.3,281,1888,0.00,2.08,0.00,0.000,260,0.000,0.072,2941,3844,2028,2128,1929,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1931,1.09,146.6,2941,3844,2131,1936,12.5,14.5,288,1940,0.00,2.05,0.00,0.000,1030,0.000,0.060,2951,2574,2029,2130,1929,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,2009,end climb,SURFACE_DEPTH_REACHED
$STATE,2009,begin surface coast
$FINISH,0.4,1.015160
$STATE,2030,end surface coast,CONTROL_FINISHED_OK
$STATE,2030,begin surface
$SM_CCo,2043,31.62,0.136,0,0,1614,250.21
$SM_GC,2.37,6.93,0.08,31.62,0.040,0.142,0.136,187,2604,1614,-7.41,-0.59,250.21,0,0,0,0,0,0,26.50,26.53,26.25
$IRIDIUM_FIX,4732.49,-12242.77,040314,212138
$TT8_MAMPS,0.030709,0.030709
$HUMID,35.31
$INTERNAL_PRESSURE,9.03049
$TCM_TEMP,11.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.4,13.0
$24V_AH,24.8,0.388
$10V_AH,10.3,0.403
$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,17.175,38.450,214.125,31.625,0.000,0.000,0.000,0.000,2.750,0.000,6.055,696.729,161.183,256.795,993.650,26.575,33.225,632.617,0.000,992.235,0.000,19.742,0.000
$DEVICE_MAMPS,250.155,141.525,519.435,136.170,0.000,0.000,0.000,0.000,420.000,0.000,28.460,17.710,2.190,17.710,47.660,64.140,71.630,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,202.098,247.725,304.677,783.786,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,9.740,43.440,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322296
$DATA_FILE_SIZE,23799,302
$CAP_FILE_SIZE,71315,0
$CFSIZE,1024393216,1022246912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040314,224137,4744.953,-12224.250,6,1.1,6,16.3