version: 66.11
glider: 214
mission: 1
dive: 22
start: 3 5 114 12 3 37
data:
$ID,214
$MISSION,1
$DIVE,22
$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,75
$T_MISSION,90
$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,1.0236
$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,-611.00714
$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,2565
$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,2800
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,20
$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,120
$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
$GPS1,050314,115636,4743.279,-12225.068,4,0.8,4,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-67.3
$GPS2,050314,120239,4743.268,-12225.142,6,0.9,6,16.3
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.201,0.005
$KALMAN_X,3710.8,-619.5,-86.7,-3495.6,-477.8
$KALMAN_Y,2659.7,-1457.9,689.2,-1661.4,-1079.0
$MHEAD_RNG_PITCHd_Wd,72.1,1134,-18.6,-8.000,-21.67,1842
$D_GRID,181
$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,-1.05,-96.6,183,2798,1683,1559,0.0,0.0,0,57,0.00,0.00,-40.92,0.000,16386,0.000,0.000,183,2798,2827,2855,2800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-1.11,-146.5,184,2798,2854,2800,3.2,-5.0,5,83,8.02,2.30,-9.02,0.000,18948,0.256,0.066,2199,1372,3236,3288,3184,0,0,0,0,0,0,26.03,26.25,26.54
$GC,164,-1.11,-146.5,1312,1371,3274,3180,22.7,-19.0,23,172,0.00,2.33,0.00,0.000,1030,0.000,0.057,2190,2802,3236,3289,3184,0,0,0,0,0,0,28.83,26.30,28.83
$GC,237,-1.11,-146.5,1280,2799,3274,3180,38.3,-21.6,36,245,0.00,1.67,0.00,0.000,260,0.000,0.067,2182,3840,3236,3288,3184,0,0,0,0,0,0,28.83,26.32,28.83
$GC,384,-1.11,-146.5,2181,3840,3288,3184,70.9,-23.2,61,391,0.00,1.62,0.00,0.000,1030,0.000,0.051,2181,2789,3239,3288,3191,0,0,0,0,0,0,28.83,26.44,28.83
$GC,538,-1.11,-146.5,2181,2789,3289,3184,103.4,-20.8,86,550,0.00,1.73,0.00,0.000,260,0.000,0.067,2174,3847,3238,3293,3184,0,0,0,0,0,0,28.83,26.50,28.83
$GC,583,-1.11,-146.5,2174,3847,3288,3180,112.5,-20.7,92,595,0.10,1.67,0.00,0.000,3078,0.170,0.054,2206,2794,3236,3289,3184,0,0,0,0,0,0,26.36,26.53,28.83
$GC,748,-1.11,-146.5,2206,2795,3289,3184,143.5,-24.1,117,754,0.00,1.67,0.00,0.000,260,0.000,0.068,2199,3852,3238,3289,3187,0,0,0,0,0,0,28.83,26.51,28.83
$GC,811,-1.11,-146.5,2198,3852,3289,3183,158.4,-23.0,127,818,0.00,1.62,0.00,0.000,1030,0.000,0.052,2198,2793,3236,3289,3184,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,928,begin apogee
$GC,931,-0.25,0.0,2198,2793,3289,3184,180.3,-18.6,146,1053,0.85,0.00,110.90,1.064,10246,0.153,0.000,2472,2793,2641,2718,2564,0,0,0,0,1,0,26.46,28.83,24.04
$STATE,1054,end apogee,CONTROL_FINISHED_OK
$STATE,1054,begin climb
$GC,1055,1.11,146.5,2475,2793,2722,2568,186.0,0.0,163,1177,1.30,2.42,113.47,0.519,11012,0.094,0.057,2925,1384,2029,2134,1925,0,0,0,0,0,0,24.84,25.01,24.60
$GC,1333,1.11,146.5,2925,1384,2136,1923,160.1,14.1,205,1340,0.00,2.33,0.00,0.000,1030,0.000,0.058,2925,2803,2029,2135,1923,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1485,1.11,146.5,2925,2802,2135,1924,136.9,15.3,230,1494,0.00,2.33,0.00,0.000,516,0.000,0.060,2936,1394,2029,2135,1924,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1547,1.11,146.5,2935,1394,2134,1923,128.3,15.7,239,1553,0.00,2.28,0.00,0.000,1030,0.000,0.059,2937,2800,2029,2135,1923,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1711,1.11,146.5,2936,2799,2135,1924,102.0,16.0,264,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2799,2032,2142,1923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1867,1.11,146.5,2936,2799,2135,1923,76.9,16.1,289,1874,0.00,1.67,0.00,0.000,260,0.000,0.070,2936,3857,2029,2135,1923,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1910,1.11,146.5,2936,3852,2135,1923,70.0,16.8,295,1917,0.00,1.65,0.00,0.000,1030,0.000,0.055,2945,2800,2028,2134,1923,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2067,1.11,146.5,2944,2799,2135,1923,46.7,13.4,320,2076,0.00,2.28,0.00,0.000,516,0.000,0.060,2954,1385,2029,2135,1923,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2158,1.11,146.5,2954,1385,2135,1923,33.8,14.7,334,2168,0.08,2.30,0.00,0.000,5126,0.164,0.060,2930,2795,2029,2135,1923,0,0,0,0,0,0,26.32,26.44,28.83
$GC,2247,1.11,146.5,2930,2795,2134,1923,22.8,12.8,347,2256,0.00,1.73,0.00,0.000,260,0.000,0.072,2934,3856,2032,2142,1923,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2301,1.11,146.5,2930,3852,2135,1923,15.1,14.9,354,2310,0.00,1.70,0.00,0.000,1030,0.000,0.057,2938,2794,2029,2135,1923,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2389,1.11,146.5,2938,2794,2135,1923,2.6,14.2,367,2398,0.00,2.28,0.00,0.000,516,0.000,0.064,2949,1384,2029,2135,1923,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,2406,end climb,SURFACE_DEPTH_REACHED
$STATE,2406,begin surface coast
$FINISH,0.4,1.012124
$STATE,2420,end surface coast,CONTROL_FINISHED_OK
$STATE,2421,begin surface
$SM_CCo,2436,32.47,0.133,0,0,1613,250.21
$SM_GC,2.57,7.10,2.35,32.47,0.055,0.065,0.133,181,2808,1613,-7.35,-0.48,250.21,0,0,0,0,0,0,26.54,26.50,26.33
$IRIDIUM_FIX,4726.11,-12227.78,050314,101042
$TT8_MAMPS,0.033705,0.033705
$HUMID,34.01
$INTERNAL_PRESSURE,9.03049
$TCM_TEMP,11.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.8,79.1
$24V_AH,24.0,1.196
$10V_AH,10.3,1.247
$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,17.450,39.925,224.375,32.475,0.000,23.483,40.720,223.467,0.500,0.000,6.873,845.656,231.812,277.365,1445.338,47.308,33.195,708.160,0.000,1154.944,0.000,5.652,0.000
$DEVICE_MAMPS,255.510,71.910,1064.115,133.110,0.000,12.240,160.000,223.000,420.000,0.000,28.460,17.710,2.190,17.710,47.660,64.140,71.630,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,249.075,299.554,378.078,896.858,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,9.740,43.440,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322348
$DATA_FILE_SIZE,30312,371
$CAP_FILE_SIZE,68031,0
$CFSIZE,1024393216,1021263872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,050314,124526,4742.881,-12225.192,7,1.0,7,16.3