version: 66.11
glider: 214
mission: 2
dive: 4
start: 3 12 114 19 52 45
data:
$ID,214
$MISSION,2
$DIVE,4
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,100
$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,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,120
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0236
$MASS,53169
$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,550
$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,-950.51434
$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,2583
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$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,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3292
$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,-63.391636
$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,15
$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,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,-1
$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
$GPS1,120314,194412,4742.519,-12224.826,3,1.5,3,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-71.6
$GPS2,120314,195150,4742.512,-12224.857,4,1.1,4,16.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.054,0.167
$KALMAN_X,-296.1,-231.5,-163.8,662.9,-122.7
$KALMAN_Y,-654.2,-520.3,-337.0,1215.6,-259.0
$MHEAD_RNG_PITCHd_Wd,1.6,356,-27.5,-10.000,-29.65,985
$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,-1.18,-64.4,198,2806,1122,992,0.0,0.0,0,63,0.00,0.00,-46.00,0.000,16386,0.000,0.000,198,2806,2537,2571,2503,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-1.22,-97.7,198,2806,2571,2503,3.1,-3.4,7,105,8.02,1.73,-26.85,0.000,18692,0.261,0.085,2175,3850,3693,3750,3636,0,0,0,0,0,0,25.99,26.25,26.59
$GC,167,-1.22,-97.7,1280,3849,3747,3633,14.7,-14.9,25,175,0.00,1.65,0.00,0.000,1030,0.000,0.047,2175,2804,3692,3750,3635,0,0,0,0,0,0,28.83,26.36,28.83
$GC,236,-1.22,-97.7,1280,2802,3746,3633,27.3,-19.7,38,244,0.00,2.22,0.00,0.000,516,0.000,0.051,2178,1388,3692,3750,3634,0,0,0,0,0,0,28.83,26.37,28.83
$GC,407,-1.22,-97.7,2177,1387,3750,3634,62.9,-21.6,71,414,0.00,2.22,0.00,0.000,1030,0.000,0.055,2168,2799,3692,3750,3635,0,0,0,0,0,0,28.83,26.45,28.83
$GC,536,-1.22,-97.7,2167,2799,3750,3635,90.3,-20.4,96,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2799,3692,3750,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,673,-1.22,-97.7,2168,2799,3749,3635,119.3,-20.2,121,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2799,3692,3749,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,801,-1.22,-97.7,2167,2799,3750,3635,146.7,-20.6,146,808,0.00,2.22,0.00,0.000,516,0.000,0.054,2168,1391,3692,3750,3635,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,871,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,871,begin apogee
$GC,876,-0.20,0.0,2160,2610,3750,3635,161.6,-21.2,159,954,1.12,0.00,73.10,0.513,10246,0.174,0.000,2511,2609,3289,3363,3215,0,0,0,0,0,0,26.42,28.83,25.44
$STATE,955,end apogee,CONTROL_FINISHED_OK
$STATE,955,begin climb
$GC,956,1.22,97.7,2510,2609,3355,3206,167.5,0.0,172,1035,1.30,2.45,70.68,0.496,10756,0.093,0.061,2983,1190,2880,2957,2803,0,0,0,0,0,0,25.83,25.44,25.03
$GC,1129,1.22,97.7,2983,1190,2953,2797,155.4,10.3,203,1136,0.00,2.30,0.00,0.000,1030,0.000,0.057,2983,2599,2875,2953,2797,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1258,1.22,97.7,2983,2599,2953,2797,140.7,12.0,228,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2600,2874,2953,2796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1390,1.22,97.7,2983,2599,2953,2797,125.3,11.9,253,1396,0.00,2.28,0.00,0.000,516,0.000,0.061,2994,1190,2875,2953,2797,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1637,1.22,97.7,2994,1191,2953,2797,98.0,10.6,301,1643,0.00,2.25,0.00,0.000,1030,0.000,0.057,2993,2601,2875,2953,2797,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1766,1.22,97.7,2993,2601,2953,2796,84.0,10.4,326,1773,0.00,2.03,0.00,0.000,260,0.000,0.068,2994,3846,2875,2953,2797,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1897,1.22,97.7,2993,3847,2952,2797,69.2,12.0,351,1904,0.00,1.95,0.00,0.000,1030,0.000,0.053,3003,2596,2875,2953,2797,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2026,1.23,109.1,3003,2596,2953,2797,56.1,8.8,376,2035,0.00,2.03,2.53,0.187,8452,0.000,0.067,3004,3845,2849,2926,2773,0,0,0,0,0,0,28.83,26.49,26.22
$GC,2170,1.25,124.8,3003,3845,2942,2797,42.8,8.4,403,2183,0.00,1.92,7.07,0.216,9222,0.000,0.052,3013,2600,2783,2858,2708,0,0,0,0,0,0,28.83,26.58,26.31
$GC,2306,1.25,124.8,1936,2597,2847,2722,30.1,10.2,429,2314,0.00,2.22,1.77,0.186,8708,0.000,0.059,3024,1185,2785,2861,2710,0,0,0,0,0,0,28.83,26.55,26.39
$GC,2446,1.29,159.4,1952,1184,2846,2721,18.3,6.4,456,2467,0.00,2.28,12.77,0.167,9222,0.000,0.058,3024,2595,2639,2715,2563,0,0,0,0,0,0,28.83,26.58,26.39
$GC,2529,1.29,159.4,1968,2593,2696,2574,10.4,13.2,471,2537,0.00,2.25,1.45,0.190,8708,0.000,0.060,3034,1183,2638,2715,2561,0,0,0,0,0,0,28.83,26.55,26.43
$GC,2615,1.48,309.9,1968,1182,2691,2567,5.0,-5.6,487,2673,0.00,2.30,49.58,0.137,9222,0.000,0.060,3034,2602,2024,2122,1926,0,0,0,0,0,0,28.83,26.57,26.34
$GC,2736,1.59,397.1,1984,2599,2096,1928,5.0,0.9,508,2776,0.12,2.03,29.12,0.132,10500,0.101,0.069,3098,3841,1670,1767,1574,0,0,0,0,0,0,26.53,26.39,26.30
$GC,2863,1.70,486.7,2048,3840,1748,1579,2.6,0.7,531,2902,0.00,1.98,30.05,0.132,9222,0.000,0.054,3108,2608,1304,1401,1208,0,0,0,0,0,0,28.83,26.48,26.28
$STATE,2948,end climb,SURFACE_DEPTH_REACHED
$STATE,2948,begin surface coast
$FINISH,1.4,1.016781
$STATE,3084,end surface coast,CONTROL_FINISHED_OK
$STATE,3084,begin surface
$SM_CCo,3098,21.52,0.134,0,0,1043,550.21
$SM_GC,1.34,7.95,0.35,21.52,0.086,0.076,0.134,193,2809,1043,-7.41,-0.57,550.21,0,0,0,0,0,0,26.46,26.48,26.30
$IRIDIUM_FIX,4726.11,-12227.78,120314,181801
$TT8_MAMPS,0.030709,0.030709
$HUMID,35.70
$INTERNAL_PRESSURE,8.89377
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.4,71.1
$24V_AH,25.0,1.803
$10V_AH,10.3,2.742
$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,18.525,42.625,278.125,21.525,0.000,48.979,57.293,216.452,0.750,0.000,5.888,1263.196,430.098,344.124,1508.259,45.372,32.219,868.923,0.000,1167.222,0.000,7.202,0.000
$DEVICE_MAMPS,260.865,84.915,512.550,133.875,0.000,12.240,160.000,223.000,420.000,0.000,28.460,17.710,2.190,17.710,47.660,64.140,71.630,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,386.731,522.238,0.000,844.990,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,9.740,0.000,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321748
$DATA_FILE_SIZE,40268,573
$CAP_FILE_SIZE,62475,0
$CFSIZE,1024393216,1022312448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120314,204523,4742.559,-12224.862,3,1.1,3,16.3