version: 66.11
glider: 214
mission: 2
dive: 7
start: 3 12 114 23 1 18
data:
$ID,214
$MISSION,2
$DIVE,7
$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,150
$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,-954.28156
$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,25
$R_STBD_OVSHOOT,26
$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,0.00039999999
$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
$GPS1,120314,225303,4742.651,-12224.485,64,1.3,64,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-71.3
$GPS2,120314,230021,4742.666,-12224.471,5,1.1,6,16.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.121,0.124
$KALMAN_X,-934.8,-381.8,-3.2,1766.2,-162.1
$KALMAN_Y,-1854.3,-777.7,-52.9,2669.7,-186.8
$MHEAD_RNG_PITCHd_Wd,299.6,415,-27.8,-10.000,-30.00,959
$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,-1.14,-62.7,196,2812,1119,1004,0.0,0.0,0,81,0.00,0.00,-64.32,0.000,16386,0.000,0.000,196,2813,3067,3106,3028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.16,-106.4,197,2812,3106,3027,3.4,-5.3,10,111,8.07,0.00,-15.32,0.000,18950,0.260,0.000,2198,2813,3729,3787,3671,0,0,0,0,0,0,25.99,28.83,26.55
$GC,173,-1.16,-106.4,1304,2810,3783,3669,15.7,-18.5,26,180,0.00,2.28,0.00,0.000,516,0.000,0.050,2199,1385,3728,3786,3670,0,0,0,0,0,0,28.83,26.30,28.83
$GC,384,-1.16,-106.4,2198,1384,3786,3670,58.0,-20.4,67,391,0.00,2.25,0.00,0.000,1030,0.000,0.055,2189,2806,3728,3786,3670,0,0,0,0,0,0,28.83,26.40,28.83
$GC,513,-1.16,-106.4,2189,2806,3786,3671,84.8,-20.7,92,521,0.00,2.25,0.00,0.000,516,0.000,0.052,2189,1387,3728,3786,3670,0,0,0,0,0,0,28.83,26.46,28.83
$GC,636,-1.16,-106.4,2189,1386,3786,3671,108.4,-18.4,115,643,0.12,2.25,0.00,0.000,3078,0.213,0.056,2208,2810,3728,3786,3670,0,0,0,0,0,0,26.34,26.49,28.83
$GC,771,-1.16,-106.4,2208,2809,3786,3670,135.4,-20.9,140,779,0.00,1.65,0.00,0.000,260,0.000,0.066,2201,3843,3728,3786,3670,0,0,0,0,0,0,28.83,26.51,28.83
$GC,862,-1.16,-106.4,2201,3843,3786,3670,157.0,-24.0,157,869,0.00,1.62,0.00,0.000,1030,0.000,0.050,2201,2785,3728,3786,3670,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,939,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,939,begin apogee
$GC,943,-0.20,0.0,2201,2584,3785,3670,173.8,-18.7,172,1027,0.98,0.00,78.97,0.513,10246,0.164,0.000,2512,2585,3288,3363,3213,0,0,0,0,0,0,26.42,28.83,25.37
$STATE,1028,end apogee,CONTROL_FINISHED_OK
$STATE,1028,begin climb
$GC,1029,1.16,106.4,2512,2585,3354,3205,177.2,0.0,186,1114,1.23,2.20,76.68,0.505,10500,0.093,0.064,2948,3846,2848,2927,2769,0,0,0,0,0,0,25.77,25.31,24.91
$GC,1145,1.16,106.4,2948,3846,2921,2763,169.6,11.2,206,1153,0.00,2.08,0.00,0.000,1030,0.000,0.054,2958,2603,2841,2920,2763,0,0,0,0,0,0,28.83,25.55,28.83
$GC,1277,1.16,106.4,2958,2603,2920,2762,153.7,12.1,231,1284,0.00,2.30,0.00,0.000,516,0.000,0.060,2968,1182,2841,2920,2763,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1372,1.16,106.4,2968,1181,2920,2762,142.1,11.8,249,1379,0.00,2.30,0.00,0.000,1030,0.000,0.057,2968,2601,2841,2920,2763,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1501,1.16,106.4,2968,2601,2920,2762,126.7,11.1,274,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2601,2841,2921,2762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1634,1.16,106.4,2968,2601,2919,2762,112.7,10.4,299,1640,0.00,2.00,0.00,0.000,260,0.000,0.067,2969,3852,2841,2920,2763,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1688,1.16,106.4,2968,3852,2920,2762,106.3,11.8,309,1694,0.00,1.98,0.00,0.000,1030,0.000,0.054,2979,2596,2841,2920,2762,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1817,1.16,106.4,2978,2595,2920,2762,91.7,11.8,334,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2595,2841,2920,2762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1947,1.16,106.4,2978,2595,2919,2762,76.5,11.7,359,1954,0.00,2.00,0.00,0.000,260,0.000,0.066,2978,3845,2840,2919,2762,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2123,1.16,106.4,2978,3845,2920,2762,56.3,12.7,393,2131,0.12,1.95,0.00,0.000,5126,0.216,0.050,2960,2587,2840,2919,2762,0,0,0,0,0,0,26.33,26.51,28.83
$GC,2253,1.16,122.6,2960,2587,2919,2762,44.1,8.3,418,2262,0.00,2.28,4.20,0.210,8708,0.000,0.058,2969,1187,2793,2871,2715,0,0,0,0,0,0,28.83,26.50,26.28
$GC,2620,1.18,177.7,1872,1186,2861,2728,18.1,4.1,490,2647,0.00,2.28,19.15,0.166,9222,0.000,0.054,2970,2608,2565,2647,2483,0,0,0,0,0,0,28.83,26.60,26.38
$GC,2709,1.19,181.7,1904,2604,2627,2492,11.3,9.6,506,2718,0.00,2.03,2.60,0.174,8452,0.000,0.066,2970,3846,2548,2632,2464,0,0,0,0,0,0,28.83,26.52,26.40
$GC,2749,1.19,181.7,1920,3845,2602,2470,6.7,11.6,513,2757,0.00,1.98,0.00,0.000,1030,0.000,0.054,2980,2608,2561,2645,2477,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2819,1.24,317.2,1920,2606,2610,2471,5.3,-4.5,526,2870,0.00,2.00,44.35,0.136,8452,0.000,0.067,2980,3849,1996,2100,1893,0,0,0,0,0,0,28.83,26.41,26.34
$GC,2893,1.26,354.7,1928,3848,2067,1894,2.4,6.0,538,2908,0.00,2.03,10.32,0.132,9218,0.000,0.055,2989,2589,1872,1974,1770,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,2909,end climb,SURFACE_DEPTH_REACHED
$STATE,2909,begin surface coast
$FINISH,2.2,1.016990
$STATE,2915,end surface coast,CONTROL_FINISHED_OK
$STATE,2915,begin surface
$SM_CCo,2917,113.28,0.125,0,0,499,684.88
$SM_GC,1.51,7.20,0.38,0.00,0.047,0.073,0.000,189,2804,513,-7.40,-0.68,681.93,0,0,0,0,0,0,26.26,26.24,28.83
$IRIDIUM_FIX,4722.92,-12226.07,120314,222207
$TT8_MAMPS,0.02996,0.02996
$HUMID,34.76
$INTERNAL_PRESSURE,8.83517
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.4,73.4
$24V_AH,24.9,1.960
$10V_AH,10.3,2.895
$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,17.725,42.350,236.275,113.275,0.000,48.023,62.328,190.784,1.250,0.000,6.890,1211.092,511.345,410.747,1411.128,43.057,33.230,905.427,0.000,1087.364,0.000,10.351,0.000
$DEVICE_MAMPS,260.100,72.675,512.550,125.460,0.000,12.240,160.000,223.000,420.000,0.000,28.460,17.710,2.190,17.710,47.660,64.140,71.630,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,365.132,467.971,0.000,756.879,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,9.740,0.000,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321732
$DATA_FILE_SIZE,37015,541
$CAP_FILE_SIZE,61955,0
$CFSIZE,1024393216,1022115840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120314,235409,4742.809,-12224.728,3,1.5,3,16.3