version: 66.11
glider: 214
mission: 2
dive: 9
start: 3 13 114 1 9 49
data:
$ID,214
$MISSION,2
$DIVE,9
$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,-956.78833
$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,27
$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,0.00039999999
$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
$GPS1,130314,010014,4743.373,-12224.659,3,1.3,3,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-66.7
$GPS2,130314,010854,4743.366,-12224.591,5,1.3,5,16.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.127,0.228
$KALMAN_X,-589.0,-426.0,71.2,1244.2,257.6
$KALMAN_Y,-2260.8,-691.0,168.2,4060.6,-47.6
$MHEAD_RNG_PITCHd_Wd,314.5,1022,-18.1,-10.000,-20.93,2235
$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,14,begin dive
$GC,15,-0.78,-146.5,185,2805,611,451,0.0,0.0,0,81,0.00,0.00,-63.85,0.000,16386,0.000,0.000,185,2805,2545,2588,2502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.78,-146.5,185,2805,2586,2501,3.2,-4.2,10,137,8.43,2.30,-34.10,0.000,18948,0.251,0.063,2320,1380,3891,3947,3836,0,0,0,0,0,0,25.96,26.22,26.52
$GC,229,-0.78,-146.5,1376,1378,3946,3834,18.9,-14.5,36,236,0.00,2.30,0.00,0.000,1030,0.000,0.054,2311,2796,3891,3947,3835,0,0,0,0,0,0,28.83,26.27,28.83
$GC,298,-0.78,-146.5,1360,2794,3945,3835,29.6,-15.4,49,305,0.00,1.70,0.00,0.000,260,0.000,0.067,2303,3846,3891,3947,3835,0,0,0,0,0,0,28.83,26.30,28.83
$GC,366,-0.78,-146.5,1360,3846,3945,3834,41.4,-17.5,62,373,0.00,1.67,0.00,0.000,1030,0.000,0.050,2304,2797,3891,3947,3836,0,0,0,0,0,0,28.83,26.38,28.83
$GC,497,-0.78,-146.5,2302,2797,3947,3835,61.9,-15.3,87,504,0.00,2.17,0.00,0.000,516,0.000,0.050,2303,1381,3891,3946,3836,0,0,0,0,0,0,28.83,26.42,28.83
$GC,616,-0.78,-146.5,2302,1382,3947,3835,80.7,-15.7,110,624,0.08,2.30,0.00,0.000,3078,0.168,0.057,2327,2802,3891,3947,3836,0,0,0,0,0,0,26.33,26.46,28.83
$GC,748,-0.78,-146.5,2327,2802,3947,3835,98.8,-13.9,135,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2802,3891,3947,3836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,880,-0.78,-146.5,2327,2802,3947,3836,116.3,-13.3,160,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2802,3891,3947,3836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1014,-0.78,-146.5,2327,2802,3947,3835,133.1,-12.4,185,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2802,3891,3947,3835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1142,-0.78,-146.5,2327,2802,3947,3836,149.5,-12.9,210,1150,0.00,1.67,0.00,0.000,260,0.000,0.067,2320,3846,3891,3947,3835,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1196,-0.78,-146.5,2320,3846,3947,3836,156.7,-12.8,220,1203,0.00,1.65,0.00,0.000,1030,0.000,0.051,2320,2799,3891,3947,3835,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1328,-0.78,-146.5,2320,2798,3947,3835,173.5,-11.6,245,1334,0.00,2.15,0.00,0.000,516,0.000,0.050,2320,1385,3891,3947,3835,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,1345,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1345,begin apogee
$GC,1350,-0.20,0.0,2312,2602,3947,3835,175.9,-13.1,248,1464,0.60,0.00,108.40,0.509,10246,0.142,0.000,2514,2602,3286,3363,3209,0,0,0,0,0,0,26.52,28.83,25.18
$STATE,1465,end apogee,CONTROL_FINISHED_OK
$STATE,1465,begin climb
$GC,1466,0.78,146.5,2514,2602,3356,3202,181.0,0.0,267,1580,0.90,2.45,106.05,0.492,10756,0.094,0.057,2839,1190,2683,2769,2597,0,0,0,0,0,0,25.58,25.17,24.77
$GC,1638,0.79,163.1,2839,1190,2762,2587,172.2,9.2,297,1658,0.00,2.33,12.23,0.469,9222,0.000,0.054,2840,2602,2621,2710,2532,0,0,0,0,0,0,28.83,25.53,25.06
$GC,1780,0.79,163.1,2839,2602,2704,2522,156.8,11.6,324,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2602,2613,2704,2522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1913,0.79,171.6,2839,2602,2703,2522,143.4,9.6,349,1919,0.00,0.00,1.67,0.176,8710,0.000,0.000,2840,2602,2590,2680,2500,0,0,0,0,0,0,28.83,28.83,25.92
$GC,2042,0.80,178.0,2839,2602,2702,2520,130.2,9.7,374,2061,0.00,0.00,11.75,0.467,8198,0.000,0.000,2840,2602,2555,2648,2463,0,0,0,0,0,0,28.83,28.83,25.65
$GC,2186,0.80,178.0,2839,2602,2646,2460,114.7,10.3,401,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2602,2552,2646,2459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2314,0.80,178.0,2839,2602,2646,2460,100.6,10.6,426,2322,0.00,2.30,0.00,0.000,516,0.000,0.057,2850,1192,2552,2645,2459,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2385,0.80,178.0,2850,1192,2646,2459,92.6,11.5,439,2392,0.00,2.25,0.00,0.000,1030,0.000,0.054,2850,2608,2552,2646,2459,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2514,0.80,178.0,2850,2607,2646,2459,78.5,10.2,464,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2607,2552,2645,2460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2647,0.80,178.0,2850,2608,2646,2459,63.6,12.5,489,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2608,2552,2645,2459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2775,0.80,178.0,2850,2607,2646,2459,48.3,12.0,514,2782,0.00,2.30,0.00,0.000,516,0.000,0.057,2860,1190,2552,2646,2459,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2945,0.80,186.7,1792,1189,2604,2453,30.2,9.6,547,2953,0.00,2.25,1.80,0.160,9222,0.000,0.054,2860,2591,2526,2619,2434,0,0,0,0,0,0,28.83,26.53,26.38
$GC,3015,0.82,223.1,1792,2588,2599,2445,24.1,8.3,560,3036,0.00,2.03,12.70,0.181,8452,0.000,0.067,2861,3839,2383,2475,2291,0,0,0,0,0,0,28.83,26.46,26.34
$GC,3073,0.82,223.1,1824,3839,2452,2301,18.3,11.0,570,3082,0.00,1.98,1.45,0.169,9222,0.000,0.054,2870,2606,2379,2473,2286,0,0,0,0,0,0,28.83,26.53,26.36
$GC,3143,0.82,223.1,1808,2604,2448,2296,10.5,11.6,583,3151,0.00,0.00,1.23,0.203,8198,0.000,0.000,2871,2606,2379,2474,2285,0,0,0,0,0,0,28.83,28.83,26.39
$GC,3213,0.86,336.9,1808,2603,2445,2293,5.1,4.8,596,3257,0.00,0.00,37.58,0.133,8198,0.000,0.000,2870,2606,1914,2013,1815,0,0,0,0,0,0,28.83,28.83,26.32
$GC,3319,0.93,500.3,1808,2603,1987,1818,2.3,2.5,615,3359,0.00,0.00,37.28,0.128,8706,0.000,0.000,2870,2606,1453,1555,1351,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3360,end climb,SURFACE_DEPTH_REACHED
$STATE,3360,begin surface coast
$FINISH,1.6,1.015817
$STATE,3561,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3561,begin surface
$SM_CCo,3574,33.40,0.129,0,0,1047,550.21
$SM_GC,1.86,6.93,0.35,33.40,0.055,0.073,0.129,195,2809,1047,-7.41,-0.62,550.21,0,0,0,0,0,0,26.45,26.47,26.28
$IRIDIUM_FIX,4726.11,-12225.08,130314,010121
$TT8_MAMPS,0.02996,0.02996
$HUMID,34.99
$INTERNAL_PRESSURE,8.89377
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.3,65.5
$24V_AH,24.8,2.074
$10V_AH,10.3,3.005
$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,16.925,38.125,332.125,33.400,0.000,51.671,77.347,240.798,1.750,0.000,6.858,1437.053,495.032,429.260,1728.420,50.521,33.229,1044.217,0.000,1321.049,0.000,13.474,0.000
$DEVICE_MAMPS,250.920,73.440,508.725,129.285,0.000,12.240,160.000,223.000,420.000,0.000,28.460,17.710,2.190,17.710,47.660,64.140,71.630,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,444.976,565.767,0.000,915.657,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,9.740,0.000,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321700
$DATA_FILE_SIZE,43687,661
$CAP_FILE_SIZE,73743,0
$CFSIZE,1024393216,1021968384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130314,021104,4743.912,-12224.831,32,1.0,32,16.3