version: 66.11
glider: 214
mission: 2
dive: 10
start: 3 13 114 2 20 1
data:
$ID,214
$MISSION,2
$DIVE,10
$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,-958.04584
$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,24
$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
$GPS1,130314,021104,4743.912,-12224.831,32,1.0,32,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-64.6
$GPS2,130314,021904,4743.881,-12224.773,5,0.8,5,16.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.248,0.083
$KALMAN_X,-567.7,-301.3,160.9,784.5,156.2
$KALMAN_Y,-2260.8,-590.0,190.1,4891.2,96.1
$MHEAD_RNG_PITCHd_Wd,55.3,1692,-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,13,begin dive
$GC,14,-0.78,-146.5,194,2809,1124,995,0.0,0.0,0,80,0.00,0.00,-63.78,0.000,16386,0.000,0.000,194,2809,3064,3102,3027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.78,-146.5,194,2809,3102,3027,3.3,-4.8,10,117,8.55,2.25,-18.10,0.000,18948,0.259,0.061,2320,1380,3889,3944,3834,0,0,0,0,0,0,25.98,26.22,26.53
$GC,329,-0.78,-146.5,1360,1379,3942,3833,38.7,-14.3,57,336,0.00,2.30,0.00,0.000,1030,0.000,0.056,2311,2799,3889,3944,3834,0,0,0,0,0,0,28.83,26.36,28.83
$GC,398,-0.78,-146.5,2311,2798,3943,3834,50.3,-17.7,70,405,0.00,1.67,0.00,0.000,260,0.000,0.068,2302,3837,3889,3944,3834,0,0,0,0,0,0,28.83,26.36,28.83
$GC,478,-0.78,-146.5,2303,3837,3944,3834,64.8,-18.7,85,485,0.00,1.62,0.00,0.000,1030,0.000,0.051,2303,2787,3888,3943,3834,0,0,0,0,0,0,28.83,26.45,28.83
$GC,607,-0.78,-146.5,2303,2787,3944,3834,85.9,-16.6,110,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2787,3889,3944,3834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,741,-0.78,-146.5,2303,2787,3943,3834,105.9,-15.1,135,747,0.00,2.15,0.00,0.000,516,0.000,0.052,2303,1388,3889,3944,3834,0,0,0,0,0,0,28.83,26.51,28.83
$GC,785,-0.78,-146.5,2303,1387,3943,3834,112.4,-13.7,143,792,0.12,2.25,0.00,0.000,3078,0.187,0.059,2325,2804,3889,3944,3834,0,0,0,0,0,0,26.40,26.51,28.83
$GC,916,-0.78,-146.5,2324,2804,3944,3834,130.2,-13.5,168,923,0.00,1.67,0.00,0.000,260,0.000,0.070,2318,3844,3889,3944,3834,0,0,0,0,0,0,28.83,26.53,28.83
$GC,960,-0.78,-146.5,2318,3844,3943,3833,136.7,-15.4,176,967,0.00,1.67,0.00,0.000,1030,0.000,0.054,2318,2793,3889,3944,3834,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1091,-0.78,-146.5,2318,2793,3944,3833,154.7,-13.4,201,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2793,3889,3944,3834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1219,-0.78,-146.5,2318,2793,3944,3834,172.4,-13.6,226,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2793,3889,3944,3834,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1231,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1231,begin apogee
$GC,1235,-0.20,0.0,2318,2594,3944,3833,173.9,-13.6,228,1348,0.57,0.00,106.68,0.509,10246,0.137,0.000,2513,2594,3282,3359,3205,0,0,0,0,0,0,26.51,28.83,25.20
$STATE,1349,end apogee,CONTROL_FINISHED_OK
$STATE,1349,begin climb
$GC,1350,0.78,146.5,2513,2594,3356,3201,178.6,0.0,247,1464,0.90,2.40,106.25,0.495,10756,0.093,0.056,2841,1193,2684,2770,2598,0,0,0,0,0,0,25.59,25.16,24.76
$GC,1522,0.80,183.4,2841,1193,2762,2587,169.9,8.3,277,1560,0.00,2.33,27.67,0.480,9222,0.000,0.054,2840,2605,2531,2625,2437,0,0,0,0,0,0,28.83,25.52,24.94
$GC,1684,0.80,183.4,2841,2604,2618,2429,152.7,11.6,307,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2605,2524,2620,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1812,0.80,183.4,2840,2605,2618,2429,137.9,11.5,332,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2604,2523,2618,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1943,0.80,183.4,2841,2604,2618,2429,123.6,11.1,357,1949,0.00,2.28,0.00,0.000,516,0.000,0.058,2851,1196,2524,2619,2429,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1987,0.80,183.4,2851,1195,2619,2429,118.3,12.2,365,1993,0.00,2.25,0.00,0.000,1030,0.000,0.055,2851,2599,2524,2619,2429,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2116,0.80,183.4,2851,2599,2619,2429,102.6,11.8,390,2123,0.00,2.03,0.00,0.000,260,0.000,0.069,2852,3835,2523,2618,2429,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2146,0.80,183.4,2851,3835,2618,2429,98.8,13.0,395,2152,0.00,1.95,0.00,0.000,1030,0.000,0.056,2861,2606,2523,2618,2429,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2275,0.80,183.4,2861,2605,2618,2429,81.9,12.8,420,2282,0.00,2.30,0.00,0.000,516,0.000,0.063,2872,1193,2523,2618,2429,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2400,0.80,183.4,2872,1193,2618,2429,66.4,11.6,444,2407,0.08,2.28,0.00,0.000,5126,0.152,0.056,2837,2595,2523,2618,2429,0,0,0,0,0,0,26.30,26.39,28.83
$GC,2532,0.80,183.4,2837,2595,2618,2429,53.3,10.5,469,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2595,2523,2618,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2659,0.80,183.4,2837,2595,2618,2429,39.9,11.0,494,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2595,2523,2618,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2728,0.80,183.4,1792,2593,2579,2422,32.7,11.2,507,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2595,2523,2618,2428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2796,0.80,183.4,1792,2593,2579,2422,25.2,10.7,520,2804,0.00,2.03,0.00,0.000,260,0.000,0.070,2837,3842,2523,2618,2429,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2856,0.80,183.4,1792,3842,2579,2422,18.6,10.6,531,2863,0.00,2.00,0.00,0.000,1030,0.000,0.054,2847,2591,2523,2618,2429,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2925,0.81,219.6,1792,2588,2579,2422,12.4,8.3,544,2946,0.00,2.10,10.52,0.158,8452,0.000,0.070,2847,3844,2396,2490,2303,0,0,0,0,0,0,28.83,26.49,26.39
$GC,2969,0.84,285.6,1808,3843,2460,2306,9.5,7.0,551,2996,0.00,2.00,22.38,0.143,9222,0.000,0.058,2857,2605,2121,2222,2021,0,0,0,0,0,0,28.83,26.54,26.35
$GC,3058,0.89,401.6,1792,2602,2201,2025,3.5,4.7,567,3104,0.00,2.28,38.92,0.129,8708,0.000,0.063,2868,1188,1649,1753,1545,0,0,0,0,0,0,28.83,26.37,26.29
$STATE,3495,end climb,SURFACE_DEPTH_REACHED
$STATE,3495,begin surface coast
$FINISH,1.9,1.017009
$STATE,3571,end surface coast,CONTROL_FINISHED_OK
$STATE,3572,begin surface
$SM_CCo,3587,49.05,0.125,0,0,1045,550.21
$SM_GC,1.92,6.85,2.60,49.05,0.053,0.053,0.125,198,2804,1045,-7.40,-0.71,550.21,0,0,0,0,0,0,26.54,26.56,26.34
$IRIDIUM_FIX,4726.11,-12225.08,130314,020212
$TT8_MAMPS,0.030709,0.030709
$HUMID,34.72
$INTERNAL_PRESSURE,8.89377
$TCM_TEMP,14.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.2,73.0
$24V_AH,24.8,2.130
$10V_AH,10.3,3.065
$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,17.075,46.700,312.425,49.050,0.000,50.076,81.233,210.034,1.250,0.000,5.939,1453.072,481.066,428.666,1717.471,49.162,33.223,1039.926,0.000,1348.928,0.000,10.349,0.000
$DEVICE_MAMPS,258.570,70.380,508.725,125.460,0.000,12.240,160.000,223.000,420.000,0.000,28.460,17.710,2.190,17.710,47.660,64.140,71.630,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,449.768,595.272,0.000,962.981,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,9.740,0.000,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321752
$DATA_FILE_SIZE,43663,667
$CAP_FILE_SIZE,71462,0
$CFSIZE,1024393216,1021902848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130314,032115,4744.011,-12224.104,3,1.2,3,16.3