version: 66.11
glider: 214
mission: 2
dive: 12
start: 3 13 114 4 33 32
data:
$ID,214
$MISSION,2
$DIVE,12
$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,235
$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,-960.64917
$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,2590
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$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,32
$R_STBD_OVSHOOT,23
$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,0.0020000001
$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
$GPS1,130314,042634,4744.100,-12223.622,3,1.1,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-66.7
$GPS2,130314,043236,4744.097,-12223.643,5,1.4,5,16.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,HEADING
$TGT_LATLONG,4737.903,-12236.770
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.222,-0.138
$KALMAN_X,-992.1,-26.1,169.7,2335.9,-95.1
$KALMAN_Y,-2945.3,-132.1,191.6,5522.7,-130.9
$MHEAD_RNG_PITCHd_Wd,221.9,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.05,-146.5,197,2800,1127,992,0.0,0.0,0,63,0.00,0.00,-45.08,0.000,16386,0.000,0.000,196,2800,2522,2557,2487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-1.05,-146.5,196,2799,2557,2487,3.2,-4.2,7,118,8.45,1.67,-36.30,0.000,19204,0.268,0.082,2234,3846,3888,3940,3836,0,0,0,0,0,0,25.96,26.20,26.54
$GC,437,-1.05,-146.5,2235,3845,3940,3836,72.3,-21.1,78,444,0.00,1.65,0.00,0.000,1030,0.000,0.049,2235,2803,3888,3941,3836,0,0,0,0,0,0,28.83,26.43,28.83
$GC,568,-1.05,-146.5,2235,2803,3940,3836,99.7,-19.7,103,579,0.00,2.17,0.00,0.000,516,0.000,0.050,2235,1385,3887,3940,3835,0,0,0,0,0,0,28.83,26.48,28.83
$GC,611,-1.05,-146.5,2234,1385,3940,3835,108.1,-19.6,110,618,0.00,2.28,0.00,0.000,1030,0.000,0.057,2225,2794,3887,3940,3835,0,0,0,0,0,0,28.83,26.47,28.83
$GC,742,-1.05,-146.5,2225,2794,3940,3835,134.5,-20.5,135,748,0.00,1.65,0.00,0.000,260,0.000,0.067,2217,3852,3887,3940,3835,0,0,0,0,0,0,28.83,26.49,28.83
$GC,779,-1.05,-146.5,2216,3853,3940,3836,142.5,-21.4,142,787,0.10,1.67,0.00,0.000,3078,0.171,0.050,2248,2793,3887,3939,3835,0,0,0,0,0,0,26.39,26.55,28.83
$STATE,880,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,880,begin apogee
$GC,884,-0.21,0.0,2248,2595,3940,3835,161.0,-18.2,161,996,0.80,0.00,106.00,0.504,10246,0.149,0.000,2513,2594,3283,3360,3207,0,0,0,0,0,0,26.42,28.83,25.17
$STATE,997,end apogee,CONTROL_FINISHED_OK
$STATE,997,begin climb
$GC,998,1.05,146.5,2513,2595,3357,3202,166.8,0.0,180,1113,1.15,2.20,105.82,0.487,11012,0.091,0.065,2921,3844,2681,2763,2600,0,0,0,0,0,0,25.57,25.14,24.76
$GC,1167,1.05,146.5,2922,3844,2756,2594,154.4,14.1,209,1174,0.00,2.03,0.00,0.000,1030,0.000,0.053,2931,2600,2675,2757,2593,0,0,0,0,0,0,28.83,25.52,28.83
$GC,1297,1.05,146.5,2931,2600,2756,2593,134.9,14.6,234,1304,0.00,2.33,0.00,0.000,516,0.000,0.060,2941,1196,2674,2756,2593,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1387,1.05,146.5,2941,1196,2756,2593,121.9,14.1,251,1394,0.00,2.28,0.00,0.000,1030,0.000,0.056,2942,2600,2674,2756,2593,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1516,1.05,146.5,2941,2599,2756,2593,103.1,15.1,276,1524,0.00,2.05,0.00,0.000,260,0.000,0.068,2942,3842,2674,2755,2593,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1566,1.05,146.5,2941,3842,2755,2593,95.1,16.6,285,1573,0.00,1.98,0.00,0.000,1030,0.000,0.055,2951,2601,2674,2755,2593,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1696,1.05,146.5,2951,2601,2755,2593,76.8,13.3,310,1703,0.00,2.30,0.00,0.000,516,0.000,0.061,2962,1189,2673,2755,2592,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1736,1.05,146.5,2962,1189,2755,2593,71.2,13.7,317,1743,0.12,2.28,0.00,0.000,5126,0.184,0.057,2932,2609,2674,2755,2593,0,0,0,0,0,0,26.16,26.28,28.83
$GC,1866,1.05,146.5,2932,2609,2755,2593,54.0,13.3,342,1873,0.00,2.03,0.00,0.000,260,0.000,0.069,2932,3845,2673,2754,2593,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1916,1.05,146.5,2932,3845,2754,2593,47.2,13.5,351,1923,0.00,1.98,0.00,0.000,1030,0.000,0.057,2942,2595,2673,2754,2593,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2045,1.05,146.5,1872,2593,2718,2587,31.4,10.6,376,2053,0.00,2.28,0.00,0.000,516,0.000,0.061,2952,1189,2673,2754,2593,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2215,1.14,193.9,1856,1188,2717,2586,14.5,7.8,409,2235,0.00,2.28,14.00,0.153,9222,0.000,0.057,2952,2591,2497,2583,2411,0,0,0,0,0,0,28.83,26.48,26.32
$GC,2297,1.18,210.3,1888,2589,2562,2416,6.3,9.2,424,2312,0.00,2.05,6.40,0.148,8452,0.000,0.067,2952,3849,2430,2519,2342,0,0,0,0,0,0,28.83,26.41,26.34
$GC,2319,1.26,251.8,2952,3849,2522,2346,4.6,8.1,427,2339,0.00,2.03,13.52,0.133,9222,0.000,0.057,2962,2598,2259,2351,2168,0,0,0,0,0,0,28.83,26.46,26.32
$GC,2401,1.65,447.6,1888,2595,2324,2168,4.0,1.0,442,2473,0.40,2.10,64.60,0.126,10500,0.062,0.067,3129,3846,1461,1562,1361,0,0,0,0,0,0,26.46,26.27,26.20
$STATE,2564,end climb,SURFACE_DEPTH_REACHED
$STATE,2564,begin surface coast
$FINISH,0.9,1.016096
$STATE,2630,end surface coast,CONTROL_FINISHED_OK
$STATE,2630,begin surface
$SM_CCo,2646,34.53,0.126,0,0,1044,550.21
$SM_GC,1.53,8.18,1.70,34.53,0.095,0.055,0.126,196,2800,1044,-7.43,0.93,550.21,0,0,0,0,0,0,26.36,26.41,26.20
$IRIDIUM_FIX,4729.30,-12219.67,130314,030327
$TT8_MAMPS,0.030709,0.030709
$HUMID,34.44
$INTERNAL_PRESSURE,8.89377
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.8,74.6
$24V_AH,24.8,2.233
$10V_AH,10.4,3.165
$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,19.200,45.250,310.350,34.525,0.000,24.579,38.803,224.826,0.500,0.000,5.863,1045.660,295.185,385.353,1283.611,45.108,33.222,864.863,0.000,984.010,0.000,5.623,0.000
$DEVICE_MAMPS,267.750,81.855,504.135,126.225,0.000,12.240,160.000,223.000,420.000,0.000,28.460,17.710,2.190,17.710,47.660,64.140,71.630,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,324.415,432.935,0.000,701.264,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,9.740,0.000,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321820
$DATA_FILE_SIZE,33669,484
$CAP_FILE_SIZE,57083,0
$CFSIZE,1024393216,1021788160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130314,051850,4743.904,-12223.963,4,1.1,4,16.3