version: 66.11
glider: 214
mission: 2
dive: 14
start: 3 13 114 6 27 44
data:
$ID,214
$MISSION,2
$DIVE,14
$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,600
$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,-963.16113
$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,23
$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,0.0020000001
$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
$GPS1,130314,062103,4743.556,-12224.373,23,1.1,23,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-69.6
$GPS2,130314,062648,4743.500,-12224.388,5,1.1,5,16.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.163,-0.205
$KALMAN_X,-217.8,135.9,-74.9,708.3,288.9
$KALMAN_Y,-3222.8,232.3,-103.2,4622.2,-128.9
$MHEAD_RNG_PITCHd_Wd,202.2,1569,-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,-146.5,194,2807,1121,998,0.0,0.0,0,81,0.00,0.00,-63.72,0.000,16386,0.000,0.000,194,2807,3055,3094,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.05,-146.5,194,2807,3094,3017,3.5,-5.7,10,118,8.18,1.67,-18.75,0.000,19204,0.255,0.081,2239,3848,3892,3947,3837,0,0,0,0,0,0,26.01,26.20,26.53
$GC,422,-1.05,-146.5,2239,3848,3946,3837,68.2,-22.4,75,429,0.00,1.62,0.00,0.000,1030,0.000,0.050,2239,2793,3891,3946,3836,0,0,0,0,0,0,28.83,26.44,28.83
$GC,551,-1.05,-146.5,2239,2793,3946,3836,95.1,-20.7,100,559,0.00,2.20,0.00,0.000,516,0.000,0.050,2239,1390,3891,3946,3836,0,0,0,0,0,0,28.83,26.47,28.83
$GC,582,-1.05,-146.5,2239,1389,3946,3836,100.9,-20.5,105,589,0.00,2.25,0.00,0.000,1030,0.000,0.056,2230,2809,3891,3946,3836,0,0,0,0,0,0,28.83,26.46,28.83
$GC,717,-1.05,-146.5,2229,2809,3946,3837,129.2,-20.2,130,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2810,3891,3947,3836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,848,-1.05,-146.5,2229,2809,3947,3836,154.9,-19.7,155,854,0.00,1.60,0.00,0.000,260,0.000,0.065,2221,3844,3891,3946,3836,0,0,0,0,0,0,28.83,26.51,28.83
$GC,861,-1.05,-146.5,2222,3844,3946,3836,157.6,-19.1,157,868,0.12,1.60,0.00,0.000,3078,0.183,0.051,2252,2801,3891,3946,3836,0,0,0,0,0,0,26.41,26.56,28.83
$STATE,945,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,945,begin apogee
$GC,949,-0.21,0.0,2253,2587,3946,3836,173.3,-17.8,173,1068,0.80,0.00,109.22,1.027,10246,0.148,0.000,2517,2587,3293,3370,3216,0,0,0,0,1,0,26.44,28.83,24.10
$STATE,1069,end apogee,CONTROL_FINISHED_OK
$STATE,1069,begin climb
$GC,1070,1.05,146.5,2517,2587,3374,3222,178.7,0.0,193,1195,1.17,2.20,112.90,0.500,11012,0.088,0.065,2922,3836,2681,2763,2600,0,0,0,0,0,0,24.85,24.98,24.62
$GC,1263,1.05,146.5,2922,3836,2762,2598,165.3,15.4,227,1270,0.00,2.03,0.00,0.000,1030,0.000,0.053,2932,2595,2680,2761,2599,0,0,0,0,0,0,28.83,25.50,28.83
$GC,1393,1.05,146.5,2932,2594,2762,2598,146.5,14.8,252,1401,0.00,2.33,0.00,0.000,516,0.000,0.059,2942,1188,2679,2761,2598,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1454,1.05,146.5,2942,1187,2762,2598,137.8,14.2,263,1460,0.00,2.30,0.00,0.000,1030,0.000,0.057,2942,2598,2679,2761,2598,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1583,1.05,146.5,2942,2598,2762,2598,119.1,13.6,288,1591,0.00,2.05,0.00,0.000,260,0.000,0.068,2942,3840,2679,2761,2598,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1624,1.05,146.5,2942,3840,2761,2598,112.8,16.8,295,1630,0.00,1.98,0.00,0.000,1030,0.000,0.055,2952,2600,2679,2761,2598,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1753,1.05,146.5,2952,2600,2761,2598,93.2,15.8,320,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2600,2679,2761,2598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1885,1.05,146.5,2952,2600,2761,2598,74.3,14.7,345,1891,0.00,2.22,0.00,0.000,516,0.000,0.059,2962,1194,2679,2761,2598,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1919,1.05,146.5,2962,1194,2761,2598,69.1,14.6,351,1926,0.12,2.25,0.00,0.000,5126,0.183,0.056,2932,2602,2679,2761,2598,0,0,0,0,0,0,26.20,26.32,28.83
$GC,2049,1.05,146.5,2932,2602,2761,2598,51.7,12.9,376,2056,0.00,2.30,0.00,0.000,516,0.000,0.060,2943,1196,2679,2761,2598,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2130,1.05,146.5,2942,1196,2761,2598,41.4,10.6,391,2136,0.00,2.25,0.00,0.000,1030,0.000,0.056,2943,2609,2679,2761,2598,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2258,1.05,146.5,1856,2606,2724,2592,26.6,11.8,416,2266,0.00,2.33,0.00,0.000,516,0.000,0.061,2953,1187,2679,2761,2598,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2403,1.15,199.2,1864,1187,2724,2592,11.1,7.6,444,2424,0.00,2.28,15.90,0.148,9222,0.000,0.057,2953,2593,2475,2562,2389,0,0,0,0,0,0,28.83,26.50,26.34
$GC,2486,1.23,237.2,1888,2590,2534,2389,4.6,8.3,459,2507,0.00,2.03,12.88,0.136,8452,0.000,0.068,2953,3849,2321,2411,2231,0,0,0,0,0,0,28.83,26.41,26.36
$GC,2559,1.72,482.6,1896,3849,2378,2232,3.3,-1.2,472,2625,0.45,2.00,59.72,0.126,11266,0.049,0.057,3157,2608,1580,1675,1486,0,0,0,0,0,0,26.48,26.48,28.83
$STATE,2626,end climb,SURFACE_DEPTH_REACHED
$STATE,2626,begin surface coast
$FINISH,1.5,1.018539
$STATE,2658,end surface coast,CONTROL_FINISHED_OK
$STATE,2658,begin surface
$SM_CCo,2673,59.85,0.129,0,0,842,600.00
$SM_GC,1.74,8.25,0.35,59.85,0.096,0.075,0.129,200,2809,842,-7.41,-0.57,600.00,0,0,0,0,0,0,26.33,26.34,26.12
$IRIDIUM_FIX,4729.30,-12219.67,130314,050504
$TT8_MAMPS,0.030709,0.030709
$HUMID,34.40
$INTERNAL_PRESSURE,8.87424
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,121.0,67.1
$24V_AH,24.1,2.359
$10V_AH,10.4,3.261
$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,19.100,42.150,310.625,59.850,0.000,24.183,38.460,210.225,1.500,0.000,6.839,1053.161,308.208,415.610,1270.159,45.250,33.248,896.052,0.000,982.756,0.000,11.906,0.000
$DEVICE_MAMPS,254.745,81.090,1026.630,129.285,0.000,12.240,160.000,223.000,420.000,0.000,28.460,17.710,2.190,17.710,47.660,64.140,71.630,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,326.867,419.760,0.000,679.710,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,9.740,0.000,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321768
$DATA_FILE_SIZE,33772,488
$CAP_FILE_SIZE,57659,0
$CFSIZE,1024393216,1021657088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,130314,071406,4743.105,-12224.776,15,1.0,15,16.3