version: 66.11
glider: 214
mission: 2
dive: 23
start: 3 13 114 13 41 20
data:
$ID,214
$MISSION,2
$DIVE,23
$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,-983.16174
$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,28
$R_STBD_OVSHOOT,21
$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
$GPS1,130314,133524,4742.435,-12225.247,3,1.1,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-63.7
$GPS2,130314,134023,4742.431,-12225.229,4,1.2,4,16.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.125,0.178
$KALMAN_X,-1399.6,-742.0,-507.0,2157.2,83.6
$KALMAN_Y,-6134.4,-1457.2,-707.9,7846.3,-141.0
$MHEAD_RNG_PITCHd_Wd,18.8,731,-22.2,-10.000,-24.67,1510
$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,-1.12,-98.8,194,2811,913,800,0.0,0.0,0,75,0.00,0.00,-58.20,0.000,16386,0.000,0.000,194,2811,2688,2725,2652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-1.22,-146.5,194,2811,2725,2653,3.2,-3.8,9,117,8.05,2.25,-25.15,0.000,18948,0.259,0.063,2191,1385,3887,3940,3834,0,0,0,0,0,0,25.94,26.17,26.45
$GC,529,-1.22,-146.5,2191,1385,3940,3834,103.0,-21.4,96,536,0.00,2.30,0.00,0.000,1030,0.000,0.055,2182,2805,3887,3940,3834,0,0,0,0,0,0,28.83,26.40,28.83
$GC,661,-1.22,-146.5,2182,2806,3940,3834,133.5,-23.4,121,667,0.00,1.62,0.00,0.000,260,0.000,0.068,2174,3846,3887,3940,3834,0,0,0,0,0,0,28.83,26.44,28.83
$GC,759,-1.22,-146.5,2174,3846,3940,3834,157.7,-24.3,139,766,0.00,1.60,0.00,0.000,1030,0.000,0.047,2174,2795,3886,3940,3833,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,857,begin apogee
$GC,861,-0.21,0.0,2174,2592,3940,3834,181.0,-23.8,158,974,1.08,0.00,106.10,0.519,10246,0.166,0.000,2514,2591,3282,3357,3207,0,0,0,0,0,0,26.39,28.83,25.13
$STATE,975,end apogee,CONTROL_FINISHED_OK
$STATE,975,begin climb
$GC,976,1.22,146.5,2514,2591,3354,3203,187.6,0.0,177,1089,1.30,0.00,106.15,0.503,10502,0.089,0.000,2974,2591,2685,2767,2603,0,0,0,0,0,0,25.51,28.83,24.71
$GC,1211,1.22,146.5,2974,2591,2757,2592,164.3,14.7,220,1219,0.00,2.33,0.00,0.000,516,0.000,0.058,2984,1195,2674,2757,2592,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1332,1.22,146.5,2984,1194,2757,2592,146.0,16.5,243,1339,0.00,2.30,0.00,0.000,1030,0.000,0.056,2985,2608,2675,2757,2593,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1462,1.22,146.5,2984,2608,2757,2592,125.7,14.0,268,1469,0.00,2.05,0.00,0.000,260,0.000,0.068,2984,3845,2674,2757,2592,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1556,1.22,146.5,2984,3845,2757,2592,109.0,19.1,286,1564,0.00,2.00,0.00,0.000,1030,0.000,0.052,2994,2608,2675,2757,2593,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1688,1.22,146.5,2994,2608,2757,2592,87.0,15.1,311,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2608,2674,2757,2592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1816,1.22,146.5,2994,2608,2757,2592,66.9,16.7,336,1823,0.00,2.05,0.00,0.000,260,0.000,0.069,2994,3842,2674,2757,2592,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1900,1.22,146.5,2994,3842,2756,2592,53.3,14.9,352,1907,0.00,2.00,0.00,0.000,1030,0.000,0.052,3004,2598,2675,2757,2593,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2031,1.22,146.5,1952,2595,2722,2586,36.0,11.6,377,2038,0.00,2.28,0.00,0.000,516,0.000,0.060,3014,1189,2675,2757,2593,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2310,1.32,199.4,1920,1188,2720,2586,5.0,6.4,432,2331,0.00,2.28,15.95,0.142,9222,0.000,0.054,3014,2601,2473,2560,2386,0,0,0,0,0,0,28.83,26.51,26.35
$GC,2394,1.64,357.1,1952,2598,2535,2391,6.3,-0.7,447,2453,0.25,2.08,52.00,0.144,10500,0.070,0.067,3127,3852,1834,1930,1738,0,0,0,0,0,0,26.54,26.31,26.23
$GC,3026,1.89,484.9,2048,3851,1910,1742,5.8,1.3,570,3078,0.12,2.00,42.35,0.145,11270,0.059,0.049,3204,2588,1311,1405,1218,0,0,0,0,0,0,26.57,26.57,26.33
$STATE,3109,end climb,SURFACE_DEPTH_REACHED
$STATE,3109,begin surface coast
$FINISH,0.9,1.016411
$STATE,3141,end surface coast,CONTROL_FINISHED_OK
$STATE,3141,begin surface
$SM_CCo,3155,38.65,0.142,0,0,844,600.00
$SM_GC,1.29,8.32,0.38,38.65,0.094,0.072,0.142,198,2808,844,-7.41,-0.65,600.00,0,0,0,0,0,0,26.45,26.46,26.25
$IRIDIUM_FIX,4722.92,-12204.73,130314,121257
$TT8_MAMPS,0.030709,0.030709
$HUMID,33.93
$INTERNAL_PRESSURE,8.87424
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,136.6,60.6
$24V_AH,24.7,2.814
$10V_AH,10.4,3.641
$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,19.125,29.800,322.550,38.650,0.000,23.686,37.179,169.912,2.250,0.000,5.880,1271.770,347.431,376.148,1473.891,41.115,33.194,907.712,0.000,1220.390,0.000,16.606,0.000
$DEVICE_MAMPS,259.335,71.910,518.670,142.290,0.000,12.240,160.000,223.000,420.000,0.000,28.460,17.710,2.190,17.710,47.660,64.140,71.630,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,398.155,564.818,0.000,913.771,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,9.740,0.000,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,321684
$DATA_FILE_SIZE,40291,590
$CAP_FILE_SIZE,56331,0
$CFSIZE,1024393216,1021132800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130314,143511,4742.709,-12225.024,3,0.9,3,16.3