version: 66.11
glider: 215
mission: 1
dive: 2
start: 3 4 114 20 44 56
data:
$ID,215
$MISSION,1
$DIVE,2
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,50
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,60
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,-1
$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,1.023
$MASS,53499
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$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,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$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,-416.04645
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,198
$PITCH_MAX,3925
$C_PITCH,2795
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,260
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2200
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.493416
$PRESSURE_SLOPE,0.0001163634
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$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,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,131
$DEVICE4,150
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044005844
$SEABIRD_T_H,0.00063442322
$SEABIRD_T_I,2.5163401e-05
$SEABIRD_T_J,3.0001177e-06
$SEABIRD_C_G,-9.7719641
$SEABIRD_C_H,1.1567575
$SEABIRD_C_I,-0.00080766954
$SEABIRD_C_J,0.00014343993
$GPS1,040314,203933,4743.994,-12224.745,3,2.0,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-61.0
$GPS2,040314,204359,4744.067,-12224.752,5,2.0,5,16.3
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.005,-0.258
$KALMAN_X,-10.3,-10.3,-10.3,-42.1,-28.8
$KALMAN_Y,256.0,256.0,256.0,485.7,713.0
$MHEAD_RNG_PITCHd_Wd,162.5,316,-17.6,-10.000,-21.21,2209
$D_GRID,175
$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,15,-1.06,-146.6,186,2509,493,494,0.0,0.0,0,86,0.00,0.00,-68.93,0.000,16386,0.000,0.000,185,2509,2417,2387,2448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-1.06,-146.6,186,2510,2387,2448,3.0,-6.4,9,113,8.70,2.00,-8.52,0.000,18692,0.243,0.073,2432,3792,2796,2795,2798,0,0,0,0,0,0,26.42,26.67,27.04
$GC,149,-1.06,-146.6,2432,3792,2795,2799,16.1,-22.8,18,158,0.00,1.98,0.00,0.000,1030,0.000,0.041,2432,2487,2797,2796,2799,0,0,0,0,0,0,28.83,26.78,28.83
$GC,229,-1.06,-146.6,2432,2487,2796,2799,33.3,-22.2,31,237,0.00,2.10,0.00,0.000,516,0.000,0.053,2432,1110,2797,2796,2799,0,0,0,0,0,0,28.83,26.72,28.83
$GC,290,-1.06,-146.6,2432,1110,2796,2799,46.9,-20.1,41,298,0.12,2.08,0.00,0.000,3078,0.200,0.048,2453,2493,2797,2796,2799,0,0,0,0,0,0,26.59,26.78,28.83
$GC,434,-1.06,-146.6,2452,2493,2796,2799,74.7,-19.7,66,443,0.00,2.03,0.00,0.000,260,0.000,0.057,2443,3802,2797,2796,2799,0,0,0,0,0,0,28.83,26.80,28.83
$GC,525,-1.06,-146.6,2443,3802,2796,2799,93.3,-21.4,81,532,0.00,1.92,0.00,0.000,1030,0.000,0.041,2443,2500,2797,2796,2799,0,0,0,0,0,0,28.83,26.91,28.83
$GC,673,-1.06,-146.6,1512,2497,2763,2793,123.0,-17.9,106,681,0.00,2.12,0.00,0.000,516,0.000,0.054,2443,1102,2797,2796,2799,0,0,0,0,0,0,28.83,26.84,28.83
$GC,709,-1.06,-146.6,2443,1102,2796,2799,129.3,-16.5,112,721,0.00,2.12,0.00,0.000,1030,0.000,0.049,2434,2493,2797,2795,2799,0,0,0,0,0,0,28.83,26.89,28.83
$STATE,813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,813,begin apogee
$GC,816,-0.25,0.0,2433,2493,2796,2799,150.3,-21.5,129,946,0.85,0.00,118.53,0.948,10246,0.153,0.000,2709,2492,2203,2212,2194,0,0,0,0,1,0,26.71,28.83,24.49
$STATE,947,end apogee,CONTROL_FINISHED_OK
$STATE,947,begin climb
$GC,948,1.06,146.6,2709,2492,2215,2194,159.2,0.0,149,1072,1.25,2.25,114.88,0.578,10756,0.100,0.058,3131,1114,1595,1612,1579,0,0,0,0,0,0,25.30,25.38,24.94
$GC,1172,1.09,172.4,3131,1114,1609,1572,146.3,8.8,185,1200,0.00,2.15,20.38,0.586,9222,0.000,0.049,3131,2500,1491,1511,1472,0,0,0,0,0,0,28.83,26.05,25.39
$GC,1339,1.09,172.4,3131,2500,1508,1464,127.0,11.5,213,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2500,1486,1508,1464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1482,1.09,172.4,3130,2500,1506,1464,109.3,11.1,238,1490,0.00,2.20,0.00,0.000,516,0.000,0.058,3140,1116,1485,1507,1464,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1674,1.09,172.4,3139,1115,1506,1464,88.9,10.4,271,1681,0.00,2.10,0.00,0.000,1030,0.000,0.050,3140,2503,1485,1506,1464,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1818,1.10,176.2,3139,2503,1505,1464,73.7,9.8,296,1826,0.00,2.03,0.00,0.000,260,0.000,0.061,3140,3801,1484,1505,1463,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1908,1.10,176.2,3139,3801,1505,1463,63.0,11.8,311,1915,0.00,1.95,0.00,0.000,1030,0.000,0.044,3139,2509,1484,1505,1463,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2052,1.10,176.2,3140,2509,1505,1463,47.4,10.5,336,2060,0.00,2.17,0.00,0.000,516,0.000,0.061,3140,1100,1484,1505,1463,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2319,1.13,207.0,3139,1100,1505,1463,21.3,8.6,382,2336,0.00,2.15,11.85,0.172,9222,0.000,0.052,3140,2498,1351,1370,1333,0,0,0,0,0,0,28.83,26.89,26.67
$GC,2407,1.14,209.1,3139,2498,1375,1333,12.6,9.9,396,2415,0.00,2.17,0.00,0.000,516,0.000,0.060,3140,1101,1354,1375,1333,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2480,1.14,209.1,3139,1100,1375,1332,4.8,10.5,408,2488,0.00,2.15,0.00,0.000,1030,0.000,0.050,3140,2502,1354,1375,1333,0,0,0,0,0,0,28.83,26.89,28.83
$STATE,2508,end climb,SURFACE_DEPTH_REACHED
$STATE,2508,begin surface coast
$FINISH,0.5,1.001028
$STATE,2527,end surface coast,CONTROL_FINISHED_OK
$STATE,2527,begin surface
$SM_CCo,2600,0.00,0.000,0,0,1353,207.77
$SM_GC,2.28,7.38,0.00,0.00,0.034,0.000,0.000,182,2505,1353,-8.08,0.14,207.77,0,0,0,0,0,0,26.92,28.83,28.83
$IRIDIUM_FIX,4726.11,-12225.08,040314,202001
$TT8_MAMPS,0.030709,0.030709
$HUMID,41.21
$INTERNAL_PRESSURE,8.93243
$TCM_TEMP,9.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.3,61.0
$24V_AH,24.5,0.328
$10V_AH,10.2,0.254
$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,18.300,37.675,265.625,0.000,0.000,0.000,0.000,0.000,2.750,0.000,6.830,917.852,291.380,290.708,1132.079,31.297,30.073,746.040,0.000,1129.079,0.000,20.896,0.000
$DEVICE_MAMPS,243.270,72.675,947.835,0.000,0.000,0.000,0.000,0.000,420.000,0.000,29.960,26.200,2.190,26.200,53.160,75.630,77.880,12.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,277.660,341.884,556.699,853.195,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,10.490,44.190,45.690,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322348
$DATA_FILE_SIZE,33824,415
$CAP_FILE_SIZE,72381,0
$CFSIZE,1024393216,1022754816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,040314,212923,4743.942,-12224.785,34,1.3,34,16.3