version: 66.11
glider: 215
mission: 1
dive: 3
start: 3 4 114 22 6 33
data:
$ID,215
$MISSION,1
$DIVE,3
$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,1.0235
$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,-447.94891
$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,22
$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,37
$R_STBD_OVSHOOT,29
$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
$GPS1,040314,220138,4744.065,-12224.724,3,1.2,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-70.8
$GPS2,040314,220535,4744.072,-12224.712,4,1.1,4,16.3
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.036,-0.242
$KALMAN_X,-0.1,-0.9,-2.8,-21.9,1.2
$KALMAN_Y,543.7,530.0,493.7,-280.6,407.2
$MHEAD_RNG_PITCHd_Wd,172.3,337,-18.8,-10.000,-22.26,1964
$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,-1.01,-130.1,182,2504,1360,1331,0.0,0.0,0,56,0.00,0.00,-39.10,0.000,16386,0.000,0.000,182,2504,2505,2471,2540,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-1.03,-146.6,182,2504,2471,2540,3.3,-5.1,5,83,8.73,2.20,-6.22,0.000,18948,0.243,0.068,2455,1090,2799,2785,2813,0,0,0,0,0,0,26.52,26.74,27.08
$GC,91,-1.03,-146.6,2455,1090,2785,2813,11.4,-22.0,9,100,0.00,2.17,0.00,0.000,1030,0.000,0.049,2446,2504,2798,2785,2812,0,0,0,0,0,0,28.83,26.77,28.83
$GC,170,-1.03,-146.6,2446,2504,2786,2813,27.3,-20.6,22,178,0.00,2.03,0.00,0.000,260,0.000,0.060,2436,3805,2799,2786,2813,0,0,0,0,0,0,28.83,26.79,28.83
$GC,209,-1.03,-146.6,2435,3805,2786,2813,36.6,-23.8,28,218,0.00,1.98,0.00,0.000,1030,0.000,0.041,2436,2496,2799,2786,2813,0,0,0,0,0,0,28.83,26.86,28.83
$GC,289,-1.03,-146.6,2436,2495,2786,2813,53.1,-20.0,41,295,0.00,2.00,0.00,0.000,260,0.000,0.059,2426,3805,2799,2786,2813,0,0,0,0,0,0,28.83,26.82,28.83
$GC,348,-1.03,-146.6,2425,3805,2786,2813,66.2,-21.9,51,356,0.12,1.95,0.00,0.000,3078,0.194,0.040,2456,2489,2799,2786,2813,0,0,0,0,0,0,26.70,26.91,28.83
$GC,493,-1.03,-146.6,2456,2490,2786,2813,94.3,-19.5,76,505,0.00,2.10,0.00,0.000,516,0.000,0.054,2457,1110,2800,2787,2813,0,0,0,0,0,0,28.83,26.85,28.83
$GC,542,-1.03,-146.6,2456,1110,2786,2813,103.2,-18.7,83,548,0.00,2.10,0.00,0.000,1030,0.000,0.049,2447,2513,2799,2786,2813,0,0,0,0,0,0,28.83,26.90,28.83
$GC,691,-1.03,-146.6,2446,2513,2786,2813,131.9,-18.3,108,699,0.00,2.00,0.00,0.000,260,0.000,0.060,2437,3805,2799,2786,2813,0,0,0,0,0,0,28.83,26.91,28.83
$GC,770,-1.03,-146.6,2436,3805,2786,2813,147.9,-20.5,121,776,0.00,1.92,0.00,0.000,1030,0.000,0.041,2437,2502,2799,2786,2813,0,0,0,0,0,0,28.83,26.99,28.83
$STATE,783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,783,begin apogee
$GC,786,-0.23,0.0,2437,2502,2786,2813,151.2,-21.5,123,903,0.85,0.00,109.32,0.571,10246,0.152,0.000,2714,2501,2195,2202,2189,0,0,0,0,0,0,26.79,28.83,25.34
$STATE,904,end apogee,CONTROL_FINISHED_OK
$STATE,904,begin climb
$GC,906,1.03,146.6,2713,2502,2202,2186,159.0,0.0,141,1025,1.17,2.30,111.47,0.555,10756,0.099,0.057,3127,1113,1595,1616,1575,0,0,0,0,0,0,25.79,25.44,24.99
$GC,1130,1.11,209.1,3127,1112,1609,1566,148.9,6.7,177,1189,0.00,2.15,49.85,0.551,9222,0.000,0.048,3127,2500,1338,1361,1315,0,0,0,0,0,0,28.83,26.06,25.20
$GC,1325,1.11,209.1,3127,2500,1353,1302,125.4,13.6,210,1334,0.00,2.08,0.00,0.000,260,0.000,0.060,3127,3794,1327,1352,1302,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1385,1.11,209.1,3127,3795,1349,1301,115.7,17.3,220,1394,0.00,2.00,0.00,0.000,1030,0.000,0.042,3136,2510,1325,1351,1300,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1533,1.11,209.1,3136,2509,1351,1301,94.0,13.6,245,1539,0.00,2.17,0.00,0.000,516,0.000,0.060,3140,1094,1326,1351,1301,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1570,1.11,209.1,3139,1094,1351,1301,88.9,13.3,251,1576,0.00,2.15,0.00,0.000,1030,0.000,0.050,3140,2506,1325,1351,1300,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1713,1.11,209.1,3139,2506,1350,1300,68.5,14.3,276,1722,0.00,2.22,0.00,0.000,516,0.000,0.058,3140,1096,1325,1350,1300,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1906,1.11,209.1,3139,1096,1350,1300,43.6,12.8,309,1912,0.00,2.12,0.00,0.000,1030,0.000,0.051,3139,2500,1324,1349,1300,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2051,1.11,209.1,3139,2500,1350,1300,25.5,12.2,334,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2500,1324,1349,1300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2129,1.11,209.1,3139,2500,1350,1300,16.4,12.2,347,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2500,1324,1349,1300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2209,1.11,209.1,3139,2499,1349,1300,6.9,12.0,360,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2500,1324,1349,1300,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2246,end climb,SURFACE_DEPTH_REACHED
$STATE,2247,begin surface coast
$FINISH,0.4,1.022777
$STATE,2265,end surface coast,CONTROL_FINISHED_OK
$STATE,2265,begin surface
$SM_CCo,2338,0.00,0.000,0,0,1324,214.88
$SM_GC,2.28,7.47,0.00,0.00,0.040,0.000,0.000,175,2501,1324,-8.09,0.03,214.88,0,0,0,0,0,0,26.89,28.83,28.83
$IRIDIUM_FIX,4729.30,-12215.26,040314,222210
$TT8_MAMPS,0.030709,0.030709
$HUMID,41.33
$INTERNAL_PRESSURE,8.9129
$TCM_TEMP,9.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.8,61.0
$24V_AH,25.0,0.414
$10V_AH,10.2,0.322
$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,18.350,37.650,270.650,0.000,0.000,0.000,0.000,0.000,2.250,0.000,5.833,819.338,264.189,287.363,999.430,29.713,31.299,707.107,0.000,999.154,0.000,16.506,0.000
$DEVICE_MAMPS,243.270,68.085,570.690,0.000,0.000,0.000,0.000,0.000,420.000,0.000,29.960,26.200,2.190,26.200,53.160,75.630,77.880,12.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,246.051,299.558,487.913,747.803,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,10.490,44.190,45.690,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322312
$DATA_FILE_SIZE,30478,369
$CAP_FILE_SIZE,71647,0
$CFSIZE,1024393216,1022705664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040314,224605,4743.639,-12224.821,3,1.3,3,16.3