version: 66.11
glider: 215
mission: 1
dive: 6
start: 3 5 114 0 58 5
data:
$ID,215
$MISSION,1
$DIVE,6
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,210
$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,88
$T_MISSION,105
$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,240
$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,-451.71463
$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,2820
$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,45
$R_STBD_OVSHOOT,30
$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,15
$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
$GPS1,050314,005112,4743.420,-12224.996,3,0.9,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-68.4
$GPS2,050314,005704,4743.430,-12224.981,5,0.9,5,16.3
$SPEED_LIMITS,0.138,0.237
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.032,0.235
$KALMAN_X,-387.2,-32.7,25.3,35.1,-238.0
$KALMAN_Y,-1279.7,592.0,276.7,515.2,-1411.3
$MHEAD_RNG_PITCHd_Wd,351.5,899,-14.1,-7.955,-18.57,2750
$D_GRID,177
$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,14,begin dive
$GC,15,-0.82,-146.6,179,2498,1229,1218,0.0,0.0,0,56,0.00,0.00,-38.92,0.000,16386,0.000,0.000,179,2497,2363,2336,2390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.82,-146.6,179,2498,2336,2390,3.2,-5.8,5,84,9.23,2.22,-9.65,0.000,19204,0.246,0.070,2545,1096,2799,2795,2803,0,0,0,0,0,0,26.38,26.57,26.91
$GC,291,-0.82,-146.6,2544,1096,2795,2803,37.1,-12.8,44,299,0.00,2.17,0.00,0.000,1030,0.000,0.054,2536,2496,2799,2795,2803,0,0,0,0,0,0,28.83,26.73,28.83
$GC,370,-0.82,-146.6,2535,2496,2795,2803,48.8,-14.8,57,376,0.00,2.03,0.00,0.000,260,0.000,0.063,2525,3813,2799,2795,2803,0,0,0,0,0,0,28.83,26.74,28.83
$GC,635,-0.82,-146.6,2525,3813,2795,2803,90.2,-14.5,103,641,0.00,1.98,0.00,0.000,1030,0.000,0.047,2525,2504,2799,2795,2803,0,0,0,0,0,0,28.83,26.91,28.83
$GC,779,-0.82,-146.6,2525,2503,2795,2803,111.9,-17.2,128,788,0.10,0.00,0.00,0.000,2054,0.198,0.000,2550,2503,2799,2795,2803,0,0,0,0,0,0,26.80,28.83,28.83
$GC,926,-0.82,-146.6,2550,2503,2795,2803,129.9,-10.9,153,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2503,2799,2795,2803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1074,-0.82,-146.6,2550,2503,2795,2803,147.6,-13.6,178,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2503,2799,2795,2803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1221,-0.82,-146.6,2550,2503,2795,2803,166.8,-13.5,203,1228,0.00,2.00,0.00,0.000,260,0.000,0.060,2541,3813,2799,2795,2803,0,0,0,0,0,0,28.83,26.96,28.83
$GC,1262,-0.82,-146.6,2540,3813,2795,2803,172.6,-13.4,210,1271,0.00,1.98,0.00,0.000,1030,0.000,0.044,2541,2504,2799,2795,2803,0,0,0,0,0,0,28.83,27.03,28.83
$STATE,1298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1298,begin apogee
$GC,1301,-0.23,0.0,2541,2504,2795,2803,177.5,-12.2,216,1431,0.60,0.00,117.78,0.868,10246,0.136,0.000,2745,2504,2206,2221,2192,0,0,0,0,1,0,26.88,28.83,24.55
$STATE,1432,end apogee,CONTROL_FINISHED_OK
$STATE,1432,begin climb
$GC,1433,0.82,146.6,2745,2504,2225,2191,183.0,0.0,236,1558,1.00,0.00,118.43,0.570,10758,0.094,0.000,3083,2504,1594,1618,1571,0,0,0,0,0,0,25.34,28.83,24.89
$GC,1697,0.82,146.6,3083,2503,1610,1558,167.9,8.3,279,1704,0.00,2.20,0.00,0.000,516,0.000,0.057,3094,1096,1583,1609,1558,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1871,0.82,146.6,3094,1096,1608,1558,152.6,9.4,309,1877,0.00,2.17,0.00,0.000,1030,0.000,0.050,3094,2515,1583,1608,1558,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2014,0.82,146.6,3093,2516,1607,1558,137.5,10.5,334,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2516,1582,1607,1558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2161,0.82,146.6,3094,2516,1607,1558,122.3,10.2,359,2168,0.00,2.17,0.00,0.000,516,0.000,0.058,3104,1099,1582,1607,1558,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2267,0.82,146.6,3104,1099,1607,1558,112.9,8.9,377,2273,0.00,2.12,0.00,0.000,1030,0.000,0.050,3104,2504,1582,1607,1558,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2410,0.82,146.6,3104,2504,1607,1559,99.3,10.3,402,2419,0.00,2.05,0.00,0.000,260,0.000,0.062,3104,3809,1582,1607,1558,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2523,0.82,146.6,3104,3809,1606,1558,87.2,11.4,421,2530,0.00,1.98,0.00,0.000,1030,0.000,0.042,3114,2493,1582,1606,1558,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2666,0.82,146.6,3114,2493,1606,1558,74.5,8.3,446,2674,0.00,2.15,0.00,0.000,516,0.000,0.060,3124,1105,1582,1606,1558,0,0,0,0,0,0,28.83,26.81,28.83
$GC,2801,0.82,146.6,3124,1104,1606,1558,63.7,8.9,469,2809,0.15,2.10,0.00,0.000,5126,0.158,0.050,3082,2506,1582,1607,1558,0,0,0,0,0,0,26.77,26.88,28.83
$GC,2946,0.89,202.9,3082,2506,1607,1558,54.6,5.9,494,2999,0.00,2.08,44.25,0.509,8452,0.000,0.060,3082,3803,1360,1383,1338,0,0,0,0,0,0,28.83,26.41,26.02
$GC,3041,0.89,202.9,3081,3803,1377,1329,46.4,10.6,509,3048,0.00,1.98,0.00,0.000,1030,0.000,0.041,3092,2495,1352,1377,1327,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3187,0.89,202.9,3091,2494,1376,1326,32.7,10.5,534,3195,0.00,2.17,0.00,0.000,516,0.000,0.060,3101,1101,1351,1376,1326,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3265,0.89,202.9,3101,1101,1375,1326,24.5,10.2,547,3274,0.00,2.15,0.00,0.000,1030,0.000,0.051,3102,2494,1350,1375,1326,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3344,0.89,202.9,3101,2494,1374,1326,17.1,8.9,560,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2494,1350,1374,1326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3423,0.89,202.9,3101,2494,1373,1326,10.2,8.3,573,3431,0.00,2.17,0.00,0.000,516,0.000,0.061,3111,1113,1350,1374,1326,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,3523,end climb,SURFACE_DEPTH_REACHED
$STATE,3523,begin surface coast
$FINISH,0.5,1.015273
$STATE,3548,end surface coast,CONTROL_FINISHED_OK
$STATE,3548,begin surface
$SM_CCo,3564,11.07,0.129,0,0,1218,240.15
$SM_GC,3.01,7.53,2.17,11.07,0.048,0.050,0.129,179,2514,1218,-8.17,-0.62,240.15,0,0,0,0,0,0,26.82,26.81,26.67
$IRIDIUM_FIX,4726.11,-12225.08,050314,000004
$TT8_MAMPS,0.02996,0.02996
$HUMID,40.70
$INTERNAL_PRESSURE,8.9129
$TCM_TEMP,9.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.1,61.9
$24V_AH,24.5,0.611
$10V_AH,10.3,0.543
$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,18.600,42.050,280.450,11.075,0.000,27.072,40.533,212.906,2.750,0.000,5.972,1331.819,366.620,322.593,1876.618,48.082,33.230,896.145,0.000,1582.908,0.000,19.634,0.000
$DEVICE_MAMPS,245.565,70.380,868.275,129.285,0.000,11.480,160.000,223.000,420.000,0.000,29.960,26.200,2.190,26.200,53.160,75.630,77.880,12.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,400.209,472.001,767.446,1175.822,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,10.490,44.190,45.690,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322224
$DATA_FILE_SIZE,47271,594
$CAP_FILE_SIZE,63192,0
$CFSIZE,1024393216,1022509056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,050314,015817,4743.480,-12225.058,3,1.0,3,16.3