version: 66.11
glider: 215
mission: 1
dive: 8
start: 3 5 114 3 8 50
data:
$ID,215
$MISSION,1
$DIVE,8
$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,-454.22269
$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,38
$R_STBD_OVSHOOT,28
$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
$GPS1,050314,030203,4743.504,-12224.894,21,2.0,21,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-67.2
$GPS2,050314,030749,4743.379,-12224.774,9,1.6,9,16.3
$SPEED_LIMITS,0.138,0.237
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.237
$KALMAN_X,-197.4,-171.3,-64.2,324.9,-1.3
$KALMAN_Y,-2249.6,358.5,-714.7,2609.5,-1071.3
$MHEAD_RNG_PITCHd_Wd,343.8,965,-14.1,-7.955,-18.57,2750
$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,-0.82,-146.6,185,2498,900,872,0.0,0.0,0,71,0.00,0.00,-54.05,0.000,16386,0.000,0.000,185,2498,2477,2440,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.82,-146.6,185,2498,2440,2514,3.5,-7.1,7,98,9.18,2.17,-6.70,0.000,18948,0.244,0.066,2549,1102,2800,2792,2808,0,0,0,0,0,0,26.38,26.57,26.88
$GC,191,-0.82,-146.6,2548,1102,2792,2808,22.2,-12.5,26,200,0.00,2.17,0.00,0.000,1030,0.000,0.051,2539,2502,2800,2793,2808,0,0,0,0,0,0,28.83,26.67,28.83
$GC,271,-0.82,-146.6,2538,2502,2793,2808,32.8,-15.8,39,278,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2502,2800,2793,2808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,346,-0.82,-146.6,2539,2502,2793,2808,43.9,-13.3,52,354,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2502,2800,2793,2808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,494,-0.82,-146.6,2539,2502,2793,2808,65.2,-15.6,77,500,0.00,2.00,0.00,0.000,260,0.000,0.061,2529,3813,2800,2793,2808,0,0,0,0,0,0,28.83,26.79,28.83
$GC,636,-0.82,-146.6,2529,3813,2793,2808,86.9,-15.7,102,645,0.00,2.00,0.00,0.000,1030,0.000,0.043,2529,2490,2800,2793,2808,0,0,0,0,0,0,28.83,26.90,28.83
$GC,785,-0.82,-146.6,2529,2490,2793,2808,108.8,-14.6,127,791,0.00,2.03,0.00,0.000,260,0.000,0.060,2519,3811,2800,2793,2807,0,0,0,0,0,0,28.83,26.88,28.83
$GC,834,-0.82,-146.6,2519,3811,2792,2808,116.7,-15.7,135,842,0.12,1.95,0.00,0.000,3078,0.176,0.042,2551,2497,2800,2793,2808,0,0,0,0,0,0,26.79,26.95,28.83
$GC,982,-0.82,-146.6,2552,2497,2793,2807,138.5,-14.3,160,990,0.00,2.05,0.00,0.000,260,0.000,0.060,2542,3808,2800,2792,2808,0,0,0,0,0,0,28.83,26.92,28.83
$GC,1083,-0.82,-146.6,2542,3809,2793,2808,152.7,-14.4,177,1090,0.00,1.95,0.00,0.000,1030,0.000,0.042,2542,2491,2800,2793,2808,0,0,0,0,0,0,28.83,27.00,28.83
$GC,1227,-0.82,-146.6,2542,2492,2793,2808,171.8,-12.9,202,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2491,2800,2793,2808,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1260,begin apogee
$GC,1263,-0.23,0.0,2542,2492,2793,2808,175.6,-12.5,207,1380,0.57,0.00,110.85,0.604,10246,0.136,0.000,2738,2490,2193,2202,2185,0,0,0,0,0,0,26.89,28.83,25.31
$STATE,1381,end apogee,CONTROL_FINISHED_OK
$STATE,1381,begin climb
$GC,1382,0.82,146.6,2738,2490,2201,2183,181.3,0.0,225,1506,0.98,2.30,112.85,0.578,10756,0.094,0.059,3087,1109,1589,1613,1566,0,0,0,0,0,0,25.75,25.34,24.92
$GC,1627,0.82,146.6,3086,1109,1605,1558,166.4,9.6,265,1633,0.00,2.17,0.00,0.000,1030,0.000,0.050,3087,2510,1582,1606,1558,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1770,0.82,146.6,3086,2510,1605,1556,151.6,10.7,290,1778,0.00,2.22,0.00,0.000,516,0.000,0.060,3097,1117,1580,1605,1556,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1830,0.82,146.6,3097,1117,1605,1556,145.5,10.7,300,1838,0.00,2.15,0.00,0.000,1030,0.000,0.050,3097,2495,1580,1605,1556,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1977,0.82,146.6,3097,2495,1605,1556,131.4,9.8,325,1983,0.00,2.03,0.00,0.000,260,0.000,0.061,3097,3801,1581,1606,1556,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2048,0.82,146.6,3097,3801,1605,1556,123.6,11.1,337,2055,0.00,1.95,0.00,0.000,1030,0.000,0.042,3106,2506,1580,1605,1555,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2191,0.82,146.6,3106,2505,1605,1555,109.0,11.8,362,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2505,1580,1604,1556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2339,0.82,146.6,3107,2505,1605,1556,93.8,10.3,387,2345,0.00,2.12,0.00,0.000,516,0.000,0.057,3117,1102,1580,1605,1556,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2447,0.82,146.6,3117,1102,1604,1555,82.2,9.4,406,2457,0.08,2.15,0.00,0.000,5126,0.151,0.051,3090,2497,1579,1604,1555,0,0,0,0,0,0,26.68,26.79,28.83
$GC,2596,0.82,146.6,3090,2497,1604,1555,69.1,8.8,431,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2497,1579,1604,1555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2738,0.82,146.6,3090,2497,1604,1555,57.6,8.7,456,2747,0.00,2.05,0.00,0.000,260,0.000,0.060,3090,3807,1579,1604,1555,0,0,0,0,0,0,28.83,26.86,28.83
$GC,2851,0.82,146.6,3090,3807,1604,1555,46.2,10.5,475,2858,0.00,1.95,0.00,0.000,1030,0.000,0.044,3100,2498,1579,1604,1555,0,0,0,0,0,0,28.83,26.95,28.83
$GC,2997,0.82,146.6,3100,2497,1604,1555,32.9,8.8,500,3006,0.00,2.15,0.00,0.000,516,0.000,0.060,3110,1106,1579,1604,1555,0,0,0,0,0,0,28.83,26.89,28.83
$GC,3110,0.82,146.6,3109,1106,1604,1555,23.9,8.2,519,3118,0.00,2.12,0.00,0.000,1030,0.000,0.050,3110,2496,1578,1602,1555,0,0,0,0,0,0,28.83,26.95,28.83
$GC,3189,0.82,146.6,3109,2496,1602,1555,17.1,9.0,532,3197,0.00,2.05,0.00,0.000,260,0.000,0.062,3110,3807,1579,1604,1555,0,0,0,0,0,0,28.83,26.95,28.83
$GC,3274,0.82,146.6,3110,3807,1604,1555,9.2,9.7,546,3283,0.10,1.98,0.00,0.000,5126,0.166,0.043,3086,2508,1579,1604,1555,0,0,0,0,0,0,26.84,26.99,28.83
$GC,3354,0.89,205.3,3086,2508,1603,1555,3.4,5.8,559,3378,0.00,2.20,19.00,0.130,8708,0.000,0.058,3096,1097,1358,1380,1337,0,0,0,0,0,0,28.83,26.89,26.82
$STATE,3386,end climb,SURFACE_DEPTH_REACHED
$STATE,3386,begin surface coast
$FINISH,0.5,1.006255
$STATE,3433,end surface coast,CONTROL_FINISHED_OK
$STATE,3433,begin surface
$SM_CCo,3448,12.00,0.132,0,0,1216,240.15
$SM_GC,3.17,7.47,2.17,12.00,0.050,0.048,0.132,182,2514,1216,-8.17,-0.74,240.15,0,0,0,0,0,0,26.95,26.95,26.79
$IRIDIUM_FIX,4729.30,-12222.38,050314,030356
$TT8_MAMPS,0.031458,0.031458
$HUMID,40.47
$INTERNAL_PRESSURE,8.9129
$TCM_TEMP,9.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.2,64.8
$24V_AH,24.9,0.745
$10V_AH,10.3,0.691
$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,18.500,50.100,242.700,12.000,0.000,28.020,41.508,199.209,2.500,0.000,9.829,1298.252,337.299,311.921,1829.210,48.339,33.222,879.787,0.000,1542.513,0.000,18.322,0.000
$DEVICE_MAMPS,244.035,65.790,603.585,131.580,0.000,11.480,160.000,223.000,420.000,0.000,29.960,26.200,2.190,26.200,53.160,75.630,77.880,12.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.691,466.578,758.784,1162.476,0.000,0.000,0.000,0.000,0.000,0.000
$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,47164,571
$CAP_FILE_SIZE,65071,0
$CFSIZE,1024393216,1022377984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050314,040708,4743.713,-12224.766,3,1.6,3,16.3