version: 66.11
glider: 215
mission: 1
dive: 13
start: 3 5 114 8 32 21
data:
$ID,215
$MISSION,1
$DIVE,13
$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,-460.50659
$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,46
$R_STBD_OVSHOOT,27
$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
$GPS1,050314,081733,4744.271,-12224.568,6,2.0,6,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-66.3
$GPS2,050314,083120,4744.226,-12224.745,10,2.8,30,16.3
$SPEED_LIMITS,0.138,0.237
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.123,-0.203
$KALMAN_X,1359.8,112.0,166.4,-1703.8,539.6
$KALMAN_Y,-1246.5,-213.3,817.6,2214.5,760.7
$MHEAD_RNG_PITCHd_Wd,194.9,2827,-14.1,-7.955,-18.57,2750
$D_GRID,176
$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,-146.6,181,2487,1213,1215,0.0,0.0,0,63,0.00,0.00,-46.70,0.000,16386,0.000,0.000,181,2487,2606,2568,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.82,-146.6,182,2487,2568,2644,3.6,-5.0,6,91,9.10,2.15,-3.90,0.000,18948,0.242,0.067,2543,1109,2799,2784,2814,0,0,0,0,0,0,26.39,26.56,26.86
$GC,298,-0.82,-146.6,2542,1108,2784,2814,44.8,-16.2,45,304,0.00,2.10,0.00,0.000,1030,0.000,0.048,2534,2505,2798,2784,2813,0,0,0,0,0,0,28.83,26.73,28.83
$GC,441,-0.82,-146.6,2533,2506,2785,2813,68.1,-16.5,70,449,0.00,2.15,0.00,0.000,516,0.000,0.051,2534,1109,2798,2784,2813,0,0,0,0,0,0,28.83,26.77,28.83
$GC,498,-0.82,-146.6,2533,1108,2785,2813,76.7,-16.0,79,506,0.12,2.10,0.00,0.000,3078,0.178,0.049,2557,2509,2798,2784,2813,0,0,0,0,0,0,26.70,26.80,28.83
$GC,642,-0.82,-146.6,1600,2507,2752,2807,96.8,-13.7,104,650,0.00,2.00,0.00,0.000,260,0.000,0.060,2547,3797,2799,2785,2813,0,0,0,0,0,0,28.83,26.84,28.83
$GC,772,-0.82,-146.6,2547,3798,2785,2813,116.4,-14.6,126,780,0.00,1.95,0.00,0.000,1030,0.000,0.042,2547,2507,2799,2785,2813,0,0,0,0,0,0,28.83,26.93,28.83
$GC,927,-0.82,-146.6,2547,2507,2785,2813,137.9,-14.1,151,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2507,2799,2785,2813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1069,-0.82,-146.6,2547,2507,2785,2813,157.9,-14.3,176,1077,0.00,2.03,0.00,0.000,260,0.000,0.059,2538,3803,2799,2785,2813,0,0,0,0,0,0,28.83,26.94,28.83
$GC,1114,-0.82,-146.6,2537,3803,2784,2812,164.3,-14.6,183,1120,0.00,1.95,0.00,0.000,1030,0.000,0.041,2538,2486,2799,2785,2813,0,0,0,0,0,0,28.83,27.00,28.83
$STATE,1199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1199,begin apogee
$GC,1202,-0.23,0.0,2537,2486,2785,2813,176.6,-15.0,198,1333,0.60,0.00,120.72,0.776,10246,0.133,0.000,2741,2485,2202,2211,2193,0,0,0,0,1,0,26.87,28.83,24.48
$STATE,1334,end apogee,CONTROL_FINISHED_OK
$STATE,1334,begin climb
$GC,1335,0.82,146.6,2742,2485,2219,2194,183.3,0.0,218,1463,0.98,2.25,119.68,0.630,11012,0.086,0.057,3079,3802,1592,1617,1568,0,0,0,0,0,0,25.35,25.24,24.79
$GC,1477,0.87,190.3,3080,3803,1612,1564,180.3,6.3,239,1518,0.00,2.05,36.00,0.594,9222,0.000,0.041,3090,2507,1423,1449,1398,0,0,0,0,0,0,28.83,25.49,24.90
$GC,1657,0.87,190.3,3089,2507,1432,1377,161.5,11.7,269,1663,0.00,2.20,0.00,0.000,516,0.000,0.055,3101,1095,1405,1432,1378,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1706,0.87,190.3,3100,1095,1432,1377,155.8,11.9,277,1712,0.00,2.17,0.00,0.000,1030,0.000,0.047,3100,2507,1404,1432,1377,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1849,0.87,190.3,3100,2508,1431,1377,138.3,12.8,302,1857,0.00,2.05,0.00,0.000,260,0.000,0.060,3101,3795,1403,1430,1377,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1897,0.87,190.3,3100,3795,1430,1376,131.3,14.4,310,1906,0.00,2.00,0.00,0.000,1030,0.000,0.041,3110,2492,1402,1429,1376,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2045,0.87,190.3,3110,2492,1430,1376,112.0,12.8,335,2051,0.00,2.10,0.00,0.000,516,0.000,0.054,3121,1110,1403,1430,1376,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2162,0.87,190.3,3120,1110,1430,1376,96.6,13.4,355,2168,0.00,2.10,0.00,0.000,1030,0.000,0.048,3121,2502,1402,1429,1376,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2305,0.87,190.3,3120,2502,1430,1376,78.4,12.4,380,2313,0.00,2.05,0.00,0.000,260,0.000,0.060,3121,3803,1402,1429,1376,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2430,0.87,190.3,3120,3804,1428,1376,61.5,15.2,401,2437,0.00,1.95,0.00,0.000,1030,0.000,0.041,3131,2505,1402,1428,1376,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2573,0.87,190.3,3131,2505,1428,1376,43.3,11.7,426,2582,0.00,2.17,0.00,0.000,516,0.000,0.058,3131,1100,1401,1428,1375,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2751,0.87,190.3,3130,1099,1428,1376,23.7,11.2,456,2760,0.00,2.15,0.00,0.000,1030,0.000,0.049,3131,2508,1402,1428,1376,0,0,0,0,0,0,28.83,26.86,28.83
$GC,2830,0.87,190.3,3131,2508,1428,1376,15.1,9.6,469,2839,0.00,2.03,0.00,0.000,260,0.000,0.060,3131,3804,1401,1427,1375,0,0,0,0,0,0,28.83,26.86,28.83
$GC,2915,0.87,190.3,3130,3805,1427,1376,4.5,12.7,483,2924,0.08,1.98,0.00,0.000,5126,0.168,0.042,3106,2505,1401,1427,1376,0,0,0,0,0,0,26.78,26.91,28.83
$STATE,2942,end climb,SURFACE_DEPTH_REACHED
$STATE,2943,begin surface coast
$FINISH,0.8,1.021234
$STATE,2967,end surface coast,CONTROL_FINISHED_OK
$STATE,2967,begin surface
$SM_CCo,2980,15.55,0.129,0,0,1219,240.15
$SM_GC,3.67,7.75,0.00,15.55,0.069,0.000,0.129,189,2505,1219,-8.16,0.14,240.15,0,0,0,0,0,0,26.89,28.83,26.75
$IRIDIUM_FIX,4729.30,-12226.80,050314,080837
$TT8_MAMPS,0.030709,0.030709
$HUMID,39.91
$INTERNAL_PRESSURE,8.9129
$TCM_TEMP,9.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.6,66.7
$24V_AH,24.5,1.105
$10V_AH,10.3,1.048
$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,18.625,45.675,276.400,15.550,0.000,101.109,117.824,356.544,2.750,0.000,30.790,1109.038,411.697,315.523,1954.877,51.472,33.219,821.817,0.000,1313.060,0.000,20.181,0.000
$DEVICE_MAMPS,241.740,66.555,775.710,128.520,0.000,11.480,160.000,223.000,420.000,0.000,29.960,26.200,2.190,26.200,53.160,75.630,77.880,12.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,329.660,391.041,636.279,975.059,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,10.490,44.190,45.690,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322408
$DATA_FILE_SIZE,40457,491
$CAP_FILE_SIZE,60995,0
$CFSIZE,1024393216,1022033920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,1433.08,0x233cca,1,24
$GPS,050314,092334,4744.018,-12224.930,43,1.5,43,16.3