version: 66.11
glider: 215
mission: 1
dive: 15
start: 3 5 114 10 45 47
data:
$ID,215
$MISSION,1
$DIVE,15
$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,-463.0209
$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,48
$R_STBD_OVSHOOT,33
$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
$GPS1,050314,103633,4743.541,-12225.266,3,1.1,3,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-73.4
$GPS2,050314,104446,4743.481,-12225.275,5,1.1,5,16.3
$SPEED_LIMITS,0.138,0.237
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.136,-0.194
$KALMAN_X,1002.5,493.9,249.7,-2467.3,-59.1
$KALMAN_Y,-1749.7,164.2,1514.2,266.2,-497.4
$MHEAD_RNG_PITCHd_Wd,128.7,1563,-14.1,-7.955,-18.57,2750
$D_GRID,182
$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,14,-0.82,-146.6,188,2500,1222,1219,0.0,0.0,0,56,0.00,0.00,-39.60,0.000,16386,0.000,0.000,188,2500,2427,2393,2462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.82,-146.6,189,2500,2394,2462,3.5,-4.4,5,83,9.15,2.12,-7.85,0.000,18948,0.244,0.062,2544,1108,2800,2793,2808,0,0,0,0,0,0,26.38,26.55,26.91
$GC,262,-0.82,-146.6,2543,1108,2793,2808,36.7,-15.3,39,270,0.00,2.15,0.00,0.000,1030,0.000,0.049,2534,2502,2800,2793,2808,0,0,0,0,0,0,28.83,26.74,28.83
$GC,339,-0.82,-146.6,2534,2502,2793,2807,49.1,-15.5,52,347,0.00,2.03,0.00,0.000,260,0.000,0.060,2524,3798,2800,2793,2808,0,0,0,0,0,0,28.83,26.70,28.83
$GC,432,-0.82,-146.6,2524,3798,2793,2808,63.8,-16.1,68,441,0.08,1.98,0.00,0.000,3078,0.155,0.042,2550,2496,2801,2794,2808,0,0,0,0,0,0,26.67,26.82,28.83
$GC,580,-0.82,-146.6,2550,2495,2793,2808,85.1,-13.6,93,587,0.00,2.00,0.00,0.000,260,0.000,0.060,2540,3801,2800,2793,2807,0,0,0,0,0,0,28.83,26.82,28.83
$GC,652,-0.82,-146.6,2540,3801,2793,2808,95.9,-14.9,105,659,0.00,1.95,0.00,0.000,1030,0.000,0.041,2540,2487,2800,2793,2808,0,0,0,0,0,0,28.83,26.89,28.83
$GC,797,-0.82,-146.6,2540,2487,2793,2808,117.9,-14.7,130,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2487,2800,2793,2808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,944,-0.82,-146.6,2540,2487,2793,2808,139.3,-14.4,155,954,0.00,2.03,0.00,0.000,260,0.000,0.059,2530,3811,2801,2794,2808,0,0,0,0,0,0,28.83,26.90,28.83
$GC,1081,-0.82,-146.6,2530,3811,2793,2808,161.4,-16.6,177,1087,0.00,1.95,0.00,0.000,1030,0.000,0.041,2530,2491,2800,2793,2808,0,0,0,0,0,0,28.83,26.99,28.83
$STATE,1211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1211,begin apogee
$GC,1214,-0.23,0.0,2529,2491,2793,2808,182.5,-15.0,200,1340,0.62,0.00,115.30,1.239,10246,0.132,0.000,2744,2490,2202,2212,2192,0,0,0,0,1,0,26.88,28.83,24.13
$STATE,1341,end apogee,CONTROL_FINISHED_OK
$STATE,1341,begin climb
$GC,1342,0.82,146.6,2743,2490,2223,2192,188.3,0.0,219,1473,1.00,2.28,120.07,0.609,10756,0.085,0.055,3094,1113,1591,1617,1565,0,0,0,0,0,0,25.03,25.21,24.79
$GC,1510,0.83,156.3,3093,1113,1611,1559,181.9,7.6,245,1518,0.00,2.17,2.70,0.350,9222,0.000,0.047,3094,2497,1559,1586,1533,0,0,0,0,0,0,28.83,25.63,25.06
$GC,1654,0.83,156.3,3094,2496,1619,1533,169.0,9.4,270,1663,0.00,0.00,1.50,0.174,8198,0.000,0.000,3094,2496,1562,1601,1524,0,0,0,0,0,0,28.83,28.83,26.01
$GC,1802,0.83,156.3,3093,2496,1625,1525,155.2,9.3,295,1809,0.00,2.15,1.35,0.179,8708,0.000,0.053,3104,1111,1562,1604,1521,0,0,0,0,0,0,28.83,26.32,26.25
$GC,1931,0.83,156.3,3104,1111,1628,1521,143.3,9.7,317,1938,0.00,2.12,1.27,0.184,9222,0.000,0.047,3104,2515,1559,1598,1521,0,0,0,0,0,0,28.83,26.49,26.39
$GC,2075,0.83,156.3,3103,2515,1627,1522,128.7,9.6,342,2084,0.00,2.03,1.17,0.188,8452,0.000,0.057,3104,3798,1563,1605,1522,0,0,0,0,0,0,28.83,26.57,26.50
$GC,2145,0.83,156.3,3104,3798,1626,1522,122.1,10.1,353,2152,0.00,1.95,1.20,0.187,9222,0.000,0.041,3114,2501,1560,1599,1521,0,0,0,0,0,0,28.83,26.67,26.53
$GC,2289,0.83,156.3,3114,2501,1626,1522,106.4,11.0,378,2298,0.00,2.15,1.20,0.189,8708,0.000,0.054,3124,1112,1562,1604,1521,0,0,0,0,0,0,28.83,26.67,26.60
$GC,2482,0.83,156.3,3124,1111,1627,1522,85.8,10.4,411,2490,0.12,2.08,1.20,0.185,13318,0.166,0.047,3091,2498,1560,1598,1522,0,0,0,0,0,0,26.68,26.78,26.67
$GC,2627,0.83,156.3,3091,2498,1626,1521,70.9,9.6,436,2636,0.00,2.03,1.10,0.194,8452,0.000,0.057,3091,3796,1562,1604,1521,0,0,0,0,0,0,28.83,26.80,26.72
$GC,2661,0.83,156.3,3090,3796,1622,1521,67.8,8.7,441,2669,0.00,1.95,0.93,0.213,9222,0.000,0.041,3101,2487,1559,1597,1521,0,0,0,0,0,0,28.83,26.86,26.72
$GC,2806,0.83,156.3,3100,2487,1625,1521,55.4,8.5,466,2815,0.00,2.12,1.12,0.194,8708,0.000,0.054,3110,1104,1561,1601,1521,0,0,0,0,0,0,28.83,26.83,26.77
$GC,2875,0.83,156.3,3110,1105,1622,1521,49.3,10.2,477,2883,0.00,2.10,1.05,0.200,9222,0.000,0.048,3110,2511,1559,1597,1521,0,0,0,0,0,0,28.83,26.87,26.77
$GC,3022,0.87,183.7,3110,2512,1625,1521,36.3,6.9,502,3039,0.00,1.98,10.73,0.203,8452,0.000,0.057,3110,3800,1451,1484,1419,0,0,0,0,0,0,28.83,26.84,26.68
$GC,3195,0.87,183.7,3110,3801,1504,1419,19.6,11.4,531,3204,0.00,1.95,1.12,0.165,9222,0.000,0.041,3120,2505,1450,1487,1413,0,0,0,0,0,0,28.83,26.94,26.82
$GC,3275,0.87,185.7,3120,2505,1509,1413,12.6,7.9,544,3284,0.00,2.12,1.90,0.176,8708,0.000,0.053,3130,1097,1441,1479,1403,0,0,0,0,0,0,28.83,26.87,26.79
$STATE,3405,end climb,SURFACE_DEPTH_REACHED
$STATE,3405,begin surface coast
$FINISH,0.6,1.021859
$STATE,3430,end surface coast,CONTROL_FINISHED_OK
$STATE,3430,begin surface
$SM_CCo,3445,20.17,0.129,0,0,1219,240.15
$SM_GC,4.70,7.70,2.15,20.17,0.061,0.046,0.129,188,2505,1219,-8.16,-1.02,240.15,0,0,0,0,0,0,26.94,26.94,26.77
$IRIDIUM_FIX,4726.11,-12225.08,050314,101008
$TT8_MAMPS,0.030709,0.030709
$HUMID,40.19
$INTERNAL_PRESSURE,8.90313
$TCM_TEMP,9.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,145.6,57.0
$24V_AH,24.1,1.260
$10V_AH,10.3,1.205
$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,18.675,49.525,264.925,20.175,0.000,52.811,65.229,238.557,3.250,0.000,6.842,1307.242,413.164,310.741,1888.847,55.971,33.211,860.779,0.000,1522.183,0.000,22.746,0.000
$DEVICE_MAMPS,244.035,61.965,1238.535,128.520,0.000,11.480,160.000,223.000,420.000,0.000,29.960,26.200,2.190,26.200,53.160,75.630,77.880,12.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.398,454.857,739.412,1133.106,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,10.490,44.190,45.690,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322388
$DATA_FILE_SIZE,47137,570
$CAP_FILE_SIZE,67812,0
$CFSIZE,1024393216,1021886464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,050314,114454,4742.814,-12225.434,48,1.0,48,16.3