version: 66.11
glider: 215
mission: 1
dive: 18
start: 3 5 114 14 15 32
data:
$ID,215
$MISSION,1
$DIVE,18
$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,-466.78311
$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,49
$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
$GPS1,050314,140807,4742.721,-12225.872,3,1.0,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-72.2
$GPS2,050314,141431,4742.730,-12225.933,6,1.0,6,16.3
$SPEED_LIMITS,0.138,0.237
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.151,0.182
$KALMAN_X,-104.9,324.1,-534.2,-1236.1,-536.1
$KALMAN_Y,-2254.2,437.7,-826.6,1443.4,-873.6
$MHEAD_RNG_PITCHd_Wd,23.3,1413,-14.1,-7.955,-18.57,2750
$D_GRID,189
$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,-146.6,185,2493,1207,1217,0.0,0.0,0,56,0.00,0.00,-39.72,0.000,16386,0.000,0.000,185,2493,2414,2380,2448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.82,-146.6,185,2493,2380,2448,3.4,-4.7,5,83,9.12,2.05,-7.97,0.000,18692,0.243,0.071,2534,3802,2797,2790,2805,0,0,0,0,0,0,26.40,26.58,26.89
$GC,343,-0.82,-146.6,2534,3802,2792,2805,53.5,-16.8,53,350,0.00,1.92,0.00,0.000,1030,0.000,0.039,2535,2501,2799,2792,2806,0,0,0,0,0,0,28.83,26.80,28.83
$GC,486,-0.82,-146.6,2534,2501,2792,2805,75.3,-14.9,78,494,0.00,2.03,0.00,0.000,260,0.000,0.058,2525,3795,2798,2792,2805,0,0,0,0,0,0,28.83,26.80,28.83
$GC,674,-0.82,-146.6,2525,3795,2792,2806,106.7,-16.3,110,683,0.08,1.95,0.00,0.000,3078,0.155,0.039,2551,2494,2799,2792,2806,0,0,0,0,0,0,26.77,26.92,28.83
$GC,822,-0.82,-146.6,2550,2494,2792,2806,129.3,-14.5,135,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2494,2799,2792,2806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,970,-0.82,-146.6,2550,2494,2791,2805,149.6,-13.2,160,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2494,2798,2792,2805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1117,-0.82,-146.6,2550,2494,2792,2806,167.5,-11.7,185,1123,0.00,2.00,0.00,0.000,260,0.000,0.058,2541,3809,2799,2792,2806,0,0,0,0,0,0,28.83,26.96,28.83
$GC,1165,-0.82,-146.6,2540,3809,2791,2805,174.2,-13.8,193,1172,0.00,1.92,0.00,0.000,1030,0.000,0.040,2541,2500,2798,2792,2805,0,0,0,0,0,0,28.83,27.02,28.83
$STATE,1284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1285,begin apogee
$GC,1288,-0.23,0.0,2540,2500,2792,2806,189.6,-11.7,214,1405,0.57,0.00,110.93,0.650,10246,0.133,0.000,2738,2500,2193,2202,2184,0,0,0,0,0,0,26.91,28.83,25.27
$STATE,1406,end apogee,CONTROL_FINISHED_OK
$STATE,1406,begin climb
$GC,1407,0.82,146.6,2738,2499,2201,2182,194.4,0.0,232,1533,0.95,2.28,112.93,0.591,10756,0.089,0.050,3082,1105,1590,1616,1565,0,0,0,0,0,0,25.71,25.32,24.89
$GC,1626,0.82,146.6,3082,1105,1610,1558,180.3,9.5,267,1633,0.00,2.15,0.00,0.000,1030,0.000,0.044,3082,2497,1583,1609,1557,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1770,0.82,146.6,3082,2497,1608,1555,165.6,10.7,292,1778,0.00,2.20,0.00,0.000,516,0.000,0.050,3092,1100,1582,1608,1556,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1814,0.82,146.6,3092,1101,1608,1556,161.5,10.2,299,1821,0.00,2.15,0.00,0.000,1030,0.000,0.044,3093,2515,1581,1607,1556,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1958,0.82,146.6,3092,2515,1605,1555,146.7,11.1,324,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2515,1581,1607,1556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2105,0.82,146.6,3092,2514,1606,1556,132.1,9.8,349,2112,0.00,2.15,0.00,0.000,516,0.000,0.050,3103,1103,1581,1607,1556,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2370,0.82,146.6,3103,1103,1606,1556,106.7,9.3,395,2377,0.00,2.10,0.00,0.000,1030,0.000,0.044,3102,2513,1580,1606,1555,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2513,0.82,146.6,3102,2513,1606,1556,93.9,10.1,420,2522,0.00,2.17,0.00,0.000,516,0.000,0.050,3112,1101,1581,1606,1556,0,0,0,0,0,0,28.83,26.78,28.83
$GC,2607,0.82,146.6,3112,1101,1606,1555,84.7,8.7,436,2616,0.00,2.12,0.00,0.000,1030,0.000,0.046,3112,2495,1581,1606,1556,0,0,0,0,0,0,28.83,26.82,28.83
$GC,2756,0.82,146.6,3112,2495,1606,1556,70.5,9.0,461,2762,0.00,2.03,0.00,0.000,260,0.000,0.057,3112,3813,1580,1606,1555,0,0,0,0,0,0,28.83,26.84,28.83
$GC,2782,0.82,146.6,3112,3813,1605,1556,68.1,9.4,465,2789,0.15,1.95,0.00,0.000,5126,0.181,0.040,3083,2496,1580,1606,1555,0,0,0,0,0,0,26.74,26.90,28.83
$GC,2926,0.82,146.6,3082,2496,1606,1555,55.6,8.3,490,2934,0.00,2.05,0.00,0.000,260,0.000,0.058,3082,3802,1580,1606,1555,0,0,0,0,0,0,28.83,26.88,28.83
$GC,2970,0.82,146.6,3082,3802,1606,1555,51.2,11.2,497,2977,0.00,1.92,0.00,0.000,1030,0.000,0.040,3092,2502,1580,1605,1555,0,0,0,0,0,0,28.83,26.94,28.83
$GC,3116,0.82,146.6,3092,2501,1606,1555,36.3,8.1,522,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2501,1580,1605,1555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3194,0.82,149.8,3091,2501,1605,1556,30.4,7.8,535,3203,0.00,2.12,0.00,0.000,516,0.000,0.053,3102,1104,1580,1605,1555,0,0,0,0,0,0,28.83,26.93,28.83
$GC,3291,0.86,182.2,3101,1104,1605,1555,24.1,6.7,551,3308,0.00,2.12,11.12,0.172,9222,0.000,0.046,3101,2511,1454,1477,1431,0,0,0,0,0,0,28.83,26.96,26.77
$GC,3378,0.86,182.2,3101,2511,1496,1431,16.6,9.8,565,3387,0.00,1.98,0.00,0.000,260,0.000,0.058,3101,3792,1463,1496,1431,0,0,0,0,0,0,28.83,26.92,28.83
$STATE,3530,end climb,SURFACE_DEPTH_REACHED
$STATE,3530,begin surface coast
$FINISH,0.4,1.014555
$STATE,3572,end surface coast,CONTROL_FINISHED_OK
$STATE,3572,begin surface
$SM_CCo,3587,21.10,0.129,0,0,1218,240.15
$SM_GC,5.10,7.45,1.98,21.10,0.047,0.041,0.129,177,2491,1218,-8.18,1.16,240.15,0,0,0,0,0,0,26.98,26.97,26.80
$IRIDIUM_FIX,4726.11,-12223.37,050314,141410
$TT8_MAMPS,0.030709,0.030709
$HUMID,39.95
$INTERNAL_PRESSURE,8.90313
$TCM_TEMP,9.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,145.3,61.3
$24V_AH,24.9,1.471
$10V_AH,10.3,1.448
$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,18.325,45.350,234.975,21.100,0.000,35.486,37.248,236.333,3.250,0.000,6.865,1360.965,376.612,299.360,1916.472,56.180,33.198,863.024,0.000,1598.644,0.000,23.010,0.000
$DEVICE_MAMPS,243.270,71.145,650.250,129.285,0.000,11.480,160.000,223.000,420.000,0.000,29.960,26.200,2.190,26.200,53.160,75.630,77.880,12.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,403.876,477.471,775.974,1188.973,0.000,0.000,0.000,0.000,0.000,0.000
$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,47142,598
$CAP_FILE_SIZE,64489,0
$CFSIZE,1024393216,1021706240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050314,151619,4742.737,-12225.798,3,1.1,4,16.3