version: 66.11
glider: 215
mission: 1
dive: 21
start: 3 5 114 17 23 28
data:
$ID,215
$MISSION,1
$DIVE,21
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,60
$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,20
$T_MISSION,30
$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,90
$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,-489.21255
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,050314,171703,4742.890,-12225.059,3,1.1,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-59.2
$GPS2,050314,172229,4742.980,-12225.019,4,1.1,4,16.3
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,HEADING
$TGT_LATLONG,4742.980,-12208.968
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.223,-0.129
$KALMAN_X,-1197.1,5.9,-315.3,1096.1,-69.4
$KALMAN_Y,-1998.5,316.7,-1594.9,2534.5,155.3
$MHEAD_RNG_PITCHd_Wd,103.8,20000,-17.6,-10.000,-21.22,2208
$D_GRID,181
$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,-0.98,-146.6,186,2484,476,503,0.0,0.0,0,78,0.00,0.00,-61.47,0.000,16386,0.000,0.000,186,2485,2283,2255,2312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.98,-146.6,186,2484,2255,2312,3.1,-4.9,8,113,8.90,2.10,-12.65,0.000,18692,0.243,0.074,2482,3805,2800,2798,2802,0,0,0,0,0,0,26.45,26.63,26.93
$GC,172,-0.98,-146.6,2482,3805,2798,2803,17.1,-17.8,22,181,0.00,1.98,0.00,0.000,1030,0.000,0.039,2482,2499,2800,2799,2802,0,0,0,0,0,0,28.83,26.72,28.83
$GC,251,-0.98,-146.6,2482,2498,2799,2803,32.5,-20.2,35,259,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2498,2800,2799,2802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,328,-0.98,-146.6,2482,2498,2799,2803,47.8,-17.9,48,336,0.00,2.05,0.00,0.000,260,0.000,0.058,2472,3803,2801,2799,2803,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,398,begin apogee
$GC,403,-0.23,0.0,2472,2486,2799,2802,61.0,-18.2,60,515,0.82,0.00,106.82,0.546,10246,0.151,0.000,2738,2486,2196,2203,2190,0,0,0,0,0,0,26.67,28.83,25.34
$STATE,516,end apogee,CONTROL_FINISHED_OK
$STATE,516,begin climb
$GC,517,0.98,146.6,2738,2486,2202,2186,68.4,0.0,77,636,1.12,2.17,109.10,0.524,10756,0.092,0.046,3140,1107,1591,1614,1569,0,0,0,0,0,0,25.72,25.37,24.98
$GC,696,0.98,146.6,3139,1107,1609,1562,58.0,10.6,105,703,0.00,2.17,0.00,0.000,1030,0.000,0.044,3140,2509,1585,1609,1561,0,0,0,0,0,0,28.83,25.81,28.83
$GC,839,0.98,146.6,3139,2509,1608,1558,42.6,10.6,130,848,0.00,2.08,0.00,0.000,260,0.000,0.058,3140,3804,1583,1608,1558,0,0,0,0,0,0,28.83,26.18,28.83
$GC,964,0.98,146.6,3139,3804,1608,1558,30.6,10.1,151,972,0.00,2.00,0.00,0.000,1030,0.000,0.039,3149,2495,1583,1608,1558,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1043,1.00,161.8,3149,2495,1608,1558,23.5,9.3,164,1053,0.00,2.17,4.10,0.167,8708,0.000,0.049,3159,1104,1540,1568,1512,0,0,0,0,0,0,28.83,26.43,26.30
$GC,1089,1.01,167.5,3159,1104,1589,1512,19.2,9.7,171,1099,0.00,2.15,3.15,0.161,9222,0.000,0.045,3159,2497,1514,1543,1486,0,0,0,0,0,0,28.83,26.49,26.34
$GC,1169,1.01,167.5,3159,2497,1566,1486,10.1,12.0,184,1178,0.00,2.15,1.08,0.196,8708,0.000,0.047,3168,1112,1516,1550,1482,0,0,0,0,0,0,28.83,26.53,26.44
$GC,1198,1.01,167.5,3167,1112,1560,1482,7.1,10.4,188,1206,0.00,2.12,0.00,0.000,1030,0.000,0.045,3168,2495,1522,1562,1482,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,1247,end climb,SURFACE_DEPTH_REACHED
$STATE,1247,begin surface coast
$FINISH,1.1,1.022021
$STATE,1271,end surface coast,CONTROL_FINISHED_OK
$STATE,1271,begin surface
$SM_CCo,1285,25.83,0.126,0,0,1217,240.15
$SM_GC,4.99,8.25,0.00,25.83,0.085,0.000,0.126,190,2495,1217,-8.16,-0.14,240.15,0,0,0,0,0,0,26.59,28.83,26.44
$IRIDIUM_FIX,4722.92,-12223.37,050314,171730
$TT8_MAMPS,0.030709,0.030709
$HUMID,39.95
$INTERNAL_PRESSURE,8.9129
$TCM_TEMP,9.70
$XPDR_PINGS,0
$24V_AH,25.0,1.664
$10V_AH,10.3,1.611
$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,19.100,25.150,224.250,25.825,0.000,0.000,0.000,0.000,0.000,0.000,5.878,444.101,50.339,263.296,599.457,18.419,33.217,549.752,0.000,607.466,0.000,0.543,0.000
$DEVICE_MAMPS,243.270,74.205,546.210,126.225,0.000,0.000,0.000,0.000,420.000,0.000,29.960,26.200,2.190,26.200,53.160,75.630,77.880,12.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,131.467,201.405,328.834,504.119,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,10.490,44.190,45.690,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322456
$DATA_FILE_SIZE,13772,200
$CAP_FILE_SIZE,41646,0
$CFSIZE,1024393216,1021575168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050314,174557,4743.041,-12224.843,3,0.8,3,16.3