version: 66.11
glider: 216
mission: 1
dive: 16
start: 3 13 114 4 4 51
data:
$ID,216
$MISSION,1
$DIVE,16
$N_DIVES,0
$D_SURF,5
$D_FLARE,3
$D_TGT,200
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,100
$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,80
$T_MISSION,100
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$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,1.023
$MASS,53229
$MASS_COMP,10000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,580
$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,-1782.6997
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3894
$C_PITCH,2930
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,219
$ROLL_MAX,3798
$ROLL_DEG,30
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3640
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$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,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-68.664078
$PRESSURE_SLOPE,0.0001158948
$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,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.7
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044112769
$SEABIRD_T_H,0.00064360519
$SEABIRD_T_I,2.7643726e-05
$SEABIRD_T_J,3.499646e-06
$SEABIRD_C_G,-9.8276262
$SEABIRD_C_H,1.1381998
$SEABIRD_C_I,-0.00154063
$SEABIRD_C_J,0.00011825228
$GPS1,130314,105157,4743.440,-12225.316,3,1.0,3,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-72.4
$GPS2,130314,110455,4743.225,-12225.339,4,1.0,5,16.3
$SPEED_LIMITS,0.144,0.246
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.102,0.223
$KALMAN_X,-3696.0,834.4,-102.0,2371.3,-569.7
$KALMAN_Y,-7268.0,1293.8,-602.2,7754.8,-1218.3
$MHEAD_RNG_PITCHd_Wd,8.3,1420,-15.4,-8.333,-18.73,2676
$D_GRID,200
$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,-0.63,-146.6,247,2618,1295,1249,0.0,0.0,0,78,0.00,0.00,-61.60,0.000,16386,0.000,0.000,246,2618,3048,3094,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.63,-146.6,246,2618,3094,3002,3.0,-1.5,8,121,10.32,1.67,-23.10,0.000,18948,0.264,0.070,2720,1552,3961,3885,4038,0,0,0,0,0,0,26.01,26.25,26.58
$GC,191,-0.63,-146.6,2720,1550,3885,4036,14.6,-11.1,25,200,0.00,1.60,0.00,0.000,1030,0.000,0.049,2713,2589,3961,3885,4037,0,0,0,0,0,0,28.83,26.34,28.83
$GC,271,-0.63,-146.6,2713,2589,3885,4037,22.7,-11.0,38,280,0.00,1.65,0.00,0.000,260,0.000,0.058,2704,3664,3961,3885,4037,0,0,0,0,0,0,28.83,26.38,28.83
$GC,293,-0.63,-146.6,2705,3664,3884,4037,25.6,-12.3,41,302,0.00,1.58,0.00,0.000,1030,0.000,0.038,2705,2597,3961,3885,4037,0,0,0,0,0,0,28.83,26.45,28.83
$GC,372,-0.63,-146.6,2705,2597,3885,4037,35.5,-11.4,54,381,0.00,1.58,0.00,0.000,516,0.000,0.048,2704,1556,3961,3885,4037,0,0,0,0,0,0,28.83,26.43,28.83
$GC,657,-0.63,-146.6,2703,1556,3885,4037,69.4,-11.0,103,664,0.00,1.55,0.00,0.000,1030,0.000,0.048,2697,2604,3961,3885,4037,0,0,0,0,0,0,28.83,26.58,28.83
$GC,801,-0.63,-146.6,2697,2604,3885,4037,85.5,-10.2,128,809,0.00,1.60,0.00,0.000,260,0.000,0.057,2689,3655,3961,3885,4037,0,0,0,0,0,0,28.83,26.61,28.83
$GC,849,-0.63,-146.6,2688,3656,3885,4037,91.3,-12.6,136,858,0.10,1.55,0.00,0.000,3078,0.158,0.038,2722,2592,3960,3885,4036,0,0,0,0,0,0,26.49,26.68,28.83
$GC,997,-0.63,-146.6,1680,2590,3883,4036,106.0,-9.8,161,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2592,3961,3885,4037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1137,-0.63,-146.6,2722,2592,3885,4037,119.4,-9.7,186,1146,0.00,1.62,0.00,0.000,260,0.000,0.058,2714,3653,3960,3885,4036,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1217,-0.63,-146.6,2714,3653,3885,4037,127.7,-11.3,199,1224,0.00,1.50,0.00,0.000,1030,0.000,0.038,2714,2585,3961,3885,4037,0,0,0,0,0,0,28.83,26.76,28.83
$GC,1361,-0.63,-146.6,2714,2585,3884,4036,142.7,-9.3,224,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2585,3960,3885,4036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1514,-0.63,-146.6,2714,2585,3884,4036,155.2,-8.1,249,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2585,3960,3885,4036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1656,-0.63,-146.6,2714,2585,3885,4037,168.1,-9.3,274,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2586,3961,3885,4037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1803,-0.63,-146.6,2714,2585,3884,4036,183.3,-11.9,299,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2585,3961,3885,4037,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1911,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1911,begin apogee
$GC,1915,-0.19,0.0,2714,2497,3885,4036,196.2,-10.7,318,2007,0.43,0.00,85.03,0.532,10246,0.139,0.000,2860,2497,3634,3667,3601,0,0,0,0,0,0,26.70,28.83,25.44
$STATE,2008,end apogee,CONTROL_FINISHED_OK
$STATE,2008,begin climb
$GC,2009,0.63,146.6,2860,2496,3666,3600,200.5,0.0,332,2127,0.77,1.67,107.90,0.558,10756,0.093,0.048,3139,1464,3030,3086,2975,0,0,0,0,0,0,25.86,25.26,24.79
$GC,2227,0.66,215.6,3139,1463,3083,2971,192.2,5.7,367,2286,0.00,1.58,51.42,0.549,9222,0.000,0.047,3139,2497,2750,2806,2694,0,0,0,0,0,0,28.83,25.81,24.94
$GC,2423,0.66,215.6,3139,2497,2796,2690,175.4,11.2,400,2432,0.00,1.65,0.00,0.000,260,0.000,0.057,3139,3553,2743,2796,2690,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2457,0.66,215.6,3138,3553,2796,2689,171.4,13.3,405,2464,0.00,1.55,0.00,0.000,1030,0.000,0.038,3148,2485,2743,2796,2690,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2601,0.66,215.6,3147,2484,2796,2690,153.2,12.0,430,2609,0.00,1.58,0.00,0.000,516,0.000,0.050,3155,1464,2742,2796,2689,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2657,0.66,215.6,3154,1464,2795,2690,147.2,10.9,439,2663,0.00,1.55,0.00,0.000,1030,0.000,0.047,3154,2501,2743,2796,2690,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2800,0.66,215.6,3154,2501,2796,2689,131.6,9.8,464,2809,0.00,1.62,0.00,0.000,260,0.000,0.057,3155,3556,2743,2796,2690,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2880,0.66,215.6,3154,3556,2796,2690,123.3,10.0,477,2886,0.00,1.50,0.00,0.000,1030,0.000,0.038,3162,2499,2742,2795,2690,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3023,0.66,215.6,3162,2499,2795,2690,109.3,9.2,502,3031,0.00,1.58,0.00,0.000,516,0.000,0.051,3170,1466,2742,2796,2689,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3151,0.66,215.6,3169,1465,2796,2690,96.5,10.3,524,3160,0.00,1.58,0.00,0.000,1030,0.000,0.047,3168,2500,2742,2795,2690,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3298,0.66,215.6,3167,2500,2795,2690,80.4,11.3,549,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2500,2742,2795,2690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3441,0.66,215.6,3167,2500,2796,2690,63.6,11.9,574,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2500,2742,2795,2689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3588,0.66,215.6,3167,2500,2795,2690,48.3,10.3,599,3594,0.00,1.58,0.00,0.000,260,0.000,0.057,3167,3567,2742,2795,2689,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3648,0.66,215.6,3167,3568,2795,2690,41.5,11.4,609,3655,0.12,1.52,0.00,0.000,5126,0.189,0.038,3145,2484,2742,2795,2689,0,0,0,0,0,0,26.55,26.73,28.83
$GC,3795,0.66,227.6,3145,2484,2795,2689,29.5,7.9,634,3804,0.00,1.50,2.78,0.174,8708,0.000,0.047,3153,1466,2713,2774,2652,0,0,0,0,0,0,28.83,26.70,26.51
$GC,3921,0.67,241.2,3152,1466,2805,2657,19.2,7.8,655,3938,0.00,1.58,6.10,0.162,9222,0.000,0.047,3152,2507,2657,2722,2592,0,0,0,0,0,0,28.83,26.73,26.54
$GC,4009,0.68,279.5,3152,2507,2745,2593,12.8,6.9,669,4027,0.00,1.62,13.40,0.157,8452,0.000,0.057,3152,3558,2495,2555,2435,0,0,0,0,0,0,28.83,26.65,26.53
$STATE,4114,end climb,SURFACE_DEPTH_REACHED
$STATE,4114,begin surface coast
$FINISH,2.6,1.017829
$STATE,4179,end surface coast,CONTROL_FINISHED_OK
$STATE,4179,begin surface
$SM_CCo,4194,97.65,0.130,0,0,1272,580.13
$SM_GC,2.17,7.93,1.40,97.65,0.076,0.038,0.130,248,2604,1272,-8.34,1.75,580.13,0,0,0,0,0,0,26.65,26.76,26.34
$IRIDIUM_FIX,4726.11,-12220.67,130314,101008
$TT8_MAMPS,0.029211,0.029211
$HUMID,41.06
$INTERNAL_PRESSURE,8.75939
$TCM_TEMP,11.20
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,150.4,60.3
$24V_AH,24.8,1.005
$10V_AH,10.3,1.279
$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,19.675,41.050,266.625,97.650,0.000,92.611,154.034,305.537,5.750,0.000,8.287,1560.925,558.765,434.714,2469.763,58.438,33.216,1108.037,0.000,1867.675,0.000,21.299,0.000
$DEVICE_MAMPS,263.925,104.040,558.450,130.050,0.000,12.240,160.000,223.000,420.000,0.000,27.710,14.710,2.190,14.710,40.920,59.650,66.390,16.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,470.304,558.903,905.448,1387.560,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,9.740,48.680,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322212
$DATA_FILE_SIZE,57222,697
$CAP_FILE_SIZE,80609,0
$CFSIZE,1024409600,1021771776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130314,121833,4743.530,-12225.181,34,1.6,34,16.3