version: 66.11
glider: 216
mission: 1
dive: 17
start: 3 13 114 5 25 7
data:
$ID,216
$MISSION,1
$DIVE,17
$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,-1830.8011
$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,52
$R_STBD_OVSHOOT,34
$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
$GPS1,130314,121833,4743.530,-12225.181,34,1.6,34,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-66.2
$GPS2,130314,122511,4743.451,-12225.211,5,1.3,5,16.3
$SPEED_LIMITS,0.144,0.246
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.129,0.209
$KALMAN_X,-3852.4,613.4,-56.7,2857.0,-472.5
$KALMAN_Y,-7518.4,824.3,-531.7,8813.2,-763.5
$MHEAD_RNG_PITCHd_Wd,15.4,977,-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,15,-0.63,-146.6,247,2601,1299,1245,0.0,0.0,0,86,0.00,0.00,-68.50,0.000,16386,0.000,0.000,247,2602,3281,3323,3239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.63,-146.6,247,2602,3324,3239,3.5,-3.4,9,120,10.43,1.67,-16.00,0.000,19204,0.268,0.079,2711,3658,3962,3885,4039,0,0,0,0,0,0,26.04,26.27,26.60
$GC,324,-0.63,-146.6,2711,3658,3885,4038,32.7,-13.1,48,333,0.00,1.55,0.00,0.000,1030,0.000,0.037,2716,2599,3961,3885,4037,0,0,0,0,0,0,28.83,26.50,28.83
$GC,403,-0.63,-146.6,2715,2599,3885,4038,42.1,-11.8,61,410,0.00,1.52,0.00,0.000,516,0.000,0.047,2716,1557,3961,3885,4037,0,0,0,0,0,0,28.83,26.47,28.83
$GC,661,-0.63,-146.6,2715,1557,3885,4037,71.6,-11.1,106,669,0.00,1.60,0.00,0.000,1030,0.000,0.048,2708,2605,3961,3886,4037,0,0,0,0,0,0,28.83,26.59,28.83
$GC,809,-0.63,-146.6,2708,2604,3885,4037,87.7,-11.4,131,815,0.00,1.55,0.00,0.000,260,0.000,0.058,2700,3653,3961,3885,4037,0,0,0,0,0,0,28.83,26.62,28.83
$GC,891,-0.63,-146.6,2700,3653,3887,4037,98.0,-12.2,145,898,0.00,1.50,0.00,0.000,1030,0.000,0.037,2700,2588,3961,3886,4037,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1036,-0.63,-146.6,2699,2588,3885,4037,114.9,-11.6,170,1047,0.00,1.52,0.00,0.000,516,0.000,0.047,2700,1567,3961,3885,4037,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1128,-0.63,-146.6,2699,1567,3886,4037,124.4,-10.3,185,1136,0.12,1.52,0.00,0.000,3078,0.181,0.048,2725,2602,3961,3885,4037,0,0,0,0,0,0,26.58,26.71,28.83
$GC,1275,-0.63,-146.6,2725,2601,3885,4037,137.0,-8.7,210,1284,0.00,1.60,0.00,0.000,260,0.000,0.058,2717,3657,3961,3885,4037,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1335,-0.63,-146.6,2716,3657,3886,4037,143.1,-10.9,220,1343,0.00,1.52,0.00,0.000,1030,0.000,0.037,2717,2602,3961,3885,4037,0,0,0,0,0,0,28.83,26.79,28.83
$GC,1483,-0.63,-146.6,2716,2602,3885,4037,158.5,-11.4,245,1489,0.00,1.52,0.00,0.000,516,0.000,0.047,2717,1551,3961,3886,4037,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1531,-0.63,-146.6,2716,1550,3885,4037,163.8,-10.7,253,1537,0.00,1.55,0.00,0.000,1030,0.000,0.048,2709,2602,3961,3885,4037,0,0,0,0,0,0,28.83,26.77,28.83
$GC,1675,-0.63,-146.6,2709,2602,3886,4037,179.3,-9.7,278,1683,0.00,1.60,0.00,0.000,260,0.000,0.058,2701,3661,3961,3885,4037,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,1757,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1757,begin apogee
$GC,1762,-0.19,0.0,2700,2495,3886,4037,189.0,-10.8,292,1835,0.47,0.00,60.08,1.101,10246,0.143,0.000,2860,2495,3645,3677,3613,0,0,0,0,1,0,26.67,28.83,24.61
$STATE,1836,end apogee,CONTROL_FINISHED_OK
$STATE,1836,begin climb
$GC,1837,0.63,146.6,2860,2494,3681,3615,191.8,0.0,303,1961,0.77,1.67,113.32,0.556,10756,0.091,0.048,3135,1460,3031,3088,2975,0,0,0,0,0,0,25.47,25.17,24.73
$GC,1982,0.65,207.3,3135,1460,3085,2972,186.8,6.0,325,2036,0.00,1.62,45.62,0.551,9222,0.000,0.045,3135,2507,2784,2841,2728,0,0,0,0,0,0,28.83,25.43,24.79
$GC,2175,0.65,207.3,3135,2507,2835,2723,168.6,9.2,357,2182,0.00,1.60,0.00,0.000,260,0.000,0.057,3135,3556,2779,2835,2723,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2250,0.65,207.3,3134,3556,2835,2723,160.6,11.1,370,2259,0.00,1.60,0.00,0.000,1030,0.000,0.037,3144,2478,2779,2835,2723,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2398,0.65,207.3,3143,2477,2835,2723,145.1,11.3,395,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2477,2779,2835,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2541,0.65,207.3,3143,2478,2835,2723,130.1,9.9,420,2549,0.00,1.55,0.00,0.000,516,0.000,0.050,3151,1465,2778,2834,2723,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2597,0.65,207.3,3151,1465,2834,2723,124.4,10.3,429,2604,0.00,1.55,0.00,0.000,1030,0.000,0.047,3150,2506,2778,2834,2723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2741,0.65,207.3,3150,2506,2834,2723,108.5,11.6,454,2749,0.00,1.60,0.00,0.000,260,0.000,0.057,3151,3552,2778,2834,2723,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2823,0.65,207.3,3150,3552,2834,2723,97.5,12.8,468,2832,0.00,1.55,0.00,0.000,1030,0.000,0.037,3159,2488,2779,2835,2723,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2971,0.65,207.3,3159,2488,2834,2723,80.4,11.6,493,2977,0.00,1.50,0.00,0.000,516,0.000,0.051,3166,1467,2778,2834,2723,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3008,0.65,207.3,3165,1467,2834,2723,76.1,11.2,499,3014,0.00,1.52,0.00,0.000,1030,0.000,0.047,3164,2501,2778,2834,2723,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3151,0.65,207.3,3164,2501,2834,2723,60.0,10.5,524,3159,0.00,1.60,0.00,0.000,260,0.000,0.057,3164,3552,2778,2834,2723,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3211,0.65,207.3,3164,3552,2834,2723,53.8,10.1,534,3220,0.08,1.52,0.00,0.000,5126,0.163,0.038,3147,2498,2778,2834,2723,0,0,0,0,0,0,26.51,26.68,28.83
$GC,3360,0.66,229.6,3147,2498,2834,2723,42.7,7.5,559,3374,0.00,1.55,6.07,0.213,8708,0.000,0.048,3154,1472,2707,2769,2645,0,0,0,0,0,0,28.83,26.64,26.43
$GC,3554,0.66,229.6,3154,1472,2796,2648,25.9,9.1,592,3563,0.00,1.55,1.65,0.168,9222,0.000,0.047,3154,2498,2703,2769,2638,0,0,0,0,0,0,28.83,26.69,26.51
$GC,3634,0.66,229.6,3154,2499,2793,2642,18.2,9.8,605,3644,0.00,1.60,1.23,0.201,8452,0.000,0.055,3154,3555,2705,2773,2638,0,0,0,0,0,0,28.83,26.68,26.56
$GC,3783,0.72,374.7,3154,3554,2792,2642,7.3,2.8,630,3837,0.00,1.52,47.28,0.141,9222,0.000,0.038,3162,2501,2107,2164,2050,0,0,0,0,0,0,28.83,26.77,26.46
$GC,3909,0.80,581.8,3162,2501,2177,2050,6.0,0.4,649,3941,0.00,0.00,30.05,0.141,8706,0.000,0.000,3162,2501,1736,1796,1677,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3942,end climb,SURFACE_DEPTH_REACHED
$STATE,3942,begin surface coast
$FINISH,2.5,1.017377
$STATE,4098,end surface coast,CONTROL_FINISHED_OK
$STATE,4098,begin surface
$SM_CCo,4112,37.70,0.133,0,0,1270,580.38
$SM_GC,2.69,7.80,0.15,37.70,0.063,0.098,0.133,246,2615,1270,-8.35,-1.05,580.38,0,0,0,0,0,0,26.54,26.62,26.39
$IRIDIUM_FIX,4726.11,-12223.37,130314,121235
$TT8_MAMPS,0.029211,0.029211
$HUMID,41.41
$INTERNAL_PRESSURE,8.75939
$TCM_TEMP,11.60
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,135.3,68.5
$24V_AH,24.6,1.072
$10V_AH,10.3,1.357
$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,19.675,47.225,305.300,37.700,0.000,28.382,36.756,255.658,5.750,0.000,8.315,1514.837,399.918,392.880,2196.631,56.876,33.212,1070.799,0.000,1855.860,0.000,16.580,0.000
$DEVICE_MAMPS,267.750,97.920,1100.835,133.110,0.000,12.240,160.000,223.000,420.000,0.000,27.710,14.710,2.190,14.710,40.920,59.650,66.390,16.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,458.319,566.665,918.509,1407.689,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,9.740,48.680,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322284
$DATA_FILE_SIZE,53891,680
$CAP_FILE_SIZE,76309,0
$CFSIZE,1024409600,1021689856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,130314,133557,4743.891,-12224.855,3,1.1,3,16.3