version: 66.11
glider: 216
mission: 1
dive: 18
start: 3 13 114 6 42 35
data:
$ID,216
$MISSION,1
$DIVE,18
$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,-1848.4927
$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,53
$R_STBD_OVSHOOT,46
$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
$GPS1,130314,133557,4743.891,-12224.855,3,1.1,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-72.8
$GPS2,130314,134240,4743.832,-12224.836,5,1.1,5,16.3
$SPEED_LIMITS,0.144,0.246
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.080,-0.232
$KALMAN_X,-3814.6,326.0,50.7,3465.3,-347.0
$KALMAN_Y,-7684.3,326.0,-146.9,9799.8,-529.1
$MHEAD_RNG_PITCHd_Wd,144.6,2097,-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,-146.6,246,2615,1293,1248,0.0,0.0,0,78,0.00,0.00,-61.30,0.000,16386,0.000,0.000,246,2615,3090,3135,3045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.63,-146.6,246,2615,3135,3045,3.4,-2.2,8,120,10.07,1.62,-21.17,0.000,18948,0.256,0.064,2724,1553,3960,3884,4037,0,0,0,0,0,0,26.08,26.29,26.60
$GC,481,-0.63,-146.6,2724,1553,3885,4037,46.7,-12.8,76,490,0.00,1.58,0.00,0.000,1030,0.000,0.050,2716,2580,3960,3885,4036,0,0,0,0,0,0,28.83,26.54,28.83
$GC,629,-0.63,-146.6,2716,2580,3885,4037,65.0,-11.9,101,636,0.00,1.60,0.00,0.000,260,0.000,0.057,2708,3662,3961,3885,4037,0,0,0,0,0,0,28.83,26.58,28.83
$GC,746,-0.63,-146.6,2708,3662,3884,4037,79.1,-12.1,121,753,0.00,1.50,0.00,0.000,1030,0.000,0.037,2709,2595,3961,3885,4037,0,0,0,0,0,0,28.83,26.68,28.83
$GC,890,-0.63,-146.6,2708,2595,3885,4037,94.2,-9.4,146,898,0.00,1.55,0.00,0.000,516,0.000,0.047,2708,1557,3960,3885,4036,0,0,0,0,0,0,28.83,26.65,28.83
$GC,958,-0.63,-146.6,2708,1557,3885,4037,100.9,-9.9,157,964,0.00,1.55,0.00,0.000,1030,0.000,0.049,2701,2608,3961,3885,4037,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1099,-0.63,-146.6,1664,2606,3883,4036,116.5,-11.0,182,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2609,3961,3885,4037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1247,-0.63,-146.6,2700,2609,3885,4036,133.0,-11.4,207,1254,0.00,1.52,0.00,0.000,516,0.000,0.046,2700,1566,3961,3885,4037,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1274,-0.63,-146.6,2700,1565,3885,4037,135.9,-11.3,211,1281,0.12,1.52,0.00,0.000,3078,0.177,0.049,2726,2600,3961,3885,4037,0,0,0,0,0,0,26.62,26.74,28.83
$GC,1418,-0.63,-146.6,2726,2600,3885,4037,152.2,-10.9,236,1427,0.00,1.60,0.00,0.000,260,0.000,0.059,2718,3656,3961,3885,4037,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1463,-0.63,-146.6,2718,3656,3885,4037,157.2,-11.7,243,1470,0.00,1.50,0.00,0.000,1030,0.000,0.038,2718,2584,3960,3885,4036,0,0,0,0,0,0,28.83,26.82,28.83
$GC,1607,-0.63,-146.6,2718,2584,3885,4037,172.2,-10.7,268,1615,0.00,1.62,0.00,0.000,260,0.000,0.059,2710,3648,3960,3885,4036,0,0,0,0,0,0,28.83,26.79,28.83
$GC,1630,-0.63,-146.6,2710,3648,3885,4037,174.3,-10.2,271,1636,0.00,1.50,0.00,0.000,1030,0.000,0.037,2710,2575,3961,3885,4037,0,0,0,0,0,0,28.83,26.84,28.83
$STATE,1667,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1668,begin apogee
$GC,1671,-0.19,0.0,2709,2501,3884,4037,178.4,-10.6,277,1763,0.45,0.00,83.25,0.529,10246,0.139,0.000,2862,2501,3634,3668,3600,0,0,0,0,0,0,26.68,28.83,25.48
$STATE,1764,end apogee,CONTROL_FINISHED_OK
$STATE,1764,begin climb
$GC,1765,0.63,146.6,2862,2501,3667,3598,182.6,0.0,291,1884,0.75,1.65,107.80,0.553,10756,0.096,0.047,3134,1471,3031,3088,2974,0,0,0,0,0,0,25.88,25.26,24.83
$GC,1913,0.65,191.3,3134,1471,3085,2971,177.8,6.6,314,1954,0.00,1.62,33.67,0.539,9222,0.000,0.045,3134,2496,2851,2911,2792,0,0,0,0,0,0,28.83,25.55,24.90
$GC,2092,0.65,191.3,3134,2496,2902,2788,162.5,8.9,344,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2496,2844,2901,2788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2238,0.65,191.3,3133,2496,2901,2787,149.0,8.5,369,2245,0.00,1.60,0.00,0.000,260,0.000,0.057,3134,3556,2844,2901,2787,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2277,0.65,191.3,3134,3556,2901,2787,145.6,9.7,375,2283,0.00,1.52,0.00,0.000,1030,0.000,0.037,3142,2493,2844,2901,2787,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2420,0.65,191.3,3142,2493,2901,2788,133.0,8.9,400,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2494,2844,2901,2787,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2567,0.65,191.3,3142,2493,2902,2787,119.4,10.2,425,2574,0.00,1.52,0.00,0.000,516,0.000,0.051,3150,1465,2844,2901,2787,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2594,0.65,191.3,3149,1465,2901,2787,116.8,9.5,429,2601,0.00,1.55,0.00,0.000,1030,0.000,0.047,3150,2508,2843,2900,2787,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2738,0.65,191.3,3149,2508,2901,2787,100.7,11.3,454,2746,0.00,1.60,0.00,0.000,516,0.000,0.050,3157,1467,2844,2901,2788,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2783,0.65,191.3,3156,1467,2901,2788,96.4,9.7,461,2789,0.00,1.52,0.00,0.000,1030,0.000,0.047,3156,2502,2844,2901,2787,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2926,0.65,191.3,3156,2502,2901,2788,83.3,8.5,486,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2502,2844,2901,2787,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3073,0.65,191.3,3156,2502,2901,2787,69.3,10.6,511,3080,0.00,1.55,0.00,0.000,516,0.000,0.050,3163,1457,2844,2901,2787,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3091,0.65,191.3,3163,1457,2901,2787,67.1,11.1,514,3099,0.00,1.58,0.00,0.000,1030,0.000,0.048,3159,2496,2844,2901,2787,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3239,0.65,191.3,3159,2496,2900,2787,53.8,8.5,539,3245,0.00,1.58,0.00,0.000,260,0.000,0.057,3159,3565,2844,2901,2787,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3436,0.65,191.3,3158,3564,2901,2788,35.1,11.4,573,3445,0.00,1.55,0.00,0.000,1030,0.000,0.037,3166,2490,2843,2900,2787,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3516,0.67,243.0,3166,2490,2900,2787,29.6,6.4,586,3540,0.00,1.55,15.85,0.189,8708,0.000,0.048,3174,1462,2648,2711,2585,0,0,0,0,0,0,28.83,26.65,26.48
$GC,3565,0.67,244.9,3174,1462,2729,2586,25.5,8.3,593,3575,0.00,1.58,1.45,0.181,9222,0.000,0.047,3173,2500,2641,2706,2576,0,0,0,0,0,0,28.83,26.67,26.49
$GC,3646,0.67,244.9,3173,2501,2730,2579,17.4,11.3,606,3655,0.00,0.00,1.25,0.221,8198,0.000,0.000,3173,2500,2641,2710,2573,0,0,0,0,0,0,28.83,28.83,26.53
$GC,3725,0.67,244.9,3173,2500,2729,2576,9.0,12.1,619,3735,0.00,1.58,1.00,0.213,8708,0.000,0.049,3181,1466,2639,2706,2573,0,0,0,0,0,0,28.83,26.70,26.56
$STATE,3970,end climb,NO_VERTICAL_VELOCITY
$STATE,3970,begin surface
$SM_CCo,3972,175.12,0.138,0,0,497,770.24
$SM_GC,1.75,7.72,1.77,0.00,0.048,0.045,0.000,241,2608,495,-8.34,-0.82,771.47,0,0,0,0,0,0,26.34,26.34,28.83
$IRIDIUM_FIX,4726.11,-12223.37,130314,131358
$TT8_MAMPS,0.029211,0.029211
$HUMID,40.66
$INTERNAL_PRESSURE,8.69102
$TCM_TEMP,11.20
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,120.6,72.2
$24V_AH,24.8,1.134
$10V_AH,10.3,1.434
$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,19.125,44.075,244.275,175.125,0.000,27.358,41.336,255.782,6.000,0.000,8.358,1491.204,477.803,499.593,2138.078,61.023,33.207,1142.173,0.000,1799.735,0.000,11.908,0.000
$DEVICE_MAMPS,256.275,120.105,553.095,137.700,0.000,12.240,160.000,223.000,420.000,0.000,27.710,14.710,2.190,14.710,40.920,59.650,66.390,16.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,446.004,547.035,886.106,1358.216,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,9.740,48.680,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322364
$DATA_FILE_SIZE,54029,661
$CAP_FILE_SIZE,76092,0
$CFSIZE,1024409600,1021591552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130314,145507,4743.646,-12224.640,3,1.7,3,16.3