version: 66.11
glider: 216
mission: 1
dive: 19
start: 3 13 114 8 1 34
data:
$ID,216
$MISSION,1
$DIVE,19
$N_DIVES,0
$D_SURF,5
$D_FLARE,3
$D_TGT,100
$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,22
$T_MISSION,30
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,-1867.1321
$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,57
$R_STBD_OVSHOOT,32
$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,0
$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
$GPS1,130314,145507,4743.646,-12224.640,3,1.7,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-70.4
$GPS2,130314,150139,4743.587,-12224.705,6,1.6,6,16.3
$SPEED_LIMITS,0.262,0.295
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.048,-0.291
$KALMAN_X,-3926.7,92.0,182.6,3845.1,-95.0
$KALMAN_Y,-6808.5,-265.4,274.6,8631.3,-50.0
$MHEAD_RNG_PITCHd_Wd,154.3,1646,-25.3,-15.152,-27.17,1480
$D_GRID,175
$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,-0.99,-146.6,241,2613,556,435,0.0,0.0,0,100,0.00,0.00,-83.05,0.000,16386,0.000,0.000,241,2613,2952,3001,2903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.99,-146.6,241,2613,3002,2903,3.3,-1.8,11,142,9.90,1.58,-22.80,0.000,18948,0.267,0.064,2603,1561,3961,3884,4039,0,0,0,0,0,0,26.02,26.27,26.59
$GC,506,-0.99,-146.6,2603,1558,3884,4038,65.0,-17.2,79,512,0.00,1.55,0.00,0.000,1030,0.000,0.047,2596,2605,3961,3884,4038,0,0,0,0,0,0,28.83,26.53,28.83
$GC,649,-0.99,-146.6,2596,2605,3884,4038,89.8,-18.5,104,657,0.00,1.60,0.00,0.000,260,0.000,0.056,2588,3660,3961,3885,4038,0,0,0,0,0,0,28.83,26.56,28.83
$GC,675,-0.99,-146.6,2587,3659,3883,4038,94.8,-19.1,108,683,0.00,1.55,0.00,0.000,1030,0.000,0.037,2593,2595,3961,3885,4038,0,0,0,0,0,0,28.83,26.64,28.83
$STATE,707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,707,begin apogee
$GC,711,-0.19,0.0,2593,2502,3884,4038,100.8,-19.1,113,803,0.85,0.00,81.93,0.491,10246,0.167,0.000,2860,2501,3634,3657,3612,0,0,0,0,0,0,26.44,28.83,25.40
$STATE,804,end apogee,CONTROL_FINISHED_OK
$STATE,804,begin climb
$GC,805,0.99,146.6,2860,2501,3656,3611,107.3,0.0,127,923,1.10,1.67,105.88,0.500,10756,0.093,0.049,3250,1462,3030,3070,2990,0,0,0,0,0,0,25.78,25.29,24.89
$GC,964,1.01,187.9,3250,1462,3067,2986,97.8,12.3,152,986,0.00,1.62,13.50,0.324,9222,0.000,0.045,3248,2491,2880,2928,2833,0,0,0,0,0,0,28.83,25.62,25.25
$GC,1125,1.01,187.9,3248,2491,2963,2833,74.1,16.5,179,1133,0.00,1.65,2.15,0.202,8708,0.000,0.048,3255,1458,2874,2927,2822,0,0,0,0,0,0,28.83,25.99,25.70
$GC,1201,1.01,187.9,3255,1458,2959,2825,61.4,16.1,192,1210,0.00,1.60,1.73,0.171,9222,0.000,0.046,3254,2494,2875,2928,2822,0,0,0,0,0,0,28.83,26.11,25.89
$GC,1350,1.03,234.0,3253,2494,2962,2826,40.3,12.0,217,1373,0.00,1.67,16.98,0.213,8452,0.000,0.055,3246,3561,2685,2730,2640,0,0,0,0,0,0,28.83,26.19,26.00
$GC,1416,1.03,234.0,3246,3560,2759,2640,30.7,16.0,227,1425,0.00,1.58,1.20,0.172,9222,0.000,0.036,3255,2489,2687,2736,2638,0,0,0,0,0,0,28.83,26.29,26.13
$GC,1497,1.04,253.6,3255,2489,2767,2638,18.6,13.8,240,1514,0.00,1.58,7.75,0.169,8708,0.000,0.047,3262,1460,2605,2655,2556,0,0,0,0,0,0,28.83,26.29,26.15
$GC,1562,1.05,293.9,3262,1460,2676,2556,10.4,12.4,250,1586,0.00,1.60,13.80,0.148,9222,0.000,0.047,3258,2503,2439,2485,2394,0,0,0,0,0,0,28.83,26.34,26.18
$GC,1657,1.14,499.2,3258,2503,2507,2394,8.0,1.0,265,1735,0.12,1.62,68.10,0.141,10756,0.115,0.054,3316,1464,1600,1643,1557,0,0,0,0,0,0,26.37,26.20,26.08
$STATE,1759,end climb,SURFACE_DEPTH_REACHED
$STATE,1759,begin surface coast
$FINISH,1.5,1.017316
$STATE,1813,end surface coast,CONTROL_FINISHED_OK
$STATE,1813,begin surface
$SM_CCo,1829,27.00,0.135,0,0,1270,580.13
$SM_GC,1.76,8.68,1.77,27.00,0.089,0.045,0.135,251,2606,1270,-8.33,-0.93,580.13,0,0,0,0,0,0,26.25,26.31,26.13
$IRIDIUM_FIX,4726.11,-12257.95,130314,141418
$TT8_MAMPS,0.029211,0.029211
$HUMID,41.49
$INTERNAL_PRESSURE,8.77892
$TCM_TEMP,11.50
$XPDR_PINGS,13
$24V_AH,24.9,1.185
$10V_AH,10.3,1.475
$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,20.650,22.750,313.000,27.000,0.000,32.974,44.241,235.900,3.250,0.000,9.311,611.662,109.049,334.467,1170.832,34.533,33.212,730.331,0.000,850.778,0.000,0.541,0.000
$DEVICE_MAMPS,266.985,101.745,499.545,134.640,0.000,12.240,160.000,223.000,420.000,0.000,27.710,14.710,2.190,14.710,40.920,59.650,66.390,16.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB3,WL_FL3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,190.004,273.567,445.258,682.743,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,9.740,48.680,44.190,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322240
$DATA_FILE_SIZE,23822,288
$CAP_FILE_SIZE,40869,1
$CFSIZE,1024409600,1021575168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130314,153415,4743.510,-12224.528,7,1.0,7,16.3