version: 66.12
glider: 216
mission: 2
dive: 1
start: 7 13 116 18 19 6
data:
$ID,216
$MISSION,2
$DIVE,1
$N_DIVES,1
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,45
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,30
$T_BOOST,0
$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,15
$T_MISSION,25
$T_ABORT,1440
$T_TURN,225
$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,53640
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$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,535
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,20000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3900
$C_PITCH,2952
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,27
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,350
$ROLL_MAX,3925
$ROLL_DEG,40
$C_ROLL_DIVE,2180
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,72
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2551
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,20
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,92.983002
$AH0_10V,63.52
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-66.844414
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.0190001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,134
$DEVICE4,147
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044103297
$SEABIRD_T_H,0.00064226071
$SEABIRD_T_I,2.6842501e-05
$SEABIRD_T_J,3.341913e-06
$SEABIRD_C_G,-9.7883558
$SEABIRD_C_H,1.1307861
$SEABIRD_C_I,-0.00044241594
$SEABIRD_C_J,0.00010489544
$GPS1,130716,180906,4742.7529,-12224.6494,59,0.8,59,16.3,0.3,181.9,10,3.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-64.5
$GPS2,130716,181753,4742.7007,-12224.6504,6,0.8,12,16.3,0.0,50.7,10,8.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.021694,0.259118
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,338.9,2229,-17.5,-10.000,-21.04,2225
$D_GRID,179
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.83,-146.6,189,2177,461,538,0.0,0.0,0,109,0.00,0.00,-91.57,0.000,16386,0.000,0.000,189,2177,2970,2986,2954,0,0,0,0,0,0,27.30,28.83,27.33
$GC,111,-0.83,-146.6,189,2177,2985,2954,3.3,-4.9,10,133,9.80,2.65,-4.10,0.000,18948,0.225,1.150,2675,806,3147,3134,3161,0,0,1,0,0,0,25.91,23.84,26.10
$GC,233,-0.83,-146.6,2674,806,3134,3162,24.9,-17.1,26,243,0.00,2.15,0.00,0.000,1030,0.000,0.029,2666,2179,3147,3133,3162,0,0,0,0,0,0,26.79,26.74,26.79
$GC,337,-0.83,-146.6,2665,2179,3133,3162,43.0,-18.2,39,350,0.00,2.15,0.00,0.000,260,0.000,0.044,2655,3591,3147,3133,3162,0,0,0,0,0,0,27.31,26.53,27.33
$STATE,365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,365,begin apogee
$GC,370,-0.19,0.0,2655,2188,3133,3162,48.1,-18.9,41,437,0.70,0.00,61.72,0.843,10246,0.138,0.000,2883,2185,2547,2491,2604,0,0,0,0,0,0,25.69,25.45,24.31
$STATE,437,end apogee,CONTROL_FINISHED_OK
$STATE,438,begin climb
$GC,439,0.83,146.6,2883,2184,2494,2605,56.0,0.0,48,515,0.93,2.15,63.80,0.841,10756,0.106,0.042,3204,800,1949,1868,2031,0,0,0,0,0,0,25.93,25.51,24.36
$GC,596,1.03,313.9,3203,800,1868,2030,54.6,2.3,61,684,0.15,2.03,74.05,0.835,11270,0.090,0.029,3276,2202,1267,1188,1347,0,0,0,0,0,0,26.53,26.67,24.51
$GC,805,1.10,364.7,3275,2202,1185,1341,41.7,7.7,81,837,0.00,2.08,22.30,0.778,8452,0.000,0.045,3276,3562,1060,985,1135,0,0,0,0,0,0,27.13,25.44,24.81
$GC,924,1.13,391.2,3275,3562,984,1131,31.9,8.8,95,944,0.00,2.03,11.75,0.713,9222,0.000,0.031,3285,2183,951,883,1020,0,0,0,0,0,0,26.77,26.74,24.94
$GC,1036,1.20,452.0,3284,2182,883,1020,23.0,7.2,109,1075,0.08,2.12,27.73,0.184,10500,0.135,0.044,3332,3576,705,648,762,0,0,0,0,0,0,26.81,26.19,26.01
$GC,1085,1.23,473.7,3331,3576,648,762,18.6,9.0,114,1104,0.00,2.03,10.20,0.175,9222,0.000,0.032,3338,2189,613,560,667,0,0,0,0,0,0,26.77,26.73,26.01
$GC,1191,1.24,480.0,3337,2189,560,665,8.0,9.7,128,1202,0.00,2.12,2.28,0.198,8708,0.000,0.045,3346,787,589,536,643,0,0,0,0,0,0,27.23,26.10,25.94
$STATE,1249,end climb,SURFACE_DEPTH_REACHED
$STATE,1249,begin surface coast
$FINISH,0.8,1.009195
$STATE,1271,end surface coast,CONTROL_FINISHED_OK
$STATE,1272,begin surface
$SM_CCo,1288,10.65,0.142,0,0,499,503.11
$SM_CCo,1300,-0.28,0.000,0,0,501,503.11
$SM_CCo,1303,0.25,0.610,0,0,496,503.11
$SM_GC,1.31,8.07,2.05,0.25,0.044,0.030,0.610,196,2172,496,-8.51,-1.78,503.11,0,0,0,0,0,0,26.74,26.79,26.11
$IRIDIUM_FIX,4722.92,-12223.37,130716,181240
$TT8_MAMPS,0.026215,0.300349
$HUMID,53.50
$INTERNAL_PRESSURE,9.12787
$TCM_TEMP,16.30
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.9,18.4
$24V_AH,23.84,0.221
$10V_AH,9.90,0.121
$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,19.725,25.575,273.825,10.900,0.000,0.000,0.000,0.000,4.250,0.000,12.587,340.143,51.686,228.665,741.784,30.007,29.320,583.653,0.000,744.264,0.000,2.649,0.000
$DEVICE_MAMPS,224.910,1149.795,843.030,610.470,0.000,0.000,0.000,0.000,420.000,0.000,28.460,12.460,2.190,12.460,37.180,50.660,58.900,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_FL3,WL_BB3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,89.635,450.095,665.065,675.018,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.710,45.690,49.430,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312288
$DATA_FILE_SIZE,10401,138
$CAP_FILE_SIZE,107711,0
$CFSIZE,2097872896,2095611904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,130716,184138,4742.724,-12224.674,14,0.8,14,16.3,0.0,0.0,10,4.8