version: 66.12
glider: 216
mission: 2
dive: 2
start: 7 13 116 19 23 55
data:
$ID,216
$MISSION,2
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,3
$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,50
$T_MISSION,60
$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,340
$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,200000
$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,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,16
$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,51
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$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
$GPS1,130716,191322,4742.6104,-12224.6045,20,0.8,20,16.3,0.3,0.0,10,3.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-65.2
$GPS2,130716,192258,4742.5732,-12224.5693,5,1.0,12,16.3,0.0,0.0,9,9.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.042159,0.256584
$KALMAN_X,29.388306,29.388306,29.388306,9.863710,67.732391
$KALMAN_Y,-114.466438,-114.466438,-114.466438,118.739677,-263.815338
$MHEAD_RNG_PITCHd_Wd,334.4,2474,-17.5,-10.000,-21.04,2225
$D_GRID,169
$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,-1.27,-146.6,196,2188,478,525,0.0,0.0,0,113,0.00,0.00,-94.95,0.000,16386,0.000,0.000,196,2188,2957,2965,2949,0,0,0,0,0,0,27.29,28.83,27.32
$GC,115,-1.27,-146.6,196,2188,2965,2949,3.5,-5.5,10,137,9.77,2.35,-4.18,0.000,18948,0.236,1.188,2586,780,3148,3131,3165,0,0,0,0,0,0,25.78,24.24,26.22
$GC,210,-1.27,-146.6,2585,781,3132,3166,28.3,-25.3,22,220,0.00,2.08,0.00,0.000,1030,0.000,0.032,2577,2173,3148,3131,3166,0,0,0,0,0,0,26.73,26.69,26.78
$GC,301,-1.27,-146.6,2576,2173,3131,3166,51.3,-25.1,32,313,0.00,2.08,0.00,0.000,260,0.000,0.047,2566,3582,3148,3131,3165,0,0,0,0,0,0,27.27,26.51,27.29
$GC,355,-1.27,-146.6,2565,3583,3131,3166,64.4,-24.6,36,367,0.00,2.00,0.00,0.000,1030,0.000,0.031,2566,2174,3148,3131,3165,0,0,0,0,0,0,26.71,26.70,26.74
$GC,488,-1.27,-146.6,2565,2173,3131,3166,95.8,-22.5,49,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2173,3148,3131,3166,0,0,0,0,0,0,27.32,27.34,27.33
$GC,620,-1.27,-146.6,2565,2171,3131,3166,127.2,-23.1,62,633,0.00,2.10,0.00,0.000,260,0.000,0.047,2555,3584,3148,3131,3166,0,0,0,0,0,0,27.32,26.44,27.34
$STATE,723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,724,begin apogee
$GC,729,-0.31,0.0,2555,2169,3131,3166,151.1,-23.6,70,866,1.10,0.00,124.00,1.168,10246,0.155,0.000,2890,2166,2550,2493,2607,0,0,0,0,1,0,25.32,24.63,23.79
$STATE,867,end apogee,CONTROL_FINISHED_OK
$STATE,867,begin climb
$GC,868,1.27,146.6,2889,2166,2494,2607,162.0,0.0,84,1008,1.48,0.00,125.18,1.136,10758,0.101,0.000,3388,2165,1951,1868,2034,0,0,0,0,1,0,25.72,24.63,23.83
$GC,1129,1.27,146.6,3388,2165,1867,2034,140.0,15.4,110,1141,0.00,2.10,0.00,0.000,260,0.000,0.047,3388,3578,1950,1867,2033,0,0,0,0,0,0,27.03,26.57,27.05
$GC,1224,1.27,146.6,3387,3578,1867,2033,127.7,11.7,117,1235,0.00,2.05,0.00,0.000,1030,0.000,0.031,3396,2182,1950,1867,2033,0,0,0,0,0,0,26.79,26.75,26.82
$GC,1356,1.29,157.4,3396,2182,1866,2033,114.4,9.5,130,1369,0.00,2.15,8.12,0.672,8708,0.000,0.047,3407,784,1905,1824,1987,0,0,0,0,0,0,27.24,26.27,25.39
$GC,1437,1.29,163.2,3406,784,1824,1985,106.1,9.7,136,1449,0.00,2.03,2.45,0.584,9222,0.000,0.031,3407,2189,1884,1806,1963,0,0,0,0,0,0,26.86,26.78,24.44
$GC,1571,1.30,170.9,3406,2188,1807,1963,93.3,9.6,149,1583,0.00,2.15,3.78,0.365,8708,0.000,0.045,3417,791,1853,1775,1931,0,0,0,0,0,0,27.24,25.91,25.58
$GC,1613,1.30,170.9,3416,792,1776,1931,88.9,10.2,152,1616,0.00,2.03,0.00,0.000,1030,0.000,0.031,3417,2180,1853,1775,1931,0,0,0,0,0,0,26.88,26.79,26.90
$GC,1746,1.30,170.9,3416,2181,1775,1930,73.6,11.3,165,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2180,1852,1775,1930,0,0,0,0,0,0,27.22,27.24,27.24
$GC,1876,1.30,170.9,3417,2181,1773,1930,58.8,11.7,178,1888,0.00,2.10,0.00,0.000,516,0.000,0.047,3427,787,1852,1774,1930,0,0,0,0,0,0,27.29,26.61,27.32
$GC,2061,1.31,173.3,3427,788,1775,1930,39.1,9.9,192,2072,0.00,2.08,1.15,0.265,9222,0.000,0.033,3427,2184,1841,1766,1917,0,0,0,0,0,0,26.81,26.78,25.18
$GC,2163,1.36,221.9,3427,2183,1767,1917,30.4,7.8,205,2191,0.00,0.00,23.67,0.210,8198,0.000,0.000,3427,2183,1642,1569,1716,0,0,0,0,0,0,27.30,26.29,25.94
$GC,2288,1.36,221.9,3427,2183,1567,1716,18.5,11.0,220,2298,0.00,2.12,0.00,0.000,260,0.000,0.049,3427,3585,1641,1567,1715,0,0,0,0,0,0,27.25,26.58,27.27
$GC,2400,1.36,221.9,3427,3585,1565,1715,4.6,13.5,235,2411,0.00,2.05,0.00,0.000,1030,0.000,0.034,3438,2188,1641,1566,1716,0,0,0,0,0,0,26.75,26.70,26.78
$STATE,2425,end climb,SURFACE_DEPTH_REACHED
$STATE,2426,begin surface coast
$FINISH,0.8,1.009330
$STATE,2451,end surface coast,CONTROL_FINISHED_OK
$STATE,2451,begin surface
$SM_CCo,2465,58.70,0.135,0,0,1160,340.23
$SM_GC,2.11,8.65,0.00,58.70,0.060,0.000,0.135,194,2183,1160,-8.67,0.08,340.23,0,0,0,0,0,0,26.66,27.32,26.18
$IRIDIUM_FIX,4726.11,-12226.80,130716,191642
$TT8_MAMPS,0.025466,0.324317
$HUMID,58.15
$INTERNAL_PRESSURE,9.07904
$TCM_TEMP,14.20
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.5,17.4
$ALTIM_BOTTOM_PING,105.6,67.6
$24V_AH,23.79,0.362
$10V_AH,9.85,0.204
$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,21.000,33.525,288.350,58.700,0.000,0.000,0.000,0.000,3.500,0.000,13.578,571.966,338.707,321.935,1329.834,33.992,30.290,816.970,0.000,1323.536,0.000,11.742,0.000
$DEVICE_MAMPS,236.385,1188.045,1168.155,135.405,0.000,0.000,0.000,0.000,420.000,0.000,28.460,12.460,2.190,12.460,37.180,50.660,58.900,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_FL3,WL_BB3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,159.869,787.145,1182.345,1199.556,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.710,45.690,49.430,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312108
$DATA_FILE_SIZE,20471,241
$CAP_FILE_SIZE,79430,0
$CFSIZE,2097872896,2095546368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,3887.90,0x212ecc,7,24
$GPS,130716,200649,4742.778,-12224.688,14,1.0,15,16.3,0.2,18.6,8,9.5