version: 66.12
glider: 216
mission: 2
dive: 3
start: 7 13 116 20 51 50
data:
$ID,216
$MISSION,2
$DIVE,3
$N_DIVES,3
$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,350
$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,3035
$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,49
$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
$GPS1,130716,204708,4742.7197,-12224.5576,6,1.0,12,16.3,0.0,0.0,9,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-68.7
$GPS2,130716,205050,4742.7173,-12224.5479,8,1.0,12,16.3,0.0,0.0,9,8.7
$SPEED_LIMITS,0.173,0.374
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.061200,0.368774
$KALMAN_X,93.717896,74.257675,66.208191,-108.221329,51.482826
$KALMAN_Y,-327.774567,-263.884827,-237.011459,864.750732,-180.804321
$MHEAD_RNG_PITCHd_Wd,334.3,2213,-10.5,-10.000,-14.98,5141
$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,-1.08,-342.1,194,2185,1146,1157,0.0,0.0,0,84,0.00,0.00,-66.25,0.000,16386,0.000,0.000,195,2185,2919,2923,2915,0,0,0,0,0,0,27.27,28.83,27.30
$GC,86,-1.08,-342.1,194,2185,2924,2915,3.5,-4.3,7,125,10.27,2.33,-19.75,0.000,18948,0.240,1.196,2677,789,3947,3922,3972,0,0,0,0,0,0,25.65,24.16,25.88
$GC,155,-1.08,-342.1,2676,788,3922,3972,21.3,-23.0,15,165,0.00,2.08,0.00,0.000,1030,0.000,0.034,2668,2177,3947,3922,3973,0,0,0,0,0,0,26.66,26.62,26.69
$GC,249,-1.08,-342.1,2667,2177,3922,3972,43.5,-24.0,27,261,0.00,2.10,0.00,0.000,260,0.000,0.049,2657,3588,3947,3922,3972,0,0,0,0,0,0,27.22,26.46,27.24
$GC,355,-1.08,-342.1,2656,3588,3922,3973,66.6,-21.2,35,368,0.08,2.00,0.00,0.000,3078,0.167,0.032,2681,2178,3947,3922,3973,0,0,0,0,0,0,26.27,26.64,26.33
$GC,487,-1.08,-342.1,2680,2177,3922,3973,94.3,-20.6,48,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2177,3948,3923,3973,0,0,0,0,0,0,27.29,27.32,27.32
$GC,620,-1.08,-342.1,2680,2175,3922,3973,121.0,-20.6,61,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2175,3947,3922,3973,0,0,0,0,0,0,27.24,27.26,27.26
$GC,750,-1.08,-342.1,2681,2170,3922,3973,147.5,-19.4,74,754,0.00,2.12,0.00,0.000,260,0.000,0.048,2672,3580,3947,3922,3973,0,0,0,0,0,0,27.31,26.37,27.33
$STATE,762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,762,begin apogee
$GC,768,-0.31,0.0,2671,2175,3922,3973,150.1,-19.4,75,1065,0.80,0.00,281.88,1.175,10246,0.139,0.000,2929,2171,2552,2479,2625,0,0,0,0,1,0,25.60,24.49,23.68
$STATE,1066,end apogee,CONTROL_FINISHED_OK
$STATE,1066,begin climb
$GC,1067,1.08,342.1,2929,2171,2479,2626,169.4,0.0,105,1369,1.30,2.25,286.75,1.154,10756,0.113,0.048,3366,783,1155,1085,1226,0,0,0,0,1,0,25.50,25.01,23.70
$GC,1393,1.08,342.1,3366,783,1084,1226,154.1,10.2,137,1404,0.00,2.08,0.00,0.000,1030,0.000,0.030,3366,2187,1154,1084,1225,0,0,0,0,0,0,26.08,26.04,26.10
$GC,1525,1.08,342.1,3366,2195,1083,1222,137.8,11.8,150,1537,0.00,2.12,0.00,0.000,516,0.000,0.049,3377,786,1152,1083,1222,0,0,0,0,0,0,27.00,26.54,27.02
$GC,1591,1.08,342.1,3376,785,1083,1222,129.5,12.5,155,1603,0.00,2.03,0.00,0.000,1030,0.000,0.031,3377,2191,1152,1082,1222,0,0,0,0,0,0,26.75,26.72,26.79
$GC,1722,1.08,342.1,3376,2192,1082,1222,112.0,13.5,168,1735,0.00,2.12,0.00,0.000,516,0.000,0.049,3386,784,1152,1082,1222,0,0,0,0,0,0,27.19,26.65,27.21
$GC,1778,1.08,342.1,3385,784,1082,1222,104.8,13.4,172,1789,0.00,2.08,0.00,0.000,1030,0.000,0.031,3386,2182,1151,1081,1222,0,0,0,0,0,0,26.84,26.81,26.86
$GC,1910,1.08,342.1,3385,2182,1082,1221,86.3,14.4,185,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,2182,1151,1081,1221,0,0,0,0,0,0,27.24,27.27,27.26
$GC,2040,1.08,342.1,3385,2183,1081,1221,67.6,14.5,198,2052,0.00,2.12,0.00,0.000,516,0.000,0.049,3396,779,1151,1082,1221,0,0,0,0,0,0,27.26,26.65,27.28
$GC,2185,1.08,342.1,3395,779,1080,1221,47.3,13.4,209,2198,0.00,2.00,0.00,0.000,1030,0.000,0.032,3396,2178,1150,1080,1221,0,0,0,0,0,0,26.84,26.80,26.86
$GC,2349,1.08,342.1,3395,2178,1080,1221,26.6,12.1,229,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,2178,1150,1080,1221,0,0,0,0,0,0,27.28,27.30,27.29
$GC,2450,1.08,342.1,3396,2178,1079,1220,14.5,12.7,242,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,2178,1150,1079,1221,0,0,0,0,0,0,27.28,27.30,27.30
$STATE,2548,end climb,SURFACE_DEPTH_REACHED
$STATE,2548,begin surface coast
$FINISH,0.8,1.002866
$STATE,2570,end surface coast,CONTROL_FINISHED_OK
$STATE,2570,begin surface
$SM_CCo,2645,0.00,0.000,0,0,1148,343.91
$SM_GC,1.77,8.45,0.00,0.00,0.057,0.000,0.000,191,2192,1148,-8.79,0.34,343.91,0,0,0,0,0,0,26.74,27.31,26.82
$IRIDIUM_FIX,4726.11,-12226.80,130716,204242
$TT8_MAMPS,0.026215,0.325066
$HUMID,60.08
$INTERNAL_PRESSURE,9.05951
$TCM_TEMP,14.40
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.2,17.4
$ALTIM_BOTTOM_PING,125.2,65.5
$24V_AH,23.68,0.596
$10V_AH,9.85,0.290
$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,20.900,29.500,568.625,0.000,0.000,0.000,0.000,0.000,3.000,0.000,13.554,539.003,363.036,404.020,1377.441,33.702,31.521,1024.102,0.000,1369.279,0.000,18.030,0.000
$DEVICE_MAMPS,240.210,1196.460,1175.040,0.000,0.000,0.000,0.000,0.000,420.000,0.000,28.460,12.460,2.190,12.460,37.180,50.660,58.900,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_FL3,WL_BB3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,168.091,841.245,1240.642,1260.153,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.710,45.690,49.430,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312132
$DATA_FILE_SIZE,20451,258
$CAP_FILE_SIZE,69445,0
$CFSIZE,2097872896,2095448064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,130716,213702,4743.141,-12224.556,5,0.9,34,16.3,0.0,0.0,9,3.0