version: 66.12
glider: 216
mission: 2
dive: 4
start: 7 13 116 21 54 22
data:
$ID,216
$MISSION,2
$DIVE,4
$N_DIVES,25
$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,50
$R_STBD_OVSHOOT,48
$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,0
$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
$GPS1,130716,213702,4743.1411,-12224.5557,5,0.9,34,16.3,0.0,0.0,9,3.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-68.4
$GPS2,130716,215320,4743.1807,-12224.5303,9,0.9,12,16.3,0.0,0.0,9,9.4
$SPEED_LIMITS,0.173,0.374
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.096807,0.361065
$KALMAN_X,196.026093,137.894882,82.889626,-270.173035,43.075008
$KALMAN_Y,-467.133972,-352.069794,-251.318085,1960.994263,-93.588120
$MHEAD_RNG_PITCHd_Wd,328.7,1374,-10.5,-10.000,-14.98,5141
$D_GRID,177
$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,-1.08,-342.1,191,2194,1101,1184,0.0,0.0,0,74,0.00,0.00,-56.65,0.000,16386,0.000,0.000,191,2194,2600,2606,2594,0,0,0,0,0,0,27.16,28.83,27.18
$GC,76,-1.08,-342.1,191,2194,2607,2594,3.1,-4.5,6,125,10.38,2.33,-30.85,0.000,18692,0.245,1.211,2668,3581,3945,3918,3973,0,0,0,0,0,0,25.75,24.34,25.98
$GC,177,-1.08,-342.1,2667,3581,3919,3974,23.3,-22.1,18,188,0.00,2.08,0.00,0.000,1030,0.000,0.034,2668,2178,3946,3919,3974,0,0,0,0,0,0,26.68,26.65,26.71
$GC,271,-1.08,-342.1,2667,2177,3918,3974,46.7,-27.0,29,283,0.00,2.08,0.00,0.000,516,0.000,0.046,2668,776,3946,3919,3974,0,0,0,0,0,0,27.21,26.53,27.22
$GC,301,-1.08,-342.1,2667,776,3919,3974,53.8,-26.1,31,312,0.00,2.10,0.00,0.000,1030,0.000,0.034,2658,2176,3946,3919,3974,0,0,0,0,0,0,26.70,26.66,26.73
$GC,433,-1.08,-342.1,2657,2176,3919,3974,85.0,-22.9,44,446,0.08,2.08,0.00,0.000,2308,0.195,0.048,2677,3585,3946,3919,3974,0,0,0,0,0,0,26.65,26.52,26.67
$GC,488,-1.08,-342.1,2676,3585,3919,3974,96.3,-20.7,48,500,0.00,2.03,0.00,0.000,1030,0.000,0.033,2677,2170,3946,3918,3974,0,0,0,0,0,0,26.74,26.70,26.77
$GC,624,-1.08,-342.1,2676,2167,3918,3974,124.6,-20.2,61,635,0.00,2.05,0.00,0.000,516,0.000,0.047,2677,781,3946,3919,3973,0,0,0,0,0,0,27.28,26.51,27.30
$GC,665,-1.08,-342.1,2676,780,3919,3974,133.4,-21.4,64,677,0.00,2.10,0.00,0.000,1030,0.000,0.034,2667,2178,3946,3918,3974,0,0,0,0,0,0,26.73,26.69,26.74
$STATE,746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,746,begin apogee
$GC,749,-0.31,0.0,2667,2178,3919,3974,152.1,-23.6,72,1169,0.80,0.00,372.45,0.822,10246,0.144,0.000,2924,2179,2549,2476,2622,0,0,0,0,8,0,25.67,25.34,24.03
$STATE,1170,end apogee,CONTROL_FINISHED_OK
$STATE,1170,begin climb
$GC,1171,1.08,342.1,2923,2178,2481,2626,177.3,0.0,114,1833,1.33,2.25,478.60,1.073,11012,0.116,0.047,3369,775,1155,1082,1228,0,0,0,0,33,0,25.68,25.08,24.10
$GC,1888,1.08,342.1,3368,776,1082,1228,126.5,12.6,181,1900,0.00,2.08,0.00,0.000,1030,0.000,0.032,3369,2195,1155,1082,1228,0,0,0,0,0,0,26.51,26.47,26.53
$GC,2021,1.08,342.1,3368,2194,1081,1227,110.8,11.1,194,2033,0.00,2.15,0.00,0.000,516,0.000,0.049,3379,774,1154,1082,1227,0,0,0,0,0,0,27.07,26.62,27.09
$GC,2075,1.08,342.1,3378,774,1081,1227,103.8,12.6,198,2088,0.00,2.05,0.00,0.000,1030,0.000,0.032,3379,2184,1153,1080,1227,0,0,0,0,0,0,26.80,26.75,26.84
$GC,2208,1.08,342.1,3378,2184,1080,1226,87.0,12.8,211,2220,0.00,2.12,0.00,0.000,516,0.000,0.050,3388,782,1153,1080,1226,0,0,0,0,0,0,27.20,26.69,27.22
$GC,2262,1.08,342.1,3389,781,1079,1227,79.8,13.2,215,2274,0.00,2.00,0.00,0.000,1030,0.000,0.032,3389,2179,1152,1079,1226,0,0,0,0,0,0,26.86,26.83,26.89
$GC,2395,1.08,342.1,3389,2180,1079,1226,61.1,14.1,228,2407,0.00,2.10,0.00,0.000,516,0.000,0.050,3399,788,1152,1079,1226,0,0,0,0,0,0,27.24,26.70,27.26
$GC,2450,1.08,342.1,3398,788,1078,1226,53.3,14.5,232,2461,0.00,2.08,0.00,0.000,1030,0.000,0.031,3399,2186,1152,1078,1226,0,0,0,0,0,0,26.87,26.84,26.91
$GC,2603,1.08,342.1,3399,2187,1078,1226,32.0,12.3,249,2614,0.00,2.20,0.00,0.000,516,0.000,0.050,3410,773,1152,1078,1226,0,0,0,0,0,0,27.26,26.68,27.28
$GC,2654,1.08,342.1,3409,773,1078,1225,25.5,13.1,255,2664,0.00,2.08,0.00,0.000,1030,0.000,0.032,3409,2176,1151,1077,1226,0,0,0,0,0,0,26.86,26.82,26.91
$GC,2751,1.08,342.1,3409,2177,1078,1225,12.1,13.0,268,2761,0.00,2.12,0.00,0.000,260,0.000,0.050,3409,3579,1151,1078,1225,0,0,0,0,0,0,27.27,26.70,27.29
$GC,2770,1.08,342.1,3409,3578,1078,1225,9.9,12.2,270,2781,0.12,2.08,0.00,0.000,5126,0.182,0.034,3383,2168,1151,1078,1225,0,0,0,0,0,0,26.26,26.80,26.36
$STATE,2841,end climb,SURFACE_DEPTH_REACHED
$STATE,2841,begin surface coast
$FINISH,0.8,1.009016
$STATE,2867,end surface coast,CONTROL_FINISHED_OK
$STATE,2867,begin surface
$SM_CCo,2941,0.00,0.000,0,0,1151,343.42
$SM_GC,1.67,8.40,0.00,0.00,0.058,0.000,0.000,188,2163,1151,-8.78,-0.48,343.42,0,0,0,0,0,0,26.82,27.29,26.88
$IRIDIUM_FIX,4722.92,-12204.73,130716,214529
$TT8_MAMPS,0.025466,0.326564
$HUMID,59.29
$INTERNAL_PRESSURE,9.04975
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,116.1,73.5
$24V_AH,24.03,0.855
$10V_AH,9.80,0.375
$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,21.100,42.125,851.050,0.000,0.000,125.340,288.171,243.046,1.250,0.000,12.553,499.097,551.997,618.840,2220.244,51.286,32.437,1527.206,0.000,1545.048,0.000,10.364,0.000
$DEVICE_MAMPS,244.800,1210.995,1073.295,0.000,0.000,12.240,160.000,223.000,420.000,0.000,28.460,12.460,2.190,12.460,37.180,50.660,58.900,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_FL3,WL_BB3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,178.665,917.819,1346.270,1363.844,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.710,45.690,49.430,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312136
$DATA_FILE_SIZE,23774,282
$CAP_FILE_SIZE,53997,0
$CFSIZE,2097872896,2095382528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,41,2,0
$INTR,0,1777.06,0x235a84,1,24
$GPS,130716,224408,4743.702,-12224.514,5,1.1,13,16.3,0.0,0.0,8,9.5