version: 66.12
glider: 216
mission: 2
dive: 5
start: 7 13 116 22 59 21
data:
$ID,216
$MISSION,2
$DIVE,5
$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,90
$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,48
$R_STBD_OVSHOOT,47
$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
$GPS1,130716,224408,4743.7017,-12224.5137,5,1.1,13,16.3,0.0,0.0,8,9.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-67.5
$GPS2,130716,225822,4743.7134,-12224.4814,11,1.0,14,16.3,0.0,0.0,8,9.8
$SPEED_LIMITS,0.173,0.205
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.162112,0.119040
$KALMAN_X,447.702820,218.005539,55.537144,-516.462463,95.589966
$KALMAN_Y,-567.350220,-399.375977,-201.054199,3043.570068,-11.729820
$MHEAD_RNG_PITCHd_Wd,290.0,526,-23.4,-10.000,-26.44,1290
$D_GRID,173
$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,16,-1.57,-84.7,188,2165,1097,1192,0.0,0.0,0,65,0.00,0.00,-47.50,0.000,16386,0.000,0.000,188,2165,2357,2368,2346,0,0,0,0,0,0,27.15,28.83,27.17
$GC,67,-1.57,-88.0,188,2165,2367,2347,3.0,-4.1,5,107,9.85,2.42,-15.68,0.000,18692,0.249,1.209,2509,3580,2910,2875,2946,0,0,0,0,0,0,25.65,24.37,25.89
$GC,222,-1.57,-88.0,2508,3579,2875,2946,37.0,-26.6,25,233,0.00,2.08,0.00,0.000,1030,0.000,0.032,2508,2169,2910,2875,2946,0,0,0,0,0,0,26.70,26.68,26.74
$GC,305,-1.57,-88.0,2508,2168,2875,2946,58.3,-24.7,33,314,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2168,2910,2875,2946,0,0,0,0,0,0,27.18,27.20,27.20
$GC,434,-1.57,-88.0,2508,2166,2875,2946,88.6,-22.3,46,446,0.00,2.10,0.00,0.000,260,0.000,0.047,2498,3581,2910,2875,2946,0,0,0,0,0,0,27.24,26.63,27.25
$GC,570,-1.57,-88.0,2497,3581,2875,2946,122.7,-26.2,56,583,0.08,2.00,0.00,0.000,3078,0.201,0.032,2519,2165,2910,2875,2946,0,0,0,0,0,0,26.32,26.76,26.38
$STATE,691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,691,begin apogee
$GC,694,-0.31,0.0,2519,2163,2875,2946,151.5,-23.7,68,864,1.38,0.00,121.53,1.084,10246,0.176,0.000,2923,2153,2553,2504,2602,0,0,0,0,7,0,25.65,25.02,24.19
$STATE,865,end apogee,CONTROL_FINISHED_OK
$STATE,865,begin climb
$GC,866,1.57,88.0,2923,2153,2504,2602,162.6,0.0,85,1048,1.80,2.20,126.40,1.044,10500,0.115,0.046,3520,3581,2192,2129,2255,0,0,0,0,9,0,25.87,25.02,24.20
$GC,1104,1.65,155.5,3520,3581,2129,2255,162.0,4.6,107,1244,0.03,2.08,96.85,1.016,11270,0.168,0.032,3546,2180,1915,1845,1985,0,0,0,0,7,0,26.34,26.44,24.25
$GC,1365,1.65,155.5,3545,2180,1845,1985,129.6,15.2,132,1377,0.00,2.05,0.00,0.000,516,0.000,0.047,3557,801,1915,1846,1985,0,0,0,0,0,0,26.96,26.55,26.98
$GC,1512,1.65,155.5,3556,801,1845,1984,106.2,14.9,143,1523,0.00,2.00,0.00,0.000,1030,0.000,0.033,3556,2186,1914,1846,1983,0,0,0,0,0,0,26.80,26.77,26.84
$GC,1643,1.65,155.5,3556,2186,1845,1983,86.4,15.0,156,1655,0.00,2.05,0.00,0.000,260,0.000,0.050,3556,3579,1914,1845,1983,0,0,0,0,0,0,27.20,26.70,27.22
$GC,1798,1.65,155.5,3556,3579,1846,1982,61.7,14.9,168,1810,0.00,1.98,0.00,0.000,1030,0.000,0.034,3567,2187,1913,1845,1982,0,0,0,0,0,0,26.87,26.83,26.89
$GC,1931,1.65,155.5,3566,2187,1846,1982,44.8,11.1,181,1943,0.00,2.08,0.00,0.000,516,0.000,0.048,3578,784,1913,1845,1982,0,0,0,0,0,0,27.26,26.71,27.28
$GC,2173,1.67,172.2,3577,784,1845,1981,17.0,8.7,212,2193,0.00,2.08,7.80,0.193,9222,0.000,0.033,3578,2186,1846,1780,1913,0,0,0,0,0,0,26.87,26.82,25.94
$GC,2282,1.67,172.2,3577,2186,1780,1913,5.8,12.4,226,2292,0.00,2.17,0.00,0.000,516,0.000,0.047,3588,779,1846,1779,1913,0,0,0,0,0,0,27.26,26.67,27.28
$GC,2308,1.67,172.2,3588,779,1780,1912,2.4,13.0,229,2317,0.00,2.08,0.00,0.000,1030,0.000,0.032,3589,2189,1845,1779,1912,0,0,0,0,0,0,26.86,26.82,26.89
$STATE,2325,end climb,SURFACE_DEPTH_REACHED
$STATE,2325,begin surface coast
$FINISH,0.9,0.999030
$STATE,2347,end surface coast,CONTROL_FINISHED_OK
$STATE,2347,begin surface
$SM_CCo,2362,87.60,0.134,0,0,1162,340.23
$SM_GC,1.68,9.07,0.00,87.60,0.064,0.000,0.134,193,2195,1162,-8.79,0.40,340.23,0,0,0,0,0,0,26.76,27.29,26.03
$IRIDIUM_FIX,4722.92,-12225.08,130716,225027
$TT8_MAMPS,0.026215,0.323568
$HUMID,57.60
$INTERNAL_PRESSURE,9.03998
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,112.1,74.7
$24V_AH,24.19,0.988
$10V_AH,9.80,0.445
$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,22.200,29.350,352.575,87.600,0.000,92.910,261.380,238.288,1.000,0.000,15.545,519.585,473.787,413.587,1876.263,41.955,33.425,959.838,0.000,1263.603,0.000,8.795,0.000
$DEVICE_MAMPS,249.390,1209.465,1084.005,133.875,0.000,12.240,160.000,223.000,420.000,0.000,28.460,12.460,2.190,12.460,37.180,50.660,58.900,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_FL3,WL_BB3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,153.579,763.430,1111.127,1128.148,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.710,45.690,49.430,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312080
$DATA_FILE_SIZE,20405,234
$CAP_FILE_SIZE,46968,0
$CFSIZE,2097872896,2095284224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,23,3,0
$GPS,130716,234101,4743.938,-12224.726,5,1.0,12,16.3,0.0,173.1,8,10.0