version: 66.12
glider: 216
mission: 2
dive: 6
start: 7 13 116 23 50 34
data:
$ID,216
$MISSION,2
$DIVE,6
$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,53
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2419
$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
$GPS1,130716,234101,4743.9375,-12224.7256,5,1.0,12,16.3,0.0,173.1,8,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-68.9
$GPS2,130716,234934,4743.9399,-12224.7402,29,1.0,29,16.3,0.0,0.0,8,3.1
$SPEED_LIMITS,0.173,0.205
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.194815,0.063643
$KALMAN_X,615.799805,229.922501,34.333611,-993.169556,164.981857
$KALMAN_Y,-595.276550,-407.500458,-113.492493,3410.321045,43.244110
$MHEAD_RNG_PITCHd_Wd,55.6,1618,-22.9,-10.000,-26.01,1340
$D_GRID,175
$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,-1.54,-88.0,193,2198,1144,1161,0.0,0.0,0,64,0.00,0.00,-46.72,0.000,16386,0.000,0.000,193,2198,2360,2363,2358,0,0,0,0,0,0,27.15,28.83,27.17
$GC,66,-1.54,-88.0,193,2198,2362,2358,3.2,-4.2,5,96,9.80,2.35,-11.48,0.000,18948,0.246,1.210,2530,787,2777,2736,2818,0,0,0,0,0,0,25.63,24.44,25.87
$GC,176,-1.54,-88.0,2530,787,2736,2820,22.8,-22.4,19,186,0.00,2.08,0.00,0.000,1030,0.000,0.034,2521,2173,2777,2736,2819,0,0,0,0,0,0,26.72,26.68,26.74
$GC,270,-1.54,-88.0,2520,2173,2736,2820,43.9,-23.4,31,282,0.00,2.08,0.00,0.000,260,0.000,0.050,2510,3581,2778,2736,2820,0,0,0,0,0,0,27.19,26.58,27.20
$GC,496,-1.54,-88.0,2510,3581,2736,2819,94.2,-22.0,48,507,0.00,2.05,0.00,0.000,1030,0.000,0.033,2510,2184,2777,2736,2819,0,0,0,0,0,0,26.79,26.75,26.82
$GC,630,-1.54,-88.0,2509,2183,2736,2819,123.4,-21.3,61,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2183,2777,2736,2819,0,0,0,0,0,0,27.27,27.29,27.29
$STATE,748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,748,begin apogee
$GC,751,-0.31,0.0,2510,2181,2736,2819,151.3,-22.8,73,911,1.45,0.00,119.78,1.086,10246,0.182,0.000,2928,2168,2416,2356,2477,0,0,0,0,7,0,25.58,25.43,24.16
$STATE,911,end apogee,CONTROL_FINISHED_OK
$STATE,912,begin climb
$GC,913,1.54,88.0,2928,2168,2359,2480,162.2,0.0,89,1094,1.77,2.20,126.30,1.040,10756,0.119,0.047,3520,763,2058,1988,2128,0,0,0,0,9,0,25.72,25.50,24.21
$GC,1219,1.54,88.0,3519,763,1989,2130,143.4,11.1,116,1231,0.00,2.05,0.00,0.000,1030,0.000,0.032,3520,2180,2059,1989,2129,0,0,0,0,0,0,26.65,26.60,26.67
$GC,1352,1.55,93.3,3519,2181,1988,2130,130.8,9.6,129,1362,0.00,0.00,8.30,0.677,8198,0.000,0.000,3520,2181,2037,1966,2109,0,0,0,0,0,0,27.12,26.17,25.41
$GC,1483,1.55,93.3,3519,2181,1962,2105,115.9,12.1,142,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2181,2034,1962,2106,0,0,0,0,0,0,27.14,27.17,27.16
$GC,1613,1.55,93.3,3519,2181,1962,2105,100.4,12.2,155,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2180,2033,1962,2105,0,0,0,0,0,0,27.20,27.23,27.22
$GC,1744,1.56,101.8,3519,2181,1962,2105,86.6,9.3,168,1756,0.00,2.15,3.90,0.346,8708,0.000,0.046,3531,787,2002,1930,2075,0,0,0,0,0,0,27.24,25.76,25.44
$GC,2045,1.56,101.8,3530,787,1932,2075,50.6,11.6,191,2056,0.00,2.08,0.00,0.000,1030,0.000,0.032,3531,2186,2003,1931,2075,0,0,0,0,0,0,26.86,26.82,26.88
$GC,2177,1.60,132.8,3530,2186,1931,2075,40.8,7.6,204,2198,0.00,2.20,15.55,0.231,8708,0.000,0.047,3542,781,1874,1805,1944,0,0,0,0,0,0,27.27,26.23,25.76
$GC,2240,1.60,133.2,3541,780,1807,1944,35.4,10.0,211,2250,0.00,2.08,0.00,0.000,1030,0.000,0.033,3542,2178,1875,1807,1944,0,0,0,0,0,0,26.81,26.77,26.84
$GC,2343,1.60,133.2,3541,2178,1806,1943,23.8,10.1,224,2353,0.00,2.12,0.00,0.000,260,0.000,0.050,3541,3579,1874,1805,1944,0,0,0,0,0,0,27.24,26.63,27.27
$GC,2435,1.60,133.2,3541,3579,1805,1944,12.7,11.8,236,2445,0.00,2.05,0.00,0.000,1030,0.000,0.034,3552,2184,1874,1805,1944,0,0,0,0,0,0,26.80,26.77,26.83
$GC,2534,1.65,172.0,3551,2183,1805,1944,2.7,7.0,249,2554,0.00,0.00,17.35,0.139,8706,0.000,0.000,3551,2182,1752,1685,1819,0,0,0,0,0,0,27.27,28.83,27.29
$STATE,2555,end climb,SURFACE_DEPTH_REACHED
$STATE,2555,begin surface coast
$FINISH,0.9,1.011448
$STATE,2602,end surface coast,CONTROL_FINISHED_OK
$STATE,2602,begin surface
$SM_CCo,2617,98.50,0.339,1,0,1029,340.23
$SM_GC,1.92,8.98,0.00,98.50,0.063,0.000,0.339,194,2173,1029,-8.80,-0.20,340.23,0,0,0,0,1,0,26.70,27.26,25.08
$IRIDIUM_FIX,4726.11,-12233.92,130716,234157
$TT8_MAMPS,0.026215,0.297353
$HUMID,58.11
$INTERNAL_PRESSURE,9.03021
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,116.7,70.3
$24V_AH,24.16,1.093
$10V_AH,9.85,0.518
$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,22.000,25.475,291.175,98.500,0.000,47.686,115.286,197.602,1.250,0.000,31.041,608.777,434.901,372.331,1796.285,43.176,33.426,880.295,0.000,1404.890,0.000,10.356,0.000
$DEVICE_MAMPS,246.330,1210.230,1085.535,338.895,0.000,12.240,160.000,223.000,420.000,0.000,28.460,12.460,2.190,12.460,37.180,50.660,58.900,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_FL3,WL_BB3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,171.010,839.510,1235.168,1255.280,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.710,45.690,49.430,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312084
$DATA_FILE_SIZE,20543,257
$CAP_FILE_SIZE,47015,0
$CFSIZE,2097872896,2095185920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,17,9,0
$GPS,140716,003643,4744.012,-12224.408,15,1.0,15,16.3,0.0,0.0,9,5.3