version: 66.12
glider: 216
mission: 2
dive: 7
start: 7 14 116 0 49 22
data:
$ID,216
$MISSION,2
$DIVE,7
$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,71
$T_MISSION,80
$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,300
$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,49
$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,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
$GPS1,140716,003643,4744.0117,-12224.4082,15,1.0,15,16.3,0.0,0.0,9,5.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-67.3
$GPS2,140716,004822,4743.9785,-12224.4600,6,0.9,13,16.3,0.0,0.0,10,9.6
$SPEED_LIMITS,0.122,0.184
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.178786,0.042781
$KALMAN_X,465.273285,206.666046,14.084915,-441.820618,8.598335
$KALMAN_Y,-762.819031,-426.462738,-29.189899,3587.841064,81.954880
$MHEAD_RNG_PITCHd_Wd,60.2,1264,-16.7,-7.042,-20.96,1891
$D_GRID,174
$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,-1.15,-88.0,193,2177,1019,1022,0.0,0.0,0,74,0.00,0.00,-56.20,0.000,16386,0.000,0.000,193,2177,2464,2462,2466,0,0,0,0,0,0,27.13,28.83,27.15
$GC,76,-1.15,-88.0,193,2177,2463,2466,3.0,-4.2,6,106,10.27,2.35,-9.00,0.000,18948,0.246,1.220,2655,779,2777,2734,2821,0,0,0,0,0,0,25.79,24.60,26.01
$GC,184,-1.15,-88.0,2654,779,2734,2822,17.7,-17.4,20,194,0.00,2.10,0.00,0.000,1030,0.000,0.033,2645,2182,2778,2734,2822,0,0,0,0,0,0,26.70,26.65,26.72
$GC,281,-1.15,-88.0,2645,2182,2734,2822,34.3,-17.4,33,290,0.00,2.12,0.00,0.000,260,0.000,0.050,2635,3579,2778,2734,2822,0,0,0,0,0,0,27.17,26.57,27.19
$GC,577,-1.15,-88.0,2634,3579,2734,2822,86.0,-15.2,57,589,0.00,2.00,0.00,0.000,1030,0.000,0.032,2635,2166,2778,2734,2822,0,0,0,0,0,0,26.80,26.74,26.82
$GC,711,-1.15,-88.0,2634,2166,2734,2822,106.0,-15.0,70,722,0.00,2.03,0.00,0.000,516,0.000,0.046,2634,789,2778,2734,2822,0,0,0,0,0,0,27.22,26.60,27.24
$GC,821,-1.15,-88.0,2634,789,2734,2822,124.9,-17.8,78,833,0.10,2.00,0.00,0.000,3078,0.184,0.033,2655,2178,2778,2734,2822,0,0,0,0,0,0,26.25,26.77,26.32
$GC,954,-1.15,-88.0,2654,2178,2734,2822,146.4,-16.1,91,966,0.00,2.05,0.00,0.000,260,0.000,0.050,2645,3572,2778,2734,2822,0,0,0,0,0,0,27.28,26.59,27.30
$STATE,980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,980,begin apogee
$GC,985,-0.31,0.0,2645,2173,2734,2822,151.0,-16.2,93,1144,0.93,0.00,119.00,1.079,10246,0.163,0.000,2927,2166,2417,2354,2481,0,0,0,0,7,0,25.64,25.47,24.20
$STATE,1145,end apogee,CONTROL_FINISHED_OK
$STATE,1145,begin climb
$GC,1146,1.15,88.0,2927,2166,2357,2483,159.4,0.0,109,1314,1.40,2.20,122.00,1.053,11012,0.116,0.047,3386,3579,2059,1980,2139,0,0,0,0,7,0,25.76,25.01,24.17
$GC,1356,1.18,112.3,3386,3579,1981,2140,152.1,5.7,128,1401,0.00,2.00,33.45,0.932,9222,0.000,0.031,3397,2186,1960,1879,2041,0,0,0,0,1,0,26.38,26.34,24.39
$GC,1522,1.18,112.3,3396,2186,1880,2043,138.2,9.2,144,1534,0.00,2.08,0.00,0.000,516,0.000,0.047,3407,792,1962,1881,2043,0,0,0,0,0,0,26.95,26.52,26.97
$GC,1642,1.18,112.3,3406,792,1879,2043,127.7,8.6,153,1653,0.00,2.08,0.00,0.000,1030,0.000,0.031,3407,2184,1961,1879,2043,0,0,0,0,0,0,26.77,26.74,26.82
$GC,1774,1.18,112.3,3406,2184,1880,2043,116.3,8.4,166,1786,0.00,2.05,0.00,0.000,260,0.000,0.049,3407,3578,1961,1879,2043,0,0,0,0,0,0,27.18,26.68,27.20
$GC,1854,1.18,112.3,3406,3578,1879,2042,108.7,9.4,172,1866,0.00,1.98,0.00,0.000,1030,0.000,0.032,3418,2179,1961,1879,2043,0,0,0,0,0,0,26.84,26.81,26.87
$GC,1987,1.18,112.3,3416,2179,1879,2043,96.8,9.7,185,1999,0.00,2.05,0.00,0.000,516,0.000,0.047,3428,787,1960,1879,2042,0,0,0,0,0,0,27.24,26.70,27.26
$GC,2281,1.18,112.3,3427,787,1879,2042,70.8,8.4,207,2292,0.00,2.08,0.00,0.000,1030,0.000,0.032,3427,2184,1960,1879,2042,0,0,0,0,0,0,26.85,26.82,26.89
$GC,2413,1.18,112.3,3427,2184,1879,2041,60.7,7.3,220,2425,0.00,2.05,0.00,0.000,260,0.000,0.050,3428,3580,1960,1879,2042,0,0,0,0,0,0,27.27,26.67,27.29
$GC,2559,1.20,128.5,3427,3580,1879,2042,51.4,6.2,231,2574,0.00,2.05,8.05,0.258,9222,0.000,0.032,3438,2180,1892,1814,1970,0,0,0,0,0,0,26.84,26.81,25.48
$GC,2705,1.20,128.5,3437,2180,1815,1972,41.0,7.1,245,2717,0.00,2.05,0.00,0.000,516,0.000,0.047,3449,787,1893,1815,1972,0,0,0,0,0,0,27.26,26.63,27.28
$GC,2771,1.20,128.5,3449,787,1815,1972,35.4,8.4,253,2780,0.00,2.08,0.00,0.000,1030,0.000,0.032,3449,2189,1893,1815,1972,0,0,0,0,0,0,26.82,26.78,26.84
$GC,2874,1.20,128.5,3449,2189,1815,1972,26.8,8.4,266,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2189,1893,1815,1972,0,0,0,0,0,0,27.27,27.29,27.29
$GC,2973,1.20,128.5,3448,2189,1815,1972,16.6,10.6,279,2982,0.00,2.10,0.00,0.000,260,0.000,0.050,3449,3573,1893,1815,1972,0,0,0,0,0,0,27.27,26.62,27.29
$STATE,3117,end climb,SURFACE_DEPTH_REACHED
$STATE,3117,begin surface coast
$FINISH,0.9,1.010569
$STATE,3149,end surface coast,CONTROL_FINISHED_OK
$STATE,3149,begin surface
$SM_CCo,3166,89.40,0.135,0,0,1193,300.00
$SM_GC,1.82,8.70,2.08,89.40,0.062,0.033,0.135,196,2181,1193,-8.77,1.36,300.00,0,0,0,0,0,0,26.72,26.74,26.00
$IRIDIUM_FIX,4726.11,-12222.38,140716,004026
$TT8_MAMPS,0.026215,0.326564
$HUMID,56.93
$INTERNAL_PRESSURE,9.03021
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,117.2,69.1
$24V_AH,24.17,1.202
$10V_AH,9.80,0.605
$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,21.400,45.600,282.500,89.400,0.000,75.869,197.876,227.930,1.250,0.000,13.365,723.162,609.576,381.686,2213.655,48.756,33.436,976.177,0.000,1693.245,0.000,10.353,0.000
$DEVICE_MAMPS,246.330,1220.175,1079.415,135.405,0.000,12.240,160.000,223.000,420.000,0.000,28.460,12.460,2.190,12.460,37.180,50.660,58.900,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_FL3,WL_BB3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,201.674,986.682,1460.290,1483.214,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.710,45.690,49.430,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312120
$DATA_FILE_SIZE,23704,302
$CAP_FILE_SIZE,55954,0
$CFSIZE,2097872896,2095087616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,140716,014450,4744.092,-12223.994,27,1.0,38,16.3,0.2,282.5,8,3.1