version: 66.12
glider: 216
mission: 2
dive: 8
start: 7 14 116 1 54 53
data:
$ID,216
$MISSION,2
$DIVE,8
$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,42
$R_STBD_OVSHOOT,53
$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
$GPS1,140716,014450,4744.0918,-12223.9941,27,1.0,38,16.3,0.2,282.5,8,3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-68.4
$GPS2,140716,015353,4744.0596,-12224.0098,37,1.1,37,16.3,0.0,165.0,8,3.0
$SPEED_LIMITS,0.122,0.184
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.173645,0.060349
$KALMAN_X,276.370789,221.533676,-7.555583,311.505981,-213.731171
$KALMAN_Y,-990.693848,-374.837708,118.329681,3765.588623,-41.465668
$MHEAD_RNG_PITCHd_Wd,54.5,686,-16.7,-7.042,-20.96,1891
$D_GRID,171
$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,-1.15,-88.0,195,2175,1173,1195,0.0,0.0,0,65,0.00,0.00,-47.62,0.000,16386,0.000,0.000,196,2176,2396,2391,2402,0,0,0,0,0,0,27.15,28.83,27.17
$GC,67,-1.15,-88.0,195,2176,2391,2401,3.2,-4.2,5,97,10.27,2.35,-10.93,0.000,18948,0.246,1.213,2653,777,2776,2728,2825,0,0,0,0,0,0,25.69,24.46,25.91
$GC,184,-1.15,-88.0,2652,778,2728,2826,18.8,-16.8,20,194,0.00,2.08,0.00,0.000,1030,0.000,0.032,2644,2165,2777,2728,2826,0,0,0,0,0,0,26.70,26.65,26.72
$GC,283,-1.15,-88.0,2643,2165,2728,2826,36.1,-17.7,33,292,0.00,2.15,0.00,0.000,260,0.000,0.050,2633,3578,2777,2728,2826,0,0,0,0,0,0,27.19,26.55,27.20
$GC,523,-1.15,-88.0,2632,3578,2728,2826,80.9,-16.7,53,535,0.00,2.00,0.00,0.000,1030,0.000,0.031,2633,2159,2777,2728,2826,0,0,0,0,0,0,26.79,26.74,26.81
$GC,655,-1.15,-88.0,2632,2159,2728,2826,101.8,-16.1,66,665,0.10,0.00,0.00,0.000,2054,0.197,0.000,2662,2156,2777,2728,2827,0,0,0,0,0,0,26.57,26.70,26.65
$GC,787,-1.15,-88.0,2661,2156,2728,2826,123.4,-16.0,79,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2157,2777,2728,2826,0,0,0,0,0,0,27.27,27.30,27.29
$GC,919,-1.15,-88.0,2661,2156,2728,2827,143.5,-15.0,92,930,0.00,2.12,0.00,0.000,260,0.000,0.048,2652,3579,2777,2728,2826,0,0,0,0,0,0,27.28,26.55,27.30
$STATE,958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,958,begin apogee
$GC,963,-0.31,0.0,2652,2180,2728,2826,150.0,-15.7,95,1119,0.90,0.00,117.20,1.095,10246,0.164,0.000,2925,2175,2421,2357,2485,0,0,0,0,6,0,25.58,24.94,24.12
$STATE,1120,end apogee,CONTROL_FINISHED_OK
$STATE,1120,begin climb
$GC,1121,1.15,88.0,2925,2175,2359,2487,159.3,0.0,111,1299,1.40,0.00,123.82,1.053,10502,0.119,0.000,3382,2169,2062,1981,2143,0,0,0,0,8,0,25.75,24.96,24.15
$GC,1420,1.16,91.7,3382,2169,1980,2143,146.5,6.8,140,1435,0.00,2.15,8.77,0.664,8708,0.000,0.046,3393,784,2041,1959,2123,0,0,0,0,0,0,26.91,26.10,25.26
$GC,1603,1.16,91.7,3392,785,1958,2121,132.9,7.2,154,1616,0.00,2.03,0.00,0.000,1030,0.000,0.031,3393,2192,2039,1958,2121,0,0,0,0,0,0,26.80,26.74,26.79
$GC,1737,1.16,93.1,3393,2192,1958,2121,123.9,7.0,167,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,2192,2039,1958,2121,0,0,0,0,0,0,27.18,27.21,27.20
$GC,1866,1.16,93.1,3392,2192,1958,2121,115.0,7.0,180,1878,0.00,2.10,0.00,0.000,516,0.000,0.047,3403,793,2040,1959,2121,0,0,0,0,0,0,27.22,26.67,27.24
$GC,1973,1.16,93.1,3403,793,1958,2121,107.1,7.4,188,1977,0.00,2.03,0.00,0.000,1030,0.000,0.031,3404,2186,2039,1958,2121,0,0,0,0,0,0,26.89,26.82,26.92
$GC,2108,1.16,93.1,3403,2186,1958,2121,97.2,7.5,201,2120,0.00,2.10,0.00,0.000,516,0.000,0.047,3414,784,2039,1958,2121,0,0,0,0,0,0,27.25,26.67,27.27
$GC,2173,1.17,100.2,3413,784,1958,2120,92.6,6.7,206,2185,0.00,2.00,3.78,0.337,9222,0.000,0.031,3413,2184,2008,1927,2090,0,0,0,0,0,0,26.86,26.82,25.24
$GC,2306,1.17,100.2,3413,2184,1930,2091,81.0,9.4,219,2318,0.00,2.05,0.00,0.000,260,0.000,0.050,3413,3582,2010,1930,2091,0,0,0,0,0,0,27.26,26.67,27.27
$GC,2360,1.17,100.2,3413,3582,1930,2091,76.1,9.2,223,2372,0.00,2.05,0.00,0.000,1030,0.000,0.031,3424,2178,2010,1930,2091,0,0,0,0,0,0,26.82,26.79,26.86
$GC,2492,1.17,100.2,3423,2177,1930,2091,63.2,9.9,236,2504,0.00,2.10,0.00,0.000,260,0.000,0.049,3424,3584,2010,1930,2091,0,0,0,0,0,0,27.27,26.64,27.29
$GC,2650,1.17,100.2,3423,3584,1930,2091,50.5,7.2,248,2654,0.00,2.00,0.00,0.000,1030,0.000,0.033,3434,2178,2010,1930,2091,0,0,0,0,0,0,26.86,26.78,26.90
$GC,2785,1.18,111.3,3434,2177,1931,2091,41.5,6.4,261,2798,0.00,2.08,5.85,0.240,8708,0.000,0.044,3445,784,1963,1884,2042,0,0,0,0,0,0,27.28,25.67,25.44
$GC,3018,1.18,111.3,3445,784,1886,2043,26.4,7.2,290,3028,0.00,2.08,0.00,0.000,1030,0.000,0.032,3444,2184,1964,1886,2043,0,0,0,0,0,0,26.79,26.75,26.83
$GC,3120,1.18,111.3,3444,2184,1886,2043,19.2,7.1,303,3130,0.00,2.12,0.00,0.000,260,0.000,0.050,3444,3583,1964,1886,2043,0,0,0,0,0,0,27.28,26.58,27.29
$GC,3259,1.18,111.3,3443,3583,1885,2043,7.2,7.6,322,3269,0.15,2.05,0.00,0.000,5126,0.200,0.032,3412,2180,1964,1885,2043,0,0,0,0,0,0,25.97,26.74,26.08
$STATE,3323,end climb,SURFACE_DEPTH_REACHED
$STATE,3323,begin surface coast
$FINISH,0.9,1.015004
$STATE,3354,end surface coast,CONTROL_FINISHED_OK
$STATE,3354,begin surface
$SM_CCo,3368,100.25,0.137,0,0,1195,300.00
$SM_GC,1.88,8.65,0.00,100.25,0.064,0.000,0.137,191,2170,1195,-8.79,-0.28,300.00,0,0,0,0,0,0,26.70,27.30,26.01
$IRIDIUM_FIX,4726.11,-12222.38,140716,014544
$TT8_MAMPS,0.026215,0.327313
$HUMID,56.57
$INTERNAL_PRESSURE,9.03021
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.1,72.7
$24V_AH,24.12,1.302
$10V_AH,9.79,0.699
$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,21.475,41.675,259.425,100.250,0.000,45.689,110.157,226.474,1.000,0.000,38.229,805.061,552.315,372.786,2247.956,55.089,33.456,965.200,0.000,1830.312,0.000,8.789,0.000
$DEVICE_MAMPS,245.565,1212.525,1094.715,136.935,0.000,12.240,160.000,223.000,420.000,0.000,28.460,12.460,2.190,12.460,37.180,50.660,58.900,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_FL3,WL_BB3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,224.320,1091.781,1620.735,1647.074,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.710,45.690,49.430,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312104
$DATA_FILE_SIZE,27107,334
$CAP_FILE_SIZE,58088,0
$CFSIZE,2097872896,2094989312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,14,11,0
$GPS,140716,025324,4744.139,-12223.589,2,1.0,9,16.3,0.0,0.0,8,8.8