version: 66.12
glider: 216
mission: 2
dive: 12
start: 7 14 116 5 29 4
data:
$ID,216
$MISSION,2
$DIVE,12
$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,15
$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,59
$R_STBD_OVSHOOT,42
$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
$GPS1,140716,051714,4743.5044,-12224.3037,5,0.9,8,16.3,0.0,0.0,9,9.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-68.8
$GPS2,140716,052744,4743.4497,-12224.3301,7,0.9,10,16.3,0.0,0.0,9,8.1
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.145559,-0.354483
$KALMAN_X,455.625977,-19.294117,-181.901703,147.184494,54.109112
$KALMAN_Y,-1112.705444,-127.900558,134.629333,2488.581543,162.692978
$MHEAD_RNG_PITCHd_Wd,186.0,1507,-10.1,-10.000,-14.63,5455
$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,-0.74,-88.0,190,2190,1175,1201,0.0,0.0,0,65,0.00,0.00,-47.15,0.000,16386,0.000,0.000,190,2190,2392,2383,2402,0,0,0,0,0,0,27.14,28.83,27.16
$GC,67,-0.74,-88.0,190,2190,2384,2402,3.2,-4.1,5,97,10.85,2.30,-10.98,0.000,18948,0.246,1.216,2786,793,2779,2724,2835,0,0,0,0,0,0,25.77,24.55,25.98
$GC,424,-0.74,-88.0,2785,793,2724,2835,44.0,-11.3,51,436,0.00,2.00,0.00,0.000,1030,0.000,0.032,2776,2177,2779,2724,2835,0,0,0,0,0,0,26.81,26.75,26.82
$GC,557,-0.74,-88.0,2775,2177,2724,2835,59.2,-10.8,64,569,0.00,2.08,0.00,0.000,260,0.000,0.050,2766,3579,2779,2723,2835,0,0,0,0,0,0,27.25,26.60,27.27
$GC,597,-0.74,-88.0,2766,3579,2724,2835,63.7,-10.8,67,610,0.08,1.95,0.00,0.000,3078,0.168,0.030,2789,2177,2779,2724,2835,0,0,0,0,0,0,26.43,26.79,26.49
$GC,731,-0.74,-88.0,2788,2177,2725,2835,75.9,-8.7,80,743,0.00,2.10,0.00,0.000,260,0.000,0.048,2779,3583,2779,2724,2835,0,0,0,0,0,0,27.27,26.60,27.29
$GC,785,-0.74,-88.0,2779,3583,2724,2835,80.7,-8.9,84,797,0.00,1.95,0.00,0.000,1030,0.000,0.030,2780,2189,2779,2724,2835,0,0,0,0,0,0,26.84,26.80,26.86
$GC,919,-0.74,-88.0,2779,2188,2723,2835,93.8,-9.8,97,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2188,2779,2724,2835,0,0,0,0,0,0,27.27,27.30,27.29
$GC,1048,-0.74,-88.0,2779,2188,2723,2835,107.0,-10.5,110,1059,0.00,2.05,0.00,0.000,516,0.000,0.043,2779,793,2779,2724,2835,0,0,0,0,0,0,27.27,26.62,27.29
$GC,1090,-0.74,-88.0,2779,793,2723,2835,111.2,-10.7,113,1101,0.00,2.05,0.00,0.000,1030,0.000,0.030,2769,2176,2779,2724,2835,0,0,0,0,0,0,26.80,26.77,26.85
$GC,1222,-0.74,-88.0,2769,2176,2724,2835,125.0,-10.2,126,1234,0.00,2.08,0.00,0.000,260,0.000,0.050,2759,3575,2779,2724,2834,0,0,0,0,0,0,27.27,26.56,27.30
$GC,1289,-0.74,-88.0,2758,3575,2723,2835,131.8,-10.7,131,1301,0.10,2.03,0.00,0.000,3078,0.163,0.029,2790,2172,2779,2723,2835,0,0,0,0,0,0,26.32,26.79,26.39
$GC,1421,-0.74,-88.0,2789,2172,2724,2834,143.9,-9.2,144,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2172,2779,2724,2835,0,0,0,0,0,0,27.28,27.31,27.30
$STATE,1491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1491,begin apogee
$GC,1494,-0.31,0.0,2789,2172,2724,2835,150.5,-9.2,151,1583,0.43,0.00,71.97,1.093,10246,0.145,0.000,2931,2169,2425,2357,2494,0,0,0,0,1,0,25.92,25.02,24.22
$STATE,1584,end apogee,CONTROL_FINISHED_OK
$STATE,1584,begin climb
$GC,1585,0.74,88.0,2931,2169,2359,2495,155.0,0.0,160,1677,0.98,2.17,75.68,1.092,10756,0.119,0.044,3260,801,2065,1974,2156,0,0,0,0,1,0,25.76,24.84,24.01
$GC,1733,1.17,440.2,3259,800,1977,2158,151.8,3.4,173,2022,0.38,2.03,272.48,1.128,11270,0.079,0.031,3403,2185,622,571,673,0,0,0,0,1,0,26.14,26.32,23.70
$GC,2143,1.17,440.2,3403,2185,570,674,91.6,18.1,212,2155,0.00,2.10,0.00,0.000,516,0.000,0.047,3414,809,621,569,674,0,0,0,0,0,0,26.72,26.34,26.74
$GC,2298,1.17,440.2,3413,810,565,674,62.1,18.7,224,2311,0.00,1.98,0.00,0.000,1030,0.000,0.030,3414,2185,619,565,674,0,0,0,0,0,0,26.73,26.70,26.77
$GC,2431,1.17,440.2,3413,2185,564,674,39.3,16.8,237,2442,0.00,2.15,0.00,0.000,516,0.000,0.048,3424,800,619,565,674,0,0,0,0,0,0,27.15,26.65,27.16
$GC,2468,1.17,440.2,3423,800,564,674,33.3,16.2,241,2478,0.00,2.03,0.00,0.000,1030,0.000,0.030,3424,2172,619,564,674,0,0,0,0,0,0,26.82,26.79,26.85
$GC,2569,1.17,440.2,3423,2172,564,674,15.7,18.2,254,2579,0.00,2.12,0.00,0.000,516,0.000,0.047,3434,805,619,564,674,0,0,0,0,0,0,27.20,26.67,27.21
$GC,2625,1.17,440.2,3433,804,563,674,5.4,18.3,261,2635,0.00,2.03,0.00,0.000,1030,0.000,0.030,3434,2179,618,563,674,0,0,0,0,0,0,26.85,26.84,26.89
$STATE,2651,end climb,SURFACE_DEPTH_REACHED
$STATE,2651,begin surface coast
$FINISH,1.0,1.012058
$STATE,2668,end surface coast,CONTROL_FINISHED_OK
$STATE,2668,begin surface
$SM_CCo,2742,0.00,0.000,0,0,618,442.03
$SM_GC,1.84,8.55,0.00,0.00,0.059,0.000,0.000,192,2182,618,-8.78,0.06,442.03,0,0,0,0,0,0,26.79,27.24,26.86
$IRIDIUM_FIX,4726.11,-12222.38,140716,052052
$TT8_MAMPS,0.027713,0.326564
$HUMID,56.97
$INTERNAL_PRESSURE,8.97162
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.8,70.9
$24V_AH,23.70,1.720
$10V_AH,9.78,0.966
$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,21.350,37.175,420.125,0.000,0.000,76.198,185.083,177.900,1.250,0.000,12.331,626.695,521.753,316.153,1907.310,43.845,33.443,905.431,0.000,1454.904,0.000,10.363,0.000
$DEVICE_MAMPS,246.330,1215.585,1128.375,0.000,0.000,12.240,160.000,223.000,420.000,0.000,28.460,12.460,2.190,12.460,37.180,50.660,58.900,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_FL3,WL_BB3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,175.827,868.308,1284.192,1303.916,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.710,45.690,49.430,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312088
$DATA_FILE_SIZE,20353,266
$CAP_FILE_SIZE,49342,0
$CFSIZE,2097872896,2094596096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,140716,061529,4743.057,-12224.635,5,0.9,11,16.3,0.0,0.0,10,9.0