version: 66.12
glider: 216
mission: 2
dive: 13
start: 7 14 116 6 22 42
data:
$ID,216
$MISSION,2
$DIVE,13
$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,69
$R_STBD_OVSHOOT,50
$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
$GPS1,140716,061529,4743.0571,-12224.6348,5,0.9,11,16.3,0.0,0.0,10,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-63.8
$GPS2,140716,062120,4743.0269,-12224.6523,7,1.0,16,16.3,0.0,0.0,9,8.8
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.078729,-0.364807
$KALMAN_X,417.995056,-35.443642,-93.554611,-290.944000,-11.387711
$KALMAN_Y,-931.878174,-3.060058,103.616562,1433.447144,196.930466
$MHEAD_RNG_PITCHd_Wd,175.9,632,-10.5,-10.000,-15.00,5121
$D_GRID,178
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.77,-88.0,192,2197,572,657,0.0,0.0,0,91,0.00,0.00,-74.28,0.000,16386,0.000,0.000,192,2198,2503,2492,2515,0,0,0,0,0,0,27.13,28.83,27.15
$GC,93,-0.77,-88.0,192,2198,2492,2515,3.5,-5.0,8,124,10.80,2.35,-7.10,0.000,18948,0.246,1.212,2778,806,2778,2727,2830,0,0,0,0,0,0,25.67,24.49,25.89
$GC,429,-0.77,-88.0,2777,806,2727,2830,47.0,-13.0,50,441,0.00,1.98,0.00,0.000,1030,0.000,0.031,2769,2174,2778,2727,2830,0,0,0,0,0,0,26.80,26.78,26.84
$GC,561,-0.77,-88.0,2768,2174,2727,2830,62.3,-11.3,63,573,0.00,2.08,0.00,0.000,260,0.000,0.050,2758,3581,2778,2727,2830,0,0,0,0,0,0,27.23,26.65,27.25
$GC,640,-0.77,-88.0,2758,3581,2726,2830,72.0,-12.4,69,652,0.00,1.95,0.00,0.000,1030,0.000,0.030,2758,2192,2778,2726,2830,0,0,0,0,0,0,26.85,26.82,26.88
$GC,773,-0.77,-88.0,2758,2191,2726,2830,87.5,-11.4,82,785,0.00,2.05,0.00,0.000,516,0.000,0.044,2758,791,2778,2727,2830,0,0,0,0,0,0,27.26,26.67,27.27
$GC,840,-0.77,-88.0,2757,790,2727,2831,95.5,-12.2,87,853,0.08,2.00,0.00,0.000,3078,0.179,0.031,2771,2184,2778,2726,2830,0,0,0,0,0,0,26.41,26.79,26.48
$GC,974,-0.77,-88.0,2771,2184,2726,2830,108.2,-9.5,100,986,0.00,2.05,0.00,0.000,260,0.000,0.050,2762,3578,2777,2725,2830,0,0,0,0,0,0,27.27,26.64,27.29
$GC,1016,-0.77,-88.0,2761,3578,2726,2830,112.8,-10.3,103,1028,0.00,1.95,0.00,0.000,1030,0.000,0.031,2761,2186,2778,2726,2830,0,0,0,0,0,0,26.85,26.82,26.86
$GC,1151,-0.77,-88.0,2761,2185,2726,2830,127.9,-11.9,116,1162,0.00,2.05,0.00,0.000,516,0.000,0.044,2762,790,2778,2726,2830,0,0,0,0,0,0,27.27,26.64,27.29
$GC,1256,-0.77,-88.0,2761,790,2726,2830,140.2,-11.2,124,1268,0.10,2.00,0.00,0.000,3078,0.169,0.031,2783,2186,2778,2726,2830,0,0,0,0,0,0,26.33,26.79,26.41
$STATE,1368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1368,begin apogee
$GC,1371,-0.31,0.0,2783,2186,2726,2830,150.3,-9.2,135,1460,0.43,0.00,74.30,1.108,10246,0.145,0.000,2924,2186,2420,2354,2486,0,0,0,0,1,0,26.03,25.04,24.25
$STATE,1461,end apogee,CONTROL_FINISHED_OK
$STATE,1461,begin climb
$GC,1462,0.77,88.0,2924,2186,2355,2487,155.5,0.0,144,1552,1.02,2.25,76.43,1.100,10756,0.121,0.045,3267,797,2059,1968,2151,0,0,0,0,1,0,25.72,25.29,24.03
$GC,1656,1.22,459.9,3266,797,1971,2151,152.9,2.6,160,1956,0.38,2.08,283.90,1.128,11270,0.073,0.031,3414,2183,542,486,598,0,0,0,0,1,0,26.34,26.48,23.71
$GC,2077,1.22,459.9,3415,2183,484,597,93.0,17.5,200,2089,0.00,2.12,0.00,0.000,516,0.000,0.047,3425,794,539,482,597,0,0,0,0,0,0,26.72,26.33,26.74
$GC,2252,1.22,459.9,3425,794,479,598,61.0,18.4,213,2265,0.00,2.00,0.00,0.000,1030,0.000,0.030,3425,2182,537,478,597,0,0,0,0,0,0,26.77,26.72,26.77
$GC,2391,1.22,459.9,3425,2183,479,597,37.3,16.4,227,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2183,538,480,597,0,0,0,0,0,0,27.15,27.17,27.17
$GC,2493,1.22,459.9,3425,2183,478,597,19.7,16.7,240,2503,0.00,2.15,0.00,0.000,516,0.000,0.048,3435,797,537,478,597,0,0,0,0,0,0,27.19,26.69,27.21
$STATE,2600,end climb,SURFACE_DEPTH_REACHED
$STATE,2600,begin surface coast
$FINISH,1.0,1.005245
$STATE,2616,end surface coast,CONTROL_FINISHED_OK
$STATE,2616,begin surface
$SM_CCo,2693,0.00,0.000,0,0,535,462.15
$SM_GC,1.90,8.57,2.08,0.00,0.061,0.031,0.000,187,2182,535,-8.79,-1.30,462.15,0,0,0,0,0,0,26.79,26.82,26.86
$IRIDIUM_FIX,4726.11,-12219.67,140716,052334
$TT8_MAMPS,0.026215,0.2996
$HUMID,56.97
$INTERNAL_PRESSURE,8.96185
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.7,72.3
$24V_AH,23.71,1.872
$10V_AH,9.80,1.038
$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,21.375,33.125,434.625,0.000,0.000,26.664,34.389,215.886,1.500,0.000,17.512,601.855,392.253,316.003,1732.466,44.495,33.447,905.663,0.000,1437.521,0.000,11.938,0.000
$DEVICE_MAMPS,246.330,1211.760,1128.375,0.000,0.000,12.240,160.000,223.000,420.000,0.000,28.460,12.460,2.190,12.460,37.180,50.660,58.900,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_FL3,WL_BB3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,169.047,835.609,1243.213,1260.219,0.000,0.000,0.000,0.000,0.000,0.000
$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,20476,256
$CAP_FILE_SIZE,46326,0
$CFSIZE,2097872896,2094497792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,140716,070832,4742.636,-12224.959,5,1.1,25,16.3,0.3,200.7,9,6.9