version: 66.12
glider: 216
mission: 2
dive: 14
start: 7 14 116 7 15 47
data:
$ID,216
$MISSION,2
$DIVE,14
$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,43
$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
$GPS1,140716,070832,4742.6362,-12224.9590,5,1.1,25,16.3,0.3,200.7,9,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-64.5
$GPS2,140716,071426,4742.6108,-12224.9912,7,1.2,11,16.3,0.0,0.0,8,8.5
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.055417,0.379177
$KALMAN_X,229.613785,-81.448990,-40.418343,-529.137939,-32.530930
$KALMAN_Y,-701.402954,112.141319,80.360390,340.509918,219.716324
$MHEAD_RNG_PITCHd_Wd,352.0,2399,-10.1,-10.000,-14.63,5455
$D_GRID,185
$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,-0.74,-88.0,186,2197,489,578,0.0,0.0,0,92,0.00,0.00,-74.43,0.000,16386,0.000,0.000,186,2198,2407,2397,2417,0,0,0,0,0,0,27.13,28.83,27.15
$GC,94,-0.74,-88.0,186,2198,2397,2417,3.3,-4.2,8,123,10.70,2.30,-10.43,0.000,18692,0.243,1.216,2775,3578,2777,2717,2838,0,0,0,0,0,0,25.75,24.46,25.94
$GC,200,-0.74,-88.0,2774,3578,2717,2837,13.4,-10.9,21,210,0.00,2.05,0.00,0.000,1030,0.000,0.031,2775,2173,2777,2717,2837,0,0,0,0,0,0,26.77,26.72,26.78
$GC,299,-0.74,-88.0,2774,2174,2716,2837,24.8,-11.4,34,309,0.00,2.10,0.00,0.000,516,0.000,0.044,2775,784,2777,2717,2837,0,0,0,0,0,0,27.17,26.65,27.18
$GC,339,-0.74,-88.0,2774,785,2717,2837,29.5,-12.0,39,350,0.08,2.08,0.00,0.000,3078,0.176,0.031,2789,2184,2777,2717,2837,0,0,0,0,0,0,26.41,26.77,26.48
$GC,442,-0.74,-88.0,2787,2184,2717,2837,40.7,-10.3,52,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2184,2777,2717,2837,0,0,0,0,0,0,27.22,27.24,27.24
$GC,571,-0.74,-88.0,2788,2184,2717,2837,54.4,-10.4,65,584,0.00,2.05,0.00,0.000,260,0.000,0.050,2778,3580,2777,2717,2837,0,0,0,0,0,0,27.24,26.66,27.26
$GC,600,-0.74,-88.0,2778,3580,2717,2837,57.2,-10.2,67,613,0.00,2.05,0.00,0.000,1030,0.000,0.029,2779,2169,2777,2717,2837,0,0,0,0,0,0,26.85,26.83,26.89
$GC,732,-0.74,-88.0,2778,2169,2717,2837,71.4,-10.5,80,744,0.00,2.00,0.00,0.000,516,0.000,0.043,2779,799,2777,2717,2838,0,0,0,0,0,0,27.25,26.69,27.27
$GC,787,-0.74,-88.0,2778,799,2717,2837,77.3,-11.2,84,800,0.08,2.05,0.00,0.000,3078,0.172,0.030,2792,2188,2777,2717,2837,0,0,0,0,0,0,26.46,26.82,26.51
$GC,921,-0.74,-88.0,2792,2187,2717,2837,90.4,-9.3,97,933,0.00,2.05,0.00,0.000,260,0.000,0.050,2783,3578,2777,2717,2837,0,0,0,0,0,0,27.27,26.65,27.28
$GC,1015,-0.74,-88.0,2782,3578,2717,2837,99.8,-10.1,104,1028,0.00,1.95,0.00,0.000,1030,0.000,0.030,2783,2183,2777,2717,2837,0,0,0,0,0,0,26.86,26.82,26.89
$GC,1149,-0.74,-88.0,2782,2183,2717,2837,112.5,-9.0,117,1162,0.00,2.05,0.00,0.000,516,0.000,0.044,2782,789,2777,2717,2837,0,0,0,0,0,0,27.27,26.66,27.29
$GC,1257,-0.74,-88.0,2782,789,2717,2837,123.5,-10.8,125,1270,0.00,1.98,0.00,0.000,1030,0.000,0.031,2773,2173,2777,2717,2837,0,0,0,0,0,0,26.84,26.80,26.86
$GC,1392,-0.74,-88.0,2772,2173,2717,2837,136.7,-9.0,138,1404,0.00,2.08,0.00,0.000,260,0.000,0.050,2762,3578,2777,2717,2837,0,0,0,0,0,0,27.27,26.67,27.29
$GC,1498,-0.74,-88.0,2761,3578,2717,2837,146.1,-8.9,146,1511,0.10,2.00,0.00,0.000,3078,0.172,0.031,2793,2165,2777,2717,2837,0,0,0,0,0,0,26.42,26.79,26.55
$STATE,1549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1549,begin apogee
$GC,1552,-0.31,0.0,2793,2165,2717,2837,150.4,-7.8,151,1643,0.40,0.00,75.60,1.121,10246,0.143,0.000,2926,2159,2419,2349,2489,0,0,0,0,1,0,26.05,25.03,24.25
$STATE,1644,end apogee,CONTROL_FINISHED_OK
$STATE,1644,begin climb
$GC,1645,0.74,88.0,2926,2159,2349,2490,153.4,0.0,160,1735,1.00,2.28,77.03,1.099,10500,0.118,0.048,3254,3579,2058,1967,2150,0,0,0,0,1,0,25.74,25.29,24.04
$GC,1758,1.14,413.0,3253,3579,1969,2151,150.0,3.9,170,2037,0.32,2.03,257.67,1.133,11270,0.076,0.030,3390,2179,732,664,800,0,0,0,0,1,0,25.89,26.05,23.61
$GC,2157,1.14,413.0,3389,2179,663,798,98.9,15.9,208,2170,0.00,2.08,0.00,0.000,516,0.000,0.047,3400,802,729,661,798,0,0,0,0,0,0,26.72,26.34,26.74
$GC,2291,1.14,413.0,3400,802,658,798,77.4,16.3,218,2303,0.00,1.98,0.00,0.000,1030,0.000,0.030,3400,2178,728,659,798,0,0,0,0,0,0,26.72,26.68,26.74
$GC,2422,1.14,413.0,3400,2180,658,798,55.8,16.3,231,2435,0.00,2.08,0.00,0.000,516,0.000,0.047,3410,800,728,658,798,0,0,0,0,0,0,27.13,26.66,27.15
$GC,2505,1.14,413.0,3409,800,657,798,43.1,15.6,237,2516,0.00,2.05,0.00,0.000,1030,0.000,0.029,3410,2185,727,657,798,0,0,0,0,0,0,26.84,26.79,26.86
$GC,2691,1.14,413.0,3409,2186,657,798,13.9,15.3,261,2700,0.00,2.12,0.00,0.000,516,0.000,0.047,3420,803,727,657,797,0,0,0,0,0,0,27.22,26.70,27.24
$GC,2751,1.14,413.0,3419,802,656,798,4.1,16.1,269,2761,0.00,2.03,0.00,0.000,1030,0.000,0.031,3420,2176,727,657,798,0,0,0,0,0,0,26.87,26.84,26.90
$STATE,2769,end climb,SURFACE_DEPTH_REACHED
$STATE,2769,begin surface coast
$FINISH,0.9,1.020865
$STATE,2786,end surface coast,CONTROL_FINISHED_OK
$STATE,2786,begin surface
$SM_CCo,2860,0.00,0.000,0,0,726,415.29
$SM_GC,1.74,8.52,0.00,0.00,0.060,0.000,0.000,193,2185,726,-8.78,0.11,415.29,0,0,0,0,0,0,26.81,27.24,26.87
$IRIDIUM_FIX,4722.92,-12222.38,140716,061628
$TT8_MAMPS,0.025466,0.2996
$HUMID,57.36
$INTERNAL_PRESSURE,8.97162
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.8,71.7
$24V_AH,23.61,2.018
$10V_AH,9.80,1.115
$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,21.200,45.400,410.300,0.000,0.000,25.190,40.067,216.881,1.750,0.000,11.964,650.284,411.521,335.154,1812.318,47.736,33.455,969.973,0.000,1517.129,0.000,13.500,0.000
$DEVICE_MAMPS,243.270,1216.350,1132.965,0.000,0.000,12.240,160.000,223.000,420.000,0.000,28.460,12.460,2.190,12.460,37.180,50.660,58.900,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_FL3,WL_BB3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,180.196,891.228,1317.788,1336.141,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.710,45.690,49.430,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312100
$DATA_FILE_SIZE,20375,273
$CAP_FILE_SIZE,53508,0
$CFSIZE,2097872896,2094399488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,140716,080408,4742.841,-12224.855,5,1.1,9,16.3,0.0,0.0,8,8.3