version: 66.12
glider: 216
mission: 2
dive: 15
start: 7 14 116 8 11 58
data:
$ID,216
$MISSION,2
$DIVE,15
$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,66
$R_STBD_OVSHOOT,49
$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
$GPS1,140716,080408,4742.8408,-12224.8555,5,1.1,9,16.3,0.0,0.0,8,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-67.2
$GPS2,140716,081038,4742.8320,-12224.8682,7,1.0,10,16.3,0.0,0.0,9,9.5
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.028562,0.382140
$KALMAN_X,170.002930,-111.106071,32.169071,-362.309631,-39.545841
$KALMAN_Y,-1457.451904,219.206604,52.318302,1445.410889,-85.078125
$MHEAD_RNG_PITCHd_Wd,348.0,1980,-10.1,-10.000,-14.63,5455
$D_GRID,180
$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,-88.0,193,2195,671,773,0.0,0.0,0,84,0.00,0.00,-66.22,0.000,16386,0.000,0.000,193,2195,2387,2375,2399,0,0,0,0,0,0,27.13,28.83,27.15
$GC,86,-0.74,-88.0,193,2195,2375,2399,3.1,-3.8,7,115,10.70,2.33,-11.45,0.000,18692,0.243,1.216,2775,3579,2775,2712,2838,0,0,0,0,0,0,25.70,24.42,25.92
$GC,227,-0.74,-88.0,2774,3579,2711,2838,17.4,-11.8,25,236,0.00,2.03,0.00,0.000,1030,0.000,0.030,2775,2187,2775,2712,2838,0,0,0,0,0,0,26.78,26.75,26.81
$GC,326,-0.74,-88.0,2774,2186,2712,2838,28.9,-12.1,38,335,0.00,2.12,0.00,0.000,516,0.000,0.044,2775,783,2775,2712,2838,0,0,0,0,0,0,27.19,26.64,27.20
$GC,369,-0.74,-88.0,2774,783,2712,2839,34.3,-13.2,43,379,0.00,2.08,0.00,0.000,1030,0.000,0.031,2765,2182,2774,2712,2837,0,0,0,0,0,0,26.82,26.78,26.84
$GC,461,-0.74,-88.0,2764,2182,2712,2839,46.0,-12.7,53,473,0.08,2.05,0.00,0.000,2308,0.194,0.047,2783,3580,2774,2711,2838,0,0,0,0,0,0,26.65,26.65,26.68
$GC,568,-0.74,-88.0,2783,3581,2712,2838,58.0,-10.8,61,572,0.00,2.00,0.00,0.000,1030,0.000,0.030,2783,2176,2775,2712,2838,0,0,0,0,0,0,26.90,26.82,26.92
$GC,702,-0.74,-88.0,2783,2175,2712,2838,70.6,-9.5,74,714,0.00,2.03,0.00,0.000,516,0.000,0.043,2784,787,2775,2712,2838,0,0,0,0,0,0,27.26,26.68,27.27
$GC,785,-0.74,-88.0,2783,787,2712,2838,79.1,-10.8,80,796,0.00,2.08,0.00,0.000,1030,0.000,0.031,2773,2183,2775,2712,2838,0,0,0,0,0,0,26.84,26.81,26.87
$GC,916,-0.74,-88.0,2773,2183,2712,2838,92.7,-9.9,93,928,0.00,2.05,0.00,0.000,260,0.000,0.050,2763,3573,2774,2711,2838,0,0,0,0,0,0,27.27,26.64,27.29
$GC,1010,-0.74,-88.0,2762,3574,2712,2838,102.7,-10.7,100,1022,0.08,1.95,0.00,0.000,3078,0.171,0.030,2787,2177,2775,2712,2838,0,0,0,0,0,0,26.45,26.82,26.51
$GC,1145,-0.74,-88.0,2786,2177,2711,2838,115.4,-9.6,113,1156,0.00,2.03,0.00,0.000,516,0.000,0.043,2787,796,2775,2712,2838,0,0,0,0,0,0,27.23,26.66,27.25
$GC,1257,-0.74,-88.0,2787,796,2712,2839,126.0,-9.7,121,1268,0.00,2.05,0.00,0.000,1030,0.000,0.031,2778,2179,2774,2711,2838,0,0,0,0,0,0,26.83,26.80,26.86
$GC,1388,-0.74,-88.0,2777,2179,2712,2838,139.5,-9.6,134,1400,0.00,2.08,0.00,0.000,260,0.000,0.050,2767,3585,2775,2712,2838,0,0,0,0,0,0,27.27,26.62,27.29
$GC,1479,-0.74,-88.0,2766,3585,2712,2838,147.8,-8.9,141,1491,0.00,1.95,0.00,0.000,1030,0.000,0.030,2767,2187,2774,2711,2838,0,0,0,0,0,0,26.84,26.81,26.86
$STATE,1511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1511,begin apogee
$GC,1514,-0.31,0.0,2767,2186,2712,2838,150.7,-8.9,144,1603,0.47,0.00,75.47,1.126,10246,0.147,0.000,2923,2179,2419,2348,2491,0,0,0,0,1,0,25.98,25.01,24.22
$STATE,1604,end apogee,CONTROL_FINISHED_OK
$STATE,1604,begin climb
$GC,1605,0.74,88.0,2922,2178,2348,2491,154.4,0.0,153,1695,1.00,2.25,77.25,1.096,10500,0.119,0.049,3249,3581,2058,1967,2150,0,0,0,0,1,0,25.72,25.27,24.04
$GC,1730,1.14,415.4,3249,3582,1967,2151,150.8,3.9,164,2009,0.32,2.03,258.95,1.137,11270,0.076,0.031,3386,2179,723,653,794,0,0,0,0,1,0,25.99,26.15,23.63
$GC,2129,1.14,415.4,3386,2179,651,788,98.4,15.9,202,2141,0.00,2.08,0.00,0.000,516,0.000,0.047,3397,802,719,650,789,0,0,0,0,0,0,26.71,26.33,26.74
$GC,2283,1.14,415.4,3396,801,646,788,74.3,15.6,214,2296,0.00,1.98,0.00,0.000,1030,0.000,0.030,3397,2180,717,647,788,0,0,0,0,0,0,26.73,26.70,26.79
$GC,2417,1.14,415.4,3396,2181,646,788,52.8,16.6,227,2429,0.00,2.08,0.00,0.000,516,0.000,0.047,3407,790,717,646,788,0,0,0,0,0,0,27.14,26.66,27.16
$GC,2497,1.14,415.4,3406,790,645,788,39.8,16.2,233,2507,0.00,2.05,0.00,0.000,1030,0.000,0.031,3407,2172,716,645,788,0,0,0,0,0,0,26.84,26.81,26.87
$GC,2600,1.14,415.4,3407,2174,645,788,23.0,16.2,246,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2174,716,645,788,0,0,0,0,0,0,27.20,27.22,27.22
$GC,2696,1.14,415.4,3406,2174,645,788,8.0,15.7,259,2706,0.00,2.12,0.00,0.000,516,0.000,0.047,3417,795,716,644,788,0,0,0,0,0,0,27.22,26.70,27.24
$STATE,2736,end climb,SURFACE_DEPTH_REACHED
$STATE,2736,begin surface coast
$FINISH,0.9,1.021671
$STATE,2753,end surface coast,CONTROL_FINISHED_OK
$STATE,2753,begin surface
$SM_CCo,2830,0.00,0.000,0,0,715,417.99
$SM_GC,1.80,8.50,2.08,0.00,0.058,0.031,0.000,185,2180,715,-8.80,-1.30,417.99,0,0,0,0,0,0,26.80,26.82,26.86
$IRIDIUM_FIX,4722.92,-12315.66,140716,070933
$TT8_MAMPS,0.025466,0.328062
$HUMID,56.97
$INTERNAL_PRESSURE,8.97162
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,126.0,70.0
$24V_AH,23.63,2.167
$10V_AH,9.75,1.190
$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,21.150,45.450,411.675,0.000,0.000,22.636,34.937,259.630,1.750,0.000,10.947,641.711,435.955,322.617,1813.015,46.625,33.463,936.939,0.000,1481.821,0.000,13.506,0.000
$DEVICE_MAMPS,243.270,1215.585,1136.790,0.000,0.000,12.240,160.000,223.000,420.000,0.000,28.460,12.460,2.190,12.460,37.180,50.660,58.900,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_FL3,WL_BB3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,175.717,868.152,1270.600,1289.261,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.710,45.690,49.430,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312060
$DATA_FILE_SIZE,20421,266
$CAP_FILE_SIZE,53401,0
$CFSIZE,2097872896,2094301184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,140716,085950,4743.146,-12224.653,5,1.0,10,16.3,0.0,0.0,9,9.6