version: 66.12
glider: 216
mission: 2
dive: 16
start: 7 14 116 9 7 24
data:
$ID,216
$MISSION,2
$DIVE,16
$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,61
$R_STBD_OVSHOOT,41
$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
$GPS1,140716,085950,4743.1460,-12224.6533,5,1.0,10,16.3,0.0,0.0,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-67.2
$GPS2,140716,090603,4743.1587,-12224.6475,6,1.0,12,16.3,0.0,0.0,9,8.9
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.033474,0.381740
$KALMAN_X,324.444397,-141.960220,82.858315,-265.254425,0.796448
$KALMAN_Y,-2051.347656,333.409210,5.822479,2568.374268,-414.327728
$MHEAD_RNG_PITCHd_Wd,338.7,1386,-10.1,-10.000,-14.63,5455
$D_GRID,177
$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,-88.0,185,2198,657,765,0.0,0.0,0,84,0.00,0.00,-66.00,0.000,16386,0.000,0.000,185,2197,2357,2345,2369,0,0,0,0,0,0,27.13,28.83,27.15
$GC,86,-0.74,-88.0,185,2197,2345,2369,3.2,-4.0,7,115,10.70,2.40,-12.50,0.000,18692,0.243,1.216,2774,3585,2778,2713,2844,0,0,0,0,0,0,25.71,24.44,25.93
$GC,208,-0.74,-88.0,2774,3585,2713,2844,14.6,-11.9,23,218,0.00,2.05,0.00,0.000,1030,0.000,0.031,2774,2178,2778,2713,2844,0,0,0,0,0,0,26.78,26.75,26.81
$GC,311,-0.74,-88.0,2774,2178,2713,2844,27.3,-12.8,36,320,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2178,2778,2713,2844,0,0,0,0,0,0,27.18,27.21,27.21
$GC,408,-0.74,-88.0,2774,2178,2713,2844,38.8,-10.8,49,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2178,2778,2713,2844,0,0,0,0,0,0,27.22,27.24,27.24
$GC,488,-0.74,-88.0,2773,2178,2713,2844,48.8,-12.6,57,500,0.00,2.10,0.00,0.000,260,0.000,0.049,2764,3583,2778,2713,2844,0,0,0,0,0,0,27.23,26.65,27.25
$GC,542,-0.74,-88.0,2763,3584,2712,2844,55.1,-11.8,61,554,0.08,1.98,0.00,0.000,3078,0.171,0.030,2787,2172,2778,2713,2844,0,0,0,0,0,0,26.46,26.82,26.53
$GC,675,-0.74,-88.0,2787,2172,2713,2844,69.0,-10.5,74,687,0.00,2.00,0.00,0.000,516,0.000,0.043,2788,801,2778,2713,2844,0,0,0,0,0,0,27.25,26.70,27.27
$GC,754,-0.74,-88.0,2787,801,2713,2844,77.9,-11.6,80,766,0.00,1.98,0.00,0.000,1030,0.000,0.031,2778,2186,2778,2713,2844,0,0,0,0,0,0,26.85,26.81,26.88
$GC,886,-0.74,-88.0,2777,2185,2713,2844,91.6,-10.3,93,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2185,2778,2713,2844,0,0,0,0,0,0,27.26,27.29,27.28
$GC,1018,-0.74,-88.0,2777,2185,2713,2843,105.0,-10.2,106,1032,0.00,2.05,0.00,0.000,260,0.000,0.050,2768,3577,2778,2713,2844,0,0,0,0,0,0,27.27,26.64,27.29
$GC,1048,-0.74,-88.0,2767,3577,2713,2844,108.3,-10.6,108,1060,0.00,1.95,0.00,0.000,1030,0.000,0.030,2768,2184,2778,2713,2844,0,0,0,0,0,0,26.86,26.82,26.89
$GC,1181,-0.74,-88.0,2767,2184,2713,2844,122.0,-10.8,121,1193,0.00,2.05,0.00,0.000,516,0.000,0.043,2767,787,2778,2713,2844,0,0,0,0,0,0,27.26,26.65,27.28
$GC,1314,-0.74,-88.0,2767,787,2713,2844,137.3,-12.0,131,1327,0.10,2.08,0.00,0.000,3078,0.171,0.031,2788,2184,2778,2713,2844,0,0,0,0,0,0,26.33,26.79,26.41
$GC,1447,-0.74,-88.0,2788,2184,2713,2844,149.3,-8.6,144,1459,0.00,2.05,0.00,0.000,260,0.000,0.050,2778,3575,2778,2713,2844,0,0,0,0,0,0,27.27,26.61,27.29
$STATE,1462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1462,begin apogee
$GC,1467,-0.31,0.0,2778,2173,2713,2844,150.2,-8.5,145,1561,0.47,0.00,76.38,1.129,10246,0.141,0.000,2931,2168,2419,2345,2494,0,0,0,0,1,0,26.03,25.02,24.22
$STATE,1562,end apogee,CONTROL_FINISHED_OK
$STATE,1562,begin climb
$GC,1563,0.74,88.0,2931,2168,2345,2494,155.9,0.0,154,1653,0.95,2.17,77.28,1.092,10756,0.112,0.044,3258,794,2058,1966,2150,0,0,0,0,1,0,25.75,25.29,24.04
$GC,1782,1.10,384.7,3258,794,1966,2150,149.6,4.4,172,2039,0.30,2.00,242.75,1.142,11270,0.074,0.031,3376,2179,848,771,926,0,0,0,0,1,0,26.36,26.54,23.75
$GC,2159,1.10,384.7,3375,2180,769,920,104.9,14.7,208,2172,0.00,2.10,0.00,0.000,516,0.000,0.047,3384,803,844,768,920,0,0,0,0,0,0,26.73,26.34,26.74
$GC,2253,1.10,384.7,3384,803,767,920,90.6,15.8,215,2257,0.00,2.03,0.00,0.000,1030,0.000,0.031,3384,2184,843,767,920,0,0,0,0,0,0,26.71,26.63,26.73
$GC,2388,1.10,384.7,3384,2185,766,920,69.8,15.7,228,2399,0.00,2.10,0.00,0.000,516,0.000,0.046,3394,801,843,766,920,0,0,0,0,0,0,27.10,26.67,27.12
$GC,2441,1.10,384.7,3393,801,766,920,61.7,15.1,232,2453,0.00,1.98,0.00,0.000,1030,0.000,0.031,3394,2180,842,765,920,0,0,0,0,0,0,26.81,26.78,26.84
$GC,2574,1.10,384.7,3394,2181,765,920,40.2,15.4,245,2585,0.00,2.08,0.00,0.000,516,0.000,0.047,3404,798,842,765,920,0,0,0,0,0,0,27.18,26.70,27.21
$GC,2619,1.10,384.7,3404,798,765,920,32.9,16.2,250,2629,0.00,2.05,0.00,0.000,1030,0.000,0.031,3404,2184,842,765,920,0,0,0,0,0,0,26.86,26.82,26.89
$GC,2719,1.10,384.7,3404,2184,764,920,17.2,14.5,263,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2184,842,764,920,0,0,0,0,0,0,27.22,27.24,27.24
$GC,2816,1.10,384.7,3403,2185,764,920,2.5,15.5,276,2826,0.00,2.12,0.00,0.000,516,0.000,0.047,3412,802,841,763,920,0,0,0,0,0,0,27.23,26.71,27.25
$STATE,2835,end climb,SURFACE_DEPTH_REACHED
$STATE,2836,begin surface coast
$FINISH,1.0,1.010822
$STATE,2852,end surface coast,CONTROL_FINISHED_OK
$STATE,2852,begin surface
$SM_CCo,2929,0.00,0.000,0,0,841,387.08
$SM_GC,1.82,8.52,2.08,0.00,0.060,0.032,0.000,192,2191,841,-8.79,-1.22,387.08,0,0,0,0,0,0,26.80,26.82,26.86
$IRIDIUM_FIX,4726.11,-12222.38,140716,080505
$TT8_MAMPS,0.026215,0.325815
$HUMID,56.22
$INTERNAL_PRESSURE,8.98138
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.8,71.0
$24V_AH,23.75,2.310
$10V_AH,9.75,1.269
$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,21.125,45.400,396.400,0.000,0.000,23.203,35.469,237.911,1.500,0.000,14.897,673.407,436.350,329.469,1853.944,49.465,33.460,949.309,0.000,1543.417,0.000,11.922,0.000
$DEVICE_MAMPS,242.505,1216.350,1142.145,0.000,0.000,12.240,160.000,223.000,420.000,0.000,28.460,12.460,2.190,12.460,37.180,50.660,58.900,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_FL3,WL_BB3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,185.409,914.105,1347.757,1367.083,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.710,45.690,49.430,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312116
$DATA_FILE_SIZE,23829,280
$CAP_FILE_SIZE,54439,0
$CFSIZE,2097872896,2094202880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,140716,095720,4743.631,-12224.552,5,1.0,35,16.3,0.0,320.7,8,5.3