version: 66.12
glider: 216
mission: 2
dive: 17
start: 7 14 116 10 7 58
data:
$ID,216
$MISSION,2
$DIVE,17
$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,48
$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
$GPS1,140716,095720,4743.6309,-12224.5518,5,1.0,35,16.3,0.0,320.7,8,5.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-67.7
$GPS2,140716,100638,4743.6895,-12224.5293,7,0.9,18,16.3,0.4,7.2,8,7.4
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.191363,0.320410
$KALMAN_X,578.159607,-176.935684,98.111427,-352.432281,143.626465
$KALMAN_Y,-2078.399414,337.627136,-158.663879,3726.487793,-403.689087
$MHEAD_RNG_PITCHd_Wd,312.9,515,-10.5,-10.000,-15.00,5121
$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,-0.77,-88.0,192,2210,782,887,0.0,0.0,0,84,0.00,0.00,-65.82,0.000,16386,0.000,0.000,192,2210,2488,2468,2509,0,0,0,0,0,0,27.13,28.83,27.15
$GC,86,-0.77,-88.0,192,2210,2468,2510,3.3,-4.7,7,116,10.77,2.30,-7.90,0.000,18692,0.246,1.219,2770,3565,2779,2715,2843,0,0,0,0,0,0,25.71,24.49,25.91
$GC,317,-0.77,-88.0,2769,3565,2715,2842,29.9,-10.8,38,328,0.00,2.00,0.00,0.000,1030,0.000,0.029,2770,2186,2778,2715,2842,0,0,0,0,0,0,26.80,26.77,26.82
$GC,416,-0.77,-88.0,2769,2186,2715,2842,40.7,-12.7,51,428,0.00,2.05,0.00,0.000,516,0.000,0.042,2769,785,2778,2715,2842,0,0,0,0,0,0,27.20,26.67,27.22
$GC,494,-0.77,-88.0,2769,785,2716,2843,51.5,-13.7,57,506,0.00,2.00,0.00,0.000,1030,0.000,0.030,2760,2179,2778,2715,2842,0,0,0,0,0,0,26.84,26.81,26.85
$GC,626,-0.77,-88.0,2758,2178,2715,2843,68.0,-11.5,70,637,0.00,2.05,0.00,0.000,516,0.000,0.041,2760,793,2779,2715,2843,0,0,0,0,0,0,27.24,26.69,27.26
$GC,720,-0.77,-88.0,2759,793,2715,2843,79.0,-12.5,77,731,0.10,2.05,0.00,0.000,3078,0.172,0.031,2781,2180,2779,2715,2843,0,0,0,0,0,0,26.36,26.79,26.44
$GC,851,-0.77,-88.0,2780,2180,2715,2843,93.2,-9.8,90,863,0.00,2.05,0.00,0.000,260,0.000,0.049,2771,3576,2778,2715,2842,0,0,0,0,0,0,27.26,26.66,27.28
$GC,890,-0.77,-88.0,2770,3577,2716,2842,97.3,-10.4,93,902,0.00,1.95,0.00,0.000,1030,0.000,0.029,2771,2181,2779,2715,2843,0,0,0,0,0,0,26.86,26.86,26.89
$GC,1023,-0.77,-88.0,2770,2180,2715,2843,110.7,-10.2,106,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2180,2778,2715,2842,0,0,0,0,0,0,27.22,27.24,27.24
$GC,1154,-0.77,-88.0,2770,2180,2716,2843,124.4,-10.0,119,1167,0.00,2.03,0.00,0.000,516,0.000,0.043,2771,798,2779,2715,2843,0,0,0,0,0,0,27.27,26.67,27.29
$GC,1297,-0.77,-88.0,2770,798,2715,2843,141.1,-12.3,130,1308,0.00,1.98,0.00,0.000,1030,0.000,0.031,2761,2180,2779,2715,2843,0,0,0,0,0,0,26.84,26.81,26.87
$STATE,1388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1388,begin apogee
$GC,1391,-0.31,0.0,2761,2181,2714,2842,151.0,-11.1,139,1479,0.50,0.00,76.32,1.127,10246,0.147,0.000,2925,2181,2417,2342,2493,0,0,0,0,1,0,26.01,25.46,24.25
$STATE,1480,end apogee,CONTROL_FINISHED_OK
$STATE,1480,begin climb
$GC,1482,0.77,88.0,2924,2181,2342,2493,155.6,0.0,148,1571,1.02,2.22,76.93,1.095,10756,0.119,0.044,3268,790,2059,1965,2153,0,0,0,0,1,0,25.70,25.31,24.09
$GC,1724,1.06,328.2,3268,790,1965,2151,145.7,5.2,168,1939,0.22,2.00,200.73,1.134,11270,0.076,0.030,3357,2181,1078,995,1161,0,0,0,0,1,0,26.41,26.60,23.88
$GC,2059,1.06,328.2,3356,2181,994,1156,110.3,12.9,200,2071,0.00,2.12,0.00,0.000,516,0.000,0.047,3366,788,1074,993,1156,0,0,0,0,0,0,26.77,26.38,26.79
$GC,2190,1.06,328.2,3367,787,991,1156,93.3,13.1,210,2202,0.00,2.00,0.00,0.000,1030,0.000,0.031,3367,2176,1073,990,1156,0,0,0,0,0,0,26.72,26.70,26.75
$GC,2322,1.06,328.2,3365,2177,990,1156,76.5,12.8,223,2334,0.00,2.08,0.00,0.000,516,0.000,0.047,3376,802,1073,990,1156,0,0,0,0,0,0,27.13,26.66,27.15
$GC,2349,1.06,328.2,3376,801,990,1156,72.9,13.0,225,2362,0.00,1.98,0.00,0.000,1030,0.000,0.031,3377,2183,1072,989,1156,0,0,0,0,0,0,26.82,26.79,26.84
$GC,2483,1.06,328.2,3376,2183,989,1156,55.2,12.7,238,2495,0.00,2.08,0.00,0.000,516,0.000,0.047,3386,792,1072,989,1156,0,0,0,0,0,0,27.20,26.70,27.22
$GC,2564,1.06,328.2,3386,791,989,1156,44.4,13.3,244,2576,0.00,2.05,0.00,0.000,1030,0.000,0.030,3387,2174,1072,989,1156,0,0,0,0,0,0,26.86,26.84,26.89
$GC,2734,1.06,328.2,3386,2175,988,1156,22.5,12.7,266,2743,0.00,2.12,0.00,0.000,516,0.000,0.047,3397,793,1072,988,1156,0,0,0,0,0,0,27.24,26.71,27.26
$GC,2830,1.06,328.2,3396,793,988,1156,8.7,14.0,279,2840,0.00,2.05,0.00,0.000,1030,0.000,0.031,3397,2182,1072,988,1156,0,0,0,0,0,0,26.87,26.84,26.91
$STATE,2886,end climb,SURFACE_DEPTH_REACHED
$STATE,2886,begin surface coast
$FINISH,1.0,1.008498
$STATE,2911,end surface coast,CONTROL_FINISHED_OK
$STATE,2911,begin surface
$SM_CCo,2985,0.00,0.000,0,0,1070,330.91
$SM_GC,2.07,8.50,0.00,0.00,0.061,0.000,0.000,188,2188,1070,-8.80,0.23,330.91,0,0,0,0,0,0,26.80,27.28,26.87
$IRIDIUM_FIX,4726.11,-12219.67,140716,095819
$TT8_MAMPS,0.026215,0.327313
$HUMID,56.37
$INTERNAL_PRESSURE,9.01068
$TCM_TEMP,13.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.9,71.9
$24V_AH,23.88,2.444
$10V_AH,9.75,1.350
$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,21.125,41.150,353.975,0.000,0.000,51.244,117.075,246.415,1.250,0.000,19.638,700.064,528.436,292.625,2014.443,47.766,33.452,892.074,0.000,1576.157,0.000,10.363,0.000
$DEVICE_MAMPS,245.565,1219.410,1134.495,0.000,0.000,12.240,160.000,223.000,420.000,0.000,28.460,12.460,2.190,12.460,37.180,50.660,58.900,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_FL3,WL_BB3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,192.444,943.771,1368.254,1389.625,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.710,45.690,49.430,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312136
$DATA_FILE_SIZE,23847,289
$CAP_FILE_SIZE,53103,0
$CFSIZE,2097872896,2094104576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,140716,105856,4744.282,-12224.559,5,1.0,41,16.3,0.0,6.6,8,3.0