version: 66.12
glider: 216
mission: 2
dive: 18
start: 7 14 116 11 6 12
data:
$ID,216
$MISSION,2
$DIVE,18
$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,62
$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
$GPS1,140716,105856,4744.2822,-12224.5586,5,1.0,41,16.3,0.0,6.6,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-68.7
$GPS2,140716,110452,4744.3281,-12224.5508,6,1.0,8,16.3,0.0,0.0,8,9.9
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.208102,-0.309800
$KALMAN_X,1051.531372,-166.403641,129.584930,-897.299500,245.676727
$KALMAN_Y,-1615.891357,262.961700,-376.337097,4732.825684,34.991669
$MHEAD_RNG_PITCHd_Wd,197.6,852,-10.5,-10.000,-15.00,5121
$D_GRID,175
$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,-0.77,-88.0,188,2195,1008,1119,0.0,0.0,0,65,0.00,0.00,-47.40,0.000,16386,0.000,0.000,188,2195,2241,2226,2256,0,0,0,0,0,0,27.13,28.83,27.15
$GC,67,-0.77,-88.0,187,2195,2226,2257,3.1,-3.5,5,106,10.73,2.38,-16.80,0.000,19204,0.243,1.211,2778,793,2778,2707,2849,0,0,0,0,0,0,25.69,24.44,25.91
$GC,358,-0.77,-88.0,2777,793,2708,2850,34.2,-11.7,44,368,0.00,2.05,0.00,0.000,1030,0.000,0.031,2768,2176,2778,2707,2850,0,0,0,0,0,0,26.79,26.76,26.82
$GC,445,-0.77,-88.0,2768,2176,2708,2850,44.1,-11.4,54,457,0.00,2.08,0.00,0.000,260,0.000,0.050,2758,3583,2779,2708,2850,0,0,0,0,0,0,27.21,26.64,27.23
$GC,525,-0.77,-88.0,2757,3583,2707,2850,53.0,-11.0,60,537,0.00,1.98,0.00,0.000,1030,0.000,0.030,2758,2182,2779,2708,2850,0,0,0,0,0,0,26.84,26.80,26.86
$GC,658,-0.77,-88.0,2757,2182,2708,2850,68.1,-10.6,73,670,0.08,2.08,0.00,0.000,2308,0.191,0.046,2776,3581,2779,2708,2850,0,0,0,0,0,0,26.67,26.65,26.70
$GC,698,-0.77,-88.0,2776,3580,2708,2850,72.5,-10.3,76,701,0.00,2.00,0.00,0.000,1030,0.000,0.030,2776,2178,2779,2708,2850,0,0,0,0,0,0,26.89,26.82,26.92
$GC,832,-0.77,-88.0,2776,2176,2708,2850,87.5,-11.4,89,844,0.00,2.03,0.00,0.000,516,0.000,0.044,2776,793,2779,2708,2850,0,0,0,0,0,0,27.26,26.67,27.27
$GC,885,-0.77,-88.0,2775,793,2708,2850,93.7,-11.8,93,897,0.00,1.98,0.00,0.000,1030,0.000,0.031,2766,2171,2779,2708,2850,0,0,0,0,0,0,26.84,26.82,26.86
$GC,1017,-0.77,-88.0,2765,2171,2708,2850,107.8,-10.0,106,1029,0.00,2.08,0.00,0.000,260,0.000,0.049,2756,3579,2779,2708,2850,0,0,0,0,0,0,27.27,26.65,27.28
$GC,1089,-0.77,-88.0,2755,3579,2708,2850,115.8,-11.7,111,1101,0.08,1.98,0.00,0.000,3078,0.172,0.030,2780,2169,2778,2707,2850,0,0,0,0,0,0,26.44,26.81,26.50
$GC,1223,-0.77,-88.0,2779,2169,2708,2850,130.2,-10.0,124,1235,0.00,2.10,0.00,0.000,260,0.000,0.048,2770,3572,2779,2708,2850,0,0,0,0,0,0,27.26,26.63,27.29
$GC,1318,-0.77,-88.0,2770,3572,2708,2850,139.1,-9.2,131,1330,0.00,1.95,0.00,0.000,1030,0.000,0.030,2770,2178,2779,2708,2850,0,0,0,0,0,0,26.85,26.81,26.88
$STATE,1430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1430,begin apogee
$GC,1434,-0.31,0.0,2770,2177,2708,2850,150.7,-10.7,142,1522,0.47,0.00,76.03,1.125,10246,0.147,0.000,2925,2171,2419,2342,2497,0,0,0,0,1,0,26.01,25.05,24.26
$STATE,1523,end apogee,CONTROL_FINISHED_OK
$STATE,1523,begin climb
$GC,1524,0.77,88.0,2925,2171,2341,2497,155.2,0.0,151,1614,1.02,2.25,77.00,1.102,10500,0.117,0.047,3259,3575,2058,1964,2153,0,0,0,0,1,0,25.72,25.30,24.06
$GC,1665,1.15,400.0,3259,3575,1964,2153,152.0,3.8,163,1934,0.32,2.00,254.95,1.136,11270,0.073,0.030,3398,2178,785,711,860,0,0,0,0,1,0,26.10,26.25,23.70
$GC,2054,1.15,400.0,3397,2178,710,857,101.7,16.4,200,2065,0.00,2.12,0.00,0.000,260,0.000,0.046,3398,3586,783,710,856,0,0,0,0,0,0,26.70,26.34,26.72
$GC,2186,1.15,400.0,3397,3586,710,854,80.4,15.7,210,2197,0.00,2.05,0.00,0.000,1030,0.000,0.031,3408,2199,782,710,854,0,0,0,0,0,0,26.71,26.67,26.74
$GC,2318,1.15,400.0,3407,2198,710,853,57.5,17.8,223,2330,0.00,2.10,0.00,0.000,516,0.000,0.047,3419,783,781,709,854,0,0,0,0,0,0,27.13,26.65,27.14
$GC,2423,1.15,400.0,3418,783,708,854,39.4,17.5,231,2433,0.00,2.08,0.00,0.000,1030,0.000,0.030,3419,2181,780,707,854,0,0,0,0,0,0,26.84,26.81,26.87
$GC,2527,1.15,400.0,3418,2182,708,854,21.8,15.7,244,2537,0.00,2.10,0.00,0.000,260,0.000,0.047,3418,3580,780,707,854,0,0,0,0,0,0,27.20,26.71,27.22
$GC,2562,1.15,400.0,3418,3580,707,853,16.1,15.9,248,2572,0.00,2.05,0.00,0.000,1030,0.000,0.032,3429,2182,780,707,854,0,0,0,0,0,0,26.85,26.82,26.89
$STATE,2658,end climb,SURFACE_DEPTH_REACHED
$STATE,2659,begin surface coast
$FINISH,1.0,1.012808
$STATE,2674,end surface coast,CONTROL_FINISHED_OK
$STATE,2674,begin surface
$SM_CCo,2749,0.00,0.000,0,0,779,402.29
$SM_GC,1.83,8.50,0.00,0.00,0.058,0.000,0.000,200,2167,779,-8.78,-0.28,402.29,0,0,0,0,0,0,26.77,27.24,26.84
$IRIDIUM_FIX,4726.11,-12222.38,140716,100102
$TT8_MAMPS,0.025466,0.297353
$HUMID,56.61
$INTERNAL_PRESSURE,8.98138
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.9,70.4
$24V_AH,23.70,2.590
$10V_AH,9.79,1.424
$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,21.200,41.400,407.975,0.000,0.000,18.378,33.416,234.601,1.500,0.000,9.925,636.526,410.316,305.635,1746.917,45.734,33.456,890.386,0.000,1451.024,0.000,11.933,0.000
$DEVICE_MAMPS,243.270,1210.995,1136.025,0.000,0.000,12.240,160.000,223.000,420.000,0.000,28.460,12.460,2.190,12.460,37.180,50.660,58.900,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_FL3,WL_BB3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,173.382,855.315,1256.399,1274.697,0.000,0.000,0.000,0.000,0.000,0.000
$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,20514,262
$CAP_FILE_SIZE,50577,0
$CFSIZE,2097872896,2094006272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,140716,115241,4744.483,-12224.701,5,1.1,9,16.3,0.0,29.4,8,8.7