version: 66.12
glider: 216
mission: 2
dive: 21
start: 7 14 116 13 50 32
data:
$ID,216
$MISSION,2
$DIVE,21
$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,45
$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,54
$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
$GPS1,140716,134311,4744.9800,-12224.8525,13,0.9,21,16.3,0.4,30.8,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-69.4
$GPS2,140716,134932,4745.0371,-12224.8076,12,0.9,22,16.3,0.4,28.8,9,6.8
$SPEED_LIMITS,0.100,0.205
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.059506,-0.196098
$KALMAN_X,1727.449219,42.849998,252.160797,-2216.402344,176.253113
$KALMAN_Y,1633.281250,304.174774,40.376827,2348.139404,1186.030151
$MHEAD_RNG_PITCHd_Wd,180.6,2106,-22.9,-10.000,-26.01,1340
$D_GRID,188
$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,15,begin dive
$GC,16,-1.54,-88.0,192,2170,1161,1207,0.0,0.0,0,65,0.00,0.00,-46.75,0.000,16386,0.000,0.000,192,2171,2383,2357,2410,0,0,0,0,0,0,27.11,28.83,27.13
$GC,67,-1.54,-88.0,192,2170,2357,2410,3.2,-4.0,5,97,9.90,2.38,-10.95,0.000,19204,0.249,1.215,2518,3572,2777,2712,2842,0,0,0,0,0,0,25.53,24.44,25.79
$GC,357,-1.54,-88.0,2517,3572,2713,2842,65.9,-20.7,36,368,0.00,1.95,0.00,0.000,1030,0.000,0.029,2517,2186,2777,2712,2842,0,0,0,0,0,0,26.82,26.78,26.84
$GC,489,-1.54,-88.0,2517,2184,2712,2842,93.7,-20.1,49,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2184,2777,2712,2842,0,0,0,0,0,0,27.23,27.25,27.25
$GC,622,-1.54,-88.0,2517,2184,2712,2843,120.0,-19.7,62,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2184,2778,2713,2843,0,0,0,0,0,0,27.22,27.24,27.24
$GC,754,-1.54,-88.0,2517,2184,2713,2843,146.3,-20.3,75,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2184,2777,2712,2843,0,0,0,0,0,0,27.26,27.28,27.28
$STATE,773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,773,begin apogee
$GC,776,-0.31,0.0,2517,2184,2712,2843,150.3,-20.7,77,864,1.40,0.00,73.55,1.112,10246,0.177,0.000,2927,2171,2420,2342,2499,0,0,0,0,1,0,25.71,25.08,24.30
$STATE,865,end apogee,CONTROL_FINISHED_OK
$STATE,865,begin climb
$GC,866,1.54,88.0,2927,2172,2344,2501,155.6,0.0,86,956,1.75,2.22,75.95,1.085,10500,0.114,0.045,3506,3574,2059,1976,2142,0,0,0,0,1,0,25.77,25.34,24.10
$GC,978,1.56,99.0,3505,3573,1980,2145,147.1,9.2,96,1002,0.00,2.03,14.02,0.599,9222,0.000,0.028,3517,2175,2014,1931,2098,0,0,0,0,1,0,26.10,26.06,24.93
$GC,1123,1.56,99.0,3516,2175,1934,2099,129.4,13.0,110,1135,0.00,2.05,0.00,0.000,516,0.000,0.043,3528,785,2016,1933,2099,0,0,0,0,0,0,26.93,26.51,26.95
$GC,1245,1.56,99.0,3527,785,1933,2099,112.1,14.8,119,1256,0.00,2.08,0.00,0.000,1030,0.000,0.028,3528,2181,2016,1933,2099,0,0,0,0,0,0,26.76,26.73,26.78
$GC,1376,1.56,99.0,3527,2181,1933,2098,93.1,13.2,132,1388,0.00,2.08,0.00,0.000,516,0.000,0.043,3538,787,2016,1933,2099,0,0,0,0,0,0,27.17,26.67,27.18
$GC,1469,1.56,99.0,3537,787,1933,2099,81.6,12.1,139,1481,0.00,1.98,0.00,0.000,1030,0.000,0.030,3538,2176,2015,1933,2098,0,0,0,0,0,0,26.84,26.80,26.86
$GC,1602,1.56,99.0,3537,2176,1933,2098,66.8,10.7,152,1613,0.00,2.08,0.00,0.000,516,0.000,0.043,3548,782,2015,1933,2098,0,0,0,0,0,0,27.23,26.70,27.24
$GC,1917,1.61,139.3,3548,782,1933,2098,35.0,6.9,180,1947,0.00,2.05,21.10,0.217,9222,0.000,0.029,3548,2176,1848,1771,1926,0,0,0,0,0,0,26.88,26.84,25.70
$GC,2036,1.61,139.3,3548,2176,1775,1928,22.3,12.4,195,2046,0.00,2.12,0.00,0.000,516,0.000,0.044,3559,793,1851,1775,1928,0,0,0,0,0,0,27.21,26.65,27.22
$GC,2064,1.61,139.3,3558,793,1776,1928,19.3,10.7,198,2075,0.00,2.05,0.00,0.000,1030,0.000,0.029,3558,2183,1851,1775,1928,0,0,0,0,0,0,26.82,26.79,26.86
$GC,2165,1.61,143.9,3558,2183,1775,1927,8.5,9.6,211,2176,0.00,2.08,2.78,0.194,8452,0.000,0.046,3559,3589,1829,1755,1904,0,0,0,0,0,0,27.24,26.08,25.92
$STATE,2222,end climb,SURFACE_DEPTH_REACHED
$STATE,2222,begin surface coast
$FINISH,0.9,1.010678
$STATE,2246,end surface coast,CONTROL_FINISHED_OK
$STATE,2246,begin surface
$SM_CCo,2263,85.62,0.140,0,0,1194,300.00
$SM_GC,1.95,9.05,2.08,85.62,0.066,0.030,0.140,193,2168,1194,-8.78,1.47,300.00,0,0,0,0,0,0,26.70,26.81,25.98
$IRIDIUM_FIX,4726.11,-12226.80,140716,125405
$TT8_MAMPS,0.026215,0.266644
$HUMID,55.35
$INTERNAL_PRESSURE,9.02045
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.1,70.1
$24V_AH,24.10,2.891
$10V_AH,9.84,1.630
$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,22.100,29.200,187.400,85.625,0.000,25.912,36.458,236.576,2.000,0.000,23.741,566.150,332.228,278.148,1537.203,39.404,33.455,689.822,0.000,1213.052,0.000,15.074,0.000
$DEVICE_MAMPS,249.390,1214.820,1111.545,139.995,0.000,12.240,160.000,223.000,420.000,0.000,28.460,12.460,2.190,12.460,37.180,50.660,58.900,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_FL3,WL_BB3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,147.990,722.134,1064.907,1081.637,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.710,45.690,49.430,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312072
$DATA_FILE_SIZE,16983,221
$CAP_FILE_SIZE,43680,0
$CFSIZE,2097872896,2093711360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,140716,143028,4745.182,-12224.971,5,0.8,13,16.3,0.0,0.0,10,9.1