version: 66.12
glider: 216
mission: 2
dive: 22
start: 7 14 116 14 38 2
data:
$ID,216
$MISSION,2
$DIVE,22
$N_DIVES,25
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,50
$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,30
$T_MISSION,50
$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,60
$R_STBD_OVSHOOT,50
$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
$GPS1,140716,143028,4745.1816,-12224.9707,5,0.8,13,16.3,0.0,0.0,10,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-69.5
$GPS2,140716,143702,4745.1978,-12224.9766,6,0.9,37,16.3,0.0,51.8,9,4.8
$SPEED_LIMITS,0.056,0.169
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.032263,-0.165789
$KALMAN_X,1646.105591,128.296234,225.604248,-2402.715332,45.899017
$KALMAN_Y,1877.771240,499.159760,503.862122,1748.741455,558.506958
$MHEAD_RNG_PITCHd_Wd,174.7,4631,-12.9,-5.556,-18.21,2381
$D_GRID,193
$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,-0.91,-88.0,193,2160,1165,1212,0.0,0.0,0,65,0.00,0.00,-47.20,0.000,16386,0.000,0.000,194,2161,2401,2374,2428,0,0,0,0,0,0,27.13,28.83,27.15
$GC,67,-0.91,-88.0,193,2161,2375,2428,3.3,-4.3,5,97,10.68,2.30,-10.30,0.000,18948,0.246,1.213,2734,792,2778,2707,2849,0,0,0,0,0,0,25.65,24.45,25.84
$STATE,404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,404,begin apogee
$GC,409,-0.31,0.0,2725,2182,2707,2849,51.0,-14.9,46,457,0.65,0.00,43.55,0.259,10246,0.155,0.000,2930,2182,2414,2339,2490,0,0,0,0,0,0,25.92,26.24,25.78
$STATE,457,end apogee,CONTROL_FINISHED_OK
$STATE,458,begin climb
$GC,459,0.91,88.0,2930,2182,2341,2496,55.2,0.0,51,514,1.12,2.12,44.88,0.262,10500,0.119,0.046,3306,3581,2060,1971,2150,0,0,0,0,0,0,26.22,25.96,25.72
$GC,652,0.91,88.0,3305,3581,1974,2153,48.2,5.9,66,662,0.00,2.05,0.00,0.000,1030,0.000,0.029,3317,2182,2064,1974,2154,0,0,0,0,0,0,26.72,26.68,26.74
$GC,781,0.91,88.0,3316,2181,1974,2154,40.6,6.0,79,792,0.00,2.05,0.00,0.000,516,0.000,0.044,3327,788,2064,1974,2154,0,0,0,0,0,0,27.18,26.60,27.20
$GC,965,0.94,108.9,3326,788,1974,2154,30.1,4.7,103,984,0.00,2.05,10.95,0.204,9222,0.000,0.030,3327,2184,1974,1886,2062,0,0,0,0,0,0,26.82,26.78,25.65
$GC,1071,0.94,108.9,3326,2184,1893,2067,24.0,5.6,117,1081,0.00,2.10,0.00,0.000,260,0.000,0.047,3327,3574,1980,1893,2067,0,0,0,0,0,0,27.22,26.63,27.24
$GC,1190,0.94,108.9,3326,3574,1893,2067,16.5,6.0,133,1199,0.00,2.03,0.00,0.000,1030,0.000,0.030,3338,2177,1980,1893,2067,0,0,0,0,0,0,26.82,26.78,26.86
$GC,1287,0.94,108.9,3337,2177,1893,2067,11.1,5.8,146,1297,0.00,2.10,0.00,0.000,516,0.000,0.044,3347,788,1980,1893,2067,0,0,0,0,0,0,27.25,26.63,27.27
$GC,1315,0.96,123.4,3347,787,1893,2067,9.8,4.9,149,1335,0.00,2.05,7.85,0.160,9222,0.000,0.029,3347,2187,1915,1831,2000,0,0,0,0,0,0,26.83,26.80,25.80
$GC,1425,0.99,153.5,3347,2187,1835,2003,4.5,4.3,163,1454,0.00,2.10,18.12,0.145,8452,0.000,0.046,3347,3577,1794,1710,1878,0,0,0,0,0,0,27.24,26.04,25.89
$STATE,1478,end climb,SURFACE_DEPTH_REACHED
$STATE,1478,begin surface coast
$FINISH,0.9,1.012953
$STATE,1536,end surface coast,CONTROL_FINISHED_OK
$STATE,1537,begin surface
$SM_CCo,1553,78.43,0.138,0,0,1195,300.00
$SM_GC,1.81,8.35,2.05,78.43,0.058,0.029,0.138,191,2181,1195,-8.77,1.64,300.00,0,0,0,0,0,0,26.70,26.74,25.98
$IRIDIUM_FIX,4729.30,-12224.09,140716,134409
$TT8_MAMPS,0.026215,0.265895
$HUMID,54.37
$INTERNAL_PRESSURE,9.03998
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,24.45,2.921
$10V_AH,9.84,1.681
$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,20.800,25.075,125.350,78.425,0.000,23.200,35.044,240.747,0.000,0.000,38.881,458.420,83.957,216.752,1257.378,33.363,33.446,508.855,0.000,931.073,0.000,1.019,0.000
$DEVICE_MAMPS,245.565,1212.525,261.630,138.465,0.000,12.240,160.000,223.000,420.000,0.000,28.460,12.460,2.190,12.460,37.180,50.660,58.900,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_FL3,WL_BB3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,118.724,578.581,844.444,859.075,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.710,45.690,49.430,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312108
$DATA_FILE_SIZE,13749,177
$CAP_FILE_SIZE,35141,0
$CFSIZE,2097872896,2093580288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140716,150556,4745.349,-12224.867,4,0.9,9,16.3,0.0,0.0,9,7.8