version: 66.12
glider: 216
mission: 2
dive: 25
start: 7 14 116 16 21 21
data:
$ID,216
$MISSION,2
$DIVE,25
$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,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
$GPS1,140716,161438,4745.4478,-12224.9912,5,1.0,14,16.3,0.0,0.0,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-68.9
$GPS2,140716,162020,4745.4727,-12224.9863,7,0.9,16,16.3,0.0,0.0,9,9.3
$SPEED_LIMITS,0.056,0.169
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.001510,-0.168887
$KALMAN_X,1845.280029,205.142044,37.778969,-2503.707520,1.594658
$KALMAN_Y,2679.904785,662.893982,943.056580,846.480530,207.546753
$MHEAD_RNG_PITCHd_Wd,163.2,5140,-12.9,-5.556,-18.21,2381
$D_GRID,191
$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,-88.0,190,2192,1166,1222,0.0,0.0,0,65,0.00,0.00,-47.25,0.000,16386,0.000,0.000,190,2192,2408,2379,2437,0,0,0,0,0,0,27.13,28.83,27.15
$GC,67,-0.91,-88.0,190,2192,2379,2437,3.2,-4.0,5,97,10.65,2.30,-10.85,0.000,18692,0.244,1.217,2722,3576,2777,2705,2850,0,0,0,0,0,0,25.67,24.49,25.90
$GC,348,-0.91,-88.0,2721,3576,2705,2850,42.5,-14.7,42,359,0.00,2.03,0.00,0.000,1030,0.000,0.028,2721,2181,2777,2705,2850,0,0,0,0,0,0,26.77,26.74,26.79
$STATE,397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,397,begin apogee
$GC,401,-0.31,0.0,2721,2181,2705,2850,50.6,-15.6,47,451,0.65,0.00,42.10,0.256,10246,0.158,0.000,2924,2171,2422,2343,2501,0,0,0,0,0,0,25.72,26.02,25.78
$STATE,452,end apogee,CONTROL_FINISHED_OK
$STATE,452,begin climb
$GC,453,0.91,88.0,2924,2170,2347,2505,55.2,0.0,52,508,1.15,2.10,44.17,0.261,10756,0.119,0.041,3317,796,2061,1972,2150,0,0,0,0,0,0,26.15,25.96,25.75
$GC,525,1.01,166.5,3316,795,1980,2156,54.9,2.2,58,574,0.05,2.08,40.35,0.256,11270,0.119,0.028,3348,2193,1738,1651,1826,0,0,0,0,0,0,26.39,26.56,25.64
$GC,695,1.01,166.5,3348,2193,1662,1837,42.4,10.4,74,708,0.00,2.03,1.40,0.204,8452,0.000,0.045,3348,3572,1741,1655,1828,0,0,0,0,0,0,27.08,25.96,25.81
$GC,739,1.01,166.5,3348,3572,1661,1835,37.2,11.7,78,749,0.00,2.03,1.15,0.177,9222,0.000,0.029,3358,2182,1740,1654,1827,0,0,0,0,0,0,26.69,26.66,25.85
$GC,843,1.01,166.5,3358,2183,1663,1835,26.1,10.4,91,853,0.00,2.10,1.20,0.214,8708,0.000,0.042,3369,796,1740,1655,1826,0,0,0,0,0,0,27.17,26.01,25.86
$GC,907,1.01,166.5,3369,796,1664,1833,19.5,10.4,99,918,0.00,2.03,1.20,0.176,9222,0.000,0.029,3369,2171,1739,1655,1824,0,0,0,0,0,0,26.76,26.73,25.84
$GC,1005,1.01,166.5,3369,2171,1664,1833,9.8,9.3,112,1016,0.00,2.12,0.98,0.232,8452,0.000,0.046,3369,3575,1740,1656,1825,0,0,0,0,0,0,27.22,26.00,25.86
$GC,1025,1.01,166.5,3369,3575,1660,1829,7.8,9.7,114,1035,0.00,2.03,0.00,0.000,1030,0.000,0.030,3379,2183,1745,1661,1830,0,0,0,0,0,0,26.77,26.74,26.80
$STATE,1098,end climb,SURFACE_DEPTH_REACHED
$STATE,1098,begin surface coast
$FINISH,1.0,1.009667
$STATE,1130,end surface coast,CONTROL_FINISHED_OK
$STATE,1130,begin surface
$SM_CCo,1144,69.68,0.138,0,0,1192,300.00
$SM_GC,2.16,8.45,0.00,69.68,0.059,0.000,0.138,193,2181,1192,-8.77,0.03,300.00,0,0,0,0,0,0,26.70,27.27,25.96
$IRIDIUM_FIX,4726.11,-12224.09,140716,154111
$TT8_MAMPS,0.026215,0.274883
$HUMID,53.97
$INTERNAL_PRESSURE,9.03998
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,24.49,3.009
$10V_AH,9.84,1.815
$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,20.950,20.825,132.550,69.675,0.000,26.079,35.476,207.914,0.000,0.000,17.620,348.806,50.449,207.768,945.943,29.334,33.468,466.985,0.000,667.627,0.000,1.020,0.000
$DEVICE_MAMPS,244.035,1217.115,260.865,138.465,0.000,12.240,160.000,223.000,420.000,0.000,28.460,12.460,2.190,12.460,37.180,50.660,58.900,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_FL3,WL_BB3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,84.307,414.843,603.605,614.112,0.000,0.000,0.000,0.000,0.000,0.000
$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,10487,127
$CAP_FILE_SIZE,31512,0
$CFSIZE,2097872896,2093318144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140716,164232,4745.423,-12225.010,5,0.9,23,16.3,0.0,0.0,9,7.0