version: 66.12
glider: 216
mission: 2
dive: 9
start: 7 14 116 3 0 59
data:
$ID,216
$MISSION,2
$DIVE,9
$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,71
$T_MISSION,80
$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,30
$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,51
$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
$GPS1,140716,025324,4744.1387,-12223.5889,2,1.0,9,16.3,0.0,0.0,8,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-68.7
$GPS2,140716,025958,4744.0801,-12223.6143,15,1.0,15,16.3,0.0,0.0,8,5.1
$SPEED_LIMITS,0.122,0.184
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.066208,-0.171497
$KALMAN_X,145.445663,171.857758,-76.055634,1050.769897,-253.952927
$KALMAN_Y,-1371.711792,-294.122498,202.922195,4020.386719,-197.213898
$MHEAD_RNG_PITCHd_Wd,184.8,2952,-16.7,-7.042,-20.96,1891
$D_GRID,164
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.15,-88.0,191,2178,1172,1197,0.0,0.0,0,64,0.00,0.00,-47.25,0.000,16386,0.000,0.000,191,2178,2388,2379,2398,0,0,0,0,0,0,27.12,28.83,27.15
$GC,66,-1.15,-88.0,191,2178,2379,2398,3.1,-3.7,5,96,10.32,2.30,-11.32,0.000,19204,0.246,1.215,2656,782,2776,2726,2827,0,0,0,0,0,0,25.70,24.46,25.94
$GC,376,-1.15,-88.0,2656,782,2725,2829,53.4,-16.6,42,388,0.00,2.03,0.00,0.000,1030,0.000,0.033,2647,2177,2777,2726,2829,0,0,0,0,0,0,26.74,26.71,26.77
$GC,507,-1.15,-88.0,2647,2177,2726,2829,73.9,-15.5,55,519,0.00,2.08,0.00,0.000,516,0.000,0.044,2647,787,2777,2726,2829,0,0,0,0,0,0,27.25,26.55,27.27
$GC,639,-1.15,-88.0,2647,787,2726,2828,95.2,-16.4,65,652,0.00,2.03,0.00,0.000,1030,0.000,0.032,2637,2186,2777,2726,2829,0,0,0,0,0,0,26.77,26.72,26.79
$GC,774,-1.15,-88.0,2636,2187,2726,2829,116.7,-16.7,78,785,0.00,2.05,0.00,0.000,260,0.000,0.050,2626,3578,2777,2726,2829,0,0,0,0,0,0,27.27,26.53,27.29
$GC,907,-1.15,-88.0,2625,3578,2726,2827,138.7,-17.0,88,919,0.10,2.05,0.00,0.000,3078,0.184,0.030,2655,2166,2777,2726,2829,0,0,0,0,0,0,26.21,26.74,26.28
$STATE,979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,979,begin apogee
$GC,982,-0.31,0.0,2655,2166,2726,2829,150.6,-16.0,95,1140,0.88,0.00,116.22,1.074,10246,0.160,0.000,2925,2157,2422,2356,2488,0,0,0,0,6,0,25.58,24.96,24.14
$STATE,1141,end apogee,CONTROL_FINISHED_OK
$STATE,1141,begin climb
$GC,1142,1.15,88.0,2924,2157,2357,2488,159.5,0.0,111,1315,1.40,2.17,124.53,1.064,10756,0.116,0.045,3395,799,2061,1980,2143,0,0,0,0,8,0,25.76,25.43,24.11
$GC,1398,1.16,92.6,3394,799,1981,2143,148.3,6.8,134,1421,0.00,2.08,10.35,0.653,9222,0.000,0.030,3395,2182,2036,1954,2118,0,0,0,0,0,0,26.50,26.46,25.18
$GC,1542,1.16,92.6,3395,2183,1953,2118,137.9,7.3,148,1553,0.00,2.08,0.00,0.000,516,0.000,0.046,3405,801,2035,1953,2118,0,0,0,0,0,0,27.02,26.56,27.04
$GC,1608,1.16,92.6,3404,801,1953,2117,132.4,8.3,153,1620,0.00,1.98,0.00,0.000,1030,0.000,0.031,3405,2178,2035,1953,2117,0,0,0,0,0,0,26.75,26.72,26.78
$GC,1739,1.16,92.6,3405,2178,1952,2117,120.6,9.0,166,1752,0.00,2.05,0.00,0.000,260,0.000,0.049,3405,3577,2034,1952,2117,0,0,0,0,0,0,27.17,26.65,27.19
$GC,1912,1.16,92.6,3405,3577,1952,2117,105.5,8.1,179,1924,0.00,1.98,0.00,0.000,1030,0.000,0.032,3415,2181,2034,1952,2117,0,0,0,0,0,0,26.84,26.82,26.88
$GC,2045,1.16,92.6,3415,2181,1951,2117,95.9,7.4,192,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,2181,2034,1951,2117,0,0,0,0,0,0,27.24,27.27,27.27
$GC,2175,1.16,92.6,3415,2181,1951,2117,86.0,7.3,205,2187,0.00,2.05,0.00,0.000,516,0.000,0.046,3426,790,2034,1951,2117,0,0,0,0,0,0,27.26,26.67,27.28
$GC,2375,1.16,92.6,3426,790,1951,2116,70.2,7.6,220,2386,0.00,2.05,0.00,0.000,1030,0.000,0.031,3426,2179,2033,1951,2116,0,0,0,0,0,0,26.84,26.82,26.86
$GC,2506,1.16,99.3,3425,2179,1951,2116,60.6,6.7,233,2518,0.00,2.15,2.67,0.293,8708,0.000,0.044,3437,786,2013,1932,2095,0,0,0,0,0,0,27.27,25.45,25.15
$GC,2652,1.16,99.3,3436,786,1933,2096,49.4,8.4,244,2662,0.00,2.08,0.00,0.000,1030,0.000,0.032,3437,2184,2015,1934,2096,0,0,0,0,0,0,26.82,26.79,26.86
$GC,2782,1.19,119.0,3436,2184,1934,2096,39.5,6.0,257,2801,0.00,0.00,10.40,0.236,8198,0.000,0.000,3437,2184,1931,1853,2010,0,0,0,0,0,0,27.27,25.72,25.50
$GC,2891,1.20,127.8,3436,2184,1854,2011,32.8,6.6,271,2901,0.00,0.00,4.57,0.228,8198,0.000,0.000,3437,2184,1895,1817,1974,0,0,0,0,0,0,27.25,25.76,25.56
$GC,2994,1.20,127.8,3436,2184,1820,1976,24.9,8.4,284,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2184,1898,1820,1976,0,0,0,0,0,0,27.25,27.27,27.27
$GC,3095,1.20,129.9,3436,2185,1820,1976,17.0,6.9,297,3105,0.00,0.00,1.40,0.243,8198,0.000,0.000,3437,2184,1888,1811,1966,0,0,0,0,0,0,27.26,25.65,25.46
$GC,3194,1.20,129.9,3436,2184,1813,1967,9.3,7.1,310,3204,0.00,2.12,0.00,0.000,260,0.000,0.050,3436,3581,1890,1813,1967,0,0,0,0,0,0,27.27,26.58,27.29
$GC,3260,1.23,152.9,3436,3581,1813,1967,5.2,5.8,318,3279,0.00,2.05,12.35,0.148,9222,0.000,0.032,3447,2180,1792,1715,1869,0,0,0,0,0,0,26.78,26.74,25.84
$STATE,3316,end climb,SURFACE_DEPTH_REACHED
$STATE,3317,begin surface coast
$FINISH,0.9,1.009530
$STATE,3362,end surface coast,CONTROL_FINISHED_OK
$STATE,3362,begin surface
$SM_CCo,3377,80.78,0.137,0,0,1193,300.25
$SM_GC,1.90,8.68,0.00,80.78,0.060,0.000,0.137,195,2169,1193,-8.78,-0.25,300.25,0,0,0,0,0,0,26.67,27.27,26.03
$IRIDIUM_FIX,4726.11,-12226.80,140716,014827
$TT8_MAMPS,0.026215,0.270389
$HUMID,56.45
$INTERNAL_PRESSURE,9.03021
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.4,69.2
$24V_AH,24.11,1.400
$10V_AH,9.89,0.790
$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,21.375,37.350,282.500,80.775,0.000,26.288,38.905,251.612,0.500,0.000,16.685,786.130,499.020,376.343,2158.835,52.989,33.450,987.856,0.000,1828.719,0.000,5.635,0.000
$DEVICE_MAMPS,245.565,1214.820,1074.060,136.935,0.000,12.240,160.000,223.000,420.000,0.000,28.460,12.460,2.190,12.460,37.180,50.660,58.900,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_FL3,WL_BB3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,221.553,1081.668,1610.957,1635.898,0.000,0.000,0.000,0.000,0.000,0.000
$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,27134,331
$CAP_FILE_SIZE,58042,0
$CFSIZE,2097872896,2094891008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,14,4,0
$GPS,140716,035925,4743.750,-12223.753,4,0.9,14,16.3,0.2,0.0,9,9.4