version: 66.12
glider: 216
mission: 2
dive: 10
start: 7 14 116 4 7 31
data:
$ID,216
$MISSION,2
$DIVE,10
$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,25
$T_MISSION,35
$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,52
$R_STBD_OVSHOOT,46
$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
$GPS1,140716,035925,4743.7500,-12223.7529,4,0.9,14,16.3,0.2,0.0,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-67.7
$GPS2,140716,040617,4743.7002,-12223.7471,7,0.9,33,16.3,0.0,163.5,9,9.9
$SPEED_LIMITS,0.346,0.356
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.209532,-0.288313
$KALMAN_X,475.202820,50.982750,-177.977356,772.688782,-34.889297
$KALMAN_Y,-1388.398193,-237.789780,182.050018,3292.181885,-61.545471
$MHEAD_RNG_PITCHd_Wd,199.7,2270,-27.3,-20.000,-29.30,1432
$D_GRID,168
$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,16,-1.82,-88.0,195,2175,1177,1195,0.0,0.0,0,65,0.00,0.00,-47.10,0.000,16386,0.000,0.000,195,2176,2384,2376,2392,0,0,0,0,0,0,27.14,28.83,27.16
$GC,67,-1.82,-88.0,194,2176,2376,2393,3.2,-4.2,5,97,9.57,2.38,-11.30,0.000,18692,0.250,1.219,2436,3576,2779,2734,2824,0,0,0,0,0,0,25.63,24.45,25.87
$GC,406,-1.82,-88.0,2435,3576,2734,2824,83.6,-24.6,40,418,0.00,1.98,0.00,0.000,1030,0.000,0.031,2435,2179,2779,2734,2824,0,0,0,0,0,0,26.77,26.73,26.79
$GC,542,-1.82,-88.0,2435,2177,2734,2824,115.7,-24.1,53,554,0.00,2.08,0.00,0.000,260,0.000,0.047,2425,3578,2779,2734,2824,0,0,0,0,0,0,27.25,26.57,27.27
$STATE,686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,686,begin apogee
$GC,692,-0.31,0.0,2425,2175,2733,2824,152.2,-26.2,64,827,1.80,0.00,107.12,1.095,10246,0.188,0.000,2929,2166,2422,2357,2487,0,0,0,0,4,0,25.43,25.35,24.13
$STATE,828,end apogee,CONTROL_FINISHED_OK
$STATE,828,begin climb
$GC,829,1.82,88.0,2929,2167,2360,2489,162.8,0.0,78,919,2.00,2.20,76.12,1.080,10756,0.116,0.044,3607,789,2060,1988,2133,0,0,0,0,1,0,25.67,25.24,23.98
$GC,1218,1.92,176.0,3606,789,1992,2134,119.3,13.7,109,1291,0.08,2.00,58.10,0.877,11270,0.109,0.031,3641,2183,1703,1635,1771,0,0,0,0,1,0,26.53,26.73,24.52
$GC,1411,1.92,176.0,3640,2183,1636,1771,81.2,23.2,127,1423,0.00,2.10,0.00,0.000,516,0.000,0.045,3652,791,1703,1636,1771,0,0,0,0,0,0,26.96,26.49,26.97
$GC,1505,1.92,176.0,3651,791,1636,1770,58.7,24.6,134,1516,0.00,2.05,0.00,0.000,1030,0.000,0.031,3652,2170,1703,1636,1770,0,0,0,0,0,0,26.74,26.70,26.76
$GC,1657,1.95,200.2,3651,2171,1636,1769,27.2,18.3,151,1676,0.00,2.10,12.35,0.197,8452,0.000,0.047,3652,3591,1601,1535,1668,0,0,0,0,0,0,27.17,26.08,25.89
$GC,1702,1.95,200.2,3651,3591,1537,1670,17.7,20.7,156,1711,0.00,2.05,0.00,0.000,1030,0.000,0.032,3662,2188,1603,1537,1670,0,0,0,0,0,0,26.78,26.74,26.81
$STATE,1779,end climb,SURFACE_DEPTH_REACHED
$STATE,1779,begin surface coast
$FINISH,1.0,1.008913
$STATE,1796,end surface coast,CONTROL_FINISHED_OK
$STATE,1796,begin surface
$SM_CCo,1811,52.65,0.138,0,0,1193,300.00
$SM_GC,2.45,9.32,0.00,52.65,0.067,0.000,0.138,199,2171,1193,-8.78,-0.25,300.00,0,0,0,0,0,0,26.68,27.21,26.09
$IRIDIUM_FIX,4729.30,-12142.33,140716,025429
$TT8_MAMPS,0.026215,0.26964
$HUMID,56.69
$INTERNAL_PRESSURE,9.02045
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.6,71.2
$24V_AH,23.98,1.491
$10V_AH,9.87,0.841
$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,22.775,20.975,253.700,52.650,0.000,26.631,35.300,252.611,0.750,0.000,34.738,432.151,264.849,257.798,1323.074,32.651,33.436,645.562,0.000,974.311,0.000,7.213,0.000
$DEVICE_MAMPS,250.155,1218.645,1095.480,137.700,0.000,12.240,160.000,223.000,420.000,0.000,28.460,12.460,2.190,12.460,37.180,50.660,58.900,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_FL3,WL_BB3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,111.194,548.412,823.465,834.736,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.710,45.690,49.430,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312136
$DATA_FILE_SIZE,13727,168
$CAP_FILE_SIZE,36170,0
$CFSIZE,2097872896,2094792704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$GPS,140716,043933,4743.605,-12223.996,12,0.9,24,16.3,0.0,216.7,9,7.4