version: 66.12
glider: 216
mission: 2
dive: 19
start: 7 14 116 12 2 53
data:
$ID,216
$MISSION,2
$DIVE,19
$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,15
$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,47
$R_STBD_OVSHOOT,47
$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
$GPS1,140716,115241,4744.4829,-12224.7012,5,1.1,9,16.3,0.0,29.4,8,8.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-67.4
$GPS2,140716,120126,4744.5361,-12224.6553,7,1.0,11,16.3,0.0,0.0,9,8.1
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.137676,-0.357619
$KALMAN_X,1470.507446,-134.326599,156.124146,-1502.301880,334.001648
$KALMAN_Y,-300.553467,228.063293,-450.893951,3900.880127,553.543823
$MHEAD_RNG_PITCHd_Wd,184.8,1192,-10.1,-10.000,-14.63,5455
$D_GRID,178
$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,-0.74,-88.0,200,2177,720,828,0.0,0.0,0,84,0.00,0.00,-66.12,0.000,16386,0.000,0.000,199,2178,2452,2433,2472,0,0,0,0,0,0,27.13,28.83,27.15
$GC,86,-0.74,-88.0,199,2178,2433,2472,3.3,-4.3,7,116,10.73,2.38,-8.70,0.000,18692,0.245,1.217,2776,3570,2777,2711,2844,0,0,0,0,0,0,25.69,24.44,25.90
$GC,413,-0.74,-88.0,2775,3570,2711,2844,42.2,-10.8,50,425,0.00,1.98,0.00,0.000,1030,0.000,0.030,2775,2169,2778,2711,2845,0,0,0,0,0,0,26.83,26.80,26.84
$GC,546,-0.74,-88.0,2775,2169,2711,2845,54.8,-9.0,63,558,0.00,2.03,0.00,0.000,516,0.000,0.044,2775,788,2778,2711,2845,0,0,0,0,0,0,27.23,26.70,27.25
$GC,638,-0.74,-88.0,2775,787,2712,2845,64.3,-11.0,70,649,0.00,1.98,0.00,0.000,1030,0.000,0.031,2766,2171,2778,2711,2846,0,0,0,0,0,0,26.86,26.82,26.86
$GC,769,-0.74,-88.0,2765,2171,2711,2845,78.3,-10.1,83,782,0.08,2.05,0.00,0.000,2308,0.194,0.047,2785,3574,2778,2711,2845,0,0,0,0,0,0,26.68,26.66,26.71
$GC,888,-0.74,-88.0,2784,3574,2711,2845,90.1,-10.3,92,901,0.00,2.03,0.00,0.000,1030,0.000,0.030,2784,2181,2778,2711,2845,0,0,0,0,0,0,26.85,26.82,26.89
$GC,1022,-0.74,-88.0,2783,2180,2711,2845,104.4,-10.6,105,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2180,2778,2711,2845,0,0,0,0,0,0,27.26,27.29,27.28
$GC,1155,-0.74,-88.0,2784,2180,2711,2845,119.0,-11.6,118,1167,0.00,2.10,0.00,0.000,260,0.000,0.049,2774,3581,2778,2711,2845,0,0,0,0,0,0,27.27,26.65,27.29
$GC,1198,-0.74,-88.0,2774,3581,2711,2845,124.0,-12.1,121,1212,0.00,2.05,0.00,0.000,1030,0.000,0.029,2773,2164,2778,2711,2845,0,0,0,0,0,0,26.86,26.83,26.89
$GC,1334,-0.74,-88.0,2773,2160,2711,2845,139.1,-10.8,134,1346,0.00,2.03,0.00,0.000,516,0.000,0.044,2774,786,2778,2711,2845,0,0,0,0,0,0,27.27,26.65,27.29
$GC,1427,-0.74,-88.0,2774,786,2711,2846,148.7,-10.5,141,1440,0.10,2.03,0.00,0.000,3078,0.181,0.030,2794,2186,2778,2711,2845,0,0,0,0,0,0,26.41,26.80,26.55
$STATE,1448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1448,begin apogee
$GC,1451,-0.31,0.0,2794,2186,2711,2845,151.0,-10.3,143,1541,0.40,0.00,76.32,1.121,10246,0.143,0.000,2929,2187,2418,2341,2496,0,0,0,0,1,0,26.10,25.05,24.27
$STATE,1542,end apogee,CONTROL_FINISHED_OK
$STATE,1542,begin climb
$GC,1543,0.74,88.0,2928,2186,2341,2496,155.1,0.0,152,1633,0.98,2.25,76.82,1.105,10756,0.115,0.044,3259,796,2059,1964,2154,0,0,0,0,1,0,25.75,25.31,24.08
$GC,1686,1.18,449.1,3259,796,1965,2154,152.1,3.2,164,1984,0.38,2.08,277.02,1.128,11270,0.071,0.031,3407,2179,585,518,653,0,0,0,0,1,0,26.15,26.27,23.74
$GC,2104,1.18,449.1,3406,2180,516,647,90.3,17.4,204,2117,0.00,2.10,0.00,0.000,516,0.000,0.047,3417,801,581,515,647,0,0,0,0,0,0,26.73,26.35,26.74
$GC,2335,1.18,449.1,3417,801,512,647,48.9,17.9,222,2348,0.00,1.95,0.00,0.000,1030,0.000,0.029,3417,2169,579,512,647,0,0,0,0,0,0,26.80,26.77,26.82
$GC,2514,1.18,449.1,3417,2170,511,647,17.7,17.7,243,2524,0.00,2.12,0.00,0.000,516,0.000,0.046,3428,787,579,511,647,0,0,0,0,0,0,27.18,26.70,27.21
$GC,2563,1.18,449.1,3427,787,510,647,9.2,17.6,249,2573,0.00,2.05,0.00,0.000,1030,0.000,0.030,3428,2177,579,511,647,0,0,0,0,0,0,26.86,26.83,26.89
$STATE,2612,end climb,SURFACE_DEPTH_REACHED
$STATE,2612,begin surface coast
$FINISH,1.1,1.009607
$STATE,2628,end surface coast,CONTROL_FINISHED_OK
$STATE,2628,begin surface
$SM_CCo,2702,0.00,0.000,0,0,577,451.84
$SM_GC,1.94,8.55,0.00,0.00,0.060,0.000,0.000,195,2181,577,-8.80,0.00,451.84,0,0,0,0,0,0,26.77,27.23,26.84
$IRIDIUM_FIX,4726.11,-12222.38,140716,115340
$TT8_MAMPS,0.026215,0.2996
$HUMID,56.81
$INTERNAL_PRESSURE,8.97162
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.4,71.0
$24V_AH,23.74,2.746
$10V_AH,9.79,1.497
$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,21.200,33.175,430.175,0.000,0.000,50.125,109.785,230.907,2.000,0.000,18.356,607.551,457.242,321.405,1842.654,45.066,33.468,915.160,0.000,1430.480,0.000,15.043,0.000
$DEVICE_MAMPS,244.800,1217.115,1128.375,0.000,0.000,12.240,160.000,223.000,420.000,0.000,28.460,12.460,2.190,12.460,37.180,50.660,58.900,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_FL3,WL_BB3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,169.527,838.846,1231.862,1249.190,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.710,45.690,49.430,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312100
$DATA_FILE_SIZE,20496,257
$CAP_FILE_SIZE,48216,0
$CFSIZE,2097872896,2093907968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,140716,124838,4744.701,-12224.839,5,1.0,12,16.3,0.0,34.6,9,8.2