version: 66.12
glider: 216
mission: 2
dive: 20
start: 7 14 116 12 58 42
data:
$ID,216
$MISSION,2
$DIVE,20
$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,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
$GPS1,140716,124838,4744.7012,-12224.8389,5,1.0,12,16.3,0.0,34.6,9,8.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-66.5
$GPS2,140716,125742,4744.7329,-12224.7441,6,0.9,16,16.3,0.2,42.3,9,9.5
$SPEED_LIMITS,0.100,0.205
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.097854,-0.180071
$KALMAN_X,1656.681763,-62.736099,207.175842,-1917.042114,317.072479
$KALMAN_Y,1005.681580,195.717133,-337.221039,2884.678955,1053.010498
$MHEAD_RNG_PITCHd_Wd,192.2,1544,-22.9,-10.000,-26.01,1340
$D_GRID,184
$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,-1.54,-88.0,194,2191,523,625,0.0,0.0,0,93,0.00,0.00,-74.60,0.000,16386,0.000,0.000,195,2192,2466,2442,2490,0,0,0,0,0,0,27.12,28.83,27.14
$GC,95,-1.54,-88.0,195,2191,2442,2490,3.4,-4.7,8,124,9.73,2.33,-8.27,0.000,19204,0.248,1.213,2518,3571,2779,2718,2841,0,0,0,0,0,0,25.64,24.46,25.87
$GC,372,-1.54,-88.0,2517,3571,2718,2841,61.1,-22.3,39,376,0.00,1.98,0.00,0.000,1030,0.000,0.029,2517,2181,2779,2718,2841,0,0,0,0,0,0,26.87,26.79,26.89
$GC,506,-1.54,-88.0,2517,2180,2718,2841,91.4,-23.9,52,519,0.00,2.03,0.00,0.000,516,0.000,0.041,2518,785,2779,2718,2841,0,0,0,0,0,0,27.22,26.72,27.24
$GC,534,-1.54,-88.0,2518,785,2718,2841,97.6,-22.5,54,546,0.08,1.98,0.00,0.000,3078,0.215,0.030,2529,2171,2779,2718,2841,0,0,0,0,0,0,26.35,26.82,26.43
$GC,666,-1.54,-88.0,2529,2172,2718,2842,124.2,-19.1,67,681,0.00,2.05,0.00,0.000,260,0.000,0.047,2519,3575,2779,2718,2841,0,0,0,0,0,0,27.24,26.70,27.27
$GC,685,-1.54,-88.0,2519,3575,2718,2841,126.1,-18.7,68,696,0.00,2.03,0.00,0.000,1030,0.000,0.028,2519,2175,2779,2718,2841,0,0,0,0,0,0,26.87,26.84,26.90
$STATE,806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,806,begin apogee
$GC,809,-0.31,0.0,2519,2174,2718,2841,151.7,-20.6,80,898,1.38,0.00,76.47,1.117,10246,0.178,0.000,2925,2161,2417,2338,2497,0,0,0,0,1,0,25.87,25.08,24.30
$STATE,899,end apogee,CONTROL_FINISHED_OK
$STATE,899,begin climb
$GC,900,1.54,88.0,2925,2161,2338,2497,157.2,0.0,89,991,1.77,2.28,76.88,1.102,10500,0.118,0.046,3505,3582,2059,1976,2142,0,0,0,0,1,0,25.75,25.32,24.10
$GC,1084,1.54,88.0,3505,3582,1976,2141,141.2,12.0,105,1097,0.00,2.00,0.00,0.000,1030,0.000,0.029,3516,2180,2058,1976,2141,0,0,0,0,0,0,26.51,26.47,26.53
$GC,1218,1.54,88.0,3515,2179,1976,2140,126.8,11.4,118,1229,0.00,2.05,0.00,0.000,516,0.000,0.043,3527,783,2057,1975,2139,0,0,0,0,0,0,27.04,26.60,27.05
$GC,1519,1.54,88.0,3526,783,1976,2138,92.7,11.4,141,1530,0.00,2.08,0.00,0.000,1030,0.000,0.028,3527,2187,2057,1976,2138,0,0,0,0,0,0,26.86,26.82,26.89
$GC,1650,1.54,88.0,3526,2188,1976,2138,78.5,10.4,154,1663,0.00,2.03,0.00,0.000,260,0.000,0.046,3527,3577,2056,1976,2137,0,0,0,0,0,0,27.23,26.72,27.25
$GC,1704,1.54,88.0,3526,3577,1976,2137,73.1,10.1,158,1716,0.00,1.98,0.00,0.000,1030,0.000,0.030,3536,2168,2057,1976,2138,0,0,0,0,0,0,26.89,26.85,26.91
$GC,1837,1.56,106.5,3537,2168,1976,2137,61.2,8.6,171,1852,0.00,2.10,9.25,0.285,8708,0.000,0.044,3548,783,1982,1903,2062,0,0,0,0,0,0,27.25,26.10,25.53
$GC,2160,1.56,106.5,3548,783,1903,2061,29.4,11.0,201,2170,0.00,2.05,0.00,0.000,1030,0.000,0.030,3548,2178,1982,1904,2061,0,0,0,0,0,0,26.87,26.84,26.90
$GC,2260,1.56,106.5,3548,2178,1903,2061,18.1,11.3,214,2270,0.00,2.12,0.00,0.000,516,0.000,0.043,3559,790,1982,1904,2061,0,0,0,0,0,0,27.26,26.70,27.28
$GC,2289,1.56,106.5,3558,790,1904,2060,15.5,10.4,217,2299,0.00,2.05,0.00,0.000,1030,0.000,0.029,3558,2187,1982,1904,2061,0,0,0,0,0,0,26.87,26.84,26.90
$GC,2394,1.60,132.3,3559,2187,1904,2061,8.0,8.0,230,2414,0.00,2.05,13.12,0.159,8452,0.000,0.044,3559,3582,1875,1802,1949,0,0,0,0,0,0,27.26,26.13,25.98
$STATE,2473,end climb,SURFACE_DEPTH_REACHED
$STATE,2473,begin surface coast
$FINISH,1.0,1.021630
$STATE,2503,end surface coast,CONTROL_FINISHED_OK
$STATE,2503,begin surface
$SM_CCo,2521,91.55,0.138,0,0,1190,300.00
$SM_GC,1.79,9.15,2.05,91.55,0.071,0.029,0.138,192,2172,1190,-8.79,1.75,300.00,0,0,0,0,0,0,26.74,26.81,25.98
$IRIDIUM_FIX,4729.30,-12224.09,140716,124938
$TT8_MAMPS,0.026215,0.335552
$HUMID,54.92
$INTERNAL_PRESSURE,9.02045
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.5,70.7
$24V_AH,24.10,2.820
$10V_AH,9.75,1.567
$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,22.100,37.200,175.725,91.550,0.000,56.273,71.737,270.000,2.250,0.000,18.112,618.145,437.996,300.808,1777.311,45.304,33.454,744.936,0.000,1353.062,0.000,16.639,0.000
$DEVICE_MAMPS,247.860,1213.290,1116.900,138.465,0.000,12.240,160.000,223.000,420.000,0.000,28.460,12.460,2.190,12.460,37.180,50.660,58.900,16.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_FL3,WL_BB3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,162.968,794.143,1183.480,1201.198,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,33.710,45.690,49.430,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312024
$DATA_FILE_SIZE,20411,243
$CAP_FILE_SIZE,50449,0
$CFSIZE,2097872896,2093809664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$INTR,0,2412.02,0x212ecc,1,24
$GPS,140716,134311,4744.980,-12224.853,13,0.9,21,16.3,0.4,30.8,9,9.7