version: 66.12
glider: 216
mission: 2
dive: 23
start: 7 14 116 15 12 47
data:
$ID,216
$MISSION,2
$DIVE,23
$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,52
$R_STBD_OVSHOOT,56
$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
$GPS1,140716,150556,4745.3486,-12224.8672,4,0.9,9,16.3,0.0,0.0,9,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-69.5
$GPS2,140716,151147,4745.3599,-12224.8516,6,0.8,9,16.3,0.0,0.0,10,9.6
$SPEED_LIMITS,0.056,0.169
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.014079,-0.168252
$KALMAN_X,1831.691528,170.031906,191.325699,-2446.653076,23.143761
$KALMAN_Y,2198.742432,570.192505,701.789856,1453.339478,462.907288
$MHEAD_RNG_PITCHd_Wd,168.5,4926,-12.9,-5.556,-18.21,2380
$D_GRID,193
$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,-0.91,-87.9,191,2171,1165,1214,0.0,0.0,0,65,0.00,0.00,-47.60,0.000,16386,0.000,0.000,191,2171,2418,2389,2447,0,0,0,0,0,0,27.11,28.83,27.13
$GC,67,-0.91,-88.0,191,2171,2390,2447,3.2,-4.0,5,97,10.68,2.35,-10.23,0.000,18692,0.246,1.217,2722,3565,2777,2706,2849,0,0,0,0,0,0,25.65,24.48,25.86
$GC,413,-0.91,-88.0,2721,3566,2706,2849,46.4,-11.9,50,426,0.00,1.95,0.00,0.000,1030,0.000,0.028,2722,2174,2778,2706,2850,0,0,0,0,0,0,26.79,26.77,26.83
$STATE,444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,444,begin apogee
$GC,447,-0.31,0.0,2721,2174,2706,2849,50.1,-11.3,53,497,0.65,0.00,42.90,0.254,10246,0.152,0.000,2928,2168,2420,2342,2498,0,0,0,0,0,0,25.82,26.25,25.81
$STATE,498,end apogee,CONTROL_FINISHED_OK
$STATE,498,begin climb
$GC,499,0.91,88.0,2928,2168,2344,2501,52.5,0.0,58,554,1.12,2.10,44.47,0.252,10756,0.119,0.041,3314,789,2060,1970,2150,0,0,0,0,0,0,26.18,25.99,25.75
$GC,646,0.91,88.0,3313,789,1978,2157,44.1,6.0,70,659,0.00,1.98,0.00,0.000,1030,0.000,0.029,3314,2176,2067,1979,2156,0,0,0,0,0,0,26.68,26.65,26.70
$GC,800,1.02,175.3,3313,2175,1979,2156,38.8,1.8,87,856,0.08,2.10,44.90,0.222,10500,0.129,0.045,3358,3566,1705,1621,1790,0,0,0,0,0,0,26.82,26.01,25.80
$GC,890,1.02,175.3,3358,3566,1626,1794,34.9,6.4,97,899,0.00,2.03,0.00,0.000,1030,0.000,0.030,3369,2183,1710,1626,1795,0,0,0,0,0,0,26.68,26.64,26.70
$GC,994,1.02,175.3,3368,2183,1626,1795,26.1,8.8,110,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2183,1711,1627,1795,0,0,0,0,0,0,27.16,27.18,27.17
$GC,1090,1.02,175.3,3368,2183,1627,1795,17.3,8.3,123,1100,0.00,2.12,0.00,0.000,516,0.000,0.044,3379,781,1711,1627,1795,0,0,0,0,0,0,27.20,26.58,27.22
$GC,1209,1.02,175.3,3378,781,1627,1795,9.5,7.2,139,1219,0.00,2.05,0.00,0.000,1030,0.000,0.029,3379,2174,1710,1627,1794,0,0,0,0,0,0,26.80,26.77,26.86
$GC,1307,1.02,175.3,3379,2174,1627,1794,2.5,6.5,152,1316,0.00,2.12,0.00,0.000,260,0.000,0.048,3379,3579,1710,1626,1794,0,0,0,0,0,0,27.24,26.59,27.27
$STATE,1324,end climb,SURFACE_DEPTH_REACHED
$STATE,1324,begin surface coast
$FINISH,0.9,1.009588
$STATE,1365,end surface coast,CONTROL_FINISHED_OK
$STATE,1365,begin surface
$SM_CCo,1381,65.57,0.138,0,0,1192,300.00
$SM_GC,2.19,8.48,2.05,65.57,0.059,0.029,0.138,188,2176,1192,-8.79,1.67,300.00,0,0,0,0,0,0,26.74,26.77,25.96
$IRIDIUM_FIX,4726.11,-12225.08,140716,143122
$TT8_MAMPS,0.025466,0.270389
$HUMID,54.88
$INTERNAL_PRESSURE,9.04975
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,24.48,2.950
$10V_AH,9.84,1.726
$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,21.000,20.850,132.275,65.575,0.000,24.116,36.285,225.623,0.000,0.000,10.957,413.164,55.519,208.538,1115.068,32.236,33.456,493.924,0.000,829.442,0.000,1.020,0.000
$DEVICE_MAMPS,245.565,1217.115,253.980,137.700,0.000,12.240,160.000,223.000,420.000,0.000,28.460,12.460,2.190,12.460,37.180,50.660,58.900,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_FL3,WL_BB3,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,105.988,519.678,754.056,767.279,0.000,0.000,0.000,0.000,0.000,0.000
$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,13811,159
$CAP_FILE_SIZE,32268,0
$CFSIZE,2097872896,2093514752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140716,153738,4745.408,-12224.899,4,0.8,9,16.3,0.0,230.3,11,7.3