version: 66.08
glider: 176
mission: 2
dive: 28
start: 9 24 110 20 0 46
data:
$ID,176
$MISSION,2
$DIVE,28
$N_DIVES,30
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$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,110
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51802
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,539.41467
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4753.6509
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2600
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,35
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0020000001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-15
$R_STBD_OVSHOOT,-15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2699
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.249977
$PRESSURE_SLOPE,0.0001162977
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.00432827
$SEABIRD_T_H,0.00062557345
$SEABIRD_T_I,2.4575895e-05
$SEABIRD_T_J,2.763237e-06
$SEABIRD_C_G,-10.125947
$SEABIRD_C_H,1.1501343
$SEABIRD_C_I,-0.00052266428
$SEABIRD_C_J,0.00012672807
$GPS1,240910,195613,2340.464,12617.211,8,1.6,13,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.9
$GPS2,240910,200019,2340.474,12617.179,10,1.6,15,-3.5
$SPEED_LIMITS,0.262,0.375
$TGT_NAME,WAKE2
$TGT_LATLONG,2300.000,12600.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,187.8,80476,-19.2,-15.152
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.85,-243.3,0.0,0.0,0,90,0.00,0.00,-73.43,0.000,2,0.000,0.000,202,2183,2692,0,0,0,0,0,0
$GC,92,-0.85,-243.3,3.4,-6.7,9,126,8.50,2.03,-17.85,0.000,4,0.250,0.050,2322,794,3692,0,0,0,0,0,0
$GC,245,-0.84,-243.3,54.6,-22.8,33,254,0.00,2.28,0.00,0.000,6,0.000,0.050,2322,2265,3692,0,0,0,0,0,0
$GC,602,-0.82,-243.3,175.9,-29.1,94,611,0.08,2.17,0.00,0.000,4,0.233,0.058,2336,3675,3695,0,0,0,0,0,0
$GC,663,-0.81,-243.3,192.0,-24.4,104,672,0.00,2.15,0.00,0.000,6,0.000,0.033,2335,2201,3695,0,0,0,0,0,0
$GC,1012,-0.80,-243.3,273.7,-23.8,165,1020,0.03,2.28,0.00,0.000,4,0.316,0.058,2345,3677,3695,0,0,0,0,0,0
$GC,1083,-0.80,-243.3,288.3,-16.8,177,1090,0.00,2.10,0.00,0.000,6,0.000,0.033,2345,2208,3695,0,0,0,0,0,0
$GC,1415,-0.79,-243.3,351.0,-19.3,213,1419,0.00,2.22,0.00,0.000,4,0.000,0.057,2345,3673,3695,0,0,0,0,0,0
$GC,1480,-0.79,-243.3,363.1,-15.8,218,1490,0.00,2.12,0.00,0.000,6,0.000,0.031,2345,2200,3694,0,0,0,0,0,0
$GC,1808,-0.79,-243.3,418.4,-17.2,249,1812,0.00,2.22,0.00,0.000,4,0.000,0.058,2345,3678,3694,0,0,0,0,0,0
$GC,1845,-0.79,-243.3,425.7,-17.3,252,1855,0.00,2.12,0.00,0.000,6,0.000,0.031,2345,2200,3694,0,0,0,0,0,0
$GC,2173,-0.79,-243.3,477.9,-15.0,283,2177,0.00,2.25,0.00,0.000,4,0.000,0.060,2345,3677,3693,0,0,0,0,0,0
$GC,2226,-0.79,-243.3,485.4,-13.4,287,2230,0.00,2.10,0.00,0.000,6,0.000,0.033,2345,2196,3692,0,0,0,0,0,0
$STATE,2339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2339,begin apogee
$GC,2343,-0.14,0.0,500.9,13.7,297,2539,0.60,0.10,183.98,0.827,6,0.121,0.066,2557,2106,2697,0,0,0,0,0,0
$STATE,2540,end apogee,CONTROL_FINISHED_OK
$STATE,2540,begin climb
$GC,2542,0.85,243.3,509.0,0.0,313,2741,0.85,2.28,190.70,0.800,4,0.048,0.054,2901,3497,1706,0,0,0,0,0,0
$GC,2873,0.82,243.3,437.4,31.0,341,2878,0.20,2.15,0.00,0.000,6,0.197,0.034,2860,2043,1700,0,0,0,0,0,0
$GC,3199,0.80,243.3,354.7,23.2,371,3203,0.00,2.08,0.00,0.000,4,0.000,0.047,2869,642,1697,0,0,0,0,0,0
$GC,3240,0.79,243.3,345.8,20.9,374,3244,0.10,2.17,0.00,0.000,6,0.191,0.043,2844,2095,1696,0,0,0,0,0,0
$GC,3573,0.78,243.3,277.0,21.4,413,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2096,1695,0,0,0,0,0,0
$GC,3919,0.76,243.3,204.2,21.3,474,3928,0.00,2.20,0.00,0.000,4,0.000,0.048,2848,638,1693,0,0,0,0,0,0
$GC,3946,0.75,243.3,198.7,20.4,478,3955,0.03,2.20,0.00,0.000,6,0.193,0.043,2838,2100,1692,0,0,0,0,0,0
$GC,4301,0.74,243.3,135.2,17.9,539,4310,0.00,2.12,0.00,0.000,4,0.000,0.054,2838,3496,1692,0,0,0,0,0,0
$GC,4336,0.73,243.3,128.8,18.8,544,4346,0.03,2.15,0.00,0.000,6,0.200,0.035,2834,2038,1691,0,0,0,0,0,0
$GC,4701,0.81,306.6,75.5,12.5,605,4760,0.10,2.12,48.05,0.546,4,0.106,0.048,2906,645,1447,0,0,0,0,0,0
$GC,4845,0.81,315.3,52.5,14.8,626,4863,0.15,2.20,7.65,0.455,6,0.140,0.041,2854,2100,1412,0,0,0,0,0,0
$GC,5213,0.93,406.3,10.5,11.3,688,5264,0.15,0.00,48.17,0.489,2,0.076,0.000,2941,2100,1149,0,0,0,0,0,0
$STATE,5264,end climb,SURFACE_DEPTH_REACHED
$STATE,5265,begin surface coast
$FINISH,0.3,1.003332
$STATE,5283,end surface coast,CONTROL_FINISHED_OK
$STATE,5283,begin surface
$SM_CCo,5297,86.88,0.067,0,0,500,539.41
$SM_GC,1.14,0.00,0.00,86.88,0.000,0.000,0.067,213,2320,500,-7.46,1.98,539.41
$IRIDIUM_FIX,2330.93,12615.48,240910,181848
$TT8_MAMPS,0.026964
$HUMID,49.48
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.5,5.740
$10V_AH,10.8,4.201
$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,17.800,48.275,478.550,86.875,0.000,30.317,37.951,89.076,0.000,0.000,18.222,1647.532,1154.576,539.581,2211.081,85.561,0.000,1267.785,0.000,2048.498,0.000,0.543,0.000
$DEVICE_MAMPS,315.945,65.790,826.965,66.555,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,465.989,0.000,1517.492,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334076
$DATA_FILE_SIZE,40421,697
$CAP_FILE_SIZE,74998,0
$CFSIZE,260165632,251625472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.143,329.4,1
$GPS,240910,213128,2339.891,12616.800,12,2.7,31,-3.5