version: 66.08
glider: 176
mission: 2
dive: 67
start: 9 27 110 12 47 2
data:
$ID,176
$MISSION,2
$DIVE,67
$N_DIVES,75
$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,225
$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,610
$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,-4821.2456
$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,2590
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,45
$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,2325
$C_ROLL_CLIMB,2100
$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,3027
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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
$GPS1,270910,124228,2321.008,12600.170,12,2.6,32,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.9
$GPS2,270910,124634,2321.006,12600.140,12,2.6,31,-3.4
$SPEED_LIMITS,0.262,0.357
$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,155.6,38904,-20.3,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.72,-219.0,0.0,0.0,0,89,0.00,0.00,-72.47,0.000,2,0.000,0.000,208,2384,2738,0,0,0,0,0,0
$GC,91,-0.72,-219.0,3.8,-7.8,9,125,8.55,2.25,-20.05,0.000,4,0.248,0.046,2356,867,3924,0,0,0,0,0,0
$GC,186,-0.72,-219.0,38.1,-28.2,23,196,0.00,2.28,0.00,0.000,6,0.000,0.051,2356,2336,3925,0,0,0,0,0,0
$GC,545,-0.70,-219.0,150.6,-28.3,84,554,0.05,2.20,0.00,0.000,4,0.262,0.061,2365,3755,3926,0,0,0,0,0,0
$GC,697,-0.71,-219.0,180.8,-15.7,110,706,0.00,2.12,0.00,0.000,6,0.000,0.031,2365,2281,3928,0,0,0,0,0,0
$GC,1046,-0.71,-219.0,252.0,-20.3,171,1053,0.00,2.25,0.00,0.000,4,0.000,0.057,2365,3763,3928,0,0,0,0,0,0
$GC,1133,-0.72,-219.0,267.1,-13.8,186,1142,0.00,2.15,0.00,0.000,6,0.000,0.031,2364,2268,3928,0,0,0,0,0,0
$GC,1475,-0.72,-219.0,325.8,-16.1,234,1479,0.00,2.28,0.00,0.000,4,0.000,0.057,2364,3753,3928,0,0,0,0,0,0
$GC,1550,-0.73,-219.0,335.7,-11.6,240,1555,0.05,2.10,0.00,0.000,6,0.179,0.030,2322,2272,3927,0,0,0,0,0,0
$GC,1875,-0.72,-219.0,398.5,-18.1,270,1879,0.15,2.25,0.00,0.000,4,0.164,0.057,2363,3757,3926,0,0,0,0,0,0
$GC,1907,-0.73,-219.0,403.6,-14.3,272,1916,0.00,2.12,0.00,0.000,6,0.000,0.030,2364,2276,3926,0,0,0,0,0,0
$GC,2234,-0.73,-219.0,441.4,-11.7,303,2239,0.05,2.25,0.00,0.000,4,0.183,0.057,2325,3759,3924,0,0,0,0,0,0
$GC,2299,-0.74,-219.0,450.3,-12.1,308,2309,0.08,2.12,0.00,0.000,6,0.128,0.031,2356,2272,3923,0,0,0,0,0,0
$GC,2626,-0.75,-219.0,493.2,-13.6,339,2630,0.00,2.22,0.00,0.000,4,0.000,0.057,2356,3752,3922,0,0,0,0,0,0
$GC,2668,-0.76,-219.0,498.7,-12.7,342,2672,0.08,2.10,0.00,0.000,6,0.128,0.031,2301,2274,3921,0,0,0,0,0,0
$STATE,2684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2684,begin apogee
$GC,2688,-0.11,0.0,501.1,12.7,343,2861,0.75,0.12,164.20,0.833,6,0.126,0.058,2560,2132,3027,0,0,0,0,0,0
$STATE,2862,end apogee,CONTROL_FINISHED_OK
$STATE,2862,begin climb
$GC,2863,0.72,219.0,513.3,0.0,357,3042,0.68,2.22,170.70,0.823,4,0.038,0.049,2862,3535,2133,0,0,0,0,0,0
$GC,3244,0.69,219.0,461.9,25.1,389,3253,0.20,2.22,0.00,0.000,6,0.177,0.033,2813,2061,2127,0,0,0,0,0,0
$GC,3569,0.68,219.0,404.7,16.4,420,3573,0.00,2.22,0.00,0.000,4,0.000,0.050,2813,3534,2122,0,0,0,0,0,0
$GC,3601,0.67,219.0,398.6,18.9,422,3611,0.08,2.17,0.00,0.000,6,0.177,0.034,2796,2069,2122,0,0,0,0,0,0
$GC,3929,0.72,267.8,354.7,12.9,453,3979,0.10,2.17,37.28,0.742,4,0.107,0.046,2863,663,1932,0,0,0,0,0,0
$GC,4004,0.70,267.8,341.1,19.5,459,4009,0.17,2.20,0.00,0.000,6,0.166,0.039,2813,2119,1930,0,0,0,0,0,0
$GC,4334,0.70,267.8,282.7,17.3,498,4343,0.00,2.20,0.00,0.000,4,0.000,0.046,2817,669,1925,0,0,0,0,0,0
$GC,4391,0.69,267.8,273.5,16.6,507,4397,0.00,2.17,0.00,0.000,6,0.000,0.040,2818,2126,1924,0,0,0,0,0,0
$GC,4735,0.69,267.8,217.9,16.5,568,4744,0.05,2.20,0.00,0.000,4,0.247,0.046,2807,667,1923,0,0,0,0,0,0
$GC,4758,0.68,267.8,214.6,15.8,571,4765,0.00,2.17,0.00,0.000,6,0.000,0.041,2806,2132,1922,0,0,0,0,0,0
$GC,5101,0.68,267.8,165.0,15.6,632,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2133,1922,0,0,0,0,0,0
$GC,5458,0.74,315.7,115.4,12.9,693,5500,0.10,0.00,36.78,0.584,6,0.105,0.000,2878,2133,1738,0,0,0,0,0,0
$GC,5850,0.80,372.7,50.2,12.5,758,5901,0.12,2.30,43.85,0.534,4,0.178,0.045,2845,658,1506,0,0,0,0,0,0
$GC,5964,1.03,542.2,41.2,7.3,774,6101,0.17,2.22,126.97,0.514,6,0.039,0.039,2946,2121,814,0,0,0,0,0,0
$STATE,6153,end climb,SURFACE_DEPTH_REACHED
$STATE,6154,begin surface coast
$FINISH,0.5,1.021702
$STATE,6167,end surface coast,CONTROL_FINISHED_OK
$STATE,6167,begin surface
$SM_CCo,6181,42.75,0.068,0,0,540,610.06
$SM_GC,1.32,0.00,0.00,42.75,0.000,0.000,0.068,210,2368,540,-7.44,1.22,610.06
$IRIDIUM_FIX,2312.13,12556.81,270910,101010
$TT8_MAMPS,0.026964
$HUMID,51.06
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,24.5,10.356
$10V_AH,10.7,8.224
$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,18.450,57.925,579.775,42.750,0.000,28.448,13.819,98.128,0.000,0.000,35.342,1887.395,1468.703,565.699,2461.767,94.062,0.000,1413.820,0.000,2297.744,0.000,0.543,0.000
$DEVICE_MAMPS,261.630,61.200,833.085,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,536.368,0.000,1661.512,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334064
$DATA_FILE_SIZE,46986,802
$CAP_FILE_SIZE,87424,0
$CFSIZE,260165632,249860096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.260,333.6,1
$GPS,270910,143120,2320.868,12600.075,7,2.0,7,-3.4