version: 66.08
glider: 176
mission: 2
dive: 68
start: 9 27 110 14 36 5
data:
$ID,176
$MISSION,2
$DIVE,68
$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,-4822.5898
$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
$GPS1,270910,143120,2320.868,12600.075,7,2.0,7,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.1
$GPS2,270910,143538,2320.875,12600.034,13,2.0,13,-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,164.5,38660,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-219.0,0.0,0.0,0,90,0.00,0.00,-72.82,0.000,2,0.000,0.000,209,2369,2744,0,0,0,0,0,0
$GC,92,-0.72,-219.0,3.9,-8.1,9,126,8.43,2.25,-19.60,0.000,4,0.242,0.048,2359,865,3923,0,0,0,0,0,0
$GC,223,-0.71,-219.0,48.0,-26.2,29,231,0.00,2.28,0.00,0.000,6,0.000,0.049,2359,2337,3925,0,0,0,0,0,0
$GC,587,-0.71,-219.0,149.0,-24.5,90,596,0.00,2.17,0.00,0.000,4,0.000,0.059,2359,3754,3927,0,0,0,0,0,0
$GC,689,-0.71,-219.0,169.2,-16.5,107,696,0.00,2.10,0.00,0.000,6,0.000,0.031,2359,2270,3928,0,0,0,0,0,0
$GC,1035,-0.71,-219.0,242.1,-20.4,168,1045,0.00,2.28,0.00,0.000,4,0.000,0.057,2359,3749,3928,0,0,0,0,0,0
$GC,1114,-0.71,-219.0,255.9,-15.2,181,1121,0.00,2.08,0.00,0.000,6,0.000,0.030,2358,2276,3928,0,0,0,0,0,0
$GC,1454,-0.71,-219.0,317.7,-18.1,233,1458,0.00,2.22,0.00,0.000,4,0.000,0.056,2359,3757,3928,0,0,0,0,0,0
$GC,1516,-0.73,-219.0,327.6,-13.3,238,1520,0.00,2.10,0.00,0.000,6,0.000,0.030,2359,2279,3928,0,0,0,0,0,0
$GC,1843,-0.73,-219.0,380.4,-15.9,268,1847,0.00,2.22,0.00,0.000,4,0.000,0.057,2359,3759,3926,0,0,0,0,0,0
$GC,1895,-0.74,-219.0,387.3,-11.5,272,1899,0.00,2.10,0.00,0.000,6,0.000,0.031,2359,2267,3926,0,0,0,0,0,0
$GC,2220,-0.75,-219.0,429.5,-13.0,302,2224,0.05,2.28,0.00,0.000,4,0.181,0.057,2318,3763,3926,0,0,0,0,0,0
$GC,2263,-0.75,-219.0,436.2,-15.1,305,2271,0.12,2.10,0.00,0.000,6,0.149,0.031,2358,2265,3925,0,0,0,0,0,0
$GC,2589,-0.76,-219.0,478.9,-12.9,336,2591,0.08,0.00,0.00,0.000,6,0.132,0.000,2307,2260,3923,0,0,0,0,0,0
$STATE,2714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2714,begin apogee
$GC,2718,-0.11,0.0,500.9,17.8,348,2889,0.73,0.12,164.70,0.840,6,0.124,0.092,2559,2138,3027,0,0,0,0,0,0
$STATE,2890,end apogee,CONTROL_FINISHED_OK
$STATE,2890,begin climb
$GC,2892,0.72,219.0,511.2,0.0,362,3078,0.70,2.38,171.30,0.827,4,0.047,0.044,2858,666,2132,0,0,0,0,0,0
$GC,3139,0.70,219.0,495.1,19.8,382,3148,0.15,2.25,0.00,0.000,6,0.155,0.039,2811,2117,2127,0,0,0,0,0,0
$GC,3465,0.69,219.0,439.4,17.6,413,3469,0.00,2.15,0.00,0.000,4,0.000,0.050,2811,3536,2123,0,0,0,0,0,0
$GC,3598,0.67,219.0,413.9,18.1,424,3607,0.05,2.17,0.00,0.000,6,0.189,0.034,2803,2072,2122,0,0,0,0,0,0
$GC,3925,0.69,240.5,361.0,14.2,455,3950,0.00,2.12,16.40,0.721,4,0.000,0.044,2813,666,2044,0,0,0,0,0,0
$GC,3999,0.68,240.5,349.1,15.4,461,4008,0.00,2.20,0.00,0.000,6,0.000,0.038,2813,2119,2042,0,0,0,0,0,0
$GC,4329,0.67,240.5,297.4,15.3,493,4337,0.05,2.20,0.00,0.000,4,0.252,0.046,2805,662,2038,0,0,0,0,0,0
$GC,4356,0.67,241.3,293.3,15.1,497,4364,0.00,2.17,0.00,0.000,6,0.000,0.039,2805,2127,2038,0,0,0,0,0,0
$GC,4703,0.72,289.3,241.9,12.9,558,4754,0.08,2.20,38.42,0.681,4,0.133,0.050,2856,3529,1845,0,0,0,0,0,0
$GC,4801,0.70,289.3,222.9,21.9,573,4810,0.20,2.15,0.00,0.000,6,0.178,0.035,2811,2068,1843,0,0,0,0,0,0
$GC,5149,0.73,316.4,166.1,13.9,634,5179,0.08,2.08,21.92,0.613,4,0.130,0.043,2871,666,1735,0,0,0,0,0,0
$GC,5251,0.73,316.4,146.9,19.6,650,5260,0.15,2.20,0.00,0.000,6,0.142,0.040,2820,2118,1730,0,0,0,0,0,0
$GC,5608,0.77,349.8,97.0,13.6,711,5642,0.08,0.00,26.27,0.568,6,0.129,0.000,2880,2118,1600,0,0,0,0,0,0
$GC,5991,0.86,426.1,39.8,11.6,775,6058,0.08,2.22,58.85,0.529,4,0.197,0.044,2868,660,1286,0,0,0,0,0,0
$GC,6171,1.03,554.6,20.8,9.2,802,6270,0.12,2.22,93.18,0.502,2,0.044,0.038,2952,2129,772,0,0,0,0,0,0
$STATE,6271,end climb,SURFACE_DEPTH_REACHED
$STATE,6271,begin surface coast
$FINISH,0.4,1.012167
$STATE,6286,end surface coast,CONTROL_FINISHED_OK
$STATE,6286,begin surface
$SM_CCo,6299,34.40,0.068,0,0,539,610.06
$SM_GC,1.21,0.00,0.00,34.40,0.000,0.000,0.068,209,2379,539,-7.44,1.53,610.06
$IRIDIUM_FIX,2312.13,12558.19,270910,121238
$TT8_MAMPS,0.026964
$HUMID,50.31
$INTERNAL_PRESSURE,8.72378
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.4,10.485
$10V_AH,10.7,8.337
$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,18.275,57.600,591.050,34.400,0.000,24.932,42.621,99.452,0.000,0.000,16.163,1906.077,1510.032,570.570,2517.374,94.274,0.000,1418.760,0.000,2340.512,0.000,0.542,0.000
$DEVICE_MAMPS,251.685,91.800,839.970,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,545.410,0.000,1719.108,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334052
$DATA_FILE_SIZE,50459,816
$CAP_FILE_SIZE,87607,0
$CFSIZE,260165632,249806848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.195,345.8,1
$GPS,270910,162237,2320.486,12559.906,32,1.1,32,-3.4