version: 66.08
glider: 176
mission: 2
dive: 91
start: 9 29 110 8 25 47
data:
$ID,176
$MISSION,2
$DIVE,91
$N_DIVES,105
$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,-4853.3599
$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
$GPS1,290910,082125,2312.464,12554.602,41,1.3,41,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-68.7
$GPS2,290910,082520,2312.491,12554.532,11,1.3,11,-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,153.2,24941,-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,-219.0,0.0,0.0,0,85,0.00,0.00,-68.38,0.000,2,0.000,0.000,215,2384,2565,0,0,0,0,0,0
$GC,87,-0.72,-219.0,3.2,-5.1,8,129,8.65,2.20,-24.83,0.000,4,0.252,0.045,2357,869,3920,0,0,0,0,0,0
$GC,160,-0.70,-219.0,27.7,-37.2,18,170,0.00,2.30,0.00,0.000,6,0.000,0.051,2357,2347,3921,0,0,0,0,0,0
$GC,525,-0.69,-219.0,150.0,-28.3,79,533,0.08,2.15,0.00,0.000,4,0.224,0.060,2374,3749,3922,0,0,0,0,0,0
$GC,623,-0.69,-219.0,170.9,-16.0,95,630,0.00,2.10,0.00,0.000,6,0.000,0.030,2374,2274,3923,0,0,0,0,0,0
$GC,978,-0.69,-219.0,242.9,-20.4,156,987,0.00,2.28,0.00,0.000,4,0.000,0.056,2374,3755,3924,0,0,0,0,0,0
$GC,1052,-0.70,-219.0,254.8,-13.5,168,1061,0.03,2.12,0.00,0.000,6,0.109,0.029,2334,2272,3924,0,0,0,0,0,0
$GC,1403,-0.69,-219.0,335.4,-22.3,216,1408,0.15,2.25,0.00,0.000,4,0.168,0.056,2378,3757,3924,0,0,0,0,0,0
$GC,1435,-0.69,-219.0,342.1,-17.4,218,1446,0.03,2.12,0.00,0.000,6,0.109,0.029,2338,2274,3923,0,0,0,0,0,0
$GC,1762,-0.69,-219.0,407.0,-19.2,249,1767,0.12,2.28,0.00,0.000,4,0.171,0.055,2374,3763,3922,0,0,0,0,0,0
$GC,1848,-0.71,-219.0,418.1,-9.5,256,1853,0.08,2.10,0.00,0.000,6,0.125,0.030,2319,2271,3922,0,0,0,0,0,0
$GC,2175,-0.70,-219.0,479.2,-18.5,286,2179,0.17,2.25,0.00,0.000,4,0.152,0.056,2373,3752,3919,0,0,0,0,0,0
$GC,2227,-0.72,-219.0,485.8,-9.1,290,2231,0.08,2.08,0.00,0.000,6,0.124,0.029,2313,2272,3919,0,0,0,0,0,0
$STATE,2329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2329,begin apogee
$GC,2333,-0.11,0.0,501.5,17.6,299,2503,0.73,0.17,164.35,0.829,6,0.129,0.074,2560,2140,3027,0,0,0,0,0,0
$STATE,2504,end apogee,CONTROL_FINISHED_OK
$STATE,2504,begin climb
$GC,2505,0.72,219.0,511.0,0.0,313,2689,0.70,2.35,171.23,0.819,4,0.044,0.042,2863,667,2132,0,0,0,0,0,0
$GC,2763,0.70,219.0,491.2,20.0,334,2772,0.15,2.25,0.00,0.000,6,0.161,0.037,2816,2125,2127,0,0,0,0,0,0
$GC,3090,0.69,219.0,434.3,16.3,365,3091,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2126,2123,0,0,0,0,0,0
$GC,3408,0.68,219.0,381.3,15.7,395,3413,0.05,2.08,0.00,0.000,4,0.259,0.048,2804,3527,2121,0,0,0,0,0,0
$GC,3470,0.66,219.0,370.5,15.8,400,3474,0.00,2.15,0.00,0.000,6,0.000,0.033,2804,2055,2121,0,0,0,0,0,0
$GC,3802,0.65,219.0,319.5,15.8,431,3806,0.00,2.20,0.00,0.000,4,0.000,0.047,2805,3531,2118,0,0,0,0,0,0
$GC,3965,0.67,240.9,294.7,14.1,447,3988,0.05,2.12,16.25,0.681,6,0.259,0.032,2803,2049,2043,0,0,0,0,0,0
$GC,4337,0.73,292.2,246.2,12.8,510,4388,0.10,0.00,41.03,0.675,6,0.106,0.000,2868,2048,1833,0,0,0,0,0,0
$GC,4738,0.71,292.2,166.6,20.0,577,4744,0.20,0.00,0.00,0.000,6,0.167,0.000,2810,2047,1825,0,0,0,0,0,0
$GC,5094,0.77,340.9,116.9,12.9,638,5135,0.10,0.00,37.60,0.583,6,0.103,0.000,2878,2047,1636,0,0,0,0,0,0
$GC,5485,0.78,352.3,50.4,14.6,703,5504,0.15,2.08,9.18,0.482,4,0.160,0.041,2843,666,1588,0,0,0,0,0,0
$GC,5662,1.03,542.5,37.7,6.3,732,5817,0.20,2.17,143.30,0.512,6,0.038,0.037,2957,2122,811,0,0,0,0,0,0
$STATE,5835,end climb,SURFACE_DEPTH_REACHED
$STATE,5836,begin surface coast
$FINISH,0.4,1.005737
$STATE,5849,end surface coast,CONTROL_FINISHED_OK
$STATE,5849,begin surface
$SM_CCo,5863,39.60,0.068,0,0,540,610.06
$SM_GC,1.23,0.00,0.00,39.60,0.000,0.000,0.068,201,2388,540,-7.47,1.78,610.06
$IRIDIUM_FIX,2302.75,12552.16,290910,060634
$TT8_MAMPS,0.026964
$HUMID,50.47
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.5,13.307
$10V_AH,10.7,10.869
$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,18.875,44.400,582.925,39.600,0.000,29.021,15.053,99.284,0.000,0.000,14.433,1763.306,1409.242,545.456,2329.146,96.917,0.000,1345.049,0.000,2176.463,0.000,0.543,0.000
$DEVICE_MAMPS,259.335,74.205,829.260,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,504.985,0.000,1591.188,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47030,756
$CAP_FILE_SIZE,80933,0
$CFSIZE,260165632,248733696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.160,323.6,1
$GPS,290910,100444,2311.968,12554.441,8,1.7,8,-3.4