version: 66.08
glider: 176
mission: 2
dive: 102
start: 9 30 110 4 37 36
data:
$ID,176
$MISSION,2
$DIVE,102
$N_DIVES,110
$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,-4867.9194
$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
$GPS1,300910,042506,2307.626,12554.548,41,1.2,42,-3.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.0
$GPS2,300910,043709,2307.636,12554.289,11,2.6,30,-3.3
$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,144.7,17170,-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,-72.53,0.000,2,0.000,0.000,200,2380,2746,0,0,0,0,0,0
$GC,91,-0.72,-219.0,3.6,-7.1,9,126,8.55,2.25,-20.52,0.000,4,0.246,0.046,2356,860,3924,0,0,0,0,0,0
$GC,180,-0.71,-219.0,34.8,-28.2,22,189,0.00,2.28,0.00,0.000,6,0.000,0.050,2356,2334,3924,0,0,0,0,0,0
$GC,544,-0.70,-219.0,141.8,-27.2,83,554,0.05,2.17,0.00,0.000,4,0.263,0.059,2365,3746,3926,0,0,0,0,0,0
$GC,631,-0.70,-219.0,162.2,-19.1,97,637,0.00,2.10,0.00,0.000,6,0.000,0.029,2365,2272,3926,0,0,0,0,0,0
$GC,976,-0.69,-219.0,242.3,-23.2,158,984,0.00,2.28,0.00,0.000,4,0.000,0.055,2365,3755,3926,0,0,0,0,0,0
$GC,1020,-0.69,-219.0,251.1,-19.1,165,1027,0.00,2.08,0.00,0.000,6,0.000,0.028,2364,2274,3926,0,0,0,0,0,0
$GC,1367,-0.69,-219.0,317.9,-20.3,219,1371,0.00,2.22,0.00,0.000,4,0.000,0.055,2365,3757,3926,0,0,0,0,0,0
$GC,1397,-0.69,-219.0,323.8,-19.0,221,1401,0.00,2.10,0.00,0.000,6,0.000,0.029,2365,2264,3925,0,0,0,0,0,0
$GC,1723,-0.69,-219.0,377.1,-16.2,251,1727,0.00,2.25,0.00,0.000,4,0.000,0.054,2363,3764,3923,0,0,0,0,0,0
$GC,1786,-0.70,-219.0,385.8,-12.1,256,1790,0.00,2.10,0.00,0.000,6,0.000,0.030,2363,2276,3922,0,0,0,0,0,0
$GC,2118,-0.71,-219.0,433.6,-13.9,287,2122,0.00,2.25,0.00,0.000,4,0.000,0.054,2363,3763,3920,0,0,0,0,0,0
$GC,2139,-0.72,-219.0,437.1,-14.1,288,2148,0.00,2.12,0.00,0.000,6,0.000,0.029,2363,2280,3920,0,0,0,0,0,0
$GC,2467,-0.72,-219.0,478.0,-13.1,319,2471,0.00,2.22,0.00,0.000,4,0.000,0.055,2363,3757,3918,0,0,0,0,0,0
$GC,2517,-0.74,-219.0,484.1,-10.4,323,2525,0.03,2.12,0.00,0.000,6,0.114,0.029,2319,2272,3917,0,0,0,0,0,0
$STATE,2619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2619,begin apogee
$GC,2623,-0.11,0.0,500.1,17.8,333,2793,0.70,0.15,164.82,0.837,6,0.123,0.055,2561,2139,3026,0,0,0,0,0,0
$STATE,2794,end apogee,CONTROL_FINISHED_OK
$STATE,2794,begin climb
$GC,2795,0.72,219.0,509.8,0.0,347,2976,0.70,2.38,171.27,0.822,4,0.047,0.041,2860,648,2133,0,0,0,0,0,0
$GC,3200,0.70,219.0,457.6,20.3,382,3210,0.15,2.25,0.00,0.000,6,0.154,0.039,2812,2122,2124,0,0,0,0,0,0
$GC,3527,0.73,249.8,403.6,13.7,413,3558,0.05,2.20,23.88,0.746,4,0.171,0.050,2852,3526,2008,0,0,0,0,0,0
$GC,3586,0.71,249.8,391.8,22.0,418,3595,0.15,2.20,0.00,0.000,6,0.168,0.031,2815,2058,2005,0,0,0,0,0,0
$GC,3913,0.70,249.8,341.0,15.8,449,3917,0.00,2.22,0.00,0.000,4,0.000,0.050,2815,3533,1999,0,0,0,0,0,0
$GC,3974,0.68,249.8,329.6,18.3,454,3979,0.08,2.15,0.00,0.000,6,0.223,0.032,2804,2063,1998,0,0,0,0,0,0
$GC,4309,0.68,249.8,276.1,16.0,497,4316,0.00,2.03,0.00,0.000,4,0.000,0.044,2807,663,1996,0,0,0,0,0,0
$GC,4374,0.70,270.2,266.2,14.2,508,4396,0.00,2.17,16.02,0.666,6,0.000,0.037,2807,2120,1924,0,0,0,0,0,0
$GC,4735,0.71,286.6,211.4,14.4,571,4757,0.05,2.20,14.07,0.623,4,0.174,0.042,2858,660,1856,0,0,0,0,0,0
$GC,4793,0.71,286.6,201.7,16.7,580,4802,0.15,2.20,0.00,0.000,6,0.139,0.037,2807,2122,1855,0,0,0,0,0,0
$GC,5142,0.80,367.7,156.9,11.4,641,5215,0.15,2.25,64.03,0.616,4,0.077,0.041,2904,669,1525,0,0,0,0,0,0
$GC,5278,0.79,367.7,129.4,22.9,661,5287,0.20,2.22,0.00,0.000,6,0.146,0.039,2838,2120,1521,0,0,0,0,0,0
$GC,5642,0.79,367.7,65.2,17.7,722,5651,0.00,2.20,0.00,0.000,4,0.000,0.042,2844,660,1516,0,0,0,0,0,0
$GC,5718,0.86,416.2,54.3,12.9,734,5761,0.05,2.20,37.15,0.534,6,0.070,0.038,2906,2122,1329,0,0,0,0,0,0
$STATE,6044,end climb,SURFACE_DEPTH_REACHED
$STATE,6044,begin surface coast
$FINISH,0.5,1.021632
$STATE,6065,end surface coast,CONTROL_FINISHED_OK
$STATE,6065,begin surface
$SM_CCo,6079,105.72,0.069,0,0,540,610.06
$SM_GC,1.20,0.00,0.00,105.72,0.000,0.000,0.069,208,2381,540,-7.44,1.58,610.06
$IRIDIUM_FIX,2255.72,12606.29,300910,040429
$TT8_MAMPS,0.026964
$HUMID,50.74
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,24.5,14.660
$10V_AH,10.7,12.086
$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,17.850,62.175,491.250,105.725,0.000,156.115,108.033,101.347,0.000,0.000,33.951,1874.634,1692.814,577.658,2663.714,103.655,0.000,1375.641,0.000,2269.662,0.000,0.543,0.000
$DEVICE_MAMPS,263.160,58.905,836.910,68.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,530.213,0.000,1636.061,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46998,791
$CAP_FILE_SIZE,88666,0
$CFSIZE,260165632,248213504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.227,322.3,1
$GPS,300910,062114,2307.300,12554.267,6,2.0,6,-3.3