version: 66.08
glider: 177
mission: 2
dive: 8
start: 9 24 110 0 44 32
data:
$ID,177
$MISSION,2
$DIVE,8
$N_DIVES,8
$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,120
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51792
$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,375
$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,-4142.144
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,159
$PITCH_MAX,3950
$C_PITCH,2435
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,161
$ROLL_MAX,3723
$ROLL_DEG,40
$C_ROLL_DIVE,1765
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,2545
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-43.256966
$PRESSURE_SLOPE,0.0001167561
$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,0
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043573868
$SEABIRD_T_H,0.00062801503
$SEABIRD_T_I,2.4905019e-05
$SEABIRD_T_J,2.7586682e-06
$SEABIRD_C_G,-10.06375
$SEABIRD_C_H,1.1391832
$SEABIRD_C_I,-0.00095358328
$SEABIRD_C_J,0.00016952561
$GPS1,240910,003828,2312.767,12608.120,10,4.6,29,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.0
$GPS2,240910,004406,2312.755,12608.093,34,0.9,38,-3.4
$SPEED_LIMITS,0.241,0.287
$TGT_NAME,MID_WAKE
$TGT_LATLONG,2312.300,12608.700
$TGT_RADIUS,1000.000
$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,143.6,1334,-23.2,-13.889
$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,-0.84,-146.0,0.0,0.0,0,73,0.00,0.00,-56.15,0.000,2,0.000,0.000,142,1759,2485,0,0,0,0,0,0
$GC,75,-0.84,-146.0,3.0,-6.7,8,105,8.57,2.25,-15.68,0.000,4,0.260,0.080,2156,345,3143,0,0,0,0,0,0
$GC,200,-0.48,-146.0,41.0,-34.2,30,210,0.43,2.17,0.00,0.000,6,0.214,0.049,2269,1770,3144,0,0,0,0,0,0
$GC,525,-0.65,-146.0,95.5,-10.4,91,533,0.12,2.17,0.00,0.000,4,0.083,0.067,2195,3177,3145,0,0,0,0,0,0
$GC,556,-0.69,-146.0,99.9,-14.4,96,565,0.05,2.17,0.00,0.000,6,0.154,0.061,2210,1764,3145,0,0,0,0,0,0
$GC,879,-0.73,-146.0,145.3,-12.9,157,886,0.00,2.17,0.00,0.000,4,0.000,0.076,2211,357,3147,0,0,0,0,0,0
$GC,935,-0.80,-146.0,152.6,-12.9,167,944,0.08,2.12,0.00,0.000,6,0.055,0.056,2148,1755,3147,0,0,0,0,0,0
$GC,1260,-0.70,-146.0,209.0,-17.5,228,1268,0.22,2.17,0.00,0.000,4,0.164,0.062,2202,3181,3147,0,0,0,0,0,0
$GC,1380,-0.84,-146.0,224.0,-11.5,250,1389,0.08,2.15,0.00,0.000,6,0.054,0.059,2142,1766,3147,0,0,0,0,0,0
$GC,1703,-0.77,-146.0,270.0,-12.2,311,1711,0.17,2.20,0.00,0.000,4,0.164,0.069,2190,351,3148,0,0,0,0,0,0
$GC,1751,-0.81,-146.0,275.7,-10.4,319,1758,0.00,2.15,0.00,0.000,6,0.000,0.050,2182,1770,3147,0,0,0,0,0,0
$GC,2079,-0.86,-146.0,313.2,-12.1,371,2084,0.08,2.12,0.00,0.000,4,0.123,0.056,2125,3181,3146,0,0,0,0,0,0
$GC,2278,-0.82,-146.0,344.6,-14.6,388,2287,0.12,2.15,0.00,0.000,6,0.146,0.053,2165,1764,3146,0,0,0,0,0,0
$GC,2605,-0.82,-146.0,379.5,-9.5,419,2608,0.00,2.10,0.00,0.000,4,0.000,0.055,2157,3178,3145,0,0,0,0,0,0
$GC,2664,-0.87,-146.0,385.7,-9.7,424,2672,0.00,2.15,0.00,0.000,6,0.000,0.054,2157,1767,3144,0,0,0,0,0,0
$GC,2992,-0.87,-146.0,415.9,-9.3,455,2996,0.00,2.10,0.00,0.000,4,0.000,0.057,2146,3178,3143,0,0,0,0,0,0
$GC,3090,-0.91,-146.0,426.1,-9.7,463,3098,0.00,2.15,0.00,0.000,6,0.000,0.056,2147,1771,3142,0,0,0,0,0,0
$GC,3416,-0.91,-146.0,459.1,-10.3,494,3420,0.00,2.12,0.00,0.000,4,0.000,0.057,2136,3181,3141,0,0,0,0,0,0
$GC,3470,-0.91,-146.0,465.0,-10.1,498,3478,0.00,2.15,0.00,0.000,6,0.000,0.054,2136,1768,3141,0,0,0,0,0,0
$STATE,3794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3794,begin apogee
$GC,3797,-0.14,0.0,500.7,10.8,529,3976,0.75,0.00,170.62,0.799,6,0.138,0.000,2381,1767,2545,0,0,0,0,0,0
$STATE,3977,end apogee,CONTROL_FINISHED_OK
$STATE,3977,begin climb
$GC,3978,0.84,146.0,502.2,0.0,545,4160,0.85,2.35,174.48,0.770,4,0.040,0.074,2736,387,1949,0,0,0,0,0,0
$GC,4288,0.57,146.0,435.4,24.9,572,4297,0.38,2.22,0.00,0.000,6,0.173,0.060,2625,1780,1943,0,0,0,0,0,0
$GC,4614,0.57,146.0,381.4,15.8,603,4618,0.00,2.20,0.00,0.000,4,0.000,0.068,2625,3203,1939,0,0,0,0,0,0
$GC,4665,0.57,146.0,372.6,17.5,607,4669,0.00,2.20,0.00,0.000,6,0.000,0.062,2634,1795,1938,0,0,0,0,0,0
$GC,4989,0.57,146.0,314.3,16.9,637,4993,0.00,2.22,0.00,0.000,4,0.000,0.077,2645,376,1936,0,0,0,0,0,0
$GC,5038,0.57,146.0,306.2,16.0,641,5043,0.10,2.17,0.00,0.000,6,0.185,0.060,2620,1797,1936,0,0,0,0,0,0
$GC,5358,0.61,146.0,259.1,15.8,697,5366,0.00,2.20,0.00,0.000,4,0.000,0.067,2620,3205,1935,0,0,0,0,0,0
$GC,5388,0.61,146.0,254.1,16.6,702,5397,0.00,2.20,0.00,0.000,6,0.000,0.061,2628,1797,1934,0,0,0,0,0,0
$GC,5711,0.61,146.0,206.5,15.2,763,5719,0.00,2.22,0.00,0.000,4,0.000,0.076,2640,381,1935,0,0,0,0,0,0
$GC,5757,0.64,146.0,199.6,15.3,771,5764,0.00,2.20,0.00,0.000,6,0.000,0.060,2640,1796,1934,0,0,0,0,0,0
$GC,6078,0.65,150.9,150.8,13.6,832,6086,0.00,2.17,0.00,0.000,4,0.000,0.066,2640,3201,1934,0,0,0,0,0,0
$GC,6120,0.66,160.1,145.2,13.3,839,6142,0.00,2.17,13.70,0.610,6,0.000,0.059,2650,1795,1892,0,0,0,0,0,0
$GC,6455,0.69,185.3,103.4,12.3,902,6493,0.00,2.25,30.17,0.606,4,0.000,0.072,2661,379,1788,0,0,0,0,0,0
$GC,6548,0.77,192.7,91.6,13.4,917,6565,0.03,2.20,9.85,0.543,6,0.103,0.058,2691,1785,1759,0,0,0,0,0,0
$GC,6880,0.98,300.4,48.1,7.0,979,7009,0.17,2.35,120.75,0.567,4,0.070,0.072,2786,379,1319,0,0,1,0,0,0
$GC,7058,0.93,300.4,21.9,19.2,1006,7067,0.15,2.25,0.00,0.000,6,0.154,0.060,2741,1780,1317,0,0,0,0,0,0
$STATE,7165,end climb,SURFACE_DEPTH_REACHED
$STATE,7165,begin surface coast
$FINISH,0.3,1.021800
$STATE,7183,end surface coast,CONTROL_FINISHED_OK
$STATE,7183,begin surface
$SM_CCo,7195,34.65,0.058,0,0,1015,375.06
$SM_GC,1.25,0.00,0.00,34.65,0.000,0.000,0.058,149,1784,1015,-7.15,0.54,375.06
$IRIDIUM_FIX,2307.44,12607.16,230910,222233
$TT8_MAMPS,0.026964
$HUMID,56.77
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,23.50
$XPDR_PINGS,41
$24V_AH,24.4,3.389
$10V_AH,10.4,2.274
$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,19.025,74.400,519.575,34.650,0.000,23.704,37.301,148.304,10.250,0.000,41.267,2446.614,1864.600,573.627,2568.524,119.295,0.000,1503.155,0.000,2256.711,0.000,0.547,0.000
$DEVICE_MAMPS,260.100,79.560,798.660,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,690.724,2146.800,1570.132,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330752
$DATA_FILE_SIZE,67158,1029
$CAP_FILE_SIZE,105144,0
$CFSIZE,260165632,253034496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.238,333.9,1
$GPS,240910,024550,2312.774,12608.224,12,1.8,12,-3.4