version: 66.08
glider: 177
mission: 2
dive: 21
start: 9 25 110 2 30 30
data:
$ID,177
$MISSION,2
$DIVE,21
$N_DIVES,30
$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,250
$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,-4158.458
$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,2420
$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,1820
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,20
$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,110
$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
$GPS1,250910,022449,2312.687,12608.626,8,1.5,8,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.0
$GPS2,250910,023002,2312.686,12608.589,12,1.5,12,-3.4
$SPEED_LIMITS,0.241,0.364
$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,162.4,740,-17.8,-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,-0.81,-243.3,0.0,0.0,0,74,0.00,0.00,-57.85,0.000,2,0.000,0.000,145,1795,2578,0,0,0,0,0,0
$GC,76,-0.81,-243.3,3.3,-6.7,8,112,8.38,2.15,-20.88,0.000,4,0.254,0.077,2153,410,3539,0,0,0,0,0,0
$GC,208,-0.35,-243.3,48.0,-36.9,31,216,0.52,2.17,0.00,0.000,6,0.179,0.049,2297,1827,3539,0,0,0,0,0,0
$GC,532,-0.51,-243.3,96.9,-8.6,92,539,0.12,0.00,0.00,0.000,6,0.079,0.000,2217,1828,3541,0,0,0,0,0,0
$GC,854,-0.44,-243.3,147.1,-13.9,153,862,0.20,2.15,0.00,0.000,4,0.144,0.059,2268,3230,3542,0,0,0,0,0,0
$GC,923,-0.70,-243.3,153.2,-6.7,165,931,0.20,2.12,0.00,0.000,6,0.057,0.049,2156,1808,3542,0,0,0,0,0,0
$GC,1257,-0.49,-243.3,219.9,-21.2,226,1266,0.32,0.00,0.00,0.000,6,0.151,0.000,2259,1807,3543,0,0,0,0,0,0
$GC,1598,-0.69,-243.3,251.9,-7.9,287,1604,0.17,0.00,0.00,0.000,6,0.065,0.000,2158,1806,3543,0,0,0,0,0,0
$GC,1932,-0.57,-243.3,303.3,-14.5,346,1936,0.25,2.12,0.00,0.000,4,0.144,0.054,2230,3232,3542,0,0,0,0,0,0
$GC,1963,-0.69,-243.3,307.3,-10.0,348,1972,0.08,2.12,0.00,0.000,6,0.050,0.051,2159,1831,3541,0,0,0,0,0,0
$GC,2290,-0.60,-243.3,351.5,-13.5,379,2295,0.22,2.17,0.00,0.000,4,0.145,0.066,2226,404,3540,0,0,0,0,0,0
$GC,2320,-0.65,-243.3,354.9,-10.9,381,2324,0.00,2.12,0.00,0.000,6,0.000,0.050,2221,1824,3540,0,0,0,0,0,0
$GC,2646,-0.79,-243.3,378.9,-7.0,411,2651,0.17,2.15,0.00,0.000,4,0.065,0.060,2114,3240,3539,0,0,0,0,0,0
$GC,2756,-0.69,-243.3,393.7,-13.6,420,2764,0.25,2.15,0.00,0.000,6,0.135,0.052,2196,1825,3539,0,0,0,0,0,0
$GC,3083,-0.76,-243.3,424.5,-9.1,451,3087,0.08,2.12,0.00,0.000,4,0.118,0.057,2135,3233,3537,0,0,0,0,0,0
$GC,3131,-0.73,-243.3,430.7,-13.3,455,3138,0.15,2.12,0.00,0.000,6,0.132,0.050,2186,1826,3537,0,0,0,0,0,0
$GC,3456,-0.79,-243.3,462.3,-9.6,486,3461,0.08,2.17,0.00,0.000,4,0.119,0.067,2135,407,3534,0,0,0,0,0,0
$GC,3484,-0.73,-243.3,465.7,-13.2,488,3489,0.20,2.08,0.00,0.000,6,0.157,0.048,2182,1822,3534,0,0,0,0,0,0
$GC,3809,-0.79,-243.3,498.3,-9.2,518,3813,0.00,2.10,0.00,0.000,4,0.000,0.056,2173,3242,3532,0,0,0,0,0,0
$STATE,3828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3828,begin apogee
$GC,3834,-0.14,0.0,500.5,9.9,519,4120,0.57,0.00,278.17,0.803,6,0.116,0.000,2372,1786,2545,0,0,0,0,0,0
$STATE,4120,end apogee,CONTROL_FINISHED_OK
$STATE,4121,begin climb
$GC,4122,0.81,243.3,507.2,0.0,544,4419,0.82,2.35,284.77,0.770,4,0.043,0.065,2699,3202,1552,0,0,0,0,0,0
$GC,4500,0.55,243.3,427.5,25.1,577,4508,0.35,2.28,0.00,0.000,6,0.163,0.057,2596,1791,1549,0,0,0,0,0,0
$GC,4826,0.55,243.3,376.8,14.7,608,4830,0.00,2.25,0.00,0.000,4,0.000,0.073,2604,373,1546,0,0,0,0,0,0
$GC,4889,0.55,243.3,367.1,14.3,613,4897,0.00,2.20,0.00,0.000,6,0.000,0.055,2604,1785,1545,0,0,0,0,0,0
$GC,5216,0.51,243.3,313.9,16.3,644,5220,0.10,2.20,0.00,0.000,4,0.176,0.063,2579,3208,1544,0,0,0,0,0,0
$GC,5278,0.61,263.6,304.8,13.1,649,5306,0.10,2.17,22.70,0.704,6,0.096,0.058,2645,1784,1470,0,0,0,0,0,0
$GC,5629,0.49,263.6,236.3,18.4,710,5637,0.22,2.22,0.00,0.000,4,0.156,0.069,2588,352,1467,0,0,0,0,0,0
$GC,5736,0.71,338.4,222.3,11.0,729,5829,0.17,2.20,85.70,0.675,6,0.067,0.054,2681,1800,1165,0,0,0,0,0,0
$GC,6150,0.57,338.4,126.8,24.3,803,6159,0.25,2.25,0.00,0.000,4,0.155,0.071,2612,378,1161,0,0,0,0,0,0
$GC,6187,0.63,338.4,119.7,17.6,809,6194,0.00,2.17,0.00,0.000,6,0.000,0.053,2612,1780,1161,0,0,0,0,0,0
$GC,6508,0.93,426.5,79.7,10.5,870,6613,0.25,2.35,97.82,0.591,4,0.052,0.073,2756,384,805,0,0,0,0,0,0
$GC,6674,0.85,426.5,43.1,19.8,896,6683,0.20,2.22,0.00,0.000,6,0.132,0.053,2692,1792,804,0,0,0,0,0,0
$STATE,6974,end climb,SURFACE_DEPTH_REACHED
$STATE,6974,begin surface coast
$FINISH,0.4,1.021714
$STATE,7003,end surface coast,CONTROL_FINISHED_OK
$STATE,7003,begin surface
$SM_CCo,7076,0.00,0.000,0,0,801,427.56
$SM_GC,1.18,6.53,0.00,0.00,0.035,0.000,0.000,142,1796,801,-7.05,-0.65,427.56
$IRIDIUM_FIX,2305.10,12607.16,250910,000048
$TT8_MAMPS,0.026964
$HUMID,56.97
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,23.30
$XPDR_PINGS,19
$24V_AH,24.3,5.100
$10V_AH,10.4,3.854
$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,20.975,61.150,769.175,0.000,0.000,25.346,38.103,146.758,4.750,0.000,14.783,2233.921,1976.374,688.009,2379.329,117.238,0.000,1624.027,0.000,2085.225,0.000,0.546,0.000
$DEVICE_MAMPS,253.980,77.265,803.250,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,640.548,1962.955,1357.411,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330672
$DATA_FILE_SIZE,67011,958
$CAP_FILE_SIZE,101504,0
$CFSIZE,260165632,252235776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.244,344.3,1
$GPS,250910,042937,2312.447,12608.763,37,1.0,37,-3.4