version: 66.08
glider: 177
mission: 2
dive: 23
start: 9 25 110 6 11 20
data:
$ID,177
$MISSION,2
$DIVE,23
$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,-4161.0596
$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,23
$R_STBD_OVSHOOT,23
$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
$GPS1,250910,060610,2312.131,12608.778,9,2.2,28,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.5
$GPS2,250910,061051,2312.135,12608.688,10,2.2,29,-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,22.6,305,-27.7,-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,-0.92,-102.8,0.0,0.0,0,74,0.00,0.00,-57.80,0.000,2,0.000,0.000,142,1793,2589,0,0,0,0,0,0
$GC,76,-0.99,-162.3,3.6,-8.5,6,106,8.05,2.22,-13.60,0.000,4,0.254,0.066,2086,3262,3207,0,0,0,0,0,0
$GC,129,-0.57,-162.3,20.5,-37.2,14,137,0.52,2.25,0.00,0.000,6,0.194,0.054,2232,1815,3209,0,0,0,0,0,0
$GC,452,-0.74,-164.1,89.9,-13.7,75,460,0.15,2.20,0.00,0.000,4,0.080,0.058,2148,3232,3211,0,0,0,0,0,0
$GC,531,-0.79,-164.1,102.4,-14.9,89,539,0.05,2.15,0.00,0.000,6,0.314,0.051,2162,1826,3211,0,0,0,0,0,0
$GC,853,-0.82,-164.1,156.3,-18.3,150,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,1826,3213,0,0,0,0,0,0
$GC,1187,-0.91,-164.1,209.6,-14.3,211,1194,0.12,2.12,0.00,0.000,4,0.088,0.053,2092,3239,3213,0,0,0,0,0,0
$GC,1234,-0.84,-164.1,218.1,-18.9,219,1242,0.20,2.15,0.00,0.000,6,0.173,0.050,2146,1820,3213,0,0,0,0,0,0
$GC,1568,-0.93,-170.6,267.1,-13.3,280,1577,0.10,2.17,0.00,0.000,4,0.103,0.054,2086,3241,3212,0,0,0,0,0,0
$GC,1733,-0.87,-170.6,294.4,-17.4,309,1741,0.20,2.12,0.00,0.000,6,0.174,0.050,2139,1818,3212,0,0,0,0,0,0
$GC,2066,-0.95,-170.6,339.7,-14.1,343,2071,0.10,2.15,0.00,0.000,4,0.103,0.055,2078,3239,3212,0,0,0,0,0,0
$GC,2128,-0.91,-170.6,350.2,-18.7,348,2132,0.17,2.10,0.00,0.000,6,0.174,0.051,2124,1822,3212,0,0,0,0,0,0
$GC,2452,-0.98,-179.5,395.5,-13.1,378,2454,0.08,0.00,0.00,0.000,6,0.129,0.000,2086,1821,3211,0,0,0,0,0,0
$GC,2771,-0.95,-179.5,448.7,-17.3,408,2775,0.12,2.12,0.00,0.000,4,0.184,0.054,2108,3237,3209,0,0,0,0,0,0
$GC,2859,-1.03,-179.5,462.9,-15.9,416,2863,0.08,2.10,0.00,0.000,6,0.125,0.051,2066,1820,3209,0,0,0,0,0,0
$STATE,3054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3054,begin apogee
$GC,3058,-0.14,0.0,500.7,18.7,434,3254,0.98,0.00,188.15,0.794,6,0.161,0.000,2368,1819,2545,0,0,0,0,0,0
$STATE,3254,end apogee,CONTROL_FINISHED_OK
$STATE,3255,begin climb
$GC,3256,1.01,179.5,504.4,0.0,451,3477,1.02,2.38,211.62,0.762,4,0.062,0.070,2757,387,1813,0,0,0,0,0,0
$GC,3504,0.84,179.5,449.6,30.7,472,3514,0.22,2.28,0.00,0.000,6,0.177,0.057,2695,1791,1810,0,0,0,0,0,0
$GC,3831,0.81,179.5,369.3,23.4,503,3835,0.08,2.17,0.00,0.000,4,0.225,0.064,2678,3205,1805,0,0,0,0,0,0
$GC,3881,0.81,179.5,358.0,21.7,507,3885,0.00,2.17,0.00,0.000,6,0.000,0.057,2687,1788,1804,0,0,0,0,0,0
$GC,4207,0.81,179.5,285.9,21.0,543,4213,0.00,2.17,0.00,0.000,4,0.000,0.068,2698,375,1802,0,0,0,0,0,0
$GC,4235,0.81,179.5,279.7,22.0,548,4244,0.05,2.20,0.00,0.000,6,0.181,0.057,2683,1789,1802,0,0,0,0,0,0
$GC,4572,0.84,179.5,211.5,20.3,609,4579,0.00,2.17,0.00,0.000,4,0.000,0.063,2683,3208,1800,0,0,0,0,0,0
$GC,4662,0.88,179.5,192.8,19.2,625,4669,0.00,2.17,0.00,0.000,6,0.000,0.057,2692,1784,1799,0,0,0,0,0,0
$GC,4989,0.92,179.5,126.6,20.9,686,4997,0.08,2.17,0.00,0.000,4,0.125,0.068,2741,381,1799,0,0,0,0,0,0
$GC,5015,0.92,179.5,121.0,22.3,690,5023,0.08,2.15,0.00,0.000,6,0.177,0.057,2719,1774,1799,0,0,0,0,0,0
$GC,5337,0.99,179.5,61.4,14.0,751,5344,0.08,0.00,0.00,0.000,6,0.127,0.000,2764,1775,1799,0,0,0,0,0,0
$GC,5658,1.03,213.7,24.5,10.8,812,5702,0.00,2.20,35.62,0.562,4,0.000,0.060,2763,3204,1673,0,0,0,0,0,0
$STATE,5812,end climb,SURFACE_DEPTH_REACHED
$STATE,5812,begin surface coast
$FINISH,0.2,1.020549
$STATE,5830,end surface coast,CONTROL_FINISHED_OK
$STATE,5830,begin surface
$SM_CCo,5845,75.93,0.059,0,0,1015,375.06
$SM_GC,1.22,0.00,0.00,75.93,0.000,0.000,0.059,140,1820,1015,-7.13,0.00,375.06
$IRIDIUM_FIX,2305.10,12607.16,250910,020209
$TT8_MAMPS,0.026964
$HUMID,56.53
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,23.20
$XPDR_PINGS,15
$24V_AH,24.4,5.345
$10V_AH,10.4,4.062
$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,19.250,52.275,435.400,75.925,0.000,32.321,16.607,125.060,3.750,0.000,33.130,2015.561,1510.754,514.754,2072.752,102.522,0.000,1281.698,0.000,1798.419,0.000,0.546,0.000
$DEVICE_MAMPS,313.650,70.380,794.070,58.905,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,565.644,1749.007,1228.883,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330696
$DATA_FILE_SIZE,56987,842
$CAP_FILE_SIZE,84778,0
$CFSIZE,260165632,252149760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.198,331.0,1
$GPS,250910,075106,2313.483,12608.721,13,1.3,29,-3.4