version: 66.08
glider: 177
mission: 2
dive: 26
start: 9 25 110 12 1 25
data:
$ID,177
$MISSION,2
$DIVE,26
$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,-4164.9209
$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,19
$R_STBD_OVSHOOT,26
$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
$GPS1,250910,115606,2312.549,12608.786,12,1.1,28,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.1
$GPS2,250910,120056,2312.613,12608.757,9,1.4,9,-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,159.8,587,-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,13,begin dive
$GC,14,-0.92,-102.8,0.0,0.0,0,73,0.00,0.00,-56.28,0.000,2,0.000,0.000,142,1814,2534,0,0,0,0,0,0
$GC,75,-1.02,-185.7,3.2,-6.4,8,106,8.12,2.22,-17.65,0.000,4,0.256,0.079,2087,405,3306,0,0,0,0,0,0
$GC,223,-0.74,-185.7,57.2,-35.3,34,232,0.32,2.15,0.00,0.000,6,0.175,0.049,2183,1815,3307,0,0,0,0,0,0
$GC,546,-0.81,-185.7,119.9,-19.4,95,555,0.10,2.17,0.00,0.000,4,0.099,0.054,2119,3240,3309,0,0,0,0,0,0
$GC,615,-0.76,-185.7,134.5,-22.3,107,624,0.15,2.17,0.00,0.000,6,0.158,0.050,2166,1813,3309,0,0,0,0,0,0
$GC,948,-0.86,-185.7,191.4,-15.7,168,956,0.08,2.17,0.00,0.000,4,0.125,0.074,2126,412,3310,0,0,0,0,0,0
$GC,1001,-0.86,-185.7,201.4,-20.0,177,1009,0.12,2.10,0.00,0.000,6,0.184,0.045,2147,1837,3310,0,0,0,0,0,0
$GC,1337,-0.93,-185.7,261.5,-17.8,238,1347,0.10,2.10,0.00,0.000,4,0.101,0.054,2086,3222,3310,0,0,0,0,0,0
$GC,1394,-0.89,-185.7,272.3,-20.4,247,1402,0.17,2.10,0.00,0.000,6,0.173,0.050,2133,1813,3310,0,0,0,0,0,0
$GC,1730,-0.95,-185.7,328.7,-15.0,292,1732,0.08,0.00,0.00,0.000,6,0.125,0.000,2094,1812,3309,0,0,0,0,0,0
$GC,2049,-0.91,-185.7,387.8,-20.7,322,2054,0.12,2.12,0.00,0.000,4,0.184,0.054,2115,3232,3308,0,0,0,0,0,0
$GC,2121,-0.98,-185.7,400.1,-16.4,328,2125,0.00,2.12,0.00,0.000,6,0.000,0.050,2116,1812,3308,0,0,0,0,0,0
$GC,2446,-1.03,-185.7,450.1,-14.6,358,2451,0.10,2.15,0.00,0.000,4,0.101,0.054,2052,3233,3307,0,0,0,0,0,0
$GC,2466,-1.03,-185.7,453.9,-16.7,359,2475,0.10,2.12,0.00,0.000,6,0.176,0.050,2082,1827,3307,0,0,0,0,0,0
$STATE,2739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2739,begin apogee
$GC,2742,-0.14,0.0,500.4,16.7,385,2964,0.90,0.00,214.57,0.791,6,0.155,0.000,2368,1827,2546,0,0,0,0,0,0
$STATE,2965,end apogee,CONTROL_FINISHED_OK
$STATE,2965,begin climb
$GC,2966,1.02,185.7,502.8,0.0,404,3193,1.02,2.42,218.20,0.760,4,0.051,0.067,2767,384,1787,0,0,0,0,0,0
$GC,3242,0.85,185.7,436.7,29.4,428,3252,0.25,2.25,0.00,0.000,6,0.175,0.057,2697,1784,1783,0,0,0,0,0,0
$GC,3569,0.85,185.7,358.1,22.9,459,3573,0.00,2.17,0.00,0.000,4,0.000,0.063,2696,3204,1778,0,0,0,0,0,0
$GC,3612,0.85,185.7,347.1,23.9,462,3622,0.00,2.20,0.00,0.000,6,0.000,0.057,2705,1803,1778,0,0,0,0,0,0
$GC,3940,0.85,185.7,267.8,23.8,505,3947,0.00,2.20,0.00,0.000,4,0.000,0.067,2716,372,1776,0,0,0,0,0,0
$GC,4008,0.85,185.7,251.9,23.8,517,4016,0.10,2.17,0.00,0.000,6,0.190,0.056,2693,1796,1775,0,0,0,0,0,0
$GC,4342,0.89,185.7,180.6,20.9,578,4351,0.00,2.15,0.00,0.000,4,0.000,0.061,2693,3193,1775,0,0,0,0,0,0
$GC,4386,0.94,185.7,170.6,22.4,585,4393,0.08,2.17,0.00,0.000,6,0.123,0.057,2746,1764,1773,0,0,0,0,0,0
$GC,4713,0.88,185.7,95.3,21.4,646,4722,0.17,2.12,0.00,0.000,4,0.184,0.067,2709,383,1773,0,0,0,0,0,0
$GC,4766,0.97,185.7,84.7,18.3,655,4774,0.05,2.15,0.00,0.000,6,0.071,0.056,2752,1787,1773,0,0,0,0,0,0
$GC,5090,1.07,214.3,30.7,11.3,716,5127,0.00,2.20,29.92,0.565,4,0.000,0.067,2762,381,1671,0,0,0,0,0,0
$GC,5277,1.12,214.3,5.1,15.9,749,5285,0.03,2.17,0.00,0.000,6,0.106,0.055,2792,1788,1668,0,0,0,0,0,0
$STATE,5292,end climb,SURFACE_DEPTH_REACHED
$STATE,5292,begin surface coast
$FINISH,0.3,1.005898
$STATE,5308,end surface coast,CONTROL_FINISHED_OK
$STATE,5308,begin surface
$SM_CCo,5321,77.50,0.425,1,0,1015,375.06
$SM_GC,1.14,0.00,0.00,77.50,0.000,0.000,0.425,139,1793,1015,-7.13,-0.76,375.06
$IRIDIUM_FIX,2305.10,12609.05,250910,101058
$TT8_MAMPS,0.026964
$HUMID,55.86
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,22.90
$XPDR_PINGS,16
$24V_AH,24.4,5.769
$10V_AH,10.4,4.408
$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,18.900,52.125,462.700,77.500,0.000,30.663,14.253,146.241,4.000,0.000,11.997,1801.890,1365.593,552.577,1869.994,114.206,0.000,1260.124,0.000,1626.516,0.000,0.546,0.000
$DEVICE_MAMPS,255.510,78.795,791.010,425.340,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,504.948,1557.953,1085.540,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330652
$DATA_FILE_SIZE,50497,754
$CAP_FILE_SIZE,80133,0
$CFSIZE,260165632,251973632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.149,327.5,1
$GPS,250910,133214,2312.151,12608.807,9,1.8,9,-3.4