version: 66.08
glider: 176
mission: 2
dive: 29
start: 9 24 110 21 36 31
data:
$ID,176
$MISSION,2
$DIVE,29
$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,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,250
$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,539.41467
$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,-4762.3779
$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,2600
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,35
$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,2250
$C_ROLL_CLIMB,2075
$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,2699
$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,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
$GPS1,240910,213128,2339.891,12616.800,12,2.7,31,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.2
$GPS2,240910,213604,2339.913,12616.748,11,3.0,30,-3.5
$SPEED_LIMITS,0.262,0.375
$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,187.2,79242,-19.2,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.85,-243.3,0.0,0.0,0,90,0.00,0.00,-72.95,0.000,2,0.000,0.000,209,2322,2695,0,0,0,0,0,0
$GC,92,-0.85,-243.3,3.6,-7.1,9,126,8.45,2.22,-17.73,0.000,4,0.251,0.048,2324,796,3692,0,0,0,0,0,0
$GC,349,-0.83,-243.3,88.0,-27.1,51,358,0.03,2.25,0.00,0.000,6,0.208,0.050,2331,2256,3692,0,0,0,0,0,0
$GC,710,-0.82,-243.3,195.7,-26.6,112,719,0.00,2.17,0.00,0.000,4,0.000,0.059,2329,3678,3693,0,0,0,0,0,0
$GC,818,-0.81,-243.3,220.7,-21.3,130,828,0.05,2.12,0.00,0.000,6,0.169,0.033,2347,2207,3694,0,0,0,0,0,0
$GC,1179,-0.80,-243.3,297.4,-20.2,191,1185,0.00,2.00,0.00,0.000,4,0.000,0.038,2347,806,3693,0,0,0,0,0,0
$GC,1218,-0.79,-243.3,304.8,-18.5,195,1222,0.00,2.17,0.00,0.000,6,0.000,0.047,2347,2274,3693,0,0,0,0,0,0
$GC,1545,-0.79,-243.3,363.8,-17.8,225,1549,0.00,2.10,0.00,0.000,4,0.000,0.060,2347,3679,3693,0,0,0,0,0,0
$GC,1644,-0.79,-243.3,379.1,-13.6,233,1648,0.00,2.08,0.00,0.000,6,0.000,0.032,2347,2205,3693,0,0,0,0,0,0
$GC,1971,-0.79,-243.3,430.3,-15.4,263,1975,0.00,2.22,0.00,0.000,4,0.000,0.059,2347,3679,3692,0,0,0,0,0,0
$GC,2047,-0.79,-243.3,441.0,-13.0,269,2051,0.00,2.08,0.00,0.000,6,0.000,0.032,2347,2206,3691,0,0,0,0,0,0
$GC,2373,-0.79,-243.3,489.7,-15.3,299,2377,0.00,2.25,0.00,0.000,4,0.000,0.060,2347,3679,3689,0,0,0,0,0,0
$GC,2427,-0.80,-243.3,497.5,-14.7,303,2431,0.00,2.10,0.00,0.000,6,0.000,0.032,2347,2203,3690,0,0,0,0,0,0
$STATE,2442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2442,begin apogee
$GC,2446,-0.14,0.0,500.2,14.0,304,2639,0.60,0.10,183.43,0.824,6,0.119,0.064,2560,2110,2697,0,0,0,0,0,0
$STATE,2640,end apogee,CONTROL_FINISHED_OK
$STATE,2640,begin climb
$GC,2641,0.85,243.3,510.6,0.0,320,2840,0.82,2.22,190.88,0.805,4,0.042,0.053,2906,3504,1706,0,0,0,0,0,0
$GC,2968,0.82,243.3,437.9,32.4,347,2977,0.17,2.22,0.00,0.000,6,0.179,0.036,2862,2044,1701,0,0,0,0,0,0
$GC,3295,0.80,243.3,353.0,24.6,378,3299,0.00,2.10,0.00,0.000,4,0.000,0.047,2872,632,1698,0,0,0,0,0,0
$GC,3382,0.79,243.3,332.3,21.3,385,3391,0.08,2.20,0.00,0.000,6,0.167,0.041,2848,2090,1695,0,0,0,0,0,0
$GC,3718,0.77,243.3,258.3,21.3,432,3727,0.00,2.20,0.00,0.000,4,0.000,0.048,2857,638,1694,0,0,0,0,0,0
$GC,3763,0.76,243.3,249.5,19.5,439,3772,0.08,2.15,0.00,0.000,6,0.203,0.042,2840,2098,1693,0,0,0,0,0,0
$GC,4109,0.75,243.3,181.5,19.2,500,4118,0.00,2.12,0.00,0.000,4,0.000,0.054,2840,3496,1692,0,0,0,0,0,0
$GC,4146,0.74,243.3,173.4,21.9,506,4155,0.03,2.15,0.00,0.000,6,0.208,0.036,2836,2045,1692,0,0,0,0,0,0
$GC,4506,0.73,243.3,108.9,16.3,567,4516,0.00,2.22,0.00,0.000,4,0.000,0.052,2835,3503,1691,0,0,0,0,0,0
$GC,4524,0.72,243.3,105.9,16.1,569,4533,0.05,2.15,0.00,0.000,6,0.175,0.036,2826,2047,1691,0,0,0,0,0,0
$GC,4888,0.86,352.3,60.3,10.6,630,4978,0.15,2.12,82.40,0.542,4,0.081,0.047,2925,645,1260,0,0,0,0,0,0
$GC,5056,0.85,352.3,32.4,16.8,654,5066,0.17,2.22,0.00,0.000,6,0.133,0.043,2865,2097,1255,0,0,0,0,0,0
$STATE,5296,end climb,SURFACE_DEPTH_REACHED
$STATE,5296,begin surface coast
$FINISH,0.4,1.016770
$STATE,5322,end surface coast,CONTROL_FINISHED_OK
$STATE,5322,begin surface
$SM_CCo,5335,100.35,0.067,0,0,499,539.41
$SM_GC,1.26,0.00,0.00,100.35,0.000,0.000,0.067,202,2316,499,-7.49,1.87,539.41
$IRIDIUM_FIX,2330.93,12618.77,240910,191924
$TT8_MAMPS,0.026964
$HUMID,49.56
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.5,5.849
$10V_AH,10.8,4.302
$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,17.375,52.425,456.700,100.350,0.000,30.956,39.200,92.605,0.000,0.000,41.907,1660.683,1164.797,537.569,2275.759,81.190,0.000,1264.179,0.000,2074.465,0.000,0.542,0.000
$DEVICE_MAMPS,250.920,64.260,823.905,66.555,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,467.448,0.000,1523.888,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40308,698
$CAP_FILE_SIZE,76558,0
$CFSIZE,260165632,251580416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.173,327.9,1
$GPS,240910,230744,2339.466,12616.330,11,1.7,11,-3.5