version: 66.08
glider: 177
mission: 2
dive: 6
start: 9 23 110 20 26 10
data:
$ID,177
$MISSION,2
$DIVE,6
$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,-4139.6328
$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,30
$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
$GPS1,230910,202213,2312.909,12608.031,6,1.2,11,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-67.8
$GPS2,230910,202544,2312.924,12607.987,16,1.6,16,-3.4
$SPEED_LIMITS,0.241,0.287
$TGT_NAME,CAL_CAST
$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,141.4,1676,-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,-146.0,0.0,0.0,0,79,0.00,0.00,-61.92,0.000,2,0.000,0.000,148,1752,2634,0,0,0,0,0,0
$GC,81,-0.84,-146.0,3.3,-7.1,8,110,8.50,2.17,-11.27,0.000,4,0.264,0.084,2162,366,3143,0,0,0,0,0,0
$GC,201,-0.57,-146.0,41.6,-28.7,29,209,0.32,2.15,0.00,0.000,6,0.177,0.053,2260,1773,3144,0,0,0,0,0,0
$GC,524,-0.73,-146.0,86.3,-10.8,90,533,0.17,2.22,0.00,0.000,4,0.070,0.069,2172,358,3144,0,0,0,0,0,0
$GC,561,-0.64,-146.0,91.9,-16.5,96,569,0.20,2.15,0.00,0.000,6,0.148,0.062,2224,1767,3144,0,0,0,0,0,0
$GC,882,-0.73,-146.0,131.8,-12.5,157,891,0.10,2.15,0.00,0.000,4,0.102,0.060,2159,3168,3145,0,0,0,0,0,0
$GC,971,-0.69,-146.0,145.5,-15.3,173,979,0.15,2.12,0.00,0.000,6,0.147,0.063,2207,1778,3145,0,0,0,0,0,0
$GC,1294,-0.76,-146.0,187.4,-12.1,234,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,1777,3144,0,0,0,0,0,0
$GC,1617,-0.86,-146.0,227.5,-12.1,295,1625,0.15,2.15,0.00,0.000,4,0.076,0.067,2123,3170,3143,0,0,0,0,0,0
$GC,1648,-0.80,-146.0,232.2,-15.0,300,1656,0.17,2.15,0.00,0.000,6,0.151,0.057,2177,1764,3143,0,0,0,0,0,0
$GC,1969,-0.83,-146.0,273.6,-10.9,361,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,1764,3142,0,0,0,0,0,0
$GC,2295,-0.88,-146.0,312.2,-11.1,413,2299,0.10,2.12,0.00,0.000,4,0.101,0.058,2116,3178,3140,0,0,0,0,0,0
$GC,2368,-0.78,-146.0,323.3,-15.9,419,2373,0.25,2.15,0.00,0.000,6,0.159,0.055,2187,1755,3140,0,0,0,0,0,0
$GC,2693,-0.87,-146.0,358.9,-11.0,449,2697,0.10,2.15,0.00,0.000,4,0.099,0.070,2133,354,3138,0,0,0,0,0,0
$GC,2752,-0.79,-146.0,367.3,-14.8,454,2761,0.17,2.12,0.00,0.000,6,0.151,0.052,2176,1759,3138,0,0,0,0,0,0
$GC,3078,-0.87,-146.0,403.6,-10.9,485,3082,0.08,2.15,0.00,0.000,4,0.122,0.061,2125,3177,3136,0,0,0,0,0,0
$GC,3159,-0.83,-146.0,413.8,-12.6,492,3168,0.12,2.17,0.00,0.000,6,0.147,0.057,2164,1763,3136,0,0,0,0,0,0
$GC,3486,-0.90,-146.0,447.4,-9.4,523,3490,0.08,2.12,0.00,0.000,4,0.125,0.057,2113,3178,3135,0,0,0,0,0,0
$GC,3558,-0.84,-146.0,456.1,-11.9,529,3563,0.17,2.15,0.00,0.000,6,0.164,0.057,2161,1761,3134,0,0,0,0,0,0
$GC,3884,-0.91,-146.0,488.3,-9.4,559,3888,0.08,2.15,0.00,0.000,4,0.123,0.059,2109,3178,3131,0,0,0,0,0,0
$STATE,3982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3982,begin apogee
$GC,3988,-0.14,0.0,500.4,11.8,568,4165,0.85,0.00,167.85,0.795,6,0.148,0.000,2381,1784,2545,0,0,0,0,0,0
$STATE,4166,end apogee,CONTROL_FINISHED_OK
$STATE,4166,begin climb
$GC,4168,0.84,146.0,503.6,0.0,584,4351,0.85,2.33,173.38,0.767,4,0.041,0.067,2725,3203,1948,0,0,0,0,0,0
$GC,4453,0.56,146.0,452.6,24.4,610,4458,0.45,2.22,0.00,0.000,6,0.187,0.062,2613,1793,1943,0,0,0,0,0,0
$GC,4778,0.59,146.0,406.6,14.9,640,4779,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,1792,1940,0,0,0,0,0,0
$GC,5098,0.63,146.0,358.1,15.9,670,5103,0.10,2.20,0.00,0.000,4,0.103,0.077,2676,376,1938,0,0,0,0,0,0
$GC,5174,0.54,146.0,343.0,20.0,676,5183,0.20,2.20,0.00,0.000,6,0.155,0.063,2612,1783,1937,0,0,0,0,0,0
$GC,5501,0.61,151.7,294.8,13.5,710,5512,0.08,2.25,4.78,0.520,4,0.125,0.069,2654,3202,1926,0,0,0,0,0,0
$GC,5581,0.53,151.7,280.7,18.1,724,5589,0.17,2.20,0.00,0.000,6,0.160,0.063,2610,1797,1926,0,0,0,0,0,0
$GC,5905,0.63,162.8,235.5,13.2,785,5928,0.10,2.30,13.98,0.652,4,0.102,0.078,2673,369,1881,0,0,0,0,0,0
$GC,6024,0.59,162.8,214.6,18.0,806,6033,0.15,2.20,0.00,0.000,6,0.149,0.059,2625,1790,1879,0,0,0,0,0,0
$GC,6346,0.68,166.7,169.9,13.6,867,6355,0.10,0.00,5.70,0.518,6,0.100,0.000,2678,1790,1864,0,0,0,0,0,0
$GC,6670,0.65,166.7,115.2,15.9,928,6679,0.15,2.20,0.00,0.000,4,0.172,0.068,2637,3191,1864,0,0,0,0,0,0
$GC,6821,0.74,206.6,97.6,11.3,956,6880,0.05,2.17,47.00,0.608,6,0.070,0.061,2689,1789,1702,0,0,0,0,0,0
$GC,7193,0.94,291.5,49.6,8.5,1024,7300,0.15,2.33,94.68,0.568,4,0.078,0.073,2773,383,1355,0,0,0,0,0,0
$GC,7339,0.94,291.5,26.4,18.5,1046,7348,0.12,2.22,0.00,0.000,6,0.155,0.060,2736,1775,1354,0,0,0,0,0,0
$STATE,7487,end climb,SURFACE_DEPTH_REACHED
$STATE,7487,begin surface coast
$FINISH,0.2,1.007743
$STATE,7503,end surface coast,CONTROL_FINISHED_OK
$STATE,7503,begin surface
$SM_CCo,7516,38.12,0.059,0,0,1016,375.06
$SM_GC,1.37,0.00,0.00,38.12,0.000,0.000,0.059,141,1780,1016,-7.17,0.42,375.06
$IRIDIUM_FIX,2302.75,12605.78,230910,202000
$TT8_MAMPS,0.026964
$HUMID,56.57
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,23.70
$XPDR_PINGS,186
$24V_AH,24.5,3.158
$10V_AH,10.5,2.006
$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,21.175,65.550,507.350,38.125,0.000,0.000,0.000,0.000,46.500,0.000,18.856,2569.010,1983.526,574.076,2400.837,104.467,0.000,1513.618,0.000,2331.335,0.000,0.549,0.000
$DEVICE_MAMPS,263.925,84.150,794.835,58.905,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,722.964,2241.361,1633.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330816
$DATA_FILE_SIZE,70270,1076
$CAP_FILE_SIZE,116649,0
$CFSIZE,260165632,253153280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.228,318.3,1
$GPS,230910,223307,2312.854,12608.067,27,1.2,27,-3.4