version: 66.08
glider: 177
mission: 2
dive: 9
start: 9 24 110 2 51 22
data:
$ID,177
$MISSION,2
$DIVE,9
$N_DIVES,0
$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,-4143.4009
$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,18
$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
$GPS1,240910,024550,2312.774,12608.224,12,1.8,12,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-66.8
$GPS2,240910,025056,2312.773,12608.171,11,1.9,11,-3.4
$SPEED_LIMITS,0.241,0.287
$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,153.8,1256,-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,-146.0,0.0,0.0,0,76,0.00,0.00,-59.28,0.000,2,0.000,0.000,148,1782,2590,0,0,0,0,0,0
$GC,78,-0.84,-146.0,3.1,-5.7,8,108,8.48,2.17,-12.50,0.000,4,0.259,0.080,2149,407,3142,0,0,0,0,0,0
$GC,323,-0.65,-146.0,80.9,-21.7,53,332,0.22,2.17,0.00,0.000,6,0.162,0.050,2207,1827,3144,0,0,0,0,0,0
$GC,644,-0.65,-146.0,130.9,-14.0,114,653,0.00,2.22,0.00,0.000,4,0.000,0.068,2208,410,3146,0,0,0,0,0,0
$GC,688,-0.70,-146.0,136.9,-14.2,121,696,0.00,2.15,0.00,0.000,6,0.000,0.051,2201,1817,3146,0,0,0,0,0,0
$GC,1008,-0.74,-146.0,178.5,-12.8,182,1017,0.08,2.17,0.00,0.000,4,0.119,0.065,2143,3236,3147,0,0,0,0,0,0
$GC,1076,-0.69,-146.0,188.9,-16.2,194,1085,0.15,2.17,0.00,0.000,6,0.146,0.054,2191,1818,3147,0,0,0,0,0,0
$GC,1401,-0.74,-146.0,230.1,-11.3,255,1409,0.00,2.15,0.00,0.000,4,0.000,0.057,2183,3226,3146,0,0,0,0,0,0
$GC,1454,-0.82,-146.0,236.2,-11.2,264,1462,0.05,2.12,0.00,0.000,6,0.070,0.052,2133,1827,3146,0,0,0,0,0,0
$GC,1774,-0.73,-146.0,285.0,-16.1,325,1783,0.20,2.20,0.00,0.000,4,0.159,0.067,2188,408,3146,0,0,0,0,0,0
$GC,1875,-0.81,-146.0,298.2,-12.3,343,1883,0.05,2.12,0.00,0.000,6,0.068,0.050,2135,1814,3146,0,0,0,0,0,0
$GC,2204,-0.74,-146.0,343.9,-13.2,375,2206,0.17,0.00,0.00,0.000,6,0.164,0.000,2182,1816,3145,0,0,0,0,0,0
$GC,2524,-0.83,-146.0,377.4,-11.0,405,2528,0.10,2.12,0.00,0.000,4,0.099,0.058,2117,3236,3144,0,0,0,0,0,0
$GC,2652,-0.76,-146.0,395.7,-14.1,416,2657,0.20,2.12,0.00,0.000,6,0.160,0.053,2173,1818,3144,0,0,0,0,0,0
$GC,2977,-0.84,-146.0,432.3,-10.4,446,2982,0.10,2.15,0.00,0.000,4,0.101,0.070,2121,413,3142,0,0,0,0,0,0
$GC,3003,-0.79,-146.0,435.8,-13.4,448,3011,0.17,2.12,0.00,0.000,6,0.150,0.048,2165,1828,3143,0,0,0,0,0,0
$GC,3329,-0.86,-146.0,468.3,-9.3,479,3333,0.08,2.12,0.00,0.000,4,0.124,0.060,2114,3231,3140,0,0,0,0,0,0
$GC,3429,-0.82,-146.0,480.7,-12.6,487,3436,0.15,2.12,0.00,0.000,6,0.165,0.052,2155,1812,3140,0,0,0,0,0,0
$STATE,3636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3636,begin apogee
$GC,3639,-0.14,0.0,500.6,8.9,507,3817,0.65,0.00,170.75,0.800,6,0.138,0.000,2370,1811,2545,0,0,0,0,0,0
$STATE,3818,end apogee,CONTROL_FINISHED_OK
$STATE,3818,begin climb
$GC,3819,0.84,146.0,501.4,0.0,523,4003,0.85,2.42,174.82,0.769,4,0.046,0.073,2712,384,1949,0,0,0,0,0,0
$GC,4066,0.63,146.0,456.1,24.5,545,4071,0.32,2.22,0.00,0.000,6,0.174,0.060,2623,1782,1944,0,0,0,0,0,0
$GC,4391,0.63,146.0,401.2,15.2,575,4395,0.00,2.20,0.00,0.000,4,0.000,0.068,2623,3203,1940,0,0,0,0,0,0
$GC,4446,0.63,146.0,392.2,16.5,580,4450,0.00,2.20,0.00,0.000,6,0.000,0.060,2632,1794,1938,0,0,0,0,0,0
$GC,4770,0.63,146.0,341.4,15.9,610,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1794,1937,0,0,0,0,0,0
$GC,5089,0.63,146.0,291.5,15.3,645,5097,0.00,2.22,0.00,0.000,4,0.000,0.075,2643,385,1936,0,0,0,0,0,0
$GC,5125,0.63,146.0,285.9,16.1,651,5134,0.05,2.17,0.00,0.000,6,0.171,0.060,2626,1787,1935,0,0,0,0,0,0
$GC,5449,0.66,146.0,239.6,14.8,712,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1787,1935,0,0,0,0,0,0
$GC,5769,0.70,149.8,194.7,13.6,773,5777,0.08,2.20,0.00,0.000,4,0.122,0.067,2670,3194,1935,0,0,0,0,0,0
$GC,5821,0.58,149.8,186.1,16.9,782,5830,0.22,2.17,0.00,0.000,6,0.164,0.060,2611,1792,1934,0,0,0,0,0,0
$GC,6145,0.69,160.4,145.5,13.2,843,6167,0.10,2.20,13.75,0.612,4,0.102,0.064,2666,3203,1892,0,0,0,0,0,0
$GC,6200,0.61,160.4,136.6,17.9,852,6208,0.17,2.20,0.00,0.000,6,0.158,0.059,2621,1790,1891,0,0,0,0,0,0
$GC,6523,0.83,241.3,97.6,8.7,913,6623,0.20,2.35,93.12,0.608,4,0.067,0.072,2722,372,1560,0,0,0,0,0,0
$GC,6682,0.83,241.3,71.0,18.6,938,6691,0.10,2.25,0.00,0.000,6,0.145,0.059,2691,1782,1558,0,0,0,0,0,0
$GC,7008,1.00,270.5,31.0,12.0,999,7045,0.15,0.00,32.95,0.558,6,0.076,0.000,2766,1784,1442,0,0,0,0,0,0
$STATE,7175,end climb,SURFACE_DEPTH_REACHED
$STATE,7175,begin surface coast
$FINISH,0.3,1.020267
$STATE,7192,end surface coast,CONTROL_FINISHED_OK
$STATE,7192,begin surface
$SM_CCo,7205,50.03,0.059,0,0,1016,375.06
$SM_GC,1.13,0.00,0.00,50.03,0.000,0.000,0.059,148,1828,1016,-7.10,0.20,375.06
$IRIDIUM_FIX,2302.75,12605.78,240910,000045
$TT8_MAMPS,0.026964
$HUMID,56.77
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,23.70
$XPDR_PINGS,13
$24V_AH,24.3,3.502
$10V_AH,10.5,2.406
$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,19.850,61.325,485.400,50.025,0.000,27.858,35.337,147.095,3.250,0.000,14.376,2462.765,1930.784,552.554,2504.140,115.136,0.000,1451.741,0.000,2219.109,0.000,0.546,0.000
$DEVICE_MAMPS,258.570,146.115,800.190,58.905,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,694.098,2146.649,1565.904,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330812
$DATA_FILE_SIZE,66908,1032
$CAP_FILE_SIZE,103240,0
$CFSIZE,260165632,252968960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.209,345.8,1
$GPS,240910,045331,2312.683,12608.453,39,1.3,39,-3.4