version: 66.08
glider: 176
mission: 2
dive: 4
start: 9 23 110 4 26 51
data:
$ID,176
$MISSION,2
$DIVE,4
$N_DIVES,6
$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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-4722.7749
$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,42
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$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,100
$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
$GPS1,230910,042220,2351.677,12632.798,10,1.5,10,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-71.5
$GPS2,230910,042625,2351.733,12632.785,11,1.5,15,-3.6
$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,200.5,110920,-19.2,-15.152
$D_GRID,5000
$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,14,-0.76,-243.3,0.0,0.0,0,90,0.00,0.00,-73.30,0.000,2,0.000,0.000,226,2152,2676,0,0,0,0,0,0
$GC,92,-0.76,-243.3,3.1,-6.3,9,127,8.55,2.17,-18.62,0.000,4,0.254,0.050,2354,647,3693,0,0,0,0,0,0
$GC,284,-0.76,-243.3,52.9,-25.4,40,293,0.00,2.25,0.00,0.000,6,0.000,0.052,2352,2118,3693,0,0,0,0,0,0
$GC,641,-0.72,-243.3,140.1,-21.6,101,650,0.08,2.17,0.00,0.000,4,0.226,0.060,2364,3525,3693,0,0,0,0,0,0
$GC,787,-0.72,-243.3,167.8,-17.1,126,795,0.00,2.10,0.00,0.000,6,0.000,0.034,2363,2057,3694,0,0,0,0,0,0
$GC,1132,-0.72,-243.3,228.8,-16.1,187,1138,0.00,2.22,0.00,0.000,4,0.000,0.059,2363,3521,3693,0,0,0,0,0,0
$GC,1228,-0.74,-243.3,243.0,-13.2,204,1235,0.00,2.10,0.00,0.000,6,0.000,0.034,2364,2050,3693,0,0,0,0,0,0
$GC,1571,-0.75,-243.3,298.6,-17.4,265,1577,0.00,2.25,0.00,0.000,4,0.000,0.060,2363,3527,3692,0,0,0,0,0,0
$GC,1747,-0.78,-243.3,324.8,-14.0,296,1754,0.08,2.08,0.00,0.000,6,0.135,0.035,2320,2056,3691,0,0,0,0,0,0
$GC,2090,-0.77,-243.3,387.6,-18.6,357,2098,0.15,2.25,0.00,0.000,4,0.163,0.061,2363,3521,3689,0,0,0,0,0,0
$GC,2262,-0.82,-243.3,410.7,-12.4,387,2269,0.10,2.10,0.00,0.000,6,0.106,0.037,2305,2056,3688,0,0,0,0,0,0
$GC,2606,-0.81,-243.3,470.8,-16.9,448,2613,0.15,2.28,0.00,0.000,4,0.164,0.062,2349,3533,3686,0,0,0,0,0,0
$GC,2737,-0.84,-243.3,487.1,-11.8,471,2744,0.10,2.10,0.00,0.000,6,0.109,0.037,2294,2053,3685,0,0,0,0,0,0
$STATE,2815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2815,begin apogee
$GC,2819,-0.12,0.0,500.2,17.5,485,3008,0.80,0.00,184.23,0.810,6,0.131,0.000,2567,2093,2699,0,0,0,0,0,0
$STATE,3008,end apogee,CONTROL_FINISHED_OK
$STATE,3009,begin climb
$GC,3010,0.76,243.3,508.8,0.0,498,3210,0.73,2.35,191.80,0.793,4,0.048,0.051,2872,643,1705,0,0,0,0,0,0
$GC,3367,0.69,243.3,450.8,21.7,546,3375,0.20,2.22,0.00,0.000,6,0.181,0.049,2818,2096,1699,0,0,0,0,0,0
$GC,3713,0.65,243.3,389.4,17.4,607,3720,0.05,2.17,0.00,0.000,4,0.259,0.050,2816,645,1696,0,0,0,0,0,0
$GC,3749,0.63,243.3,383.4,16.0,613,3756,0.08,2.17,0.00,0.000,6,0.194,0.047,2798,2094,1695,0,0,0,0,0,0
$GC,4093,0.64,250.6,331.2,14.8,674,4107,0.00,2.17,5.53,0.549,4,0.000,0.058,2798,3497,1677,0,0,0,0,0,0
$GC,4153,0.63,250.6,321.9,15.3,684,4159,0.00,2.12,0.00,0.000,6,0.000,0.038,2803,2046,1676,0,0,0,0,0,0
$GC,4495,0.66,272.6,269.9,14.2,745,4520,0.00,0.00,19.38,0.659,6,0.000,0.000,2803,2043,1586,0,0,0,0,0,0
$GC,4856,0.68,293.8,217.6,14.3,809,4882,0.08,2.25,17.65,0.622,4,0.135,0.058,2849,3503,1500,0,0,0,0,0,0
$GC,4895,0.65,293.8,211.0,18.8,815,4902,0.20,2.15,0.00,0.000,6,0.168,0.038,2800,2047,1500,0,0,0,0,0,0
$GC,5237,0.74,351.0,162.6,12.8,876,5293,0.12,2.17,45.72,0.604,4,0.093,0.050,2871,642,1264,0,0,0,0,0,0
$GC,5342,0.74,351.0,144.5,17.3,893,5351,0.10,2.22,0.00,0.000,6,0.135,0.046,2836,2093,1262,0,0,0,0,0,0
$GC,5707,0.76,351.0,89.0,15.6,954,5717,0.00,2.15,0.00,0.000,4,0.000,0.057,2836,3494,1259,0,0,0,0,0,0
$GC,5830,0.79,351.0,69.6,15.9,974,5840,0.00,2.15,0.00,0.000,6,0.000,0.037,2844,2044,1258,0,0,0,0,0,0
$GC,6194,0.93,433.5,25.6,11.7,1035,6262,0.17,2.17,61.50,0.506,4,0.074,0.050,2940,645,930,0,0,0,0,0,0
$STATE,6311,end climb,SURFACE_DEPTH_REACHED
$STATE,6311,begin surface coast
$FINISH,0.4,1.021120
$STATE,6329,end surface coast,CONTROL_FINISHED_OK
$STATE,6330,begin surface
$SM_CCo,6345,56.97,0.067,0,0,500,539.41
$SM_GC,1.23,0.00,0.00,56.97,0.000,0.000,0.067,202,2123,500,-7.49,0.65,539.41
$IRIDIUM_FIX,2342.70,12630.05,230910,040459
$TT8_MAMPS,0.026964
$HUMID,51.96
$INTERNAL_PRESSURE,8.76285
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.6,2.925
$10V_AH,10.8,2.101
$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,18.700,56.875,525.800,56.975,0.000,0.000,0.000,0.000,0.000,0.000,17.908,2436.679,1245.620,558.499,2162.186,68.868,0.000,1491.647,0.000,2139.608,0.000,0.544,0.000
$DEVICE_MAMPS,259.335,166.005,810.135,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,706.110,97.401,957.191,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334152
$DATA_FILE_SIZE,60172,1054
$CAP_FILE_SIZE,101590,0
$CFSIZE,260165632,252706816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060,  5.4,1
$GPS,230910,061437,2351.092,12632.117,38,1.0,38,-3.6