version: 66.08
glider: 176
mission: 2
dive: 6
start: 9 23 110 8 5 4
data:
$ID,176
$MISSION,2
$DIVE,6
$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,-4725.2896
$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
$GPS1,230910,075856,2350.560,12631.398,10,1.3,10,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-73.0
$GPS2,230910,080438,2350.599,12631.427,12,1.3,12,-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,202.5,107943,-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,15,-0.76,-243.3,0.0,0.0,0,91,0.00,0.00,-74.38,0.000,2,0.000,0.000,202,2141,2719,0,0,0,0,0,0
$GC,93,-0.76,-243.3,3.5,-7.1,9,127,8.55,2.20,-16.90,0.000,4,0.249,0.053,2353,661,3692,0,0,0,0,0,0
$GC,308,-0.76,-243.3,64.8,-22.2,44,317,0.00,2.22,0.00,0.000,6,0.000,0.052,2352,2106,3692,0,0,0,0,0,0
$GC,672,-0.71,-243.3,150.2,-23.4,105,680,0.10,2.17,0.00,0.000,4,0.199,0.060,2377,3527,3693,0,0,0,0,0,0
$GC,864,-0.71,-243.3,182.1,-13.8,139,871,0.00,2.10,0.00,0.000,6,0.000,0.034,2376,2051,3694,0,0,0,0,0,0
$GC,1207,-0.71,-243.3,238.5,-16.3,200,1213,0.00,2.25,0.00,0.000,4,0.000,0.057,2377,3532,3694,0,0,0,0,0,0
$GC,1348,-0.74,-243.3,259.3,-13.2,225,1355,0.08,2.10,0.00,0.000,6,0.133,0.033,2333,2047,3694,0,0,0,0,0,0
$GC,1692,-0.72,-243.3,321.1,-17.3,286,1699,0.15,2.28,0.00,0.000,4,0.167,0.058,2377,3533,3694,0,0,0,0,0,0
$GC,1861,-0.77,-243.3,342.5,-12.0,316,1869,0.10,2.12,0.00,0.000,6,0.106,0.034,2320,2046,3693,0,0,0,0,0,0
$GC,2205,-0.75,-243.3,403.2,-17.5,377,2213,0.15,2.28,0.00,0.000,4,0.158,0.058,2363,3532,3692,0,0,0,0,0,0
$GC,2275,-0.81,-243.3,412.4,-10.9,389,2282,0.10,2.10,0.00,0.000,6,0.106,0.034,2306,2049,3692,0,0,0,0,0,0
$GC,2616,-0.79,-243.3,470.5,-16.4,450,2623,0.15,2.28,0.00,0.000,4,0.165,0.059,2349,3535,3690,0,0,0,0,0,0
$GC,2724,-0.81,-243.3,484.7,-11.8,469,2732,0.05,2.12,0.00,0.000,6,0.183,0.034,2311,2052,3690,0,0,0,0,0,0
$STATE,2821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2821,begin apogee
$GC,2824,-0.12,0.0,500.1,16.3,486,3014,0.73,0.08,184.52,0.819,6,0.123,0.111,2565,2023,2699,0,0,0,0,0,0
$STATE,3015,end apogee,CONTROL_FINISHED_OK
$STATE,3015,begin climb
$GC,3016,0.76,243.3,508.1,0.0,499,3217,0.73,2.45,191.40,0.803,4,0.043,0.055,2874,3498,1706,0,0,0,0,0,0
$GC,3301,0.65,243.3,459.2,26.8,535,3309,0.30,2.20,0.00,0.000,6,0.179,0.037,2802,2044,1702,0,0,0,0,0,0
$GC,3646,0.63,243.3,400.0,16.5,596,3653,0.00,2.10,0.00,0.000,4,0.000,0.050,2805,638,1699,0,0,0,0,0,0
$GC,3703,0.63,243.3,390.4,15.9,606,3710,0.00,2.20,0.00,0.000,6,0.000,0.044,2805,2103,1697,0,0,0,0,0,0
$GC,4046,0.61,243.3,333.4,16.0,667,4054,0.08,2.20,0.00,0.000,4,0.211,0.049,2795,635,1696,0,0,0,0,0,0
$GC,4100,0.70,302.5,326.1,12.7,676,4155,0.10,2.17,47.15,0.717,6,0.106,0.044,2854,2106,1464,0,0,0,0,0,0
$GC,4491,0.65,302.5,246.9,21.1,745,4498,0.17,0.00,0.00,0.000,6,0.167,0.000,2803,2107,1458,0,0,0,0,0,0
$GC,4835,0.71,329.9,196.1,14.0,806,4866,0.10,2.17,21.62,0.624,4,0.106,0.056,2868,3497,1352,0,0,0,0,0,0
$GC,4945,0.68,329.9,172.1,21.3,825,4953,0.20,2.15,0.00,0.000,6,0.161,0.039,2812,2047,1350,0,0,0,0,0,0
$GC,5297,0.74,362.0,120.5,13.8,886,5331,0.10,2.12,25.75,0.575,4,0.106,0.048,2875,638,1222,0,0,0,0,0,0
$GC,5351,0.73,362.0,111.1,18.0,893,5360,0.12,2.22,0.00,0.000,6,0.130,0.044,2830,2096,1221,0,0,0,0,0,0
$GC,5716,0.91,466.4,63.8,10.8,954,5806,0.20,2.22,78.85,0.534,4,0.067,0.054,2937,3494,795,0,0,0,0,0,0
$GC,5884,0.88,466.4,23.8,25.4,978,5893,0.17,2.20,0.00,0.000,6,0.144,0.040,2881,2051,792,0,0,0,0,0,0
$STATE,5995,end climb,SURFACE_DEPTH_REACHED
$STATE,5995,begin surface coast
$FINISH,0.4,1.021920
$STATE,6014,end surface coast,CONTROL_FINISHED_OK
$STATE,6014,begin surface
$SM_CCo,6027,39.72,0.387,1,0,499,539.41
$SM_GC,1.13,0.00,0.00,39.72,0.000,0.000,0.387,211,2123,499,-7.47,0.65,539.41
$IRIDIUM_FIX,2340.34,12631.94,230910,060648
$TT8_MAMPS,0.026964
$HUMID,53.15
$INTERNAL_PRESSURE,8.72378
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,24.4,3.175
$10V_AH,10.7,2.274
$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,19.225,52.900,549.300,39.725,0.000,28.209,35.609,195.615,0.000,0.000,15.504,2299.559,1183.692,552.742,2300.178,81.829,0.000,1462.228,0.000,2014.946,0.000,0.543,0.000
$DEVICE_MAMPS,248.625,122.400,819.315,387.090,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,669.108,93.828,883.497,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334144
$DATA_FILE_SIZE,56959,999
$CAP_FILE_SIZE,92020,0
$CFSIZE,260165632,252604416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.084,306.5,1
$GPS,230910,094706,2349.953,12630.696,13,1.8,23,-3.5