version: 66.08
glider: 176
mission: 2
dive: 7
start: 9 23 110 9 54 21
data:
$ID,176
$MISSION,2
$DIVE,7
$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,0
$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,-4726.5464
$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
$GPS1,230910,094706,2349.953,12630.696,13,1.8,23,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-70.2
$GPS2,230910,095355,2349.993,12630.706,14,1.8,31,-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,200.2,106361,-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,-73.88,0.000,2,0.000,0.000,207,2123,2692,0,0,0,0,0,0
$GC,93,-0.76,-243.3,3.5,-6.8,9,127,8.65,2.15,-17.17,0.000,4,0.252,0.048,2351,644,3693,0,0,0,0,0,0
$GC,308,-0.73,-243.3,69.6,-26.8,44,317,0.05,2.25,0.00,0.000,6,0.170,0.050,2370,2109,3694,0,0,0,0,0,0
$GC,673,-0.70,-243.3,148.2,-19.1,105,681,0.00,2.12,0.00,0.000,4,0.000,0.037,2370,656,3695,0,0,0,0,0,0
$GC,827,-0.74,-243.3,172.1,-13.9,132,834,0.00,2.20,0.00,0.000,6,0.000,0.047,2366,2128,3694,0,0,0,0,0,0
$GC,1170,-0.74,-243.3,234.9,-16.8,193,1176,0.00,2.10,0.00,0.000,4,0.000,0.058,2363,3521,3695,0,0,0,0,0,0
$GC,1339,-0.76,-243.3,261.1,-14.1,223,1347,0.00,2.08,0.00,0.000,6,0.000,0.034,2363,2056,3695,0,0,0,0,0,0
$GC,1682,-0.76,-243.3,314.2,-16.0,284,1689,0.00,2.22,0.00,0.000,4,0.000,0.058,2363,3523,3694,0,0,0,0,0,0
$GC,1912,-0.79,-243.3,346.2,-12.7,325,1920,0.08,2.08,0.00,0.000,6,0.134,0.034,2320,2055,3694,0,0,0,0,0,0
$GC,2256,-0.77,-243.3,406.8,-17.0,386,2263,0.12,2.25,0.00,0.000,4,0.169,0.059,2352,3521,3692,0,0,0,0,0,0
$GC,2370,-0.81,-243.3,423.0,-13.2,406,2378,0.08,2.10,0.00,0.000,6,0.132,0.034,2308,2055,3691,0,0,0,0,0,0
$GC,2712,-0.79,-243.3,485.4,-17.5,467,2721,0.15,2.25,0.00,0.000,4,0.164,0.060,2349,3522,3690,0,0,0,0,0,0
$STATE,2820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2820,begin apogee
$GC,2826,-0.12,0.0,500.6,12.4,486,3022,0.60,0.08,184.73,0.820,6,0.112,0.072,2566,2101,2697,0,0,0,0,0,0
$STATE,3023,end apogee,CONTROL_FINISHED_OK
$STATE,3023,begin climb
$GC,3024,0.76,243.3,509.4,0.0,500,3224,0.73,2.38,191.43,0.801,4,0.039,0.050,2892,642,1705,0,0,0,0,0,0
$GC,3455,0.66,243.3,423.4,24.5,562,3462,0.30,2.20,0.00,0.000,6,0.173,0.045,2806,2094,1698,0,0,0,0,0,0
$GC,3797,0.64,243.3,362.9,17.4,623,3803,0.00,2.20,0.00,0.000,4,0.000,0.050,2806,636,1696,0,0,0,0,0,0
$GC,3865,0.64,243.3,351.8,15.2,635,3872,0.00,2.20,0.00,0.000,6,0.000,0.045,2806,2100,1695,0,0,0,0,0,0
$GC,4207,0.62,243.3,296.4,15.6,696,4215,0.05,0.00,0.00,0.000,6,0.243,0.000,2794,2100,1694,0,0,0,0,0,0
$GC,4552,0.64,261.8,248.9,14.4,757,4572,0.05,2.20,14.27,0.641,4,0.176,0.056,2837,3505,1631,0,0,0,0,0,0
$GC,4589,0.59,261.8,242.2,18.5,763,4597,0.20,2.17,0.00,0.000,6,0.171,0.038,2787,2039,1630,0,0,0,0,0,0
$GC,4933,0.64,287.9,195.3,14.1,824,4966,0.10,2.30,21.83,0.624,4,0.103,0.056,2849,3497,1524,0,0,0,0,0,0
$GC,5012,0.61,287.9,180.6,20.7,837,5019,0.22,2.15,0.00,0.000,6,0.161,0.037,2791,2047,1521,0,0,0,0,0,0
$GC,5362,0.75,383.0,135.5,11.2,898,5444,0.17,2.15,73.88,0.591,4,0.073,0.047,2887,645,1137,0,0,0,0,0,0
$GC,5483,0.74,383.0,112.0,19.8,914,5493,0.15,2.25,0.00,0.000,6,0.133,0.044,2835,2098,1134,0,0,0,0,0,0
$GC,5849,0.85,437.9,58.4,12.9,975,5900,0.12,2.17,41.60,0.529,4,0.090,0.053,2918,3503,911,0,0,0,0,0,0
$GC,5931,0.82,437.9,41.7,23.0,986,5940,0.20,2.20,0.00,0.000,6,0.141,0.038,2860,2053,909,0,0,0,0,0,0
$STATE,6171,end climb,SURFACE_DEPTH_REACHED
$STATE,6171,begin surface coast
$FINISH,0.4,0.996316
$STATE,6196,end surface coast,CONTROL_FINISHED_OK
$STATE,6196,begin surface
$SM_CCo,6209,55.40,0.067,0,0,500,539.41
$SM_GC,1.18,0.00,0.00,55.40,0.000,0.000,0.067,201,2127,500,-7.50,0.76,539.41
$IRIDIUM_FIX,2342.70,12633.34,230910,080804
$TT8_MAMPS,0.026964
$HUMID,51.96
$INTERNAL_PRESSURE,8.72378
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,24.4,3.304
$10V_AH,10.7,2.366
$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,18.725,52.725,527.725,55.400,0.000,23.037,40.368,238.914,0.000,0.000,34.513,2377.695,1240.607,543.464,2423.375,91.865,0.000,1469.580,0.000,2079.145,0.000,0.542,0.000
$DEVICE_MAMPS,252.450,111.690,820.080,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,690.879,97.616,909.129,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334136
$DATA_FILE_SIZE,56877,1030
$CAP_FILE_SIZE,94578,0
$CFSIZE,260165632,252547072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128,314.5,1
$GPS,230910,113937,2349.615,12629.917,25,1.3,25,-3.5