version: 66.08
glider: 176
mission: 2
dive: 9
start: 9 23 110 13 29 16
data:
$ID,176
$MISSION,2
$DIVE,9
$N_DIVES,12
$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,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,-4729.0586
$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
$GPS1,230910,132336,2349.148,12629.137,32,1.2,32,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.7
$GPS2,230910,132849,2349.108,12629.163,10,1.4,10,-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,197.0,103649,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.76,-243.3,0.0,0.0,0,89,0.00,0.00,-72.65,0.000,2,0.000,0.000,210,2130,2649,0,0,0,0,0,0
$GC,91,-0.76,-243.3,3.4,-6.8,9,125,8.57,2.17,-18.55,0.000,4,0.249,0.053,2357,659,3692,0,0,0,0,0,0
$GC,140,-0.51,-243.3,21.4,-40.4,15,150,0.28,2.25,0.00,0.000,6,0.183,0.047,2437,2118,3692,0,0,0,0,0,0
$GC,499,-0.53,-243.3,106.8,-15.8,76,508,0.00,2.15,0.00,0.000,4,0.000,0.038,2437,661,3692,0,0,0,0,0,0
$GC,546,-0.61,-243.3,113.4,-12.0,83,556,0.08,2.20,0.00,0.000,6,0.059,0.044,2375,2119,3692,0,0,0,0,0,0
$GC,902,-0.59,-243.3,187.8,-19.9,144,909,0.15,2.15,0.00,0.000,4,0.165,0.059,2418,3526,3693,0,0,0,0,0,0
$GC,1131,-0.65,-243.3,215.4,-10.7,185,1138,0.10,2.10,0.00,0.000,6,0.108,0.033,2359,2042,3694,0,0,0,0,0,0
$GC,1474,-0.63,-243.3,277.2,-17.7,246,1482,0.15,2.28,0.00,0.000,4,0.161,0.057,2404,3523,3693,0,0,0,0,0,0
$GC,1732,-0.71,-243.3,304.0,-9.9,292,1739,0.12,2.08,0.00,0.000,6,0.091,0.033,2332,2052,3693,0,0,0,0,0,0
$GC,2074,-0.68,-243.3,367.4,-18.1,353,2082,0.17,2.28,0.00,0.000,4,0.158,0.058,2386,3535,3692,0,0,0,0,0,0
$GC,2238,-0.73,-243.3,385.7,-10.2,382,2245,0.10,2.12,0.00,0.000,6,0.102,0.033,2322,2046,3691,0,0,0,0,0,0
$GC,2581,-0.71,-243.3,445.4,-17.9,443,2590,0.17,2.28,0.00,0.000,4,0.155,0.058,2375,3530,3690,0,0,0,0,0,0
$GC,2719,-0.76,-243.3,461.4,-10.3,467,2727,0.10,2.12,0.00,0.000,6,0.103,0.034,2315,2044,3689,0,0,0,0,0,0
$STATE,2955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2955,begin apogee
$GC,2958,-0.12,0.0,500.5,17.1,509,3147,0.70,0.00,184.43,0.825,6,0.127,0.000,2561,2096,2699,0,0,0,0,0,0
$STATE,3148,end apogee,CONTROL_FINISHED_OK
$STATE,3148,begin climb
$GC,3149,0.76,243.3,509.6,0.0,523,3354,0.75,2.33,191.85,0.800,4,0.043,0.047,2887,651,1705,0,0,0,0,0,0
$GC,3360,0.65,243.3,478.9,26.9,546,3368,0.30,2.25,0.00,0.000,6,0.171,0.044,2804,2097,1704,0,0,0,0,0,0
$GC,3705,0.62,243.3,413.7,18.6,607,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2098,1697,0,0,0,0,0,0
$GC,4048,0.60,243.3,355.9,15.2,668,4055,0.08,0.00,0.00,0.000,6,0.217,0.000,2786,2098,1696,0,0,0,0,0,0
$GC,4391,0.63,270.0,309.3,14.0,729,4418,0.08,2.28,21.05,0.692,4,0.125,0.049,2845,637,1598,0,0,0,0,0,0
$GC,4486,0.60,270.0,293.1,16.3,745,4494,0.20,2.20,0.00,0.000,6,0.156,0.044,2786,2098,1595,0,0,0,0,0,0
$GC,4831,0.71,345.5,246.2,12.0,806,4898,0.15,0.00,59.70,0.667,6,0.080,0.000,2875,2097,1289,0,0,0,0,0,0
$GC,5236,0.66,345.5,152.8,24.1,877,5243,0.22,2.15,0.00,0.000,4,0.161,0.053,2807,3507,1283,0,0,0,0,0,0
$GC,5264,0.64,345.5,147.2,22.3,881,5273,0.05,2.17,0.00,0.000,6,0.155,0.036,2797,2049,1282,0,0,0,0,0,0
$GC,5622,0.76,403.7,99.3,12.7,942,5672,0.15,2.17,44.65,0.562,4,0.079,0.047,2886,643,1052,0,0,0,0,0,0
$GC,5715,0.75,403.7,80.5,20.7,955,5725,0.15,2.22,0.00,0.000,6,0.126,0.041,2833,2100,1049,0,0,0,0,0,0
$GC,6080,0.91,496.4,34.9,11.3,1016,6156,0.17,2.25,69.10,0.504,4,0.070,0.054,2938,3506,673,0,0,0,0,0,0
$GC,6206,0.89,496.4,6.3,25.2,1033,6215,0.17,2.22,0.00,0.000,6,0.138,0.039,2881,2051,671,0,0,0,0,0,0
$STATE,6222,end climb,SURFACE_DEPTH_REACHED
$STATE,6222,begin surface coast
$FINISH,0.7,1.021971
$STATE,6236,end surface coast,CONTROL_FINISHED_OK
$STATE,6236,begin surface
$SM_CCo,6249,27.70,0.337,1,0,500,539.41
$SM_GC,1.32,0.00,0.00,27.70,0.000,0.000,0.337,209,2139,500,-7.47,1.10,539.41
$IRIDIUM_FIX,2340.34,12631.94,230910,111144
$TT8_MAMPS,0.026964
$HUMID,50.94
$INTERNAL_PRESSURE,8.72378
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,24.4,3.569
$10V_AH,10.7,2.543
$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,20.075,48.600,570.775,27.700,0.000,27.283,23.434,179.155,0.000,0.000,12.832,2384.838,1227.477,561.575,2328.248,98.219,0.000,1490.584,0.000,2099.759,0.000,0.542,0.000
$DEVICE_MAMPS,248.625,123.930,824.670,336.600,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,694.455,85.407,944.320,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334176
$DATA_FILE_SIZE,56891,1037
$CAP_FILE_SIZE,94597,0
$CFSIZE,260165632,252444672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.108,326.8,1
$GPS,230910,151458,2348.612,12628.458,12,2.2,32,-3.5