version: 66.08
glider: 176
mission: 2
dive: 10
start: 9 23 110 15 19 53
data:
$ID,176
$MISSION,2
$DIVE,10
$N_DIVES,15
$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,-4730.8599
$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
$GPS1,230910,151458,2348.612,12628.458,12,2.2,32,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-67.9
$GPS2,230910,151926,2348.555,12628.441,10,1.8,10,-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,197.2,102162,-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,-243.3,0.0,0.0,0,89,0.00,0.00,-72.00,0.000,2,0.000,0.000,206,2138,2628,0,0,0,0,0,0
$GC,91,-0.76,-243.3,3.2,-6.5,9,125,8.68,2.25,-19.23,0.000,4,0.253,0.055,2355,648,3695,0,0,0,0,0,0
$GC,283,-0.74,-243.3,62.4,-21.9,40,292,0.00,2.25,0.00,0.000,6,0.000,0.048,2353,2115,3695,0,0,0,0,0,0
$GC,637,-0.69,-243.3,151.7,-23.2,101,645,0.12,2.15,0.00,0.000,4,0.187,0.060,2387,3531,3696,0,0,0,0,0,0
$GC,894,-0.71,-243.3,193.7,-16.9,147,901,0.08,2.10,0.00,0.000,6,0.131,0.034,2346,2055,3697,0,0,0,0,0,0
$GC,1238,-0.68,-243.3,264.8,-20.3,208,1245,0.15,2.28,0.00,0.000,4,0.166,0.058,2390,3536,3696,0,0,0,0,0,0
$GC,1489,-0.73,-243.3,298.3,-11.6,253,1496,0.10,2.12,0.00,0.000,6,0.105,0.034,2332,2053,3696,0,0,0,0,0,0
$GC,1831,-0.71,-243.3,365.1,-18.4,314,1840,0.15,2.25,0.00,0.000,4,0.167,0.057,2376,3524,3696,0,0,0,0,0,0
$GC,1924,-0.75,-243.3,378.3,-12.9,330,1932,0.10,2.10,0.00,0.000,6,0.105,0.033,2320,2052,3696,0,0,0,0,0,0
$GC,2268,-0.73,-243.3,438.8,-17.5,391,2276,0.17,2.28,0.00,0.000,4,0.151,0.058,2375,3536,3694,0,0,0,0,0,0
$GC,2400,-0.79,-243.3,453.3,-9.6,414,2408,0.10,2.10,0.00,0.000,6,0.102,0.034,2316,2052,3694,0,0,0,0,0,0
$STATE,2682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2682,begin apogee
$GC,2685,-0.12,0.0,500.3,17.5,464,2882,0.73,0.00,185.20,0.823,6,0.125,0.000,2567,2097,2697,0,0,0,0,0,0
$STATE,2883,end apogee,CONTROL_FINISHED_OK
$STATE,2883,begin climb
$GC,2885,0.76,243.3,510.1,0.0,478,3085,0.73,2.33,191.62,0.802,4,0.039,0.054,2883,3505,1706,0,0,0,0,0,0
$GC,3109,0.64,243.3,475.9,26.9,503,3116,0.35,2.25,0.00,0.000,6,0.181,0.036,2799,2037,1703,0,0,0,0,0,0
$GC,3453,0.62,243.3,414.9,16.5,564,3459,0.00,2.10,0.00,0.000,4,0.000,0.050,2803,634,1699,0,0,0,0,0,0
$GC,3516,0.62,243.3,404.7,15.2,575,3523,0.00,2.20,0.00,0.000,6,0.000,0.043,2803,2097,1697,0,0,0,0,0,0
$GC,3858,0.60,243.3,346.9,16.9,636,3866,0.08,2.12,0.00,0.000,4,0.210,0.054,2784,3507,1695,0,0,0,0,0,0
$GC,3928,0.60,243.3,335.3,16.0,648,3934,0.00,2.15,0.00,0.000,6,0.000,0.036,2789,2043,1695,0,0,0,0,0,0
$GC,4270,0.65,279.8,288.2,13.6,709,4308,0.08,2.12,28.77,0.684,4,0.132,0.050,2845,641,1557,0,0,0,0,0,0
$GC,4355,0.63,279.8,274.2,16.8,723,4362,0.17,2.20,0.00,0.000,6,0.157,0.043,2794,2099,1554,0,0,0,0,0,0
$GC,4697,0.68,315.5,225.1,13.7,784,4735,0.10,2.25,29.15,0.640,4,0.104,0.049,2871,635,1411,0,0,0,0,0,0
$GC,4752,0.64,315.5,214.6,20.9,793,4760,0.25,2.22,0.00,0.000,6,0.147,0.044,2795,2101,1409,0,0,0,0,0,0
$GC,5096,0.68,330.6,163.6,14.5,854,5117,0.10,2.12,12.48,0.567,4,0.103,0.054,2864,3504,1349,0,0,0,0,0,0
$GC,5145,0.64,330.6,153.8,23.0,862,5153,0.25,2.17,0.00,0.000,6,0.155,0.037,2795,2039,1348,0,0,0,0,0,0
$GC,5510,0.78,409.6,105.1,11.8,923,5577,0.17,2.17,61.22,0.564,4,0.073,0.047,2898,644,1028,0,0,0,0,0,0
$GC,5597,0.73,409.6,86.8,25.8,934,5607,0.20,2.25,0.00,0.000,6,0.134,0.044,2831,2097,1025,0,0,0,0,0,0
$GC,5963,0.93,524.0,36.7,10.4,995,6061,0.20,2.22,85.45,0.509,4,0.065,0.054,2941,3497,560,0,0,0,0,0,0
$GC,6070,0.86,524.0,12.0,28.9,1008,6079,0.20,2.22,0.00,0.000,6,0.149,0.038,2876,2049,559,0,0,0,0,0,0
$STATE,6109,end climb,SURFACE_DEPTH_REACHED
$STATE,6109,begin surface coast
$FINISH,0.6,1.022028
$STATE,6129,end surface coast,CONTROL_FINISHED_OK
$STATE,6129,begin surface
$SM_CCo,6142,11.90,0.122,1,0,499,539.41
$SM_GC,1.11,0.00,0.00,11.90,0.000,0.000,0.122,210,2148,499,-7.47,1.36,539.41
$IRIDIUM_FIX,2340.34,12647.01,230910,131354
$TT8_MAMPS,0.026964
$HUMID,51.73
$INTERNAL_PRESSURE,8.70425
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,24.4,3.700
$10V_AH,10.7,2.632
$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,20.175,57.175,593.900,11.900,0.000,23.770,37.921,121.145,0.000,0.000,13.989,2328.663,1209.327,557.593,2250.573,84.728,0.000,1498.676,0.000,2041.226,0.000,0.542,0.000
$DEVICE_MAMPS,253.215,159.120,823.140,122.400,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,680.802,97.648,883.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334076
$DATA_FILE_SIZE,56853,1017
$CAP_FILE_SIZE,94160,0
$CFSIZE,260165632,252399616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.077,315.1,1
$GPS,230910,170337,2348.010,12627.665,38,1.0,38,-3.5