version: 66.08
glider: 176
mission: 2
dive: 56
start: 9 26 110 17 16 46
data:
$ID,176
$MISSION,2
$DIVE,56
$N_DIVES,65
$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,225
$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,610
$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,-4806.4077
$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,35
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0020000001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2220
$C_ROLL_CLIMB,2100
$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,3027
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,110
$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
$GPS1,260910,171232,2326.834,12604.732,12,1.7,12,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-72.0
$GPS2,260910,171619,2326.863,12604.685,13,1.7,13,-3.4
$SPEED_LIMITS,0.262,0.357
$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,185.0,50386,-20.3,-15.152
$D_GRID,1000
$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,-0.85,-219.0,0.0,0.0,0,89,0.00,0.00,-72.30,0.000,2,0.000,0.000,202,2260,2731,0,0,0,0,0,0
$GC,91,-0.85,-219.0,3.7,-7.1,9,126,8.45,2.22,-20.15,0.000,4,0.246,0.050,2328,772,3923,0,0,0,0,0,0
$GC,262,-0.84,-219.0,63.5,-29.0,36,270,0.00,2.25,0.00,0.000,6,0.000,0.049,2327,2231,3924,0,0,0,0,0,0
$GC,625,-0.82,-219.0,179.2,-29.1,97,632,0.03,2.15,0.00,0.000,4,0.327,0.059,2336,3643,3927,0,0,0,0,0,0
$GC,722,-0.82,-219.0,202.7,-19.5,113,729,0.00,2.08,0.00,0.000,6,0.000,0.031,2336,2175,3927,0,0,0,0,0,0
$GC,1077,-0.81,-219.0,291.6,-23.0,174,1087,0.00,2.25,0.00,0.000,4,0.000,0.057,2335,3637,3927,0,0,0,0,0,0
$GC,1152,-0.81,-219.0,307.0,-18.1,183,1156,0.00,2.08,0.00,0.000,6,0.000,0.030,2335,2167,3927,0,0,0,0,0,0
$GC,1478,-0.80,-219.0,374.5,-20.8,213,1482,0.00,2.25,0.00,0.000,4,0.000,0.057,2335,3644,3927,0,0,0,0,0,0
$GC,1567,-0.81,-219.0,392.2,-16.2,220,1577,0.00,2.12,0.00,0.000,6,0.000,0.030,2335,2167,3926,0,0,0,0,0,0
$GC,1894,-0.81,-219.0,454.3,-19.2,251,1898,0.00,2.25,0.00,0.000,4,0.000,0.057,2335,3648,3925,0,0,0,0,0,0
$GC,1979,-0.82,-219.0,468.4,-14.1,258,1983,0.00,2.08,0.00,0.000,6,0.000,0.031,2335,2175,3925,0,0,0,0,0,0
$STATE,2166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2166,begin apogee
$GC,2170,-0.14,0.0,500.6,17.7,275,2340,0.62,0.12,165.25,0.824,6,0.123,0.094,2554,2135,3027,0,0,0,0,0,0
$STATE,2341,end apogee,CONTROL_FINISHED_OK
$STATE,2341,begin climb
$GC,2343,0.85,219.0,510.2,0.0,289,2528,0.85,2.25,171.52,0.812,4,0.050,0.051,2894,3519,2131,0,0,0,0,0,0
$GC,2602,0.82,219.0,483.4,25.5,311,2609,0.20,2.20,0.00,0.000,6,0.202,0.034,2854,2040,2127,0,0,0,0,0,0
$GC,2927,0.80,219.0,416.4,18.9,342,2931,0.00,2.05,0.00,0.000,4,0.000,0.045,2864,658,2123,0,0,0,0,0,0
$GC,2954,0.78,219.0,411.0,19.4,344,2964,0.05,2.22,0.00,0.000,6,0.175,0.041,2848,2122,2122,0,0,0,0,0,0
$GC,3282,0.76,219.0,356.0,16.6,375,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2123,2120,0,0,0,0,0,0
$GC,3599,0.75,219.0,300.3,17.3,405,3601,0.05,0.00,0.00,0.000,6,0.273,0.000,2837,2123,2119,0,0,0,0,0,0
$GC,3943,0.74,225.5,246.8,14.8,464,3953,0.00,2.22,3.92,0.448,4,0.000,0.045,2845,664,2107,0,0,0,0,0,0
$GC,4072,0.74,236.2,227.7,14.7,485,4089,0.05,2.17,9.98,0.604,6,0.233,0.041,2833,2132,2063,0,0,0,0,0,0
$GC,4440,0.77,265.2,174.7,13.8,547,4471,0.08,2.28,23.75,0.614,4,0.129,0.044,2899,658,1943,0,0,0,0,0,0
$GC,4524,0.75,265.2,159.7,18.2,560,4533,0.20,2.22,0.00,0.000,6,0.155,0.041,2834,2129,1940,0,0,0,0,0,0
$GC,4882,0.83,336.4,109.8,11.8,621,4948,0.12,2.20,55.85,0.575,4,0.087,0.051,2911,3533,1653,0,0,0,0,0,0
$GC,5037,0.81,336.4,75.7,26.6,644,5047,0.20,2.20,0.00,0.000,6,0.159,0.036,2853,2071,1648,0,0,0,0,0,0
$GC,5404,1.07,539.7,41.4,5.7,705,5566,0.25,2.17,151.12,0.509,4,0.057,0.043,2984,668,824,0,0,0,0,0,0
$STATE,5573,end climb,SURFACE_DEPTH_REACHED
$STATE,5573,begin surface coast
$FINISH,0.4,1.012159
$STATE,5582,end surface coast,CONTROL_FINISHED_OK
$STATE,5583,begin surface
$SM_CCo,5598,48.67,0.069,0,0,540,610.06
$SM_GC,1.07,0.00,0.00,48.67,0.000,0.000,0.069,207,2243,540,-7.48,0.65,610.06
$IRIDIUM_FIX,2319.18,12602.85,260910,151511
$TT8_MAMPS,0.026215
$HUMID,49.09
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.5,8.986
$10V_AH,10.8,7.021
$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,18.350,48.625,581.400,48.675,0.000,31.104,14.006,93.869,0.000,0.000,16.004,1680.476,1324.818,550.818,2239.335,86.079,0.000,1326.241,0.000,2090.418,0.000,0.543,0.000
$DEVICE_MAMPS,327.420,94.095,823.905,68.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,485.079,0.000,1543.038,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334052
$DATA_FILE_SIZE,43597,727
$CAP_FILE_SIZE,76472,0
$CFSIZE,260165632,250388480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,310.9,1
$GPS,260910,185201,2326.140,12604.238,41,1.0,41,-3.4