version: 66.08
glider: 176
mission: 2
dive: 59
start: 9 26 110 22 28 35
data:
$ID,176
$MISSION,2
$DIVE,59
$N_DIVES,70
$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,-4810.4565
$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,2590
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,45
$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,2325
$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
$GPS1,260910,222401,2324.389,12603.118,38,1.4,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.8
$GPS2,260910,222808,2324.415,12603.093,12,1.3,12,-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,163.3,45523,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.72,-219.0,0.0,0.0,0,84,0.00,0.00,-67.68,0.000,2,0.000,0.000,198,2369,2560,0,0,0,0,0,0
$GC,86,-0.72,-219.0,3.1,-5.5,8,128,8.57,2.17,-26.10,0.000,4,0.246,0.047,2356,876,3922,0,0,0,0,0,0
$GC,213,-0.71,-219.0,43.1,-28.1,27,222,0.00,2.28,0.00,0.000,6,0.000,0.051,2356,2341,3923,0,0,0,0,0,0
$GC,575,-0.70,-219.0,153.6,-29.7,88,584,0.05,2.17,0.00,0.000,4,0.265,0.059,2364,3752,3925,0,0,0,0,0,0
$GC,680,-0.70,-219.0,176.3,-19.2,105,687,0.00,2.10,0.00,0.000,6,0.000,0.031,2365,2267,3926,0,0,0,0,0,0
$GC,1035,-0.70,-219.0,256.4,-23.3,166,1044,0.00,2.28,0.00,0.000,4,0.000,0.057,2364,3749,3926,0,0,0,0,0,0
$GC,1081,-0.70,-219.0,265.8,-20.3,173,1088,0.00,2.10,0.00,0.000,6,0.000,0.031,2364,2278,3926,0,0,0,0,0,0
$GC,1428,-0.70,-219.0,331.4,-17.5,219,1432,0.00,2.00,0.00,0.000,4,0.000,0.037,2365,876,3926,0,0,0,0,0,0
$GC,1443,-0.70,-219.0,334.6,-16.5,220,1453,0.00,2.20,0.00,0.000,6,0.000,0.044,2364,2342,3926,0,0,0,0,0,0
$GC,1771,-0.70,-219.0,387.5,-17.2,251,1775,0.00,2.12,0.00,0.000,4,0.000,0.057,2363,3763,3924,0,0,0,0,0,0
$GC,1860,-0.71,-219.0,399.9,-11.6,258,1870,0.00,2.12,0.00,0.000,6,0.000,0.031,2363,2275,3924,0,0,0,0,0,0
$GC,2187,-0.72,-219.0,444.6,-13.9,289,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2274,3923,0,0,0,0,0,0
$GC,2506,-0.72,-219.0,483.7,-11.6,319,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2274,3920,0,0,0,0,0,0
$STATE,2651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2651,begin apogee
$GC,2655,-0.11,0.0,501.3,12.1,333,2825,0.55,0.17,163.98,0.839,6,0.111,0.074,2561,2139,3027,0,0,0,0,0,0
$STATE,2826,end apogee,CONTROL_FINISHED_OK
$STATE,2826,begin climb
$GC,2827,0.72,219.0,511.1,0.0,347,3006,0.70,2.20,171.12,0.826,4,0.044,0.047,2858,3530,2133,0,0,0,0,0,0
$GC,3188,0.70,219.0,467.7,23.0,377,3193,0.22,2.20,0.00,0.000,6,0.187,0.033,2808,2054,2128,0,0,0,0,0,0
$GC,3515,0.69,219.0,411.3,15.9,407,3519,0.00,2.25,0.00,0.000,4,0.000,0.048,2808,3534,2123,0,0,0,0,0,0
$GC,3532,0.67,219.0,408.2,16.6,408,3536,0.08,2.15,0.00,0.000,6,0.228,0.031,2802,2053,2123,0,0,0,0,0,0
$GC,3856,0.68,232.9,357.5,14.5,438,3874,0.00,2.12,10.57,0.683,4,0.000,0.045,2805,660,2076,0,0,0,0,0,0
$GC,3915,0.74,281.1,349.6,12.9,443,3965,0.10,2.17,39.33,0.738,6,0.107,0.038,2866,2125,1879,0,0,0,0,0,0
$GC,4290,0.72,281.1,270.9,21.3,489,4297,0.17,2.08,0.00,0.000,4,0.175,0.048,2816,3528,1871,0,0,0,0,0,0
$GC,4339,0.71,281.1,261.2,19.5,497,4345,0.00,2.12,0.00,0.000,6,0.000,0.034,2820,2065,1870,0,0,0,0,0,0
$GC,4686,0.70,281.1,199.7,18.8,558,4695,0.00,2.08,0.00,0.000,4,0.000,0.044,2830,666,1868,0,0,0,0,0,0
$GC,4745,0.70,281.1,189.4,17.1,568,4754,0.05,2.17,0.00,0.000,6,0.157,0.039,2811,2121,1867,0,0,0,0,0,0
$GC,5098,0.75,326.6,140.0,13.0,629,5140,0.10,2.12,34.85,0.602,4,0.104,0.047,2879,3527,1695,0,0,0,0,0,0
$GC,5171,0.74,326.6,125.8,22.6,639,5181,0.20,2.17,0.00,0.000,6,0.161,0.034,2825,2075,1692,0,0,0,0,0,0
$GC,5538,0.80,376.4,69.9,12.8,700,5588,0.10,2.28,38.97,0.549,4,0.106,0.049,2894,3527,1490,0,0,0,0,0,0
$GC,5655,0.80,376.4,50.3,18.6,717,5664,0.17,2.17,0.00,0.000,6,0.136,0.034,2839,2072,1487,0,0,0,0,0,0
$GC,6020,0.99,521.7,20.5,8.4,778,6126,0.20,0.00,102.72,0.502,2,0.063,0.000,2946,2068,922,0,0,0,0,0,0
$STATE,6127,end climb,SURFACE_DEPTH_REACHED
$STATE,6127,begin surface coast
$FINISH,0.5,0.998788
$STATE,6143,end surface coast,CONTROL_FINISHED_OK
$STATE,6143,begin surface
$SM_CCo,6157,54.33,0.068,0,0,540,610.06
$SM_GC,1.30,0.00,0.00,54.33,0.000,0.000,0.068,207,2393,540,-7.45,1.92,610.06
$IRIDIUM_FIX,2316.83,12601.47,260910,202017
$TT8_MAMPS,0.026964
$HUMID,48.93
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.5,9.354
$10V_AH,10.8,7.349
$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,18.350,52.725,561.550,54.325,0.000,30.363,36.682,95.858,0.000,0.000,14.817,1856.181,1481.826,565.216,2462.692,99.259,0.000,1386.814,0.000,2300.788,0.000,0.543,0.000
$DEVICE_MAMPS,264.690,74.205,839.205,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,530.117,0.000,1690.330,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334064
$DATA_FILE_SIZE,46841,793
$CAP_FILE_SIZE,84000,0
$CFSIZE,260165632,250236928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.236,302.5,1
$GPS,270910,001304,2323.842,12602.562,11,5.1,30,-3.4