version: 66.08
glider: 176
mission: 2
dive: 61
start: 9 27 110 2 4 48
data:
$ID,176
$MISSION,2
$DIVE,61
$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,-4813.1562
$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
$GPS1,270910,015956,2323.679,12602.263,11,1.5,11,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.7
$GPS2,270910,020420,2323.699,12602.236,14,1.7,14,-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,154.4,44056,-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,-0.72,-219.0,0.0,0.0,0,88,0.00,0.00,-71.40,0.000,2,0.000,0.000,202,2399,2689,0,0,0,0,0,0
$GC,90,-0.72,-219.0,3.7,-7.1,9,132,8.68,2.25,-21.42,0.000,4,0.249,0.048,2357,884,3924,0,0,0,0,0,0
$GC,199,-0.71,-219.0,42.3,-28.7,25,207,0.00,2.25,0.00,0.000,6,0.000,0.050,2358,2335,3924,0,0,0,0,0,0
$GC,562,-0.70,-219.0,151.2,-26.2,86,571,0.00,2.17,0.00,0.000,4,0.000,0.060,2355,3748,3926,0,0,0,0,0,0
$GC,724,-0.70,-219.0,183.2,-17.9,114,733,0.03,2.12,0.00,0.000,6,0.171,0.030,2366,2271,3927,0,0,0,0,0,0
$GC,1074,-0.70,-219.0,255.4,-19.3,175,1081,0.00,2.22,0.00,0.000,4,0.000,0.057,2366,3749,3927,0,0,0,0,0,0
$GC,1123,-0.70,-219.0,264.5,-16.8,183,1131,0.00,2.10,0.00,0.000,6,0.000,0.029,2366,2270,3927,0,0,0,0,0,0
$GC,1468,-0.70,-219.0,322.4,-16.4,233,1472,0.00,2.22,0.00,0.000,4,0.000,0.057,2366,3752,3927,0,0,0,0,0,0
$GC,1543,-0.71,-219.0,332.9,-11.6,239,1547,0.00,2.10,0.00,0.000,6,0.000,0.029,2366,2272,3926,0,0,0,0,0,0
$GC,1869,-0.72,-219.0,380.3,-15.6,269,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2267,3926,0,0,0,0,0,0
$GC,2189,-0.72,-219.0,427.6,-14.4,299,2193,0.05,2.25,0.00,0.000,4,0.183,0.056,2326,3751,3924,0,0,0,0,0,0
$GC,2254,-0.73,-219.0,438.3,-15.2,304,2264,0.08,2.12,0.00,0.000,6,0.128,0.029,2358,2263,3923,0,0,0,0,0,0
$GC,2581,-0.74,-219.0,484.8,-15.0,335,2585,0.00,2.22,0.00,0.000,4,0.000,0.056,2358,3752,3921,0,0,0,0,0,0
$GC,2625,-0.75,-219.0,491.0,-12.2,338,2635,0.03,2.12,0.00,0.000,6,0.103,0.030,2313,2266,3921,0,0,0,0,0,0
$STATE,2684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2684,begin apogee
$GC,2688,-0.11,0.0,500.4,17.6,344,2858,0.70,0.15,164.12,0.834,6,0.128,0.083,2554,2146,3027,0,0,0,0,0,0
$STATE,2859,end apogee,CONTROL_FINISHED_OK
$STATE,2859,begin climb
$GC,2860,0.72,219.0,511.2,0.0,358,3046,0.70,2.38,170.95,0.819,4,0.043,0.042,2862,666,2132,0,0,0,0,0,0
$GC,3275,0.70,219.0,460.4,20.7,393,3284,0.15,2.22,0.00,0.000,6,0.158,0.040,2814,2123,2124,0,0,0,0,0,0
$GC,3600,0.69,219.0,404.0,17.3,424,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2124,2122,0,0,0,0,0,0
$GC,3920,0.69,225.5,352.9,14.8,454,3934,0.00,2.22,4.43,0.517,4,0.000,0.047,2818,666,2107,0,0,0,0,0,0
$GC,3983,0.73,265.1,343.8,13.3,459,4028,0.00,2.20,32.47,0.730,6,0.000,0.041,2818,2126,1944,0,0,0,0,0,0
$GC,4348,0.72,265.1,285.6,16.7,500,4356,0.00,2.15,0.00,0.000,4,0.000,0.054,2818,3525,1938,0,0,0,0,0,0
$GC,4453,0.71,265.1,267.4,17.9,518,4461,0.00,2.17,0.00,0.000,6,0.000,0.035,2818,2066,1937,0,0,0,0,0,0
$GC,4801,0.70,265.1,211.6,16.7,579,4808,0.00,2.05,0.00,0.000,4,0.000,0.047,2818,662,1935,0,0,0,0,0,0
$GC,4861,0.70,269.6,202.6,14.9,589,4869,0.00,2.17,0.00,0.000,6,0.000,0.040,2818,2131,1934,0,0,0,0,0,0
$GC,5210,0.72,293.3,149.2,14.0,650,5244,0.00,2.15,22.08,0.600,4,0.000,0.052,2818,3529,1830,0,0,0,0,0,0
$GC,5263,0.72,293.3,141.1,15.9,657,5273,0.00,2.17,0.00,0.000,6,0.000,0.036,2818,2072,1828,0,0,0,0,0,0
$GC,5628,0.78,341.7,90.0,12.9,718,5678,0.10,2.15,38.50,0.562,4,0.110,0.046,2887,667,1631,0,0,0,0,0,0
$GC,5721,0.77,341.7,74.3,16.0,731,5731,0.15,2.20,0.00,0.000,6,0.138,0.039,2835,2120,1627,0,0,0,0,0,0
$GC,6087,1.04,549.3,44.0,5.5,792,6250,0.25,2.28,154.12,0.516,4,0.057,0.044,2968,660,785,0,0,0,0,0,0
$STATE,6281,end climb,SURFACE_DEPTH_REACHED
$STATE,6281,begin surface coast
$FINISH,0.6,1.021511
$STATE,6294,end surface coast,CONTROL_FINISHED_OK
$STATE,6294,begin surface
$SM_CCo,6310,38.53,0.068,0,0,540,610.06
$SM_GC,1.32,0.00,0.00,38.53,0.000,0.000,0.068,201,2357,540,-7.46,0.90,610.06
$IRIDIUM_FIX,2314.48,12601.47,270910,000018
$TT8_MAMPS,0.026215
$HUMID,50.59
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.5,9.604
$10V_AH,10.8,7.572
$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,17.975,57.700,586.675,38.525,0.000,24.738,40.287,106.182,0.000,0.000,16.696,1900.763,1493.837,577.908,2556.999,91.636,0.000,1441.421,0.000,2370.982,0.000,0.542,0.000
$DEVICE_MAMPS,249.390,83.385,833.850,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,547.368,0.000,1722.337,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50359,819
$CAP_FILE_SIZE,85917,0
$CFSIZE,260165632,250142720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.198,330.6,1
$GPS,270910,035136,2323.391,12602.198,29,1.0,33,-3.4