version: 66.08
glider: 176
mission: 2
dive: 63
start: 9 27 110 5 46 17
data:
$ID,176
$MISSION,2
$DIVE,63
$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,-4815.8521
$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
$GPS1,270910,054158,2322.833,12601.783,12,2.1,31,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-72.0
$GPS2,270910,054550,2322.871,12601.753,12,2.0,12,-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,170.7,42462,-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,15,-0.72,-219.0,0.0,0.0,0,88,0.00,0.00,-71.15,0.000,2,0.000,0.000,201,2369,2694,0,0,0,0,0,0
$GC,90,-0.72,-219.0,3.7,-7.0,9,132,8.52,2.22,-21.48,0.000,4,0.244,0.049,2354,872,3924,0,0,0,0,0,0
$GC,182,-0.71,-219.0,36.9,-30.3,22,191,0.00,2.28,0.00,0.000,6,0.000,0.052,2354,2333,3926,0,0,0,0,0,0
$GC,546,-0.70,-219.0,145.3,-25.5,83,556,0.05,2.17,0.00,0.000,4,0.265,0.060,2365,3741,3927,0,0,0,0,0,0
$GC,644,-0.70,-219.0,165.2,-16.7,99,651,0.00,2.10,0.00,0.000,6,0.000,0.031,2364,2274,3927,0,0,0,0,0,0
$GC,988,-0.70,-219.0,241.7,-22.9,160,996,0.00,2.28,0.00,0.000,4,0.000,0.057,2364,3752,3928,0,0,0,0,0,0
$GC,1024,-0.70,-219.0,249.6,-21.1,166,1033,0.00,2.12,0.00,0.000,6,0.000,0.030,2364,2276,3928,0,0,0,0,0,0
$GC,1369,-0.70,-219.0,316.8,-19.3,219,1373,0.00,2.22,0.00,0.000,4,0.000,0.057,2364,3759,3928,0,0,0,0,0,0
$GC,1421,-0.71,-219.0,325.9,-15.2,223,1425,0.00,2.10,0.00,0.000,6,0.000,0.031,2364,2267,3927,0,0,0,0,0,0
$GC,1747,-0.71,-219.0,377.9,-16.1,253,1751,0.00,2.25,0.00,0.000,4,0.000,0.057,2363,3752,3926,0,0,0,0,0,0
$GC,1813,-0.72,-219.0,387.3,-11.3,258,1822,0.00,2.12,0.00,0.000,6,0.000,0.031,2363,2272,3926,0,0,0,0,0,0
$GC,2140,-0.73,-219.0,436.7,-15.1,289,2144,0.00,2.28,0.00,0.000,4,0.000,0.057,2363,3759,3924,0,0,0,0,0,0
$GC,2174,-0.73,-219.0,441.8,-14.2,292,2179,0.05,2.10,0.00,0.000,6,0.177,0.031,2319,2267,3924,0,0,0,0,0,0
$STATE,2467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2467,begin apogee
$GC,2471,-0.11,0.0,501.6,19.5,319,2644,0.70,0.12,164.55,0.833,6,0.124,0.091,2561,2138,3027,0,0,0,0,0,0
$STATE,2645,end apogee,CONTROL_FINISHED_OK
$STATE,2645,begin climb
$GC,2646,0.72,219.0,511.8,0.0,333,2831,0.70,2.38,170.93,0.822,4,0.046,0.044,2862,665,2132,0,0,0,0,0,0
$GC,3071,0.70,219.0,454.5,19.6,369,3080,0.15,2.22,0.00,0.000,6,0.158,0.039,2814,2127,2125,0,0,0,0,0,0
$GC,3397,0.69,219.0,395.6,17.4,400,3401,0.00,2.12,0.00,0.000,4,0.000,0.052,2814,3539,2122,0,0,0,0,0,0
$GC,3435,0.67,219.0,388.3,18.8,403,3444,0.05,2.17,0.00,0.000,6,0.194,0.034,2805,2071,2122,0,0,0,0,0,0
$GC,3762,0.70,247.3,340.4,13.8,434,3789,0.00,2.17,21.65,0.721,4,0.000,0.047,2815,656,2018,0,0,0,0,0,0
$GC,3816,0.74,290.9,332.9,13.1,438,3861,0.03,2.22,35.65,0.722,6,0.112,0.038,2851,2122,1839,0,0,0,0,0,0
$GC,4189,0.73,290.9,256.5,20.7,489,4196,0.12,0.00,0.00,0.000,6,0.191,0.000,2818,2124,1831,0,0,0,0,0,0
$GC,4535,0.72,290.9,195.5,16.5,550,4544,0.00,2.20,0.00,0.000,4,0.000,0.047,2818,667,1828,0,0,0,0,0,0
$GC,4606,0.76,321.9,184.9,13.7,562,4636,0.05,2.17,24.05,0.629,6,0.077,0.040,2873,2118,1713,0,0,0,0,0,0
$GC,4983,0.75,321.9,108.5,18.7,626,4993,0.17,2.17,0.00,0.000,4,0.175,0.045,2831,673,1706,0,0,0,0,0,0
$GC,5019,0.74,321.9,102.5,16.5,631,5028,0.00,2.17,0.00,0.000,6,0.000,0.041,2831,2117,1705,0,0,0,0,0,0
$GC,5377,0.97,494.5,57.3,7.1,692,5516,0.20,2.20,129.35,0.540,4,0.065,0.049,2944,3524,1010,0,0,0,0,0,0
$GC,5570,0.96,494.5,23.2,21.9,718,5579,0.17,2.22,0.00,0.000,6,0.146,0.036,2897,2069,1007,0,0,0,0,0,0
$STATE,5687,end climb,SURFACE_DEPTH_REACHED
$STATE,5687,begin surface coast
$FINISH,0.5,1.021487
$STATE,5707,end surface coast,CONTROL_FINISHED_OK
$STATE,5707,begin surface
$SM_CCo,5720,67.38,0.068,0,0,540,610.06
$SM_GC,1.27,0.00,0.00,67.38,0.000,0.000,0.068,212,2360,540,-7.43,0.99,610.06
$IRIDIUM_FIX,2314.48,12600.09,270910,030352
$TT8_MAMPS,0.026964
$HUMID,51.10
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,24.5,9.851
$10V_AH,10.7,7.788
$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,17.850,53.500,546.175,67.375,0.000,30.912,14.639,100.997,0.000,0.000,15.740,1732.276,1327.128,572.087,2303.283,91.166,0.000,1358.820,0.000,2153.513,0.000,0.542,0.000
$DEVICE_MAMPS,265.455,91.035,833.085,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,494.519,0.000,1559.089,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334076
$DATA_FILE_SIZE,43541,740
$CAP_FILE_SIZE,79921,0
$CFSIZE,260165632,250060800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.188,302.2,1
$GPS,270910,072354,2322.232,12601.250,25,1.2,43,-3.4