version: 66.08
glider: 176
mission: 2
dive: 71
start: 9 27 110 20 16 46
data:
$ID,176
$MISSION,2
$DIVE,71
$N_DIVES,75
$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,-4826.5435
$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
$GPS1,270910,201207,2319.440,12559.044,35,1.2,35,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.5
$GPS2,270910,201619,2319.478,12558.994,12,1.3,17,-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,169.8,36113,-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,-219.0,0.0,0.0,0,89,0.00,0.00,-72.25,0.000,2,0.000,0.000,207,2353,2722,0,0,0,0,0,0
$GC,91,-0.72,-219.0,3.7,-6.8,9,126,8.57,2.20,-20.60,0.000,4,0.248,0.048,2356,880,3922,0,0,0,0,0,0
$GC,233,-0.71,-219.0,50.2,-26.5,31,243,0.00,2.22,0.00,0.000,6,0.000,0.045,2356,2336,3924,0,0,0,0,0,0
$GC,596,-0.70,-219.0,155.6,-24.3,92,605,0.05,2.17,0.00,0.000,4,0.261,0.058,2363,3750,3925,0,0,0,0,0,0
$GC,722,-0.71,-219.0,178.3,-15.4,113,728,0.00,2.12,0.00,0.000,6,0.000,0.031,2363,2268,3927,0,0,0,0,0,0
$GC,1065,-0.70,-219.0,249.3,-20.3,174,1073,0.00,2.28,0.00,0.000,4,0.000,0.056,2363,3749,3927,0,0,0,0,0,0
$GC,1113,-0.71,-219.0,258.6,-16.8,182,1122,0.00,2.12,0.00,0.000,6,0.000,0.031,2363,2278,3927,0,0,0,0,0,0
$GC,1459,-0.71,-219.0,325.8,-20.1,232,1463,0.00,2.22,0.00,0.000,4,0.000,0.056,2363,3751,3927,0,0,0,0,0,0
$GC,1505,-0.71,-219.0,333.9,-16.1,236,1508,0.00,2.08,0.00,0.000,6,0.000,0.030,2363,2276,3926,0,0,0,0,0,0
$GC,1830,-0.71,-219.0,389.1,-17.8,266,1834,0.00,2.25,0.00,0.000,4,0.000,0.056,2363,3762,3924,0,0,0,0,0,0
$GC,1893,-0.73,-219.0,397.8,-12.1,271,1898,0.03,2.10,0.00,0.000,6,0.255,0.030,2325,2267,3924,0,0,0,0,0,0
$GC,2220,-0.73,-219.0,459.6,-19.3,301,2224,0.12,2.25,0.00,0.000,4,0.171,0.057,2361,3751,3923,0,0,0,0,0,0
$GC,2250,-0.73,-219.0,464.7,-17.5,303,2254,0.00,2.08,0.00,0.000,6,0.000,0.031,2362,2278,3923,0,0,0,0,0,0
$STATE,2511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2511,begin apogee
$GC,2515,-0.11,0.0,501.4,14.3,327,2688,0.55,0.15,164.48,0.834,6,0.112,0.054,2560,2145,3026,0,0,0,0,0,0
$STATE,2689,end apogee,CONTROL_FINISHED_OK
$STATE,2689,begin climb
$GC,2690,0.72,219.0,514.5,0.0,341,2875,0.70,2.25,170.90,0.824,4,0.045,0.048,2853,3525,2132,0,0,0,0,0,0
$GC,2969,0.69,219.0,491.3,23.3,364,2979,0.17,2.22,0.00,0.000,6,0.175,0.033,2811,2061,2128,0,0,0,0,0,0
$GC,3296,0.68,219.0,436.7,17.6,395,3300,0.00,2.05,0.00,0.000,4,0.000,0.045,2819,666,2123,0,0,0,0,0,0
$GC,3326,0.67,219.0,431.3,18.4,397,3330,0.08,2.15,0.00,0.000,6,0.198,0.039,2801,2120,2121,0,0,0,0,0,0
$GC,3652,0.69,244.7,378.7,14.0,427,3679,0.08,2.20,19.73,0.730,4,0.125,0.043,2858,663,2027,0,0,0,0,0,0
$GC,3726,0.68,244.7,366.1,19.6,433,3731,0.20,2.17,0.00,0.000,6,0.164,0.040,2800,2129,2024,0,0,0,0,0,0
$GC,4053,0.68,251.0,316.3,14.9,463,4063,0.00,0.00,5.47,0.555,6,0.000,0.000,2801,2129,2002,0,0,0,0,0,0
$GC,4391,0.69,267.4,267.9,14.4,514,4415,0.08,2.25,14.38,0.659,4,0.127,0.046,2858,660,1935,0,0,0,0,0,0
$GC,4474,0.68,267.4,254.3,17.1,527,4482,0.20,2.17,0.00,0.000,6,0.159,0.039,2799,2121,1932,0,0,0,0,0,0
$GC,4823,0.71,291.4,205.1,14.0,588,4853,0.08,2.22,19.85,0.633,4,0.125,0.045,2858,667,1837,0,0,0,0,0,0
$GC,4895,0.70,291.4,192.2,19.3,599,4904,0.17,2.17,0.00,0.000,6,0.156,0.039,2807,2124,1835,0,0,0,0,0,0
$GC,5247,0.75,329.8,138.5,13.4,660,5281,0.10,0.00,30.90,0.595,6,0.102,0.000,2876,2124,1682,0,0,0,0,0,0
$GC,5631,0.80,375.2,71.7,13.0,724,5672,0.12,0.00,35.22,0.548,6,0.170,0.000,2840,2124,1496,0,0,0,0,0,0
$GC,6022,0.99,524.2,30.5,8.2,789,6144,0.20,2.30,111.53,0.509,4,0.063,0.047,2953,667,886,0,0,0,0,0,0
$STATE,6170,end climb,SURFACE_DEPTH_REACHED
$STATE,6171,begin surface coast
$FINISH,0.5,1.009163
$STATE,6184,end surface coast,CONTROL_FINISHED_OK
$STATE,6184,begin surface
$SM_CCo,6200,50.03,0.069,0,0,540,610.06
$SM_GC,1.31,0.00,0.00,50.03,0.000,0.000,0.069,206,2353,540,-7.45,0.79,610.06
$IRIDIUM_FIX,2312.13,12601.99,270910,181839
$TT8_MAMPS,0.026964
$HUMID,49.64
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.5,10.871
$10V_AH,10.7,8.679
$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,18.575,53.300,572.450,50.025,0.000,22.108,37.385,98.851,0.000,0.000,22.426,1898.377,1474.608,559.657,2478.334,96.378,0.000,1385.654,0.000,2312.426,0.000,0.542,0.000
$DEVICE_MAMPS,260.865,58.140,833.850,68.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,541.820,0.000,1699.932,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46956,810
$CAP_FILE_SIZE,85042,0
$CFSIZE,260165632,249671680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.193,290.4,1
$GPS,270910,220138,2318.696,12558.428,10,1.9,16,-3.4