version: 66.08
glider: 176
mission: 2
dive: 74
start: 9 28 110 1 41 29
data:
$ID,176
$MISSION,2
$DIVE,74
$N_DIVES,85
$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,-4830.5913
$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
$GPS1,280910,013701,2317.918,12557.819,8,1.9,13,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.8
$GPS2,280910,014102,2317.955,12557.810,14,1.8,14,-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,148.2,33462,-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,-219.0,0.0,0.0,0,90,0.00,0.00,-73.00,0.000,2,0.000,0.000,206,2390,2759,0,0,0,0,0,0
$GC,92,-0.72,-219.0,3.7,-6.4,9,126,8.57,2.25,-19.58,0.000,4,0.249,0.047,2355,878,3924,0,0,0,0,0,0
$GC,193,-0.71,-219.0,42.1,-30.7,24,201,0.00,2.25,0.00,0.000,6,0.000,0.050,2356,2335,3925,0,0,0,0,0,0
$GC,556,-0.70,-219.0,153.9,-26.4,85,563,0.05,2.15,0.00,0.000,4,0.263,0.059,2366,3750,3927,0,0,0,0,0,0
$GC,751,-0.71,-219.0,187.4,-14.5,119,758,0.00,2.10,0.00,0.000,6,0.000,0.030,2367,2275,3927,0,0,0,0,0,0
$GC,1096,-0.70,-219.0,253.4,-19.2,180,1105,0.00,2.25,0.00,0.000,4,0.000,0.054,2366,3745,3928,0,0,0,0,0,0
$GC,1153,-0.71,-219.0,263.0,-15.4,189,1160,0.00,2.08,0.00,0.000,6,0.000,0.029,2366,2267,3928,0,0,0,0,0,0
$GC,1498,-0.71,-219.0,323.1,-17.9,239,1502,0.00,2.28,0.00,0.000,4,0.000,0.055,2366,3753,3928,0,0,0,0,0,0
$GC,1554,-0.72,-219.0,331.4,-11.8,243,1563,0.05,2.10,0.00,0.000,6,0.176,0.029,2321,2269,3927,0,0,0,0,0,0
$GC,1879,-0.72,-219.0,398.8,-21.3,274,1883,0.15,2.25,0.00,0.000,4,0.164,0.056,2363,3760,3926,0,0,0,0,0,0
$GC,1923,-0.73,-219.0,406.8,-15.1,277,1929,0.00,2.10,0.00,0.000,6,0.000,0.029,2363,2274,3926,0,0,0,0,0,0
$GC,2248,-0.73,-219.0,453.6,-13.7,308,2253,0.05,2.25,0.00,0.000,4,0.183,0.055,2324,3759,3925,0,0,0,0,0,0
$GC,2291,-0.74,-219.0,459.5,-15.0,311,2296,0.12,2.10,0.00,0.000,6,0.147,0.030,2364,2260,3925,0,0,0,0,0,0
$STATE,2595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2595,begin apogee
$GC,2599,-0.11,0.0,500.2,13.1,339,2771,0.55,0.17,164.75,0.834,6,0.113,0.076,2562,2142,3027,0,0,0,0,0,0
$STATE,2772,end apogee,CONTROL_FINISHED_OK
$STATE,2772,begin climb
$GC,2773,0.72,219.0,509.8,0.0,353,2957,0.70,2.25,170.65,0.822,4,0.045,0.047,2855,3526,2132,0,0,0,0,0,0
$GC,3097,0.70,219.0,474.8,22.0,380,3108,0.17,2.20,0.00,0.000,6,0.177,0.032,2811,2068,2128,0,0,0,0,0,0
$GC,3425,0.68,219.0,420.5,16.2,411,3429,0.00,2.22,0.00,0.000,4,0.000,0.047,2810,3534,2123,0,0,0,0,0,0
$GC,3455,0.67,219.0,415.2,18.1,413,3459,0.08,2.15,0.00,0.000,6,0.230,0.031,2803,2052,2123,0,0,0,0,0,0
$GC,3781,0.66,219.0,362.2,15.7,443,3784,0.00,2.05,0.00,0.000,4,0.000,0.044,2811,657,2121,0,0,0,0,0,0
$GC,3874,0.68,242.4,348.5,14.1,451,3900,0.00,2.15,17.92,0.713,6,0.000,0.037,2811,2129,2036,0,0,0,0,0,0
$GC,4219,0.67,242.4,292.7,15.3,487,4227,0.00,2.10,0.00,0.000,4,0.000,0.050,2811,3530,2030,0,0,0,0,0,0
$GC,4280,0.66,242.4,282.3,17.3,497,4287,0.10,2.12,0.00,0.000,6,0.206,0.033,2794,2060,2030,0,0,0,0,0,0
$GC,4625,0.73,300.6,238.3,12.4,558,4678,0.12,2.33,45.62,0.672,4,0.089,0.048,2872,3527,1799,0,0,0,0,0,0
$GC,4742,0.71,300.6,212.6,25.2,576,4751,0.20,2.20,0.00,0.000,6,0.159,0.034,2818,2068,1795,0,0,0,0,0,0
$GC,5091,0.71,302.4,153.4,15.1,637,5097,0.00,2.05,0.00,0.000,4,0.000,0.046,2818,666,1792,0,0,0,0,0,0
$GC,5128,0.71,302.4,147.5,15.3,643,5138,0.00,2.17,0.00,0.000,6,0.000,0.038,2818,2115,1791,0,0,0,0,0,0
$GC,5487,0.78,361.0,95.5,12.4,704,5544,0.10,2.20,46.25,0.571,4,0.108,0.049,2888,3531,1553,0,0,0,0,0,0
$GC,5560,0.77,361.0,82.7,20.2,713,5569,0.20,2.20,0.00,0.000,6,0.151,0.034,2834,2069,1552,0,0,0,0,0,0
$GC,5925,0.99,533.1,43.7,7.2,774,6063,0.22,0.00,128.75,0.520,6,0.059,0.000,2952,2065,850,0,0,0,0,0,0
$STATE,6127,end climb,SURFACE_DEPTH_REACHED
$STATE,6127,begin surface coast
$FINISH,0.4,1.013877
$STATE,6141,end surface coast,CONTROL_FINISHED_OK
$STATE,6141,begin surface
$SM_CCo,6155,44.15,0.070,0,0,540,610.06
$SM_GC,1.21,0.00,0.00,44.15,0.000,0.000,0.070,202,2378,540,-7.46,1.50,610.06
$IRIDIUM_FIX,2309.79,12556.81,270910,232318
$TT8_MAMPS,0.026964
$HUMID,51.10
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.5,11.235
$10V_AH,10.7,9.010
$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,18.475,57.400,573.950,44.150,0.000,28.471,17.311,100.154,0.000,0.000,17.317,1875.650,1442.226,567.716,2465.156,96.046,0.000,1398.205,0.000,2308.370,0.000,0.542,0.000
$DEVICE_MAMPS,263.160,75.735,833.850,69.615,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,537.403,0.000,1680.694,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46998,804
$CAP_FILE_SIZE,85637,0
$CFSIZE,260165632,249524224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.233,318.6,1
$GPS,280910,032555,2317.734,12557.729,40,1.4,40,-3.4