version: 66.08
glider: 176
mission: 2
dive: 83
start: 9 28 110 18 2 41
data:
$ID,176
$MISSION,2
$DIVE,83
$N_DIVES,95
$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,-4842.5513
$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
$GPS1,280910,175636,2315.788,12555.791,40,0.9,45,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.0
$GPS2,280910,180214,2315.824,12555.779,11,1.9,11,-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,174.1,30177,-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,13,begin dive
$GC,14,-0.72,-219.0,0.0,0.0,0,90,0.00,0.00,-73.57,0.000,2,0.000,0.000,206,2349,2782,0,0,0,0,0,0
$GC,92,-0.72,-219.0,3.9,-7.6,9,127,8.57,2.15,-19.17,0.000,4,0.248,0.047,2354,875,3924,0,0,0,0,0,0
$GC,200,-0.71,-219.0,44.7,-30.7,25,209,0.00,2.25,0.00,0.000,6,0.000,0.049,2354,2332,3925,0,0,0,0,0,0
$GC,561,-0.70,-219.0,159.4,-24.4,86,570,0.08,2.17,0.00,0.000,4,0.224,0.057,2372,3745,3927,0,0,0,0,0,0
$GC,675,-0.71,-219.0,178.2,-13.7,105,682,0.05,2.08,0.00,0.000,6,0.175,0.029,2332,2270,3928,0,0,0,0,0,0
$GC,1020,-0.70,-219.0,265.3,-24.6,166,1030,0.15,2.30,0.00,0.000,4,0.175,0.055,2375,3756,3928,0,0,0,0,0,0
$GC,1077,-0.71,-219.0,275.4,-13.8,175,1086,0.08,2.10,0.00,0.000,6,0.126,0.029,2321,2264,3928,0,0,0,0,0,0
$GC,1413,-0.70,-219.0,349.1,-21.0,216,1417,0.17,2.25,0.00,0.000,4,0.158,0.054,2374,3754,3928,0,0,0,0,0,0
$GC,1457,-0.71,-219.0,356.8,-14.1,219,1465,0.08,2.08,0.00,0.000,6,0.125,0.028,2321,2272,3927,0,0,0,0,0,0
$GC,1782,-0.71,-219.0,420.6,-20.0,250,1783,0.17,0.00,0.00,0.000,6,0.154,0.000,2374,2267,3926,0,0,0,0,0,0
$GC,2101,-0.72,-219.0,459.2,-11.6,280,2106,0.08,2.25,0.00,0.000,4,0.130,0.055,2321,3759,3924,0,0,0,0,0,0
$GC,2178,-0.72,-219.0,470.2,-13.5,286,2188,0.10,2.12,0.00,0.000,6,0.116,0.030,2362,2271,3923,0,0,0,0,0,0
$STATE,2427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2427,begin apogee
$GC,2431,-0.11,0.0,500.7,12.1,310,2604,0.55,0.17,164.50,0.833,6,0.112,0.075,2560,2143,3027,0,0,0,0,0,0
$STATE,2605,end apogee,CONTROL_FINISHED_OK
$STATE,2605,begin climb
$GC,2606,0.72,219.0,510.3,0.0,324,2782,0.70,0.00,170.93,0.822,6,0.044,0.000,2854,2143,2134,0,0,0,0,0,0
$GC,3096,0.70,219.0,441.0,20.3,368,3101,0.17,2.20,0.00,0.000,4,0.190,0.042,2818,659,2124,0,0,0,0,0,0
$GC,3177,0.69,223.2,427.8,15.0,375,3181,0.00,2.17,0.00,0.000,6,0.000,0.037,2818,2133,2122,0,0,0,0,0,0
$GC,3504,0.68,223.2,374.2,17.1,405,3509,0.08,2.20,0.00,0.000,4,0.223,0.044,2807,658,2119,0,0,0,0,0,0
$GC,3524,0.67,223.2,370.4,15.4,406,3534,0.00,2.20,0.00,0.000,6,0.000,0.037,2807,2120,2119,0,0,0,0,0,0
$GC,3852,0.73,278.2,325.6,12.6,437,3905,0.08,0.00,45.42,0.728,6,0.133,0.000,2856,2121,1890,0,0,0,0,0,0
$GC,4238,0.71,278.2,246.9,19.3,494,4247,0.17,2.20,0.00,0.000,4,0.177,0.044,2818,666,1882,0,0,0,0,0,0
$GC,4316,0.71,278.2,234.1,15.2,507,4324,0.00,2.15,0.00,0.000,6,0.000,0.039,2818,2125,1880,0,0,0,0,0,0
$GC,4664,0.73,298.4,180.6,14.2,568,4686,0.00,2.17,15.68,0.610,4,0.000,0.044,2818,666,1809,0,0,0,0,0,0
$GC,4734,0.77,330.9,170.7,13.6,579,4771,0.10,2.17,26.58,0.612,6,0.109,0.040,2882,2120,1677,0,0,0,0,0,0
$GC,5119,0.76,330.9,91.9,19.6,644,5128,0.20,2.15,0.00,0.000,4,0.164,0.048,2822,3530,1670,0,0,0,0,0,0
$GC,5184,0.80,361.8,81.6,13.7,654,5218,0.05,2.17,24.52,0.549,6,0.071,0.033,2891,2053,1551,0,0,0,0,0,0
$GC,5567,0.89,438.9,31.6,11.6,718,5634,0.08,2.10,59.20,0.516,4,0.211,0.044,2873,663,1235,0,0,0,0,0,0
$GC,5735,0.98,500.9,10.4,12.3,743,5786,0.08,2.20,45.80,0.490,2,0.054,0.037,2940,2117,985,0,0,0,0,0,0
$STATE,5787,end climb,SURFACE_DEPTH_REACHED
$STATE,5787,begin surface coast
$FINISH,0.5,1.011089
$STATE,5807,end surface coast,CONTROL_FINISHED_OK
$STATE,5807,begin surface
$SM_CCo,5820,59.72,0.067,0,0,540,610.06
$SM_GC,1.22,0.00,0.00,59.72,0.000,0.000,0.067,194,2395,540,-7.49,1.98,610.06
$IRIDIUM_FIX,2305.10,12555.44,280910,171712
$TT8_MAMPS,0.026964
$HUMID,49.60
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,24.5,12.333
$10V_AH,10.7,9.999
$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,18.825,48.625,552.625,59.725,0.000,54.647,32.429,100.650,0.000,0.000,14.275,1760.792,1471.330,564.534,2325.832,101.040,0.000,1336.025,0.000,2143.449,0.000,0.542,0.000
$DEVICE_MAMPS,247.860,74.970,833.085,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,502.849,0.000,1581.464,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43649,752
$CAP_FILE_SIZE,81643,0
$CFSIZE,260165632,249110528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.197,337.4,1
$GPS,280910,194125,2315.451,12555.519,12,1.1,17,-3.4