version: 66.08
glider: 176
mission: 2
dive: 87
start: 9 29 110 1 5 47
data:
$ID,176
$MISSION,2
$DIVE,87
$N_DIVES,100
$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,-4847.9565
$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
$GPS1,290910,010055,2314.043,12555.047,41,1.4,42,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.9
$GPS2,290910,010520,2314.054,12555.008,13,1.3,13,-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,151.0,27384,-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,-219.0,0.0,0.0,0,85,0.00,0.00,-68.28,0.000,2,0.000,0.000,202,2375,2577,0,0,0,0,0,0
$GC,87,-0.72,-219.0,3.0,-5.3,8,129,8.65,2.17,-25.48,0.000,4,0.250,0.045,2356,874,3921,0,0,0,0,0,0
$GC,214,-0.71,-219.0,43.7,-29.3,27,223,0.00,2.25,0.00,0.000,6,0.000,0.047,2356,2336,3922,0,0,0,0,0,0
$GC,576,-0.70,-219.0,157.3,-26.1,88,585,0.05,2.17,0.00,0.000,4,0.262,0.058,2366,3752,3924,0,0,0,0,0,0
$GC,635,-0.70,-219.0,169.8,-20.8,97,641,0.00,2.12,0.00,0.000,6,0.000,0.030,2366,2268,3924,0,0,0,0,0,0
$GC,990,-0.69,-219.0,244.3,-21.7,158,999,0.00,2.28,0.00,0.000,4,0.000,0.055,2366,3749,3925,0,0,0,0,0,0
$GC,1060,-0.70,-219.0,256.4,-14.6,169,1067,0.00,2.10,0.00,0.000,6,0.000,0.029,2366,2273,3925,0,0,0,0,0,0
$GC,1412,-0.70,-219.0,320.3,-18.5,221,1416,0.00,2.22,0.00,0.000,4,0.000,0.055,2366,3755,3925,0,0,0,0,0,0
$GC,1479,-0.71,-219.0,331.4,-13.2,226,1489,0.00,2.12,0.00,0.000,6,0.000,0.029,2366,2272,3924,0,0,0,0,0,0
$GC,1805,-0.71,-219.0,382.8,-15.7,257,1809,0.00,2.22,0.00,0.000,4,0.000,0.054,2365,3759,3923,0,0,0,0,0,0
$GC,1845,-0.72,-219.0,389.0,-14.1,260,1849,0.00,2.10,0.00,0.000,6,0.000,0.029,2365,2266,3924,0,0,0,0,0,0
$GC,2170,-0.72,-219.0,431.9,-12.8,290,2174,0.00,2.22,0.00,0.000,4,0.000,0.055,2364,3753,3923,0,0,0,0,0,0
$GC,2258,-0.74,-219.0,441.6,-9.3,297,2263,0.08,2.10,0.00,0.000,6,0.130,0.029,2313,2272,3921,0,0,0,0,0,0
$STATE,2584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2584,begin apogee
$GC,2587,-0.11,0.0,500.4,18.8,327,2758,0.70,0.12,164.80,0.838,6,0.129,0.058,2553,2139,3026,0,0,0,0,0,0
$STATE,2759,end apogee,CONTROL_FINISHED_OK
$STATE,2759,begin climb
$GC,2760,0.72,219.0,512.0,0.0,341,2940,0.73,2.28,170.95,0.828,4,0.050,0.047,2846,3535,2133,0,0,0,0,0,0
$GC,3103,0.70,219.0,469.9,23.9,370,3115,0.15,2.22,0.00,0.000,6,0.172,0.031,2812,2059,2127,0,0,0,0,0,0
$GC,3431,0.68,219.0,414.2,17.1,401,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2055,2123,0,0,0,0,0,0
$GC,3750,0.67,219.0,360.8,16.4,431,3754,0.00,2.22,0.00,0.000,4,0.000,0.048,2812,3527,2120,0,0,0,0,0,0
$GC,3827,0.66,219.0,346.7,18.6,437,3831,0.10,2.12,0.00,0.000,6,0.207,0.033,2795,2057,2121,0,0,0,0,0,0
$GC,4154,0.71,265.6,301.8,13.0,467,4199,0.10,2.12,35.08,0.716,4,0.105,0.045,2864,665,1942,0,0,0,0,0,0
$GC,4223,0.70,265.6,290.1,18.4,476,4232,0.17,2.22,0.00,0.000,6,0.148,0.038,2807,2128,1939,0,0,0,0,0,0
$GC,4582,0.69,265.6,232.3,15.4,537,4589,0.00,2.17,0.00,0.000,4,0.000,0.044,2812,655,1934,0,0,0,0,0,0
$GC,4622,0.69,265.6,226.5,15.3,543,4628,0.00,2.17,0.00,0.000,6,0.000,0.037,2812,2122,1934,0,0,0,0,0,0
$GC,4978,0.70,278.7,174.5,14.5,604,4993,0.00,2.25,10.43,0.582,4,0.000,0.044,2818,654,1890,0,0,0,0,0,0
$GC,5036,0.75,315.2,166.2,13.5,613,5072,0.05,2.17,30.30,0.620,6,0.181,0.037,2857,2122,1741,0,0,0,0,0,0
$GC,5428,0.74,316.7,95.9,15.1,678,5438,0.12,2.15,0.00,0.000,4,0.177,0.047,2822,3532,1732,0,0,0,0,0,0
$GC,5454,0.76,335.4,92.3,14.3,681,5479,0.00,2.17,16.62,0.551,6,0.000,0.033,2830,2067,1657,0,0,0,0,0,0
$GC,5829,0.94,474.2,45.1,8.7,744,5943,0.17,2.15,104.93,0.530,4,0.072,0.043,2939,656,1091,0,0,0,0,0,0
$GC,6063,0.93,474.2,7.9,19.6,778,6072,0.15,2.22,0.00,0.000,6,0.133,0.037,2888,2120,1086,0,0,0,0,0,0
$STATE,6091,end climb,SURFACE_DEPTH_REACHED
$STATE,6091,begin surface coast
$FINISH,0.5,1.021764
$STATE,6110,end surface coast,CONTROL_FINISHED_OK
$STATE,6111,begin surface
$SM_CCo,6124,72.75,0.068,0,0,540,610.06
$SM_GC,1.31,0.00,0.00,72.75,0.000,0.000,0.068,201,2390,540,-7.47,1.84,610.06
$IRIDIUM_FIX,2307.44,12555.44,280910,232331
$TT8_MAMPS,0.026964
$HUMID,50.63
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,24.5,12.817
$10V_AH,10.7,10.426
$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,17.950,57.475,533.100,72.750,0.000,30.625,40.973,105.765,0.000,0.000,15.870,1847.012,1520.033,567.909,2439.668,94.766,0.000,1371.956,0.000,2254.292,0.000,0.543,0.000
$DEVICE_MAMPS,262.395,58.140,837.675,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,525.138,0.000,1642.343,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334052
$DATA_FILE_SIZE,47059,785
$CAP_FILE_SIZE,84831,0
$CFSIZE,260165632,248918016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.197,331.1,1
$GPS,290910,024944,2313.734,12555.170,13,1.4,13,-3.4