version: 66.08
glider: 176
mission: 2
dive: 90
start: 9 29 110 6 35 53
data:
$ID,176
$MISSION,2
$DIVE,90
$N_DIVES,105
$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,-4852.0068
$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
$GPS1,290910,063120,2312.859,12554.731,10,1.7,10,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.4
$GPS2,290910,063526,2312.892,12554.676,11,1.6,11,-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,151.5,25543,-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,-219.0,0.0,0.0,0,87,0.00,0.00,-70.35,0.000,2,0.000,0.000,205,2385,2648,0,0,0,0,0,0
$GC,89,-0.72,-219.0,3.5,-7.1,9,131,8.68,2.25,-22.83,0.000,4,0.250,0.049,2357,871,3923,0,0,0,0,0,0
$GC,174,-0.71,-219.0,33.1,-33.6,21,183,0.00,2.28,0.00,0.000,6,0.000,0.050,2356,2336,3925,0,0,0,0,0,0
$GC,539,-0.69,-219.0,144.4,-26.9,82,548,0.08,2.20,0.00,0.000,4,0.223,0.059,2374,3753,3927,0,0,0,0,0,0
$GC,619,-0.69,-219.0,162.0,-17.7,95,627,0.00,2.12,0.00,0.000,6,0.000,0.030,2374,2267,3928,0,0,0,0,0,0
$GC,964,-0.69,-219.0,228.7,-17.4,156,972,0.00,2.28,0.00,0.000,4,0.000,0.055,2374,3747,3928,0,0,0,0,0,0
$GC,1054,-0.70,-219.0,241.6,-11.5,171,1062,0.05,2.08,0.00,0.000,6,0.174,0.029,2332,2267,3927,0,0,0,0,0,0
$GC,1396,-0.69,-219.0,318.9,-21.4,224,1401,0.15,2.28,0.00,0.000,4,0.172,0.056,2375,3752,3927,0,0,0,0,0,0
$GC,1473,-0.71,-219.0,330.2,-9.7,230,1483,0.05,2.12,0.00,0.000,6,0.070,0.029,2319,2272,3927,0,0,0,0,0,0
$GC,1800,-0.70,-219.0,397.8,-21.6,261,1805,0.17,2.25,0.00,0.000,4,0.158,0.057,2372,3756,3926,0,0,0,0,0,0
$GC,1875,-0.72,-219.0,408.5,-10.5,267,1880,0.08,2.10,0.00,0.000,6,0.124,0.029,2315,2261,3926,0,0,0,0,0,0
$GC,2202,-0.71,-219.0,475.1,-20.2,297,2207,0.17,2.28,0.00,0.000,4,0.157,0.056,2366,3756,3924,0,0,0,0,0,0
$GC,2242,-0.72,-219.0,482.1,-15.2,300,2246,0.00,2.12,0.00,0.000,6,0.000,0.030,2365,2268,3923,0,0,0,0,0,0
$STATE,2387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2387,begin apogee
$GC,2391,-0.11,0.0,501.3,13.4,313,2561,0.55,0.15,165.25,0.831,6,0.111,0.082,2562,2147,3027,0,0,0,0,0,0
$STATE,2562,end apogee,CONTROL_FINISHED_OK
$STATE,2562,begin climb
$GC,2564,0.72,219.0,512.8,0.0,327,2742,0.68,2.17,171.12,0.820,4,0.042,0.047,2852,3526,2133,0,0,0,0,0,0
$GC,2875,0.70,219.0,479.5,21.6,353,2883,0.17,2.20,0.00,0.000,6,0.171,0.031,2809,2068,2127,0,0,0,0,0,0
$GC,3202,0.70,231.9,428.4,14.6,384,3216,0.00,2.15,10.20,0.694,4,0.000,0.043,2818,663,2080,0,0,0,0,0,0
$GC,3232,0.69,231.9,423.3,16.1,386,3242,0.05,2.20,0.00,0.000,6,0.164,0.037,2801,2117,2078,0,0,0,0,0,0
$GC,3560,0.68,234.4,373.1,15.0,417,3564,0.00,2.12,0.00,0.000,4,0.000,0.048,2801,3536,2075,0,0,0,0,0,0
$GC,3580,0.67,234.4,369.1,16.2,418,3590,0.00,2.17,0.00,0.000,6,0.000,0.031,2804,2059,2075,0,0,0,0,0,0
$GC,3908,0.66,234.4,318.8,16.7,449,3909,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2057,2072,0,0,0,0,0,0
$GC,4237,0.66,240.5,270.3,14.9,497,4251,0.00,0.00,7.07,0.590,6,0.000,0.000,2805,2055,2045,0,0,0,0,0,0
$GC,4592,0.66,242.5,217.1,15.1,559,4600,0.00,2.05,0.00,0.000,4,0.000,0.044,2812,662,2041,0,0,0,0,0,0
$GC,4687,0.68,264.7,203.4,14.1,575,4716,0.00,2.15,19.85,0.635,6,0.000,0.037,2813,2124,1947,0,0,0,0,0,0
$GC,5054,0.68,269.7,148.9,14.9,639,5064,0.00,0.00,4.97,0.461,6,0.000,0.000,2813,2124,1926,0,0,0,0,0,0
$GC,5413,0.75,327.7,101.2,12.5,700,5471,0.10,2.25,46.58,0.574,4,0.106,0.044,2887,666,1687,0,0,0,0,0,0
$GC,5498,0.74,327.7,88.2,17.0,711,5508,0.17,2.20,0.00,0.000,6,0.140,0.037,2828,2118,1684,0,0,0,0,0,0
$GC,5858,0.91,459.6,45.7,9.0,772,5965,0.17,2.30,99.50,0.526,4,0.070,0.044,2939,666,1152,0,0,0,0,0,0
$GC,6038,0.91,459.6,20.1,17.7,797,6047,0.17,2.22,0.00,0.000,6,0.134,0.037,2880,2119,1148,0,0,0,0,0,0
$STATE,6143,end climb,SURFACE_DEPTH_REACHED
$STATE,6143,begin surface coast
$FINISH,0.5,1.008878
$STATE,6168,end surface coast,CONTROL_FINISHED_OK
$STATE,6169,begin surface
$SM_CCo,6182,81.78,0.068,0,0,540,610.06
$SM_GC,1.21,0.00,0.00,81.78,0.000,0.000,0.068,215,2383,540,-7.42,1.61,610.06
$IRIDIUM_FIX,2305.10,12555.44,290910,040436
$TT8_MAMPS,0.026964
$HUMID,49.80
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.5,13.182
$10V_AH,10.7,10.763
$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,18.350,53.275,524.550,81.775,0.000,27.707,20.090,108.204,0.000,0.000,14.383,1927.692,1413.618,565.749,2506.230,102.729,0.000,1394.151,0.000,2347.803,0.000,0.542,0.000
$DEVICE_MAMPS,250.155,81.855,830.790,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,547.688,0.000,1732.077,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50242,818
$CAP_FILE_SIZE,86429,0
$CFSIZE,260165632,248766464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.192,322.6,1
$GPS,290910,082125,2312.464,12554.602,41,1.3,41,-3.4