version: 66.08
glider: 176
mission: 2
dive: 92
start: 9 29 110 10 9 11
data:
$ID,176
$MISSION,2
$DIVE,92
$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,-4854.7026
$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
$GPS1,290910,100444,2311.968,12554.441,8,1.7,8,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.6
$GPS2,290910,100844,2312.004,12554.363,9,1.5,9,-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,154.2,24219,-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,14,begin dive
$GC,15,-0.72,-219.0,0.0,0.0,0,91,0.00,0.00,-73.05,0.000,2,0.000,0.000,201,2388,2750,0,0,0,0,0,0
$GC,93,-0.72,-219.0,3.8,-6.9,9,127,8.73,2.28,-19.92,0.000,4,0.251,0.047,2358,865,3924,0,0,0,0,0,0
$GC,189,-0.71,-219.0,39.4,-30.6,23,198,0.00,2.28,0.00,0.000,6,0.000,0.047,2358,2338,3925,0,0,0,0,0,0
$GC,552,-0.70,-219.0,152.8,-27.4,84,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2338,3927,0,0,0,0,0,0
$GC,900,-0.69,-219.0,238.4,-22.0,145,907,0.05,2.12,0.00,0.000,4,0.258,0.057,2364,3755,3928,0,0,0,0,0,0
$GC,1051,-0.70,-219.0,262.9,-13.3,171,1059,0.00,2.10,0.00,0.000,6,0.000,0.031,2364,2266,3928,0,0,0,0,0,0
$GC,1388,-0.70,-219.0,324.0,-18.1,220,1392,0.00,2.25,0.00,0.000,4,0.000,0.055,2363,3759,3928,0,0,0,0,0,0
$GC,1478,-0.71,-219.0,336.4,-10.8,228,1482,0.00,2.12,0.00,0.000,6,0.000,0.030,2363,2263,3928,0,0,0,0,0,0
$GC,1802,-0.71,-219.0,386.9,-16.5,258,1806,0.00,2.25,0.00,0.000,4,0.000,0.056,2363,3762,3927,0,0,0,0,0,0
$GC,1911,-0.73,-219.0,400.6,-10.6,267,1915,0.00,2.12,0.00,0.000,6,0.000,0.030,2363,2267,3927,0,0,0,0,0,0
$GC,2238,-0.73,-219.0,446.5,-14.3,297,2243,0.05,2.28,0.00,0.000,4,0.186,0.056,2321,3751,3925,0,0,0,0,0,0
$GC,2323,-0.74,-219.0,459.2,-13.9,304,2328,0.12,2.10,0.00,0.000,6,0.142,0.029,2362,2272,3925,0,0,0,0,0,0
$STATE,2648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2648,begin apogee
$GC,2651,-0.11,0.0,500.8,12.3,334,2823,0.55,0.17,165.25,0.835,6,0.112,0.073,2560,2153,3027,0,0,0,0,0,0
$STATE,2824,end apogee,CONTROL_FINISHED_OK
$STATE,2824,begin climb
$GC,2825,0.72,219.0,509.8,0.0,348,3011,0.70,2.25,171.10,0.820,4,0.045,0.047,2850,3533,2132,0,0,0,0,0,0
$GC,3082,0.70,219.0,487.1,24.1,369,3087,0.20,2.22,0.00,0.000,6,0.189,0.031,2809,2054,2129,0,0,0,0,0,0
$GC,3409,0.69,222.3,429.4,15.0,399,3412,0.00,2.05,0.00,0.000,4,0.000,0.043,2818,656,2124,0,0,0,0,0,0
$GC,3436,0.70,238.1,424.8,14.4,401,3457,0.00,2.20,14.98,0.726,6,0.000,0.036,2818,2120,2056,0,0,0,0,0,0
$GC,3774,0.68,238.1,370.1,15.6,433,3779,0.08,2.12,0.00,0.000,4,0.221,0.048,2802,3530,2051,0,0,0,0,0,0
$GC,3813,0.67,238.1,363.5,15.9,436,3817,0.00,2.12,0.00,0.000,6,0.000,0.032,2807,2062,2051,0,0,0,0,0,0
$GC,4138,0.66,238.6,312.7,15.1,466,4142,0.00,2.22,0.00,0.000,4,0.000,0.047,2807,3537,2048,0,0,0,0,0,0
$GC,4181,0.65,238.6,306.2,16.8,469,4186,0.10,2.15,0.00,0.000,6,0.202,0.032,2793,2062,2048,0,0,0,0,0,0
$GC,4532,0.70,280.6,257.8,13.2,526,4576,0.10,2.30,33.47,0.683,4,0.103,0.048,2859,3530,1880,0,0,0,0,0,0
$GC,4596,0.68,280.6,246.4,21.9,535,4604,0.22,2.15,0.00,0.000,6,0.172,0.033,2802,2065,1878,0,0,0,0,0,0
$GC,4953,0.68,280.6,192.0,15.2,596,4963,0.00,2.10,0.00,0.000,4,0.000,0.045,2808,659,1874,0,0,0,0,0,0
$GC,4980,0.72,315.5,188.3,13.5,600,5019,0.03,2.20,28.00,0.629,6,0.109,0.037,2846,2127,1738,0,0,0,0,0,0
$GC,5368,0.71,315.5,118.5,16.6,665,5378,0.12,2.20,0.00,0.000,4,0.174,0.044,2818,662,1730,0,0,0,0,0,0
$GC,5452,0.83,405.9,107.9,11.0,678,5533,0.10,2.17,69.45,0.575,6,0.052,0.037,2900,2120,1371,0,0,0,0,0,0
$GC,5882,0.83,405.9,22.3,15.2,748,5892,0.17,2.20,0.00,0.000,4,0.155,0.044,2855,659,1362,0,0,0,0,0,0
$GC,5959,1.01,536.1,14.8,9.1,760,6035,0.15,2.20,69.95,0.499,2,0.040,0.037,2950,2129,977,0,0,0,0,0,0
$STATE,6035,end climb,SURFACE_DEPTH_REACHED
$STATE,6036,begin surface coast
$FINISH,0.4,1.022014
$STATE,6051,end surface coast,CONTROL_FINISHED_OK
$STATE,6051,begin surface
$SM_CCo,6064,58.95,0.067,0,0,539,610.06
$SM_GC,1.35,0.00,0.00,58.95,0.000,0.000,0.067,203,2394,539,-7.46,1.95,610.06
$IRIDIUM_FIX,2305.10,12552.16,290910,080838
$TT8_MAMPS,0.026964
$HUMID,50.27
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,24.5,13.430
$10V_AH,10.8,10.974
$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,18.450,57.525,552.200,58.950,0.000,22.933,37.285,97.510,0.000,0.000,11.844,1818.109,1537.062,555.670,2361.776,98.741,0.000,1361.980,0.000,2202.300,0.000,0.542,0.000
$DEVICE_MAMPS,257.805,72.675,834.615,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,515.657,0.000,1581.521,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47040,771
$CAP_FILE_SIZE,84751,0
$CFSIZE,260165632,248680448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.197,316.7,1
$GPS,290910,115216,2311.473,12554.138,14,2.9,33,-3.4