version: 66.08
glider: 176
mission: 2
dive: 93
start: 9 29 110 11 57 13
data:
$ID,176
$MISSION,2
$DIVE,93
$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,-4856.0522
$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
$GPS1,290910,115216,2311.473,12554.138,14,2.9,33,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.1
$GPS2,290910,115646,2311.517,12554.094,12,2.9,31,-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,148.3,23587,-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,-219.0,0.0,0.0,0,83,0.00,0.00,-66.32,0.000,2,0.000,0.000,202,2395,2503,0,0,0,0,0,0
$GC,85,-0.72,-219.0,3.2,-5.4,8,128,8.55,2.28,-27.15,0.000,4,0.246,0.049,2354,880,3924,0,0,0,0,0,0
$GC,183,-0.71,-219.0,34.0,-31.5,22,192,0.03,2.25,0.00,0.000,6,0.213,0.048,2362,2336,3925,0,0,0,0,0,0
$GC,548,-0.70,-219.0,142.0,-24.5,83,556,0.00,2.15,0.00,0.000,4,0.000,0.055,2362,3747,3927,0,0,0,0,0,0
$GC,610,-0.70,-219.0,155.0,-17.7,93,618,0.00,2.10,0.00,0.000,6,0.000,0.030,2362,2277,3927,0,0,0,0,0,0
$GC,955,-0.70,-219.0,232.3,-22.7,154,964,0.00,2.25,0.00,0.000,4,0.000,0.053,2362,3748,3928,0,0,0,0,0,0
$GC,1022,-0.70,-219.0,245.2,-17.0,165,1030,0.00,2.10,0.00,0.000,6,0.000,0.030,2362,2275,3928,0,0,0,0,0,0
$GC,1365,-0.70,-219.0,315.9,-19.8,219,1369,0.00,2.22,0.00,0.000,4,0.000,0.053,2362,3763,3928,0,0,0,0,0,0
$GC,1417,-0.71,-219.0,325.0,-15.6,223,1421,0.00,2.12,0.00,0.000,6,0.000,0.029,2362,2269,3927,0,0,0,0,0,0
$GC,1743,-0.71,-219.0,376.2,-15.5,253,1747,0.00,2.22,0.00,0.000,4,0.000,0.054,2363,3755,3927,0,0,0,0,0,0
$GC,1827,-0.72,-219.0,387.2,-10.2,260,1831,0.00,2.10,0.00,0.000,6,0.000,0.029,2362,2276,3927,0,0,0,0,0,0
$GC,2154,-0.73,-219.0,430.1,-14.7,290,2158,0.00,2.22,0.00,0.000,4,0.000,0.054,2363,3762,3926,0,0,0,0,0,0
$GC,2208,-0.74,-219.0,437.4,-10.0,294,2218,0.03,2.12,0.00,0.000,6,0.113,0.030,2320,2271,3925,0,0,0,0,0,0
$GC,2535,-0.74,-219.0,495.4,-18.7,325,2537,0.12,0.00,0.00,0.000,6,0.167,0.000,2358,2268,3923,0,0,0,0,0,0
$STATE,2563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2564,begin apogee
$GC,2568,-0.11,0.0,500.9,17.6,328,2740,0.55,0.17,164.85,0.833,6,0.113,0.073,2555,2154,3027,0,0,0,0,0,0
$STATE,2741,end apogee,CONTROL_FINISHED_OK
$STATE,2741,begin climb
$GC,2742,0.72,219.0,513.5,0.0,342,2925,0.70,2.30,171.15,0.823,4,0.047,0.040,2851,663,2132,0,0,0,0,0,0
$GC,2976,0.70,219.0,502.5,18.0,362,2987,0.12,2.25,0.00,0.000,6,0.158,0.037,2812,2119,2128,0,0,0,0,0,0
$GC,3303,0.69,219.0,446.2,16.9,393,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2119,2124,0,0,0,0,0,0
$GC,3623,0.67,219.0,393.2,16.6,423,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2119,2121,0,0,0,0,0,0
$GC,3948,0.66,219.0,340.4,16.2,454,3953,0.08,2.08,0.00,0.000,4,0.226,0.049,2795,3529,2119,0,0,0,0,0,0
$GC,4069,0.65,219.0,321.5,15.4,464,4073,0.00,2.12,0.00,0.000,6,0.000,0.032,2802,2055,2119,0,0,0,0,0,0
$GC,4411,0.70,264.2,276.4,13.0,509,4455,0.05,2.10,34.05,0.694,4,0.181,0.041,2857,663,1947,0,0,0,0,0,0
$GC,4481,0.68,264.2,264.5,18.5,519,4489,0.20,2.17,0.00,0.000,6,0.161,0.038,2799,2129,1943,0,0,0,0,0,0
$GC,4838,0.68,265.6,210.5,15.1,580,4847,0.00,2.12,0.00,0.000,4,0.000,0.049,2799,3530,1939,0,0,0,0,0,0
$GC,4884,0.67,265.6,203.2,16.7,587,4891,0.00,2.15,0.00,0.000,6,0.000,0.033,2804,2056,1939,0,0,0,0,0,0
$GC,5239,0.71,301.0,153.9,13.5,648,5276,0.08,0.00,28.83,0.605,6,0.132,0.000,2862,2051,1798,0,0,0,0,0,0
$GC,5626,0.72,314.6,89.2,14.5,713,5645,0.17,2.12,11.20,0.522,4,0.164,0.042,2818,655,1743,0,0,0,0,0,0
$GC,5719,0.85,411.8,78.4,10.6,727,5801,0.12,2.20,75.60,0.550,6,0.047,0.038,2909,2119,1347,0,0,0,0,0,0
$STATE,6120,end climb,SURFACE_DEPTH_REACHED
$STATE,6120,begin surface coast
$FINISH,0.5,1.021616
$STATE,6140,end surface coast,CONTROL_FINISHED_OK
$STATE,6141,begin surface
$SM_CCo,6154,105.50,0.067,0,0,540,610.06
$SM_GC,1.20,0.00,0.00,105.50,0.000,0.000,0.067,211,2382,540,-7.44,1.64,610.06
$IRIDIUM_FIX,2300.41,12554.06,290910,101049
$TT8_MAMPS,0.026964
$HUMID,50.86
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,24.5,13.544
$10V_AH,10.7,11.084
$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,17.675,48.550,485.675,105.500,0.000,28.847,36.562,98.068,0.000,0.000,35.371,1875.022,1556.812,569.460,2432.595,102.433,0.000,1349.935,0.000,2248.568,0.000,0.542,0.000
$DEVICE_MAMPS,246.330,72.675,833.085,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,532.570,0.000,1642.359,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46974,795
$CAP_FILE_SIZE,82761,0
$CFSIZE,260165632,248639488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.201,330.2,1
$GPS,290910,134237,2311.172,12554.305,38,1.0,38,-3.4