version: 66.08
glider: 176
mission: 2
dive: 96
start: 9 29 110 17 32 52
data:
$ID,176
$MISSION,2
$DIVE,96
$N_DIVES,110
$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,-4860.0044
$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
$GPS1,290910,172400,2310.689,12554.550,36,1.5,37,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.2
$GPS2,290910,173225,2310.795,12554.608,8,1.6,13,-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,170.5,22005,-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,12,begin dive
$GC,14,-0.72,-219.0,0.0,0.0,0,89,0.00,0.00,-72.47,0.000,2,0.000,0.000,202,2364,2728,0,0,0,0,0,0
$GC,91,-0.72,-219.0,3.6,-6.8,9,126,8.57,2.22,-20.77,0.000,4,0.247,0.049,2353,877,3924,0,0,0,0,0,0
$GC,199,-0.72,-219.0,40.4,-26.6,25,208,0.00,2.25,0.00,0.000,6,0.000,0.048,2353,2336,3926,0,0,0,0,0,0
$GC,563,-0.70,-219.0,147.1,-26.9,86,572,0.08,2.17,0.00,0.000,4,0.223,0.055,2363,3750,3927,0,0,0,0,0,0
$GC,625,-0.70,-219.0,163.6,-21.8,96,634,0.00,2.12,0.00,0.000,6,0.000,0.030,2363,2283,3928,0,0,0,0,0,0
$GC,973,-0.70,-219.0,248.3,-21.8,157,980,0.00,2.25,0.00,0.000,4,0.000,0.054,2363,3753,3927,0,0,0,0,0,0
$GC,1056,-0.71,-219.0,263.5,-14.7,171,1064,0.00,2.08,0.00,0.000,6,0.000,0.029,2363,2278,3927,0,0,0,0,0,0
$GC,1398,-0.70,-219.0,326.1,-18.3,220,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2274,3927,0,0,0,0,0,0
$GC,1717,-0.70,-219.0,379.8,-16.4,250,1721,0.00,2.25,0.00,0.000,4,0.000,0.054,2363,3753,3926,0,0,0,0,0,0
$GC,1812,-0.72,-219.0,391.0,-9.0,258,1816,0.00,2.08,0.00,0.000,6,0.000,0.029,2363,2276,3925,0,0,0,0,0,0
$GC,2139,-0.72,-219.0,430.8,-12.1,288,2143,0.00,1.98,0.00,0.000,4,0.000,0.037,2363,875,3924,0,0,0,0,0,0
$GC,2198,-0.74,-219.0,437.2,-9.3,293,2203,0.05,2.17,0.00,0.000,6,0.181,0.042,2320,2359,3923,0,0,0,0,0,0
$GC,2524,-0.74,-219.0,490.0,-16.6,323,2526,0.15,0.00,0.00,0.000,6,0.160,0.000,2366,2359,3921,0,0,0,0,0,0
$STATE,2607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2608,begin apogee
$GC,2612,-0.11,0.0,500.5,10.8,331,2784,0.52,0.17,164.60,0.838,6,0.110,0.076,2556,2145,3027,0,0,0,0,0,0
$STATE,2785,end apogee,CONTROL_FINISHED_OK
$STATE,2785,begin climb
$GC,2787,0.72,219.0,508.5,0.0,345,2971,0.73,2.25,170.98,0.827,4,0.054,0.048,2843,3525,2132,0,0,0,0,0,0
$GC,3178,0.70,219.0,458.2,20.6,378,3189,0.12,2.17,0.00,0.000,6,0.170,0.031,2814,2068,2126,0,0,0,0,0,0
$GC,3506,0.69,224.4,406.5,14.9,409,3518,0.00,2.12,3.83,0.477,4,0.000,0.043,2822,662,2111,0,0,0,0,0,0
$GC,3645,0.68,224.4,385.7,15.2,421,3649,0.08,2.15,0.00,0.000,6,0.202,0.037,2804,2124,2109,0,0,0,0,0,0
$GC,3971,0.69,239.0,339.4,14.5,451,3992,0.00,0.00,12.98,0.698,6,0.000,0.000,2804,2124,2050,0,0,0,0,0,0
$GC,4313,0.69,239.9,287.5,15.1,490,4322,0.00,2.12,0.00,0.000,4,0.000,0.050,2804,3522,2046,0,0,0,0,0,0
$GC,4358,0.68,239.9,280.0,17.9,497,4364,0.00,2.12,0.00,0.000,6,0.000,0.033,2805,2053,2046,0,0,0,0,0,0
$GC,4702,0.71,275.0,229.2,13.5,558,4740,0.08,2.30,28.75,0.669,4,0.133,0.048,2861,3525,1903,0,0,0,0,0,0
$GC,4777,0.70,275.0,214.6,22.6,569,4784,0.22,2.15,0.00,0.000,6,0.171,0.033,2805,2055,1901,0,0,0,0,0,0
$GC,5123,0.72,291.2,161.7,14.4,630,5148,0.08,2.30,13.50,0.590,4,0.129,0.049,2861,3534,1837,0,0,0,0,0,0
$GC,5174,0.70,291.2,153.4,18.9,637,5181,0.22,2.15,0.00,0.000,6,0.165,0.031,2805,2054,1836,0,0,0,0,0,0
$GC,5537,0.87,420.5,109.8,9.1,698,5642,0.20,0.00,99.53,0.580,6,0.066,0.000,2915,2049,1311,0,0,0,0,0,0
$GC,5992,0.86,420.5,16.8,17.1,771,6002,0.20,2.28,0.00,0.000,4,0.158,0.047,2855,3526,1302,0,0,0,0,0,0
$GC,6034,0.86,420.5,9.8,16.2,777,6042,0.00,2.17,0.00,0.000,6,0.000,0.032,2857,2063,1300,0,0,0,0,0,0
$STATE,6090,end climb,SURFACE_DEPTH_REACHED
$STATE,6090,begin surface coast
$FINISH,0.4,1.009822
$STATE,6121,end surface coast,CONTROL_FINISHED_OK
$STATE,6121,begin surface
$SM_CCo,6134,100.78,0.067,0,0,539,610.06
$SM_GC,1.34,0.00,0.00,100.78,0.000,0.000,0.067,199,2386,539,-7.47,1.72,610.06
$IRIDIUM_FIX,2300.41,12554.06,290910,171709
$TT8_MAMPS,0.026964
$HUMID,49.76
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.5,13.916
$10V_AH,10.7,11.420
$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,17.975,48.900,494.150,100.775,0.000,53.384,61.175,203.887,0.000,0.000,16.246,1869.832,1566.696,573.656,2630.686,104.197,0.000,1367.591,0.000,2277.073,0.000,0.543,0.000
$DEVICE_MAMPS,247.095,75.735,838.440,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,529.717,0.000,1648.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47073,791
$CAP_FILE_SIZE,85889,0
$CFSIZE,260165632,248500224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.181,348.1,1
$GPS,290910,191736,2310.390,12554.636,12,1.9,22,-3.4