version: 66.08
glider: 176
mission: 2
dive: 104
start: 9 30 110 8 17 11
data:
$ID,176
$MISSION,2
$DIVE,104
$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,-4870.6157
$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
$GPS1,300910,081230,2307.042,12554.004,39,2.0,44,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.1
$GPS2,300910,081644,2307.085,12553.915,12,1.5,12,-3.3
$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,140.9,16727,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.72,-219.0,0.0,0.0,0,90,0.00,0.00,-72.10,0.000,2,0.000,0.000,203,2348,2706,0,0,0,0,0,0
$GC,92,-0.72,-219.0,3.6,-7.2,9,134,8.57,2.20,-21.20,0.000,4,0.246,0.046,2356,868,3924,0,0,0,0,0,0
$GC,173,-0.71,-219.0,31.9,-32.2,20,181,0.00,2.28,0.00,0.000,6,0.000,0.050,2356,2331,3925,0,0,0,0,0,0
$GC,536,-0.70,-219.0,141.9,-25.1,81,546,0.05,2.17,0.00,0.000,4,0.262,0.058,2366,3742,3926,0,0,0,0,0,0
$GC,637,-0.70,-219.0,163.2,-17.2,98,645,0.00,2.12,0.00,0.000,6,0.000,0.030,2366,2272,3928,0,0,0,0,0,0
$GC,986,-0.70,-219.0,235.1,-18.8,159,993,0.00,2.22,0.00,0.000,4,0.000,0.054,2365,3755,3928,0,0,0,0,0,0
$GC,1035,-0.70,-219.0,244.3,-17.1,167,1043,0.00,2.10,0.00,0.000,6,0.000,0.028,2365,2274,3927,0,0,0,0,0,0
$GC,1378,-0.70,-219.0,308.8,-18.9,224,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2268,3927,0,0,0,0,0,0
$GC,1697,-0.70,-219.0,368.1,-17.1,254,1701,0.00,2.28,0.00,0.000,4,0.000,0.055,2364,3758,3926,0,0,0,0,0,0
$GC,1793,-0.71,-219.0,381.0,-11.9,262,1796,0.00,2.10,0.00,0.000,6,0.000,0.029,2364,2272,3926,0,0,0,0,0,0
$GC,2125,-0.72,-219.0,425.4,-13.2,293,2129,0.00,2.25,0.00,0.000,4,0.000,0.054,2363,3757,3924,0,0,0,0,0,0
$GC,2178,-0.73,-219.0,431.7,-10.2,297,2182,0.05,2.10,0.00,0.000,6,0.177,0.028,2319,2261,3924,0,0,0,0,0,0
$GC,2504,-0.73,-219.0,487.6,-18.5,327,2509,0.15,2.28,0.00,0.000,4,0.158,0.056,2363,3760,3922,0,0,0,0,0,0
$GC,2566,-0.75,-219.0,496.1,-10.7,332,2571,0.08,2.10,0.00,0.000,6,0.128,0.029,2308,2273,3921,0,0,0,0,0,0
$STATE,2599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2599,begin apogee
$GC,2603,-0.11,0.0,500.3,12.4,335,2776,0.73,0.17,165.05,0.838,6,0.129,0.073,2556,2152,3027,0,0,0,0,0,0
$STATE,2777,end apogee,CONTROL_FINISHED_OK
$STATE,2777,begin climb
$GC,2778,0.72,219.0,511.5,0.0,349,2961,0.70,2.35,171.57,0.825,4,0.047,0.041,2857,670,2132,0,0,0,0,0,0
$GC,3158,0.70,219.0,472.3,18.4,381,3163,0.17,2.20,0.00,0.000,6,0.173,0.037,2809,2130,2125,0,0,0,0,0,0
$GC,3485,0.69,219.0,417.8,16.5,411,3488,0.00,2.10,0.00,0.000,4,0.000,0.049,2809,3526,2122,0,0,0,0,0,0
$GC,3517,0.68,219.0,411.8,17.0,413,3525,0.05,2.15,0.00,0.000,6,0.186,0.031,2802,2070,2121,0,0,0,0,0,0
$GC,3843,0.69,236.3,363.9,14.3,444,3863,0.00,0.00,12.98,0.701,6,0.000,0.000,2802,2066,2062,0,0,0,0,0,0
$GC,4181,0.69,241.2,313.8,14.9,476,4196,0.00,2.25,4.93,0.533,4,0.000,0.049,2801,3525,2042,0,0,0,0,0,0
$GC,4244,0.68,241.2,303.4,17.3,481,4248,0.00,2.12,0.00,0.000,6,0.000,0.032,2804,2058,2042,0,0,0,0,0,0
$GC,4599,0.69,261.3,252.9,14.2,539,4621,0.00,2.12,17.23,0.660,4,0.000,0.044,2810,661,1960,0,0,0,0,0,0
$GC,4791,0.76,312.3,226.0,12.8,571,4841,0.10,2.17,41.28,0.660,6,0.108,0.037,2872,2131,1751,0,0,0,0,0,0
$GC,5193,0.74,312.3,142.6,21.2,638,5202,0.17,2.20,0.00,0.000,4,0.173,0.043,2831,668,1743,0,0,0,0,0,0
$GC,5287,0.77,334.2,127.6,14.1,653,5312,0.00,2.17,17.23,0.572,6,0.000,0.038,2831,2118,1664,0,0,0,0,0,0
$GC,5662,0.84,389.8,70.9,12.6,716,5713,0.10,2.20,43.72,0.546,4,0.105,0.041,2912,662,1437,0,0,0,0,0,0
$GC,5809,0.84,393.3,44.7,15.0,738,5819,0.15,2.20,3.78,0.342,6,0.133,0.036,2859,2122,1422,0,0,0,0,0,0
$GC,6170,0.96,479.7,5.1,11.1,799,6197,0.12,0.00,23.90,0.483,2,0.087,0.000,2940,2127,1283,0,0,0,0,0,0
$STATE,6197,end climb,SURFACE_DEPTH_REACHED
$STATE,6197,begin surface coast
$FINISH,0.3,1.021662
$STATE,6228,end surface coast,CONTROL_FINISHED_OK
$STATE,6228,begin surface
$SM_CCo,6242,94.30,0.067,0,0,540,610.06
$SM_GC,1.19,0.00,0.00,94.30,0.000,0.000,0.067,202,2399,540,-7.46,2.09,610.06
$IRIDIUM_FIX,2300.41,12812.86,300910,060641
$TT8_MAMPS,0.026215
$HUMID,50.00
$INTERNAL_PRESSURE,8.75308
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.5,14.899
$10V_AH,10.8,12.312
$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,18.100,53.200,501.650,94.300,0.000,27.404,18.413,119.891,0.000,0.000,15.283,1915.497,1512.955,563.367,2499.699,104.893,0.000,1367.631,0.000,2331.130,0.000,0.543,0.000
$DEVICE_MAMPS,261.630,72.675,837.675,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,540.964,0.000,1709.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47079,807
$CAP_FILE_SIZE,85721,0
$CFSIZE,260165632,248119296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.271,306.1,1
$GPS,300910,100326,2306.774,12553.602,12,1.5,12,-3.3