version: 66.08
glider: 176
mission: 2
dive: 110
start: 9 30 110 19 14 4
data:
$ID,176
$MISSION,2
$DIVE,110
$N_DIVES,120
$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,-4878.7109
$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,2400
$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
$GPS1,300910,190944,2305.957,12554.113,10,1.5,10,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-67.7
$GPS2,300910,191337,2305.999,12554.127,13,1.0,13,-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,150.8,14956,-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,-219.0,0.0,0.0,0,84,0.00,0.00,-66.70,0.000,2,0.000,0.000,202,2486,2517,0,0,0,0,0,0
$GC,86,-0.72,-219.0,3.1,-5.3,8,128,8.55,2.25,-26.67,0.000,4,0.246,0.046,2355,950,3921,0,0,0,0,0,0
$GC,194,-0.72,-219.0,36.5,-24.2,24,203,0.00,2.28,0.00,0.000,6,0.000,0.053,2355,2411,3923,0,0,0,0,0,0
$GC,559,-0.71,-219.0,144.1,-27.9,85,567,0.00,2.08,0.00,0.000,4,0.000,0.059,2353,3765,3925,0,0,0,0,0,0
$GC,669,-0.71,-219.0,169.1,-17.7,103,676,0.05,2.03,0.00,0.000,6,0.217,0.030,2366,2343,3926,0,0,0,0,0,0
$GC,1024,-0.71,-219.0,249.1,-21.2,164,1033,0.00,2.17,0.00,0.000,4,0.000,0.056,2366,3762,3926,0,0,0,0,0,0
$GC,1082,-0.71,-219.0,260.8,-17.9,173,1089,0.00,2.00,0.00,0.000,6,0.000,0.029,2366,2347,3926,0,0,0,0,0,0
$GC,1426,-0.71,-219.0,325.5,-17.9,221,1429,0.00,2.15,0.00,0.000,4,0.000,0.055,2365,3776,3926,0,0,0,0,0,0
$GC,1458,-0.71,-219.0,331.5,-16.9,223,1466,0.00,2.05,0.00,0.000,6,0.000,0.028,2365,2350,3926,0,0,0,0,0,0
$GC,1783,-0.71,-219.0,385.4,-15.2,254,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2346,3926,0,0,0,0,0,0
$GC,2104,-0.71,-219.0,432.2,-14.9,284,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2346,3925,0,0,0,0,0,0
$GC,2422,-0.72,-219.0,477.7,-13.8,314,2426,0.00,2.15,0.00,0.000,4,0.000,0.056,2363,3766,3922,0,0,0,0,0,0
$GC,2510,-0.74,-219.0,487.8,-10.1,321,2515,0.05,2.00,0.00,0.000,6,0.175,0.030,2318,2339,3921,0,0,0,0,0,0
$STATE,2602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2602,begin apogee
$GC,2605,-0.11,0.0,501.7,16.7,329,2777,0.70,0.15,165.70,0.841,6,0.123,0.082,2559,2140,3027,0,0,0,0,0,0
$STATE,2778,end apogee,CONTROL_FINISHED_OK
$STATE,2778,begin climb
$GC,2779,0.72,219.0,510.1,0.0,343,2959,0.70,2.38,171.57,0.828,4,0.049,0.044,2851,660,2133,0,0,0,0,0,0
$GC,3082,0.70,219.0,476.9,18.3,369,3087,0.15,2.22,0.00,0.000,6,0.174,0.036,2811,2131,2126,0,0,0,0,0,0
$GC,3409,0.71,237.3,423.8,14.3,399,3434,0.00,2.17,14.48,0.730,4,0.000,0.048,2811,3533,2058,0,0,0,0,0,0
$GC,3492,0.70,237.3,411.0,16.0,406,3496,0.00,2.17,0.00,0.000,6,0.000,0.032,2819,2054,2056,0,0,0,0,0,0
$GC,3824,0.69,237.3,360.8,15.4,437,3828,0.05,2.08,0.00,0.000,4,0.259,0.043,2818,658,2052,0,0,0,0,0,0
$GC,3955,0.68,237.3,340.2,15.9,448,3960,0.05,2.15,0.00,0.000,6,0.220,0.037,2806,2125,2050,0,0,0,0,0,0
$GC,4285,0.68,237.3,288.5,16.2,484,4294,0.00,2.12,0.00,0.000,4,0.000,0.047,2806,3535,2049,0,0,0,0,0,0
$GC,4377,0.67,237.3,273.3,16.5,499,4385,0.08,2.15,0.00,0.000,6,0.215,0.031,2798,2052,2049,0,0,0,0,0,0
$GC,4735,0.74,301.8,228.4,12.2,560,4793,0.10,2.08,50.20,0.675,4,0.103,0.041,2873,659,1794,0,0,0,0,0,0
$GC,4849,0.73,301.8,209.2,19.5,577,4856,0.17,2.20,0.00,0.000,6,0.158,0.037,2822,2119,1789,0,0,0,0,0,0
$GC,5206,0.74,309.5,149.8,14.8,638,5217,0.00,2.17,6.00,0.495,4,0.000,0.048,2822,3529,1765,0,0,0,0,0,0
$GC,5249,0.73,309.5,143.4,15.9,644,5257,0.00,2.17,0.00,0.000,6,0.000,0.033,2830,2066,1764,0,0,0,0,0,0
$GC,5614,0.78,351.8,89.7,13.2,705,5656,0.05,2.25,34.75,0.568,4,0.181,0.046,2880,3533,1589,0,0,0,0,0,0
$GC,5676,0.77,351.8,79.8,17.2,713,5685,0.17,2.20,0.00,0.000,6,0.148,0.033,2831,2065,1587,0,0,0,0,0,0
$GC,6042,0.98,510.3,43.0,7.8,774,6172,0.22,0.00,119.28,0.525,6,0.060,0.000,2947,2060,944,0,0,0,0,0,0
$STATE,6237,end climb,SURFACE_DEPTH_REACHED
$STATE,6237,begin surface coast
$FINISH,0.4,1.009642
$STATE,6251,end surface coast,CONTROL_FINISHED_OK
$STATE,6251,begin surface
$SM_CCo,6265,55.08,0.069,0,0,540,610.06
$SM_GC,1.31,0.00,0.00,55.08,0.000,0.000,0.069,210,2455,540,-7.44,1.55,610.06
$IRIDIUM_FIX,2300.41,12555.96,300910,171722
$TT8_MAMPS,0.026964
$HUMID,50.63
$INTERNAL_PRESSURE,8.75308
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,24.5,15.629
$10V_AH,10.8,12.977
$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,18.175,52.750,561.975,55.075,0.000,27.406,15.085,100.468,0.000,0.000,15.956,1877.553,1551.606,555.699,2464.863,108.911,0.000,1379.167,0.000,2319.739,0.000,0.542,0.000
$DEVICE_MAMPS,258.570,81.855,840.735,68.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,536.907,0.000,1690.379,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47059,803
$CAP_FILE_SIZE,84927,0
$CFSIZE,260165632,247832576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.226,322.9,1
$GPS,300910,210031,2305.665,12554.132,40,1.1,40,-3.3