version: 66.08
glider: 176
mission: 2
dive: 111
start: 9 30 110 21 5 23
data:
$ID,176
$MISSION,2
$DIVE,111
$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,-4880.0625
$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
$GPS1,300910,210031,2305.665,12554.132,40,1.1,40,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-67.9
$GPS2,300910,210456,2305.695,12554.137,12,1.4,12,-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,143.9,14532,-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,-219.0,0.0,0.0,0,90,0.00,0.00,-72.78,0.000,2,0.000,0.000,203,2456,2743,0,0,0,0,0,0
$GC,92,-0.72,-219.0,3.8,-7.4,9,127,8.57,2.25,-20.08,0.000,4,0.246,0.044,2358,943,3924,0,0,0,0,0,0
$GC,187,-0.72,-219.0,37.5,-23.6,23,197,0.00,2.30,0.00,0.000,6,0.000,0.054,2358,2414,3926,0,0,0,0,0,0
$GC,546,-0.71,-219.0,140.7,-26.7,84,555,0.00,2.08,0.00,0.000,4,0.000,0.059,2354,3765,3928,0,0,0,0,0,0
$GC,652,-0.70,-219.0,168.7,-20.3,102,662,0.03,2.05,0.00,0.000,6,0.174,0.029,2364,2340,3929,0,0,0,0,0,0
$GC,1000,-0.70,-219.0,246.6,-22.6,163,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2335,3929,0,0,0,0,0,0
$GC,1347,-0.70,-219.0,315.8,-17.2,217,1351,0.00,2.17,0.00,0.000,4,0.000,0.055,2364,3774,3929,0,0,0,0,0,0
$GC,1459,-0.71,-219.0,331.8,-12.6,226,1467,0.00,2.05,0.00,0.000,6,0.000,0.029,2364,2349,3928,0,0,0,0,0,0
$GC,1785,-0.71,-219.0,383.2,-16.0,257,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2344,3928,0,0,0,0,0,0
$GC,2104,-0.71,-219.0,433.3,-17.2,287,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2344,3926,0,0,0,0,0,0
$GC,2423,-0.72,-219.0,483.2,-14.7,317,2427,0.00,2.15,0.00,0.000,4,0.000,0.056,2363,3767,3925,0,0,0,0,0,0
$GC,2528,-0.74,-219.0,496.0,-9.8,326,2538,0.03,2.03,0.00,0.000,6,0.113,0.030,2319,2350,3924,0,0,0,0,0,0
$STATE,2565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2565,begin apogee
$GC,2569,-0.11,0.0,500.9,13.0,330,2742,0.70,0.17,165.95,0.840,6,0.124,0.075,2561,2141,3027,0,0,0,0,0,0
$STATE,2743,end apogee,CONTROL_FINISHED_OK
$STATE,2743,begin climb
$GC,2745,0.72,219.0,510.4,0.0,344,2930,0.68,2.35,171.68,0.827,4,0.037,0.042,2877,664,2132,0,0,0,0,0,0
$GC,3082,0.70,219.0,474.8,17.4,372,3093,0.20,2.22,0.00,0.000,6,0.161,0.036,2814,2124,2125,0,0,0,0,0,0
$GC,3410,0.70,228.3,426.3,14.7,403,3419,0.00,0.00,7.32,0.646,6,0.000,0.000,2814,2124,2096,0,0,0,0,0,0
$GC,3738,0.69,228.3,374.2,15.2,434,3742,0.00,2.15,0.00,0.000,4,0.000,0.043,2818,664,2091,0,0,0,0,0,0
$GC,3811,0.68,228.3,363.2,15.6,440,3816,0.08,2.17,0.00,0.000,6,0.196,0.039,2800,2127,2090,0,0,0,0,0,0
$GC,4143,0.73,274.1,317.3,13.0,471,4192,0.10,2.20,36.50,0.725,4,0.102,0.049,2862,3529,1907,0,0,0,0,0,0
$GC,4241,0.71,274.1,299.1,22.1,479,4248,0.22,2.17,0.00,0.000,6,0.171,0.032,2808,2056,1904,0,0,0,0,0,0
$GC,4600,0.71,276.4,243.8,15.0,540,4609,0.00,2.08,0.00,0.000,4,0.000,0.043,2818,666,1899,0,0,0,0,0,0
$GC,4646,0.72,284.2,236.8,14.8,547,4663,0.00,2.17,8.30,0.592,6,0.000,0.038,2817,2133,1867,0,0,0,0,0,0
$GC,5013,0.71,284.2,179.1,15.2,609,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2133,1864,0,0,0,0,0,0
$GC,5368,0.78,339.6,134.9,12.6,670,5419,0.10,2.28,44.53,0.601,4,0.106,0.043,2898,666,1641,0,0,0,0,0,0
$GC,5435,0.77,339.6,123.3,19.7,678,5444,0.20,2.22,0.00,0.000,6,0.144,0.040,2832,2120,1637,0,0,0,0,0,0
$GC,5801,0.94,477.2,71.5,8.8,739,5915,0.20,2.25,104.62,0.547,4,0.065,0.042,2944,664,1078,0,0,0,0,0,0
$GC,5993,0.94,477.2,36.8,16.8,766,6002,0.17,2.25,0.00,0.000,6,0.124,0.041,2883,2120,1074,0,0,0,0,0,0
$STATE,6228,end climb,SURFACE_DEPTH_REACHED
$STATE,6228,begin surface coast
$FINISH,0.4,1.021390
$STATE,6253,end surface coast,CONTROL_FINISHED_OK
$STATE,6253,begin surface
$SM_CCo,6266,69.95,0.069,0,0,540,610.06
$SM_GC,1.31,0.00,0.00,69.95,0.000,0.000,0.069,215,2456,540,-7.42,1.58,610.06
$IRIDIUM_FIX,2255.72,12555.96,300910,191956
$TT8_MAMPS,0.026964
$HUMID,50.23
$INTERNAL_PRESSURE,8.75308
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.5,15.752
$10V_AH,10.7,13.089
$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,18.075,44.625,538.900,69.950,0.000,24.685,51.434,100.473,0.000,0.000,14.722,1901.348,1528.513,563.564,2506.591,107.596,0.000,1387.792,0.000,2330.872,0.000,0.542,0.000
$DEVICE_MAMPS,246.330,74.970,839.970,68.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,542.050,0.000,1700.001,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334064
$DATA_FILE_SIZE,46995,810
$CAP_FILE_SIZE,82710,0
$CFSIZE,260165632,247787520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.198,320.8,1
$GPS,300910,225138,2305.332,12554.155,11,1.8,12,-3.3