version: 66.08
glider: 176
mission: 2
dive: 112
start: 9 30 110 22 56 23
data:
$ID,176
$MISSION,2
$DIVE,112
$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,-4881.4136
$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
$GPS1,300910,225138,2305.332,12554.155,11,1.8,12,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-67.0
$GPS2,300910,225556,2305.348,12554.141,12,1.4,12,-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,141.4,14067,-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,-66.35,0.000,2,0.000,0.000,215,2457,2499,0,0,0,0,0,0
$GC,86,-0.72,-219.0,3.0,-4.9,8,128,8.43,2.25,-27.70,0.000,4,0.244,0.048,2354,953,3924,0,0,0,0,0,0
$GC,182,-0.72,-219.0,32.0,-28.6,22,192,0.00,2.28,0.00,0.000,6,0.000,0.054,2354,2413,3925,0,0,0,0,0,0
$GC,548,-0.70,-219.0,132.6,-21.4,83,557,0.05,2.08,0.00,0.000,4,0.269,0.060,2365,3760,3926,0,0,0,0,0,0
$GC,646,-0.70,-219.0,153.0,-17.5,99,653,0.00,2.00,0.00,0.000,6,0.000,0.030,2365,2351,3927,0,0,0,0,0,0
$GC,1001,-0.70,-219.0,229.3,-20.0,160,1010,0.00,2.17,0.00,0.000,4,0.000,0.058,2365,3764,3928,0,0,0,0,0,0
$GC,1051,-0.70,-219.0,238.6,-16.3,168,1060,0.00,2.03,0.00,0.000,6,0.000,0.028,2365,2341,3928,0,0,0,0,0,0
$GC,1412,-0.70,-219.0,308.9,-20.7,226,1416,0.00,2.15,0.00,0.000,4,0.000,0.057,2365,3774,3928,0,0,0,0,0,0
$GC,1487,-0.71,-219.0,321.9,-14.3,232,1491,0.00,2.03,0.00,0.000,6,0.000,0.028,2365,2338,3927,0,0,0,0,0,0
$GC,1820,-0.71,-219.0,377.1,-16.8,263,1824,0.00,2.15,0.00,0.000,4,0.000,0.055,2365,3767,3926,0,0,0,0,0,0
$GC,1923,-0.73,-219.0,391.3,-11.7,272,1928,0.05,2.03,0.00,0.000,6,0.177,0.029,2321,2332,3926,0,0,0,0,0,0
$GC,2248,-0.72,-219.0,453.9,-20.7,302,2250,0.15,0.00,0.00,0.000,6,0.161,0.000,2366,2327,3925,0,0,0,0,0,0
$GC,2569,-0.73,-219.0,496.7,-12.9,332,2573,0.08,2.20,0.00,0.000,4,0.132,0.057,2319,3766,3923,0,0,0,0,0,0
$STATE,2588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2588,begin apogee
$GC,2594,-0.11,0.0,500.3,14.5,333,2765,0.68,0.10,166.02,0.835,6,0.119,0.102,2556,2136,3026,0,0,0,0,0,0
$STATE,2766,end apogee,CONTROL_FINISHED_OK
$STATE,2766,begin climb
$GC,2767,0.72,219.0,509.9,0.0,347,2946,0.70,2.38,171.12,0.822,4,0.049,0.042,2849,659,2133,0,0,0,0,0,0
$GC,3156,0.70,219.0,457.0,20.8,380,3167,0.10,2.22,0.00,0.000,6,0.154,0.037,2815,2122,2125,0,0,0,0,0,0
$GC,3483,0.69,219.0,400.0,17.1,411,3485,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2123,2121,0,0,0,0,0,0
$GC,3804,0.70,238.5,351.8,14.2,441,3828,0.00,2.22,14.68,0.698,4,0.000,0.044,2818,670,2053,0,0,0,0,0,0
$GC,3948,0.75,281.6,331.2,13.2,453,3994,0.03,2.20,35.17,0.721,6,0.114,0.037,2857,2128,1877,0,0,0,0,0,0
$GC,4328,0.73,281.6,254.6,22.0,505,4336,0.15,2.10,0.00,0.000,4,0.178,0.048,2814,3530,1870,0,0,0,0,0,0
$GC,4356,0.72,281.6,248.6,21.1,509,4363,0.00,2.15,0.00,0.000,6,0.000,0.033,2820,2063,1869,0,0,0,0,0,0
$GC,4712,0.72,281.6,186.9,15.7,570,4721,0.00,2.08,0.00,0.000,4,0.000,0.042,2830,661,1867,0,0,0,0,0,0
$GC,4816,0.73,291.9,171.8,14.7,587,4833,0.00,2.15,7.90,0.547,6,0.000,0.037,2830,2122,1836,0,0,0,0,0,0
$GC,5188,0.76,318.1,117.2,13.9,649,5221,0.00,2.22,22.17,0.578,4,0.000,0.044,2831,663,1727,0,0,0,0,0,0
$GC,5264,0.83,374.0,107.1,12.6,660,5315,0.08,2.20,44.30,0.572,6,0.060,0.038,2900,2122,1501,0,0,0,0,0,0
$GC,5665,0.88,420.6,28.7,13.0,726,5708,0.12,2.20,35.60,0.515,4,0.172,0.048,2863,3530,1310,0,0,0,0,0,0
$GC,5724,1.00,508.8,22.1,11.1,733,5798,0.10,2.20,67.80,0.504,6,0.045,0.031,2951,2053,951,0,0,0,0,0,0
$STATE,5824,end climb,SURFACE_DEPTH_REACHED
$STATE,5825,begin surface coast
$FINISH,0.6,1.021633
$STATE,5838,end surface coast,CONTROL_FINISHED_OK
$STATE,5838,begin surface
$SM_CCo,5852,59.58,0.069,0,0,540,610.06
$SM_GC,1.50,0.00,0.00,59.58,0.000,0.000,0.069,206,2454,540,-7.45,1.50,610.06
$IRIDIUM_FIX,2258.07,12552.69,300910,212144
$TT8_MAMPS,0.026964
$HUMID,51.02
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,24.5,15.877
$10V_AH,10.7,13.194
$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,17.825,52.850,564.775,59.575,0.000,24.195,44.298,99.580,0.000,0.000,15.600,1756.824,1401.960,563.583,2343.987,109.282,0.000,1359.574,0.000,2176.712,0.000,0.543,0.000
$DEVICE_MAMPS,269.280,101.745,834.615,68.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,499.558,0.000,1571.937,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43696,748
$CAP_FILE_SIZE,81579,0
$CFSIZE,260165632,247750656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.216,313.5,1
$GPS,011010,003601,2304.954,12553.984,40,1.3,40,-3.3