version: 66.08
glider: 176
mission: 2
dive: 113
start: 10 1 110 0 40 34
data:
$ID,176
$MISSION,2
$DIVE,113
$N_DIVES,125
$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,-4882.7622
$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
$GPS1,011010,003601,2304.954,12553.984,40,1.3,40,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-67.4
$GPS2,011010,004007,2304.965,12553.954,14,1.5,19,-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,136.1,13813,-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,-219.0,0.0,0.0,0,83,0.00,0.00,-65.62,0.000,2,0.000,0.000,202,2454,2466,0,0,0,0,0,0
$GC,85,-0.72,-219.0,3.0,-4.5,8,128,8.48,2.25,-28.27,0.000,4,0.243,0.044,2354,941,3923,0,0,0,0,0,0
$GC,178,-0.71,-219.0,30.9,-30.7,21,186,0.00,2.30,0.00,0.000,6,0.000,0.052,2354,2415,3924,0,0,0,0,0,0
$GC,542,-0.70,-219.0,137.8,-28.5,82,552,0.08,2.10,0.00,0.000,4,0.229,0.061,2372,3764,3926,0,0,0,0,0,0
$GC,659,-0.71,-219.0,164.3,-17.4,101,666,0.05,2.03,0.00,0.000,6,0.174,0.029,2334,2337,3927,0,0,0,0,0,0
$GC,1015,-0.69,-219.0,258.0,-25.1,162,1025,0.15,2.20,0.00,0.000,4,0.175,0.057,2377,3757,3927,0,0,0,0,0,0
$GC,1074,-0.70,-219.0,269.0,-15.8,171,1081,0.08,2.00,0.00,0.000,6,0.128,0.028,2329,2339,3927,0,0,0,0,0,0
$GC,1417,-0.69,-219.0,344.9,-21.1,214,1421,0.15,2.17,0.00,0.000,4,0.171,0.057,2372,3767,3927,0,0,0,0,0,0
$GC,1490,-0.70,-219.0,355.4,-10.9,220,1499,0.03,2.03,0.00,0.000,6,0.103,0.029,2329,2351,3927,0,0,0,0,0,0
$GC,1817,-0.70,-219.0,415.9,-19.9,251,1819,0.15,0.00,0.00,0.000,6,0.165,0.000,2374,2348,3926,0,0,0,0,0,0
$GC,2136,-0.71,-219.0,459.9,-12.7,281,2140,0.08,2.15,0.00,0.000,4,0.132,0.057,2321,3766,3925,0,0,0,0,0,0
$GC,2243,-0.71,-219.0,476.6,-15.0,290,2253,0.10,2.03,0.00,0.000,6,0.116,0.030,2362,2349,3925,0,0,0,0,0,0
$STATE,2429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2429,begin apogee
$GC,2433,-0.11,0.0,501.4,12.9,308,2604,0.55,0.15,165.68,0.838,6,0.112,0.081,2559,2150,3027,0,0,0,0,0,0
$STATE,2605,end apogee,CONTROL_FINISHED_OK
$STATE,2605,begin climb
$GC,2606,0.72,219.0,512.5,0.0,322,2785,0.68,2.30,171.48,0.827,4,0.034,0.040,2874,664,2133,0,0,0,0,0,0
$GC,3033,0.70,219.0,460.8,18.8,358,3038,0.22,2.17,0.00,0.000,6,0.171,0.036,2809,2133,2124,0,0,0,0,0,0
$GC,3358,0.69,219.0,408.1,16.1,388,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2134,2121,0,0,0,0,0,0
$GC,3678,0.68,219.0,357.0,15.3,418,3682,0.00,2.17,0.00,0.000,4,0.000,0.044,2817,659,2119,0,0,0,0,0,0
$GC,3733,0.68,231.0,348.6,14.6,422,3747,0.03,2.17,8.55,0.644,6,0.184,0.037,2807,2120,2084,0,0,0,0,0,0
$GC,4069,0.71,258.8,300.3,13.9,453,4103,0.05,2.17,23.12,0.702,4,0.170,0.047,2850,3532,1970,0,0,0,0,0,0
$GC,4140,0.69,258.8,287.2,20.9,463,4148,0.20,2.17,0.00,0.000,6,0.174,0.032,2803,2060,1967,0,0,0,0,0,0
$GC,4491,0.70,265.1,231.8,14.9,524,4506,0.05,2.12,5.50,0.523,4,0.177,0.043,2855,657,1945,0,0,0,0,0,0
$GC,4616,0.69,265.1,210.5,17.5,545,4624,0.17,2.17,0.00,0.000,6,0.157,0.038,2803,2127,1944,0,0,0,0,0,0
$GC,4961,0.83,381.6,170.2,9.7,606,5061,0.17,2.30,91.75,0.625,4,0.072,0.041,2910,663,1470,0,0,0,0,0,0
$GC,5069,0.81,381.6,150.2,21.3,621,5077,0.22,2.22,0.00,0.000,6,0.162,0.037,2845,2119,1467,0,0,0,0,0,0
$GC,5426,0.81,381.6,91.1,17.8,682,5434,0.00,2.12,0.00,0.000,4,0.000,0.047,2845,3519,1460,0,0,0,0,0,0
$GC,5449,0.81,381.6,86.6,18.5,685,5458,0.00,2.17,0.00,0.000,6,0.000,0.034,2845,2062,1459,0,0,0,0,0,0
$GC,5815,1.03,552.4,38.0,7.2,746,5954,0.22,2.15,127.28,0.516,4,0.060,0.042,2966,674,773,0,0,0,0,0,0
$STATE,5984,end climb,SURFACE_DEPTH_REACHED
$STATE,5984,begin surface coast
$FINISH,0.6,1.021625
$STATE,5997,end surface coast,CONTROL_FINISHED_OK
$STATE,5997,begin surface
$SM_CCo,6013,32.88,0.067,0,0,539,610.06
$SM_GC,1.28,0.00,0.00,32.88,0.000,0.000,0.067,212,2438,539,-7.43,1.07,610.06
$IRIDIUM_FIX,2258.07,12555.96,300910,222256
$TT8_MAMPS,0.026964
$HUMID,51.69
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.5,16.006
$10V_AH,10.7,13.302
$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,19.000,52.925,593.350,32.875,0.000,30.133,20.656,98.950,0.000,0.000,22.347,1793.049,1455.995,560.680,2382.184,107.463,0.000,1374.128,0.000,2225.028,0.000,0.542,0.000
$DEVICE_MAMPS,243.270,81.090,838.440,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,513.871,0.000,1610.323,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47042,770
$CAP_FILE_SIZE,83540,0
$CFSIZE,260165632,247697408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.193,309.3,1
$GPS,011010,022202,2304.567,12553.978,15,1.7,15,-3.3