version: 66.08
glider: 176
mission: 2
dive: 20
start: 9 24 110 7 30 36
data:
$ID,176
$MISSION,2
$DIVE,20
$N_DIVES,25
$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,250
$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,539.41467
$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,-4743.5137
$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,2600
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,35
$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,2100
$C_ROLL_CLIMB,2075
$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,2699
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,100
$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
$GPS1,240910,072552,2344.708,12621.977,10,2.4,29,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.6
$GPS2,240910,073010,2344.731,12622.013,14,2.6,33,-3.5
$SPEED_LIMITS,0.262,0.375
$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,214.4,90944,-19.2,-15.152
$D_GRID,5000
$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,-0.85,-243.3,0.0,0.0,0,88,0.00,0.00,-71.00,0.000,2,0.000,0.000,202,2108,2612,0,0,0,0,0,0
$GC,90,-0.85,-243.3,3.1,-5.9,9,124,8.48,2.17,-19.98,0.000,4,0.252,0.052,2324,647,3695,0,0,0,0,0,0
$GC,329,-0.82,-243.3,81.5,-32.6,48,338,0.05,2.22,0.00,0.000,6,0.174,0.047,2339,2109,3695,0,0,0,0,0,0
$GC,687,-0.81,-243.3,179.9,-28.6,109,693,0.00,2.12,0.00,0.000,4,0.000,0.057,2335,3536,3696,0,0,0,0,0,0
$GC,906,-0.80,-243.3,231.3,-20.1,148,913,0.00,2.12,0.00,0.000,6,0.000,0.032,2335,2056,3696,0,0,0,0,0,0
$GC,1246,-0.79,-243.3,301.6,-20.7,209,1253,0.08,2.25,0.00,0.000,4,0.220,0.057,2352,3526,3696,0,0,0,0,0,0
$GC,1382,-0.79,-243.3,324.0,-14.9,233,1389,0.00,2.10,0.00,0.000,6,0.000,0.031,2353,2054,3696,0,0,0,0,0,0
$GC,1725,-0.79,-243.3,385.4,-17.6,294,1732,0.00,2.22,0.00,0.000,4,0.000,0.056,2352,3524,3695,0,0,0,0,0,0
$GC,1918,-0.79,-243.3,414.0,-14.2,328,1924,0.00,2.10,0.00,0.000,6,0.000,0.032,2353,2053,3694,0,0,0,0,0,0
$GC,2260,-0.79,-243.3,465.9,-13.6,389,2266,0.00,2.22,0.00,0.000,4,0.000,0.057,2349,3523,3692,0,0,0,0,0,0
$GC,2413,-0.80,-243.3,485.6,-11.9,416,2419,0.00,2.10,0.00,0.000,6,0.000,0.032,2350,2057,3692,0,0,0,0,0,0
$STATE,2513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2513,begin apogee
$GC,2517,-0.14,0.0,500.2,15.5,434,2706,0.60,0.00,184.43,0.817,6,0.122,0.000,2560,2052,2699,0,0,0,0,0,0
$STATE,2706,end apogee,CONTROL_FINISHED_OK
$STATE,2706,begin climb
$GC,2708,0.85,243.3,508.9,0.0,448,2907,0.82,2.40,191.38,0.802,4,0.044,0.052,2904,3510,1706,0,0,0,0,0,0
$GC,2930,0.82,243.3,472.4,31.0,474,2937,0.22,2.25,0.00,0.000,6,0.197,0.036,2858,2042,1703,0,0,0,0,0,0
$GC,3274,0.80,243.3,388.6,22.8,535,3281,0.00,2.10,0.00,0.000,4,0.000,0.049,2866,639,1698,0,0,0,0,0,0
$GC,3304,0.78,243.3,381.9,22.2,540,3312,0.08,2.20,0.00,0.000,6,0.207,0.042,2848,2105,1698,0,0,0,0,0,0
$GC,3649,0.77,243.3,306.8,21.0,601,3656,0.00,2.12,0.00,0.000,4,0.000,0.053,2848,3513,1696,0,0,0,0,0,0
$GC,3712,0.75,243.3,292.2,22.0,612,3721,0.10,2.17,0.00,0.000,6,0.206,0.037,2833,2036,1696,0,0,0,0,0,0
$GC,4057,0.74,243.3,222.6,19.2,673,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2032,1694,0,0,0,0,0,0
$GC,4399,0.74,243.3,162.5,16.6,734,4405,0.00,2.03,0.00,0.000,4,0.000,0.048,2843,639,1694,0,0,0,0,0,0
$GC,4489,0.73,243.3,148.3,16.4,749,4498,0.03,2.17,0.00,0.000,6,0.185,0.043,2833,2095,1693,0,0,0,0,0,0
$GC,4854,0.76,265.9,90.9,14.2,810,4881,0.03,2.12,17.50,0.549,4,0.260,0.051,2880,3509,1612,0,0,0,0,0,0
$GC,4977,0.75,265.9,67.8,20.0,829,4986,0.15,2.17,0.00,0.000,6,0.148,0.037,2836,2048,1611,0,0,0,0,0,0
$GC,5343,0.98,449.3,37.0,7.5,890,5489,0.22,2.30,137.35,0.508,4,0.062,0.052,2951,3499,865,0,0,0,0,0,0
$GC,5509,0.96,449.3,3.2,26.3,911,5518,0.15,2.22,0.00,0.000,6,0.142,0.038,2907,2053,861,0,0,0,0,0,0
$STATE,5525,end climb,SURFACE_DEPTH_REACHED
$STATE,5525,begin surface coast
$FINISH,0.4,1.007068
$STATE,5539,end surface coast,CONTROL_FINISHED_OK
$STATE,5539,begin surface
$SM_CCo,5552,51.00,0.067,0,0,500,539.41
$SM_GC,1.17,0.00,0.00,51.00,0.000,0.000,0.067,209,2138,500,-7.47,1.10,539.41
$IRIDIUM_FIX,2335.63,12622.06,240910,050543
$TT8_MAMPS,0.026964
$HUMID,49.21
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.5,4.821
$10V_AH,10.8,3.451
$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,17.950,48.025,530.650,51.000,0.000,21.150,35.517,97.456,0.000,0.000,37.072,2102.005,1054.386,531.449,2096.831,81.701,0.000,1380.038,0.000,1909.400,0.000,0.544,0.000
$DEVICE_MAMPS,260.100,104.040,817.020,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,612.269,78.422,896.369,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334064
$DATA_FILE_SIZE,50293,915
$CAP_FILE_SIZE,82693,0
$CFSIZE,260165632,251953152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065, 33.3,1
$GPS,240910,090506,2344.335,12621.484,30,0.9,40,-3.5