version: 66.08
glider: 176
mission: 2
dive: 51
start: 9 26 110 8 52 11
data:
$ID,176
$MISSION,2
$DIVE,51
$N_DIVES,65
$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,-4798.5664
$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,2220
$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
$GPS1,260910,084731,2328.778,12607.254,37,1.9,37,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.0
$GPS2,260910,085144,2328.773,12607.195,13,1.4,13,-3.4
$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,177.0,54681,-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,14,-0.85,-219.0,0.0,0.0,0,89,0.00,0.00,-72.30,0.000,2,0.000,0.000,214,2255,2726,0,0,0,0,0,0
$GC,91,-0.85,-219.0,3.7,-7.4,9,126,8.48,2.22,-20.73,0.000,4,0.251,0.050,2328,760,3923,0,0,0,0,0,0
$GC,222,-0.84,-219.0,49.7,-28.6,29,230,0.00,2.28,0.00,0.000,6,0.000,0.050,2327,2234,3925,0,0,0,0,0,0
$GC,581,-0.82,-219.0,173.2,-31.7,90,590,0.05,2.17,0.00,0.000,4,0.275,0.057,2336,3648,3927,0,0,0,0,0,0
$GC,630,-0.81,-219.0,187.8,-28.5,98,638,0.00,2.12,0.00,0.000,6,0.000,0.031,2335,2185,3928,0,0,0,0,0,0
$GC,979,-0.81,-219.0,275.3,-23.4,159,987,0.00,2.22,0.00,0.000,4,0.000,0.057,2335,3644,3928,0,0,0,0,0,0
$GC,1118,-0.81,-219.0,302.8,-15.4,182,1128,0.00,2.12,0.00,0.000,6,0.000,0.030,2336,2168,3928,0,0,0,0,0,0
$GC,1445,-0.80,-219.0,371.2,-21.2,213,1449,0.00,2.22,0.00,0.000,4,0.000,0.057,2335,3647,3927,0,0,0,0,0,0
$GC,1483,-0.80,-219.0,379.2,-18.0,216,1493,0.00,2.12,0.00,0.000,6,0.000,0.031,2335,2177,3927,0,0,0,0,0,0
$GC,1811,-0.80,-219.0,436.0,-17.1,247,1815,0.00,2.25,0.00,0.000,4,0.000,0.057,2336,3655,3925,0,0,0,0,0,0
$GC,1886,-0.81,-219.0,447.7,-13.6,253,1890,0.00,2.12,0.00,0.000,6,0.000,0.031,2336,2167,3925,0,0,0,0,0,0
$STATE,2211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2211,begin apogee
$GC,2215,-0.14,0.0,500.6,16.1,283,2388,0.62,0.15,164.82,0.822,6,0.120,0.086,2555,2143,3027,0,0,0,0,0,0
$STATE,2388,end apogee,CONTROL_FINISHED_OK
$STATE,2389,begin climb
$GC,2390,0.85,219.0,510.2,0.0,297,2575,0.85,2.40,171.15,0.809,4,0.044,0.045,2917,657,2132,0,0,0,0,0,0
$GC,2680,0.82,219.0,477.3,23.6,321,2689,0.17,2.25,0.00,0.000,6,0.177,0.040,2864,2120,2126,0,0,0,0,0,0
$GC,3006,0.80,219.0,406.9,22.1,352,3011,0.05,2.10,0.00,0.000,4,0.273,0.051,2854,3527,2122,0,0,0,0,0,0
$GC,3027,0.77,219.0,401.8,22.4,353,3035,0.05,2.17,0.00,0.000,6,0.201,0.034,2848,2068,2122,0,0,0,0,0,0
$GC,3353,0.76,219.0,338.5,17.7,384,3357,0.00,2.08,0.00,0.000,4,0.000,0.047,2858,660,2120,0,0,0,0,0,0
$GC,3429,0.74,219.0,324.5,15.9,390,3440,0.08,2.20,0.00,0.000,6,0.164,0.041,2833,2126,2118,0,0,0,0,0,0
$GC,3765,0.72,219.0,274.9,15.6,436,3774,0.00,2.20,0.00,0.000,4,0.000,0.046,2839,662,2117,0,0,0,0,0,0
$GC,3855,0.76,261.0,262.4,13.2,451,3892,0.00,2.17,31.10,0.673,6,0.000,0.041,2839,2130,1962,0,0,0,0,0,0
$GC,4230,0.75,261.0,197.2,17.3,516,4238,0.00,2.12,0.00,0.000,4,0.000,0.054,2839,3522,1955,0,0,0,0,0,0
$GC,4335,0.74,261.0,177.2,17.8,534,4344,0.03,2.15,0.00,0.000,6,0.215,0.035,2837,2071,1954,0,0,0,0,0,0
$GC,4687,0.81,323.0,125.7,12.3,595,4745,0.10,2.15,48.28,0.585,4,0.106,0.047,2913,669,1708,0,0,0,0,0,0
$GC,5003,0.80,323.0,66.1,17.8,646,5012,0.17,2.20,0.00,0.000,6,0.143,0.041,2853,2124,1701,0,0,0,0,0,0
$GC,5368,0.98,472.0,33.5,8.2,707,5491,0.20,2.30,111.35,0.506,4,0.065,0.047,2967,667,1101,0,0,0,0,0,0
$STATE,5529,end climb,SURFACE_DEPTH_REACHED
$STATE,5529,begin surface coast
$FINISH,0.6,1.021586
$STATE,5542,end surface coast,CONTROL_FINISHED_OK
$STATE,5542,begin surface
$SM_CCo,5558,79.93,0.067,0,0,540,610.06
$SM_GC,1.28,0.00,0.00,79.93,0.000,0.000,0.067,205,2257,540,-7.49,1.05,610.06
$IRIDIUM_FIX,2321.52,12611.32,260910,070746
$TT8_MAMPS,0.026964
$HUMID,49.64
$INTERNAL_PRESSURE,8.75308
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.5,8.400
$10V_AH,10.8,6.503
$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,17.950,53.075,526.700,79.925,0.000,27.818,41.460,94.680,0.000,0.000,16.144,1700.974,1260.493,568.332,2285.567,82.172,0.000,1333.663,0.000,2112.397,0.000,0.542,0.000
$DEVICE_MAMPS,275.400,85.680,822.375,66.555,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,487.365,0.000,1555.891,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334076
$DATA_FILE_SIZE,43601,730
$CAP_FILE_SIZE,76589,0
$CFSIZE,260165632,250613760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.153,306.9,1
$GPS,260910,102644,2328.291,12606.486,9,1.8,9,-3.4