version: 66.08
glider: 176
mission: 2
dive: 60
start: 9 27 110 0 17 46
data:
$ID,176
$MISSION,2
$DIVE,60
$N_DIVES,70
$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,-4811.8081
$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,2325
$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
$GPS1,270910,001304,2323.842,12602.562,11,5.1,30,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-73.1
$GPS2,270910,001719,2323.874,12602.560,10,0.9,15,-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,153.0,44428,-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,-0.72,-219.0,0.0,0.0,0,90,0.00,0.00,-73.47,0.000,2,0.000,0.000,204,2394,2768,0,0,0,0,0,0
$GC,92,-0.72,-219.0,3.9,-7.9,9,127,8.60,2.28,-19.45,0.000,4,0.247,0.049,2357,878,3923,0,0,0,0,0,0
$GC,204,-0.71,-219.0,45.5,-27.5,26,213,0.00,2.25,0.00,0.000,6,0.000,0.050,2357,2333,3924,0,0,0,0,0,0
$GC,568,-0.70,-219.0,153.2,-27.6,87,576,0.00,2.15,0.00,0.000,4,0.000,0.058,2353,3752,3925,0,0,0,0,0,0
$GC,765,-0.70,-219.0,195.1,-17.5,121,772,0.08,2.10,0.00,0.000,6,0.185,0.031,2373,2274,3927,0,0,0,0,0,0
$GC,1108,-0.70,-219.0,263.7,-19.4,182,1117,0.00,2.28,0.00,0.000,4,0.000,0.056,2373,3756,3927,0,0,0,0,0,0
$GC,1164,-0.71,-219.0,272.5,-13.3,191,1173,0.08,2.10,0.00,0.000,6,0.127,0.029,2322,2270,3927,0,0,0,0,0,0
$GC,1501,-0.70,-219.0,344.9,-21.5,233,1506,0.17,2.28,0.00,0.000,4,0.162,0.056,2374,3762,3926,0,0,0,0,0,0
$GC,1608,-0.71,-219.0,358.5,-9.1,242,1612,0.08,2.10,0.00,0.000,6,0.125,0.030,2321,2264,3926,0,0,0,0,0,0
$GC,1933,-0.71,-219.0,422.7,-19.9,272,1935,0.15,0.00,0.00,0.000,6,0.161,0.000,2367,2258,3925,0,0,0,0,0,0
$GC,2253,-0.72,-219.0,466.0,-12.4,302,2257,0.00,2.25,0.00,0.000,4,0.000,0.056,2363,3763,3923,0,0,0,0,0,0
$GC,2317,-0.73,-219.0,473.0,-9.3,307,2321,0.05,2.12,0.00,0.000,6,0.177,0.031,2319,2269,3923,0,0,0,0,0,0
$STATE,2480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2480,begin apogee
$GC,2484,-0.11,0.0,500.4,17.8,322,2656,0.68,0.15,164.40,0.832,6,0.123,0.083,2554,2152,3026,0,0,0,0,0,0
$STATE,2657,end apogee,CONTROL_FINISHED_OK
$STATE,2657,begin climb
$GC,2659,0.72,219.0,509.8,0.0,336,2844,0.70,2.25,170.88,0.819,4,0.047,0.048,2845,3532,2132,0,0,0,0,0,0
$GC,3027,0.70,219.0,460.6,23.8,367,3032,0.17,2.17,0.00,0.000,6,0.190,0.033,2807,2054,2127,0,0,0,0,0,0
$GC,3353,0.69,219.0,406.7,15.3,397,3357,0.00,2.25,0.00,0.000,4,0.000,0.047,2807,3537,2122,0,0,0,0,0,0
$GC,3385,0.67,219.0,401.2,15.8,399,3394,0.05,2.17,0.00,0.000,6,0.189,0.032,2802,2067,2122,0,0,0,0,0,0
$GC,3711,0.70,245.1,355.9,13.9,430,3738,0.05,2.15,19.77,0.720,4,0.179,0.044,2845,660,2026,0,0,0,0,0,0
$GC,3776,0.68,245.1,344.8,17.2,435,3785,0.12,2.20,0.00,0.000,6,0.149,0.037,2804,2119,2023,0,0,0,0,0,0
$GC,4104,0.72,280.1,296.8,13.5,468,4141,0.08,2.17,28.33,0.702,4,0.129,0.047,2854,3526,1883,0,0,0,0,0,0
$GC,4245,0.70,280.1,268.3,21.9,491,4254,0.20,2.15,0.00,0.000,6,0.181,0.034,2810,2058,1879,0,0,0,0,0,0
$GC,4593,0.70,280.1,212.4,16.0,552,4601,0.00,2.08,0.00,0.000,4,0.000,0.044,2818,664,1876,0,0,0,0,0,0
$GC,4637,0.71,290.6,205.6,14.7,559,4653,0.00,2.17,8.20,0.574,6,0.000,0.038,2818,2133,1843,0,0,0,0,0,0
$GC,4993,0.74,319.0,149.4,13.8,621,5020,0.05,0.00,24.02,0.597,6,0.181,0.000,2865,2133,1726,0,0,0,0,0,0
$GC,5369,0.73,319.0,83.3,15.5,684,5378,0.15,2.22,0.00,0.000,4,0.165,0.044,2831,664,1718,0,0,0,0,0,0
$GC,5387,0.74,332.7,80.5,14.5,686,5405,0.00,2.17,11.50,0.521,6,0.000,0.038,2830,2118,1669,0,0,0,0,0,0
$GC,5756,0.96,501.6,46.5,7.3,748,5894,0.20,2.30,127.15,0.519,4,0.065,0.046,2953,663,980,0,0,0,0,0,0
$GC,5937,0.96,501.6,13.2,20.3,772,5947,0.17,2.25,0.00,0.000,6,0.129,0.040,2893,2123,978,0,0,0,0,0,0
$STATE,5995,end climb,SURFACE_DEPTH_REACHED
$STATE,5995,begin surface coast
$FINISH,0.3,1.008464
$STATE,6014,end surface coast,CONTROL_FINISHED_OK
$STATE,6014,begin surface
$SM_CCo,6028,63.00,0.068,0,0,540,610.06
$SM_GC,1.14,0.00,0.00,63.00,0.000,0.000,0.068,203,2399,540,-7.46,2.09,610.06
$IRIDIUM_FIX,2319.18,12602.85,260910,222214
$TT8_MAMPS,0.026964
$HUMID,49.68
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,24.5,9.477
$10V_AH,10.8,7.459
$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,18.675,53.350,554.250,63.000,0.000,29.019,39.113,100.632,0.000,0.000,17.672,1840.523,1420.143,568.919,2430.235,93.255,0.000,1378.676,0.000,2256.008,0.000,0.542,0.000
$DEVICE_MAMPS,247.095,83.385,832.320,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,524.023,0.000,1651.918,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46911,784
$CAP_FILE_SIZE,84738,0
$CFSIZE,260165632,250195968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.268,316.9,1
$GPS,270910,015956,2323.679,12602.263,11,1.5,11,-3.4