version: 66.08
glider: 176
mission: 2
dive: 64
start: 9 27 110 7 28 10
data:
$ID,176
$MISSION,2
$DIVE,64
$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,-4817.2021
$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
$GPS1,270910,072354,2322.232,12601.250,25,1.2,43,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-72.0
$GPS2,270910,072743,2322.272,12601.227,10,1.0,15,-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,159.0,41302,-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,-219.0,0.0,0.0,0,88,0.00,0.00,-71.05,0.000,2,0.000,0.000,210,2360,2690,0,0,0,0,0,0
$GC,90,-0.72,-219.0,3.7,-7.1,9,132,8.48,2.20,-21.50,0.000,4,0.245,0.049,2356,877,3924,0,0,0,0,0,0
$GC,171,-0.71,-219.0,33.0,-34.9,20,180,0.00,2.28,0.00,0.000,6,0.000,0.052,2356,2341,3925,0,0,0,0,0,0
$GC,535,-0.69,-219.0,144.5,-25.4,81,544,0.08,2.17,0.00,0.000,4,0.225,0.059,2373,3746,3926,0,0,0,0,0,0
$GC,666,-0.70,-219.0,168.0,-14.9,103,674,0.05,2.10,0.00,0.000,6,0.174,0.031,2335,2275,3928,0,0,0,0,0,0
$GC,1014,-0.69,-219.0,255.8,-24.9,164,1023,0.15,2.28,0.00,0.000,4,0.175,0.057,2377,3745,3928,0,0,0,0,0,0
$GC,1051,-0.69,-219.0,264.2,-19.6,170,1060,0.03,2.12,0.00,0.000,6,0.114,0.031,2341,2272,3928,0,0,0,0,0,0
$GC,1389,-0.68,-219.0,335.4,-21.8,216,1393,0.12,2.28,0.00,0.000,4,0.174,0.057,2376,3757,3928,0,0,0,0,0,0
$GC,1466,-0.70,-219.0,348.4,-12.2,222,1476,0.05,2.12,0.00,0.000,6,0.073,0.030,2323,2269,3927,0,0,0,0,0,0
$GC,1792,-0.70,-219.0,420.0,-21.8,253,1797,0.17,2.25,0.00,0.000,4,0.158,0.057,2375,3756,3926,0,0,0,0,0,0
$GC,1822,-0.70,-219.0,425.8,-18.1,255,1827,0.08,2.10,0.00,0.000,6,0.126,0.030,2323,2274,3926,0,0,0,0,0,0
$GC,2149,-0.69,-219.0,487.1,-18.0,285,2154,0.17,2.25,0.00,0.000,4,0.154,0.057,2377,3755,3925,0,0,0,0,0,0
$GC,2179,-0.70,-219.0,491.6,-14.1,287,2184,0.05,2.10,0.00,0.000,6,0.175,0.031,2332,2275,3924,0,0,0,0,0,0
$STATE,2249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2249,begin apogee
$GC,2253,-0.11,0.0,500.6,13.8,293,2423,0.65,0.15,164.55,0.832,6,0.120,0.055,2558,2133,3027,0,0,0,0,0,0
$STATE,2424,end apogee,CONTROL_FINISHED_OK
$STATE,2424,begin climb
$GC,2425,0.72,219.0,507.8,0.0,307,2604,0.70,2.38,170.75,0.819,4,0.048,0.044,2858,663,2133,0,0,0,0,0,0
$GC,2766,0.70,219.0,468.7,19.1,336,2776,0.15,2.22,0.00,0.000,6,0.156,0.038,2810,2118,2125,0,0,0,0,0,0
$GC,3094,0.70,226.3,420.1,14.8,367,3107,0.00,2.17,5.93,0.601,4,0.000,0.044,2818,662,2103,0,0,0,0,0,0
$GC,3144,0.71,240.9,413.0,14.5,371,3162,0.00,2.20,13.12,0.712,6,0.000,0.040,2818,2133,2044,0,0,0,0,0,0
$GC,3480,0.70,240.9,357.1,17.2,402,3484,0.00,2.20,0.00,0.000,4,0.000,0.047,2818,658,2038,0,0,0,0,0,0
$GC,3525,0.69,240.9,349.6,16.4,406,3529,0.05,2.20,0.00,0.000,6,0.226,0.040,2806,2134,2036,0,0,0,0,0,0
$GC,3852,0.68,240.9,297.5,15.7,437,3858,0.00,2.10,0.00,0.000,4,0.000,0.051,2806,3539,2034,0,0,0,0,0,0
$GC,3911,0.67,240.9,287.9,16.3,447,3919,0.08,2.12,0.00,0.000,6,0.218,0.034,2797,2065,2034,0,0,0,0,0,0
$GC,4260,0.72,280.0,240.9,13.3,508,4297,0.10,2.10,30.35,0.673,4,0.106,0.044,2865,662,1885,0,0,0,0,0,0
$GC,4357,0.70,280.0,225.4,18.3,523,4365,0.20,2.20,0.00,0.000,6,0.161,0.039,2806,2130,1880,0,0,0,0,0,0
$GC,4706,0.74,310.1,172.5,13.8,584,4737,0.10,2.22,24.33,0.617,4,0.102,0.044,2885,657,1761,0,0,0,0,0,0
$GC,4749,0.72,310.1,164.9,18.8,590,4759,0.20,2.22,0.00,0.000,6,0.147,0.040,2819,2119,1758,0,0,0,0,0,0
$GC,5106,0.78,358.1,112.6,12.9,651,5150,0.10,2.28,37.83,0.581,4,0.103,0.044,2899,659,1564,0,0,0,0,0,0
$GC,5200,0.77,358.1,95.8,19.1,664,5209,0.20,2.22,0.00,0.000,6,0.140,0.040,2832,2119,1560,0,0,0,0,0,0
$GC,5565,1.03,556.1,50.0,6.0,725,5720,0.25,0.00,147.35,0.526,6,0.057,0.000,2962,2119,759,0,0,0,0,0,0
$STATE,5791,end climb,SURFACE_DEPTH_REACHED
$STATE,5791,begin surface coast
$FINISH,0.5,1.001381
$STATE,5805,end surface coast,CONTROL_FINISHED_OK
$STATE,5805,begin surface
$SM_CCo,5818,34.60,0.070,0,0,540,610.06
$SM_GC,1.24,0.00,0.00,34.60,0.000,0.000,0.070,210,2368,540,-7.44,1.22,610.06
$IRIDIUM_FIX,2314.48,12603.37,270910,050511
$TT8_MAMPS,0.026964
$HUMID,51.10
$INTERNAL_PRESSURE,8.72378
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,24.5,9.979
$10V_AH,10.7,7.894
$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,19.250,57.850,594.200,34.600,0.000,23.660,14.279,99.242,0.000,0.000,18.039,1771.444,1329.480,558.561,2332.298,98.008,0.000,1370.697,0.000,2185.652,0.000,0.543,0.000
$DEVICE_MAMPS,244.800,58.905,832.320,69.615,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,505.857,0.000,1591.096,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334052
$DATA_FILE_SIZE,46873,758
$CAP_FILE_SIZE,85375,0
$CFSIZE,260165632,250003456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.207,295.3,1
$GPS,270910,090620,2321.589,12600.813,10,1.5,10,-3.4