version: 66.08
glider: 176
mission: 2
dive: 69
start: 9 27 110 16 27 35
data:
$ID,176
$MISSION,2
$DIVE,69
$N_DIVES,75
$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,-4823.939
$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
$GPS1,270910,162237,2320.486,12559.906,32,1.1,32,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.5
$GPS2,270910,162708,2320.506,12559.842,15,1.1,15,-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,175.5,37978,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.72,-219.0,0.0,0.0,0,84,0.00,0.00,-66.40,0.000,2,0.000,0.000,208,2379,2507,0,0,0,0,0,0
$GC,86,-0.72,-219.0,3.1,-4.8,8,128,8.55,2.25,-27.00,0.000,4,0.246,0.049,2357,879,3923,0,0,0,0,0,0
$GC,259,-0.71,-219.0,52.8,-29.9,35,268,0.00,2.25,0.00,0.000,6,0.000,0.050,2357,2335,3924,0,0,0,0,0,0
$GC,621,-0.70,-219.0,152.6,-24.8,96,630,0.05,2.17,0.00,0.000,4,0.261,0.059,2365,3745,3926,0,0,0,0,0,0
$GC,743,-0.70,-219.0,174.5,-15.1,116,751,0.00,2.12,0.00,0.000,6,0.000,0.031,2366,2277,3927,0,0,0,0,0,0
$GC,1102,-0.70,-219.0,245.7,-19.6,177,1108,0.00,2.25,0.00,0.000,4,0.000,0.056,2366,3760,3927,0,0,0,0,0,0
$GC,1152,-0.71,-219.0,254.4,-16.5,185,1158,0.00,2.10,0.00,0.000,6,0.000,0.031,2366,2271,3927,0,0,0,0,0,0
$GC,1504,-0.71,-219.0,320.0,-18.6,237,1508,0.00,2.25,0.00,0.000,4,0.000,0.057,2366,3755,3927,0,0,0,0,0,0
$GC,1557,-0.72,-219.0,328.4,-14.5,241,1561,0.00,2.08,0.00,0.000,6,0.000,0.030,2366,2276,3926,0,0,0,0,0,0
$GC,1884,-0.72,-219.0,380.2,-15.5,271,1889,0.05,2.28,0.00,0.000,4,0.187,0.057,2327,3759,3925,0,0,0,0,0,0
$GC,1937,-0.73,-219.0,388.5,-14.7,275,1942,0.12,2.10,0.00,0.000,6,0.149,0.031,2366,2264,3924,0,0,0,0,0,0
$GC,2264,-0.73,-219.0,430.4,-12.7,305,2269,0.08,2.28,0.00,0.000,4,0.134,0.058,2318,3763,3923,0,0,0,0,0,0
$GC,2331,-0.74,-219.0,440.5,-14.1,310,2342,0.10,2.15,0.00,0.000,6,0.122,0.031,2358,2263,3923,0,0,0,0,0,0
$GC,2658,-0.75,-219.0,485.8,-14.3,341,2663,0.05,2.28,0.00,0.000,4,0.175,0.058,2315,3762,3921,0,0,0,0,0,0
$GC,2720,-0.76,-219.0,496.3,-15.9,346,2725,0.12,2.12,0.00,0.000,6,0.150,0.031,2355,2261,3919,0,0,0,0,0,0
$STATE,2753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2753,begin apogee
$GC,2757,-0.11,0.0,501.2,15.0,349,2929,0.57,0.15,164.45,0.842,6,0.113,0.083,2562,2144,3026,0,0,0,0,0,0
$STATE,2930,end apogee,CONTROL_FINISHED_OK
$STATE,2930,begin climb
$GC,2931,0.72,219.0,512.8,0.0,363,3110,0.68,2.35,171.15,0.831,4,0.043,0.044,2860,662,2133,0,0,0,0,0,0
$GC,3148,0.70,219.0,503.0,20.5,380,3158,0.15,2.28,0.00,0.000,6,0.157,0.039,2814,2119,2129,0,0,0,0,0,0
$GC,3475,0.69,219.0,447.1,16.8,411,3479,0.00,2.12,0.00,0.000,4,0.000,0.051,2814,3532,2123,0,0,0,0,0,0
$GC,3572,0.67,219.0,428.3,19.0,419,3577,0.08,2.15,0.00,0.000,6,0.233,0.034,2802,2064,2123,0,0,0,0,0,0
$GC,3898,0.66,219.0,375.0,15.4,449,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2061,2120,0,0,0,0,0,0
$GC,4218,0.68,235.9,329.1,14.4,479,4238,0.00,0.00,12.35,0.692,6,0.000,0.000,2802,2061,2064,0,0,0,0,0,0
$GC,4562,0.76,306.1,285.3,11.9,521,4625,0.12,2.15,55.97,0.713,4,0.092,0.044,2886,658,1777,0,0,0,0,0,0
$GC,4668,0.74,306.1,265.3,20.9,537,4676,0.22,2.22,0.00,0.000,6,0.162,0.039,2822,2121,1772,0,0,0,0,0,0
$GC,5014,0.74,306.1,203.1,16.7,598,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2122,1767,0,0,0,0,0,0
$GC,5363,0.75,316.6,147.6,14.7,659,5381,0.00,2.22,8.12,0.544,4,0.000,0.046,2830,662,1734,0,0,0,0,0,0
$GC,5435,0.82,373.6,137.9,12.5,670,5486,0.05,2.20,45.80,0.605,6,0.075,0.039,2887,2124,1503,0,0,0,0,0,0
$GC,5836,0.81,373.6,58.3,15.7,736,5844,0.15,0.00,0.00,0.000,6,0.166,0.000,2842,2126,1494,0,0,0,0,0,0
$GC,6201,1.01,528.8,28.0,7.9,797,6323,0.22,2.33,115.22,0.511,4,0.059,0.046,2965,661,870,0,0,0,0,0,0
$STATE,6331,end climb,SURFACE_DEPTH_REACHED
$STATE,6331,begin surface coast
$FINISH,0.5,1.021776
$STATE,6344,end surface coast,CONTROL_FINISHED_OK
$STATE,6344,begin surface
$SM_CCo,6360,50.55,0.392,1,0,539,610.06
$SM_GC,1.30,0.00,0.00,50.55,0.000,0.000,0.392,212,2356,539,-7.43,0.88,610.06
$IRIDIUM_FIX,2314.48,12553.01,270910,141434
$TT8_MAMPS,0.026964
$HUMID,49.60
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.4,10.617
$10V_AH,10.7,8.450
$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,18.550,53.725,573.075,50.550,0.000,27.043,45.118,103.799,0.000,0.000,19.532,1910.005,1597.853,566.737,2524.853,94.405,0.000,1399.152,0.000,2337.124,0.000,0.543,0.000
$DEVICE_MAMPS,260.865,83.385,842.265,392.445,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,545.530,0.000,1709.522,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50350,815
$CAP_FILE_SIZE,86498,0
$CFSIZE,260165632,249757696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.158,345.4,1
$GPS,270910,181508,2320.011,12559.562,9,1.7,9,-3.4