version: 66.08
glider: 176
mission: 2
dive: 76
start: 9 28 110 5 21 49
data:
$ID,176
$MISSION,2
$DIVE,76
$N_DIVES,90
$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,-4833.291
$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
$GPS1,280910,051652,2317.375,12557.345,9,3.9,28,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.5
$GPS2,280910,052122,2317.388,12557.298,15,3.2,34,-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,158.6,32530,-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,-219.0,0.0,0.0,0,84,0.00,0.00,-67.60,0.000,2,0.000,0.000,205,2404,2545,0,0,0,0,0,0
$GC,86,-0.72,-219.0,3.1,-5.2,8,128,8.50,2.22,-25.80,0.000,4,0.245,0.045,2358,870,3923,0,0,0,0,0,0
$GC,217,-0.72,-219.0,45.0,-23.8,28,226,0.00,2.25,0.00,0.000,6,0.000,0.047,2359,2335,3925,0,0,0,0,0,0
$GC,581,-0.71,-219.0,157.0,-27.6,89,588,0.00,2.15,0.00,0.000,4,0.000,0.058,2358,3757,3926,0,0,0,0,0,0
$GC,725,-0.71,-219.0,188.3,-16.3,113,731,0.00,2.12,0.00,0.000,6,0.000,0.030,2358,2265,3927,0,0,0,0,0,0
$GC,1078,-0.71,-219.0,262.0,-19.2,174,1088,0.00,2.28,0.00,0.000,4,0.000,0.055,2358,3749,3927,0,0,0,0,0,0
$GC,1160,-0.71,-219.0,275.7,-14.1,187,1167,0.00,2.10,0.00,0.000,6,0.000,0.030,2358,2272,3927,0,0,0,0,0,0
$GC,1497,-0.71,-219.0,334.6,-17.9,230,1501,0.00,2.25,0.00,0.000,4,0.000,0.055,2358,3763,3927,0,0,0,0,0,0
$GC,1567,-0.73,-219.0,344.9,-12.5,236,1571,0.00,2.10,0.00,0.000,6,0.000,0.029,2359,2269,3926,0,0,0,0,0,0
$GC,1892,-0.73,-219.0,395.0,-14.9,266,1896,0.00,2.25,0.00,0.000,4,0.000,0.055,2358,3755,3926,0,0,0,0,0,0
$GC,1936,-0.74,-219.0,401.3,-12.0,269,1943,0.00,2.12,0.00,0.000,6,0.000,0.029,2358,2274,3925,0,0,0,0,0,0
$GC,2262,-0.75,-219.0,445.8,-13.4,300,2266,0.00,2.22,0.00,0.000,4,0.000,0.056,2358,3756,3923,0,0,0,0,0,0
$GC,2307,-0.76,-219.0,452.1,-11.4,303,2315,0.08,2.10,0.00,0.000,6,0.129,0.029,2304,2269,3922,0,0,0,0,0,0
$STATE,2567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2567,begin apogee
$GC,2571,-0.11,0.0,500.9,18.8,328,2742,0.75,0.15,164.30,0.839,6,0.132,0.080,2558,2145,3027,0,0,0,0,0,0
$STATE,2743,end apogee,CONTROL_FINISHED_OK
$STATE,2743,begin climb
$GC,2744,0.72,219.0,510.2,0.0,342,2927,0.70,0.00,171.88,0.826,6,0.047,0.000,2848,2144,2132,0,0,0,0,0,0
$GC,3244,0.70,219.0,440.5,21.3,389,3249,0.15,2.20,0.00,0.000,4,0.194,0.042,2818,658,2124,0,0,0,0,0,0
$GC,3261,0.68,219.0,436.8,20.1,390,3265,0.08,2.20,0.00,0.000,6,0.197,0.037,2800,2129,2122,0,0,0,0,0,0
$GC,3585,0.67,219.0,382.5,16.1,420,3589,0.00,2.20,0.00,0.000,4,0.000,0.044,2804,655,2121,0,0,0,0,0,0
$GC,3673,0.66,219.0,368.5,16.2,427,3677,0.00,2.17,0.00,0.000,6,0.000,0.038,2805,2120,2119,0,0,0,0,0,0
$GC,4000,0.67,234.2,320.8,14.4,457,4016,0.00,2.17,11.07,0.674,4,0.000,0.044,2805,658,2071,0,0,0,0,0,0
$GC,4086,0.72,279.4,308.6,13.1,464,4128,0.08,2.17,37.00,0.720,6,0.132,0.037,2854,2125,1886,0,0,0,0,0,0
$GC,4476,0.71,279.4,229.2,20.1,526,4485,0.15,2.12,0.00,0.000,4,0.184,0.050,2813,3522,1877,0,0,0,0,0,0
$GC,4546,0.70,279.4,215.9,17.7,537,4553,0.00,2.15,0.00,0.000,6,0.000,0.034,2819,2061,1876,0,0,0,0,0,0
$GC,4901,0.71,288.3,159.4,14.7,598,4916,0.00,2.10,6.53,0.525,4,0.000,0.044,2829,662,1850,0,0,0,0,0,0
$GC,4963,0.72,297.2,149.7,14.7,608,4982,0.03,2.17,8.88,0.555,6,0.180,0.037,2819,2122,1813,0,0,0,0,0,0
$GC,5331,0.75,323.4,100.0,13.9,670,5357,0.08,0.00,21.73,0.570,6,0.130,0.000,2878,2121,1707,0,0,0,0,0,0
$GC,5706,0.82,381.0,44.1,12.5,733,5757,0.12,2.28,44.80,0.534,4,0.167,0.044,2845,656,1472,0,0,0,0,0,0
$GC,5870,1.04,543.1,29.9,7.6,758,6000,0.20,2.22,121.50,0.509,6,0.037,0.037,2959,2130,811,0,0,0,0,0,0
$STATE,6007,end climb,SURFACE_DEPTH_REACHED
$STATE,6007,begin surface coast
$FINISH,0.4,1.021334
$STATE,6021,end surface coast,CONTROL_FINISHED_OK
$STATE,6021,begin surface
$SM_CCo,6034,40.72,0.069,0,0,540,610.06
$SM_GC,1.23,0.00,0.00,40.72,0.000,0.000,0.069,209,2377,540,-7.44,1.47,610.06
$IRIDIUM_FIX,2307.44,12558.71,280910,030308
$TT8_MAMPS,0.026964
$HUMID,49.92
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,24.5,11.479
$10V_AH,10.8,9.233
$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,18.050,53.075,587.675,40.725,0.000,28.869,35.696,97.440,0.000,0.000,37.944,1814.453,1473.181,563.891,2404.682,95.250,0.000,1359.015,0.000,2220.683,0.000,0.543,0.000
$DEVICE_MAMPS,244.800,80.325,839.205,68.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,519.395,0.000,1648.706,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47012,777
$CAP_FILE_SIZE,82501,0
$CFSIZE,260165632,249430016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.249,307.5,1
$GPS,280910,070406,2316.897,12556.803,35,1.0,35,-3.4