version: 66.08
glider: 176
mission: 2
dive: 79
start: 9 28 110 10 49 47
data:
$ID,176
$MISSION,2
$DIVE,79
$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,-4837.2427
$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
$GPS1,280910,104537,2316.060,12556.084,22,1.9,23,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-70.5
$GPS2,280910,104920,2316.076,12556.046,13,1.7,13,-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,131.4,30526,-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,-219.0,0.0,0.0,0,85,0.00,0.00,-68.55,0.000,2,0.000,0.000,204,2394,2580,0,0,0,0,0,0
$GC,87,-0.72,-219.0,3.2,-5.4,8,129,8.60,2.20,-24.83,0.000,4,0.251,0.047,2353,877,3922,0,0,0,0,0,0
$GC,179,-0.71,-219.0,34.3,-34.9,21,189,0.00,2.28,0.00,0.000,6,0.000,0.050,2354,2344,3924,0,0,0,0,0,0
$GC,537,-0.69,-219.0,151.3,-28.7,82,546,0.08,2.17,0.00,0.000,4,0.226,0.060,2372,3753,3925,0,0,0,0,0,0
$GC,666,-0.70,-219.0,177.8,-16.5,104,675,0.00,2.12,0.00,0.000,6,0.000,0.030,2371,2281,3926,0,0,0,0,0,0
$GC,1015,-0.70,-219.0,255.9,-21.8,165,1023,0.00,2.20,0.00,0.000,4,0.000,0.054,2372,3752,3926,0,0,0,0,0,0
$GC,1065,-0.70,-219.0,266.0,-18.7,173,1073,0.00,2.10,0.00,0.000,6,0.000,0.029,2372,2273,3926,0,0,0,0,0,0
$GC,1402,-0.70,-219.0,329.9,-17.7,219,1406,0.00,2.22,0.00,0.000,4,0.000,0.054,2372,3759,3926,0,0,0,0,0,0
$GC,1464,-0.71,-219.0,339.8,-13.3,224,1469,0.08,2.10,0.00,0.000,6,0.128,0.029,2320,2272,3925,0,0,0,0,0,0
$GC,1789,-0.70,-219.0,409.7,-21.2,254,1794,0.17,2.25,0.00,0.000,4,0.158,0.056,2373,3760,3924,0,0,0,0,0,0
$GC,1827,-0.71,-219.0,416.8,-15.4,257,1836,0.03,2.12,0.00,0.000,6,0.103,0.029,2329,2281,3924,0,0,0,0,0,0
$GC,2152,-0.71,-219.0,475.5,-19.4,288,2156,0.12,2.25,0.00,0.000,4,0.170,0.056,2363,3756,3923,0,0,0,0,0,0
$GC,2186,-0.72,-219.0,480.9,-16.2,291,2190,0.00,2.10,0.00,0.000,6,0.000,0.030,2364,2275,3923,0,0,0,0,0,0
$STATE,2330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2330,begin apogee
$GC,2334,-0.11,0.0,500.4,13.7,304,2505,0.55,0.20,164.45,0.830,6,0.114,0.068,2559,2143,3027,0,0,0,0,0,0
$STATE,2506,end apogee,CONTROL_FINISHED_OK
$STATE,2506,begin climb
$GC,2508,0.72,219.0,510.6,0.0,318,2688,0.70,2.33,170.65,0.819,4,0.050,0.043,2850,660,2133,0,0,0,0,0,0
$GC,2791,0.70,219.0,488.0,20.0,342,2795,0.15,2.22,0.00,0.000,6,0.176,0.037,2810,2125,2126,0,0,0,0,0,0
$GC,3115,0.69,219.0,433.0,16.6,372,3119,0.00,2.17,0.00,0.000,4,0.000,0.043,2818,657,2123,0,0,0,0,0,0
$GC,3157,0.68,219.0,426.8,15.7,375,3162,0.08,2.20,0.00,0.000,6,0.199,0.038,2801,2131,2122,0,0,0,0,0,0
$GC,3484,0.67,219.0,377.9,15.7,405,3487,0.00,2.08,0.00,0.000,4,0.000,0.050,2800,3532,2120,0,0,0,0,0,0
$GC,3536,0.66,219.0,368.9,17.0,409,3540,0.00,2.15,0.00,0.000,6,0.000,0.033,2807,2060,2120,0,0,0,0,0,0
$GC,3863,0.68,246.2,321.7,13.9,439,3887,0.00,0.00,20.25,0.705,6,0.000,0.000,2807,2057,2023,0,0,0,0,0,0
$GC,4217,0.68,252.9,268.0,14.8,490,4226,0.00,0.00,6.25,0.562,6,0.000,0.000,2807,2056,1994,0,0,0,0,0,0
$GC,4568,0.74,304.7,220.9,12.7,551,4618,0.10,0.00,41.47,0.654,6,0.106,0.000,2874,2055,1784,0,0,0,0,0,0
$GC,4962,0.73,304.7,138.0,19.1,618,4971,0.20,2.10,0.00,0.000,4,0.166,0.044,2824,660,1776,0,0,0,0,0,0
$GC,5021,0.78,340.1,128.5,13.5,627,5056,0.05,2.20,28.25,0.581,6,0.071,0.038,2880,2126,1639,0,0,0,0,0,0
$GC,5405,0.89,432.1,59.1,10.9,691,5487,0.00,2.20,70.12,0.537,4,0.000,0.047,2880,3529,1263,0,0,0,0,0,0
$GC,5496,0.98,505.1,49.3,11.8,702,5562,0.05,2.22,56.10,0.516,6,0.067,0.033,2943,2061,965,0,0,0,0,0,0
$STATE,5718,end climb,SURFACE_DEPTH_REACHED
$STATE,5718,begin surface coast
$FINISH,0.5,1.021732
$STATE,5731,end surface coast,CONTROL_FINISHED_OK
$STATE,5732,begin surface
$SM_CCo,5745,59.33,0.069,0,0,540,610.06
$SM_GC,1.11,0.00,0.00,59.33,0.000,0.000,0.069,215,2384,540,-7.42,1.64,610.06
$IRIDIUM_FIX,2307.44,12558.71,280910,080837
$TT8_MAMPS,0.026215
$HUMID,51.18
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,24.5,11.840
$10V_AH,10.8,9.559
$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,18.000,48.900,557.550,59.325,0.000,27.151,14.095,96.026,0.000,0.000,15.607,1728.635,1426.679,551.595,2238.122,89.834,0.000,1325.020,0.000,2095.618,0.000,0.542,0.000
$DEVICE_MAMPS,250.920,68.085,830.025,68.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,493.889,0.000,1523.867,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43619,739
$CAP_FILE_SIZE,79744,0
$CFSIZE,260165632,249298944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.324,306.4,1
$GPS,280910,122728,2315.984,12555.938,9,2.6,28,-3.4