version: 66.08
glider: 176
mission: 2
dive: 100
start: 9 30 110 0 47 35
data:
$ID,176
$MISSION,2
$DIVE,100
$N_DIVES,110
$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,-4865.3115
$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
$GPS1,300910,004307,2308.783,12554.569,39,0.9,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.4
$GPS2,300910,004708,2308.764,12554.528,11,1.4,11,-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,146.1,18721,-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,-219.0,0.0,0.0,0,83,0.00,0.00,-66.12,0.000,2,0.000,0.000,202,2387,2483,0,0,0,0,0,0
$GC,85,-0.72,-219.0,3.1,-4.8,8,128,8.65,2.28,-27.70,0.000,4,0.249,0.048,2353,869,3924,0,0,0,0,0,0
$GC,201,-0.72,-219.0,37.0,-26.5,25,210,0.00,2.28,0.00,0.000,6,0.000,0.049,2353,2338,3925,0,0,0,0,0,0
$GC,559,-0.70,-219.0,146.7,-27.1,86,568,0.05,2.17,0.00,0.000,4,0.271,0.059,2366,3745,3927,0,0,0,0,0,0
$GC,649,-0.71,-219.0,166.7,-17.8,101,657,0.00,2.10,0.00,0.000,6,0.000,0.029,2365,2273,3928,0,0,0,0,0,0
$GC,996,-0.70,-219.0,244.2,-19.8,162,1005,0.00,2.28,0.00,0.000,4,0.000,0.054,2366,3754,3928,0,0,0,0,0,0
$GC,1076,-0.71,-219.0,257.7,-14.4,175,1083,0.00,2.10,0.00,0.000,6,0.000,0.028,2366,2275,3928,0,0,0,0,0,0
$GC,1422,-0.71,-219.0,318.4,-18.5,228,1426,0.00,2.22,0.00,0.000,4,0.000,0.054,2366,3756,3928,0,0,0,0,0,0
$GC,1472,-0.72,-219.0,327.4,-15.3,232,1476,0.00,2.10,0.00,0.000,6,0.000,0.029,2366,2266,3928,0,0,0,0,0,0
$GC,1797,-0.72,-219.0,384.6,-16.5,262,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2261,3927,0,0,0,0,0,0
$GC,2117,-0.72,-219.0,431.9,-14.3,292,2121,0.05,2.25,0.00,0.000,4,0.187,0.054,2330,3752,3926,0,0,0,0,0,0
$GC,2180,-0.73,-219.0,441.0,-14.0,297,2185,0.10,2.10,0.00,0.000,6,0.164,0.030,2361,2272,3926,0,0,0,0,0,0
$GC,2507,-0.73,-219.0,485.8,-13.7,327,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2268,3924,0,0,0,0,0,0
$STATE,2611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2611,begin apogee
$GC,2615,-0.11,0.0,500.3,13.6,337,2789,0.55,0.17,165.82,0.838,6,0.112,0.075,2558,2149,3027,0,0,0,0,0,0
$STATE,2790,end apogee,CONTROL_FINISHED_OK
$STATE,2790,begin climb
$GC,2791,0.72,219.0,512.1,0.0,351,2976,0.70,2.25,171.60,0.827,4,0.042,0.045,2857,3539,2132,0,0,0,0,0,0
$GC,3048,0.69,219.0,491.1,23.2,372,3058,0.17,2.22,0.00,0.000,6,0.170,0.030,2812,2065,2129,0,0,0,0,0,0
$GC,3375,0.68,219.0,434.4,17.2,403,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2061,2124,0,0,0,0,0,0
$GC,3694,0.67,219.0,377.9,16.3,433,3699,0.05,2.05,0.00,0.000,4,0.257,0.044,2809,658,2122,0,0,0,0,0,0
$GC,3715,0.66,219.0,374.0,15.4,434,3725,0.03,2.20,0.00,0.000,6,0.187,0.036,2799,2129,2120,0,0,0,0,0,0
$GC,4042,0.73,277.4,329.4,12.4,465,4092,0.10,2.30,44.45,0.733,4,0.102,0.041,2870,653,1895,0,0,0,0,0,0
$GC,4127,0.71,277.4,314.4,19.9,472,4132,0.20,2.22,0.00,0.000,6,0.166,0.038,2814,2123,1892,0,0,0,0,0,0
$GC,4468,0.71,277.4,254.9,16.1,525,4475,0.00,2.17,0.00,0.000,4,0.000,0.043,2818,663,1887,0,0,0,0,0,0
$GC,4494,0.70,277.4,250.6,15.9,529,4502,0.00,2.17,0.00,0.000,6,0.000,0.038,2818,2121,1887,0,0,0,0,0,0
$GC,4842,0.73,307.1,198.4,13.8,590,4871,0.00,0.00,23.38,0.635,6,0.000,0.000,2818,2122,1774,0,0,0,0,0,0
$GC,5216,0.74,312.0,143.5,14.9,654,5224,0.00,0.00,4.47,0.437,6,0.000,0.000,2818,2122,1754,0,0,0,0,0,0
$GC,5573,0.79,355.8,92.2,13.1,715,5615,0.10,2.20,34.95,0.565,4,0.106,0.041,2899,658,1577,0,0,0,0,0,0
$GC,5647,0.78,355.8,78.4,20.6,725,5657,0.17,2.22,0.00,0.000,6,0.139,0.040,2839,2119,1575,0,0,0,0,0,0
$GC,6014,1.01,533.8,33.2,6.9,786,6160,0.22,2.28,134.35,0.511,4,0.060,0.041,2966,665,847,0,0,0,0,0,0
$STATE,6166,end climb,SURFACE_DEPTH_REACHED
$STATE,6167,begin surface coast
$FINISH,0.5,1.014558
$STATE,6180,end surface coast,CONTROL_FINISHED_OK
$STATE,6180,begin surface
$SM_CCo,6196,46.33,0.069,0,0,540,610.06
$SM_GC,1.25,0.00,0.00,46.33,0.000,0.000,0.069,200,2355,540,-7.47,0.88,610.06
$IRIDIUM_FIX,2300.41,12555.96,290910,222229
$TT8_MAMPS,0.026964
$HUMID,50.63
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.5,14.421
$10V_AH,10.7,11.859
$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,18.250,49.175,579.025,46.325,0.000,41.120,15.087,99.315,0.000,0.000,14.078,1882.531,1494.811,561.003,2447.397,105.207,0.000,1380.513,0.000,2295.995,0.000,0.542,0.000
$DEVICE_MAMPS,270.810,74.970,838.440,68.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.854,0.000,1690.393,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47045,807
$CAP_FILE_SIZE,83439,0
$CFSIZE,260165632,248315904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.155,322.1,1
$GPS,300910,023214,2308.156,12554.677,9,1.8,9,-3.3