version: 66.08
glider: 176
mission: 2
dive: 109
start: 9 30 110 17 24 36
data:
$ID,176
$MISSION,2
$DIVE,109
$N_DIVES,120
$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,-4877.3633
$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,2400
$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
$GPS1,300910,172007,2306.196,12554.051,28,1.0,29,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-67.9
$GPS2,300910,172408,2306.275,12554.055,13,1.1,13,-3.3
$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,155.3,15420,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.72,-219.0,0.0,0.0,0,90,0.00,0.00,-73.57,0.000,2,0.000,0.000,203,2260,2774,0,0,0,0,0,0
$GC,92,-0.72,-219.0,3.8,-7.4,9,127,8.60,1.90,-19.25,0.000,4,0.248,0.046,2355,935,3922,0,0,0,0,0,0
$GC,181,-0.72,-219.0,36.6,-25.6,22,189,0.00,2.30,0.00,0.000,6,0.000,0.051,2354,2416,3924,0,0,0,0,0,0
$GC,546,-0.71,-219.0,140.2,-26.7,83,556,0.05,2.08,0.00,0.000,4,0.268,0.060,2363,3763,3925,0,0,0,0,0,0
$GC,643,-0.71,-219.0,163.1,-19.0,99,650,0.00,2.03,0.00,0.000,6,0.000,0.031,2364,2349,3927,0,0,0,0,0,0
$GC,988,-0.70,-219.0,239.7,-20.2,160,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2343,3927,0,0,0,0,0,0
$GC,1342,-0.70,-219.0,305.5,-17.2,219,1346,0.00,2.15,0.00,0.000,4,0.000,0.057,2363,3764,3927,0,0,0,0,0,0
$GC,1420,-0.71,-219.0,318.5,-13.5,225,1427,0.00,2.03,0.00,0.000,6,0.000,0.028,2363,2351,3926,0,0,0,0,0,0
$GC,1747,-0.71,-219.0,376.1,-18.0,256,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2348,3926,0,0,0,0,0,0
$GC,2066,-0.72,-219.0,426.2,-14.5,286,2070,0.00,1.98,0.00,0.000,4,0.000,0.034,2364,949,3924,0,0,0,0,0,0
$GC,2103,-0.73,-219.0,431.0,-13.2,289,2107,0.00,2.20,0.00,0.000,6,0.000,0.045,2363,2422,3924,0,0,0,0,0,0
$GC,2430,-0.73,-219.0,474.9,-13.9,319,2434,0.05,2.00,0.00,0.000,4,0.186,0.057,2320,3765,3922,0,0,0,0,0,0
$GC,2490,-0.74,-219.0,484.5,-15.2,324,2499,0.10,2.03,0.00,0.000,6,0.121,0.029,2360,2350,3921,0,0,0,0,0,0
$STATE,2603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2603,begin apogee
$GC,2607,-0.11,0.0,500.1,13.8,335,2780,0.55,0.17,165.40,0.839,6,0.110,0.076,2559,2147,3027,0,0,0,0,0,0
$STATE,2781,end apogee,CONTROL_FINISHED_OK
$STATE,2781,begin climb
$GC,2783,0.72,219.0,508.9,0.0,349,2968,0.68,2.38,171.90,0.825,4,0.034,0.041,2871,664,2132,0,0,0,0,0,0
$GC,3085,0.70,219.0,475.6,21.5,374,3095,0.20,2.22,0.00,0.000,6,0.161,0.037,2808,2118,2125,0,0,0,0,0,0
$GC,3412,0.69,219.0,416.9,16.0,405,3416,0.00,2.12,0.00,0.000,4,0.000,0.047,2808,3532,2122,0,0,0,0,0,0
$GC,3473,0.67,219.0,405.3,19.5,410,3477,0.08,2.15,0.00,0.000,6,0.222,0.033,2801,2062,2122,0,0,0,0,0,0
$GC,3805,0.68,229.7,354.3,14.7,441,3817,0.00,2.12,7.82,0.639,4,0.000,0.043,2810,659,2090,0,0,0,0,0,0
$GC,3909,0.69,242.4,339.2,14.6,450,3926,0.00,2.17,11.75,0.682,6,0.000,0.037,2809,2125,2037,0,0,0,0,0,0
$GC,4251,0.68,242.4,286.9,16.2,488,4260,0.00,2.12,0.00,0.000,4,0.000,0.048,2810,3526,2032,0,0,0,0,0,0
$GC,4346,0.67,242.4,271.2,16.1,504,4355,0.05,2.15,0.00,0.000,6,0.180,0.032,2801,2069,2032,0,0,0,0,0,0
$GC,4695,0.71,280.7,225.9,13.4,565,4730,0.08,0.00,30.60,0.665,6,0.127,0.000,2853,2065,1881,0,0,0,0,0,0
$GC,5068,0.70,280.7,159.3,19.8,630,5078,0.15,2.10,0.00,0.000,4,0.171,0.042,2818,667,1875,0,0,0,0,0,0
$GC,5116,0.72,294.8,151.2,14.5,638,5133,0.00,2.17,11.55,0.573,6,0.000,0.039,2818,2114,1824,0,0,0,0,0,0
$GC,5483,0.77,338.2,102.2,13.1,700,5525,0.10,2.15,35.17,0.578,4,0.108,0.048,2887,3527,1646,0,0,0,0,0,0
$GC,5599,0.76,338.2,80.4,19.2,717,5608,0.20,2.17,0.00,0.000,6,0.153,0.033,2832,2071,1642,0,0,0,0,0,0
$GC,5965,0.96,498.4,40.8,7.7,778,6095,0.20,2.30,121.12,0.525,4,0.065,0.047,2940,3531,992,0,0,0,0,0,0
$GC,6134,0.96,498.4,11.0,22.5,800,6143,0.15,2.22,0.00,0.000,6,0.145,0.034,2891,2073,989,0,0,0,0,0,0
$STATE,6174,end climb,SURFACE_DEPTH_REACHED
$STATE,6174,begin surface coast
$FINISH,0.4,1.018534
$STATE,6193,end surface coast,CONTROL_FINISHED_OK
$STATE,6194,begin surface
$SM_CCo,6207,63.75,0.069,0,0,539,610.06
$SM_GC,1.20,0.00,0.00,63.75,0.000,0.000,0.069,203,2485,539,-7.46,2.40,610.06
$IRIDIUM_FIX,2300.41,12554.06,300910,151506
$TT8_MAMPS,0.026964
$HUMID,50.70
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.5,15.504
$10V_AH,10.7,12.866
$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,18.050,52.350,555.325,63.750,0.000,29.887,16.629,100.651,0.000,0.000,15.843,1902.082,1453.027,564.812,2490.099,109.292,0.000,1398.312,0.000,2337.348,0.000,0.543,0.000
$DEVICE_MAMPS,267.750,75.735,839.205,68.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,541.234,0.000,1706.387,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47098,809
$CAP_FILE_SIZE,85284,0
$CFSIZE,260165632,247881728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.193,335.8,1
$GPS,300910,190944,2305.957,12554.113,10,1.5,10,-3.3