version: 66.08
glider: 169
mission: 2
dive: 13
start: 9 23 110 5 29 46
data:
$ID,169
$MISSION,2
$DIVE,13
$N_DIVES,12
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51710
$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,350
$N_FILEKB,8
$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,-6686.8052
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2775
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,42
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2718
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-76.551537
$PRESSURE_SLOPE,0.000115925
$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,7
$ALTIM_SENSITIVITY,1
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$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,0.0043354151
$SEABIRD_T_H,0.00062527717
$SEABIRD_T_I,2.379055e-05
$SEABIRD_T_J,2.5466652e-06
$SEABIRD_C_G,-9.9450293
$SEABIRD_C_H,1.1242783
$SEABIRD_C_I,-0.0011038103
$SEABIRD_C_J,0.00017515429
$GPS1,230910,052301,2418.466,12701.837,39,1.3,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-75.2
$GPS2,230910,052919,2418.396,12701.834,15,1.8,32,-3.7
$SPEED_LIMITS,0.262,0.375
$TGT_NAME,WAKE1
$TGT_LATLONG,2350.000,12635.000
$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,242.1,69513,-19.2,-15.152
$D_GRID,5000
$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,12,begin dive
$GC,14,-0.76,-243.3,0.0,0.0,0,88,0.00,0.00,-72.05,0.000,2,0.000,0.000,150,2073,3071,0,0,0,0,0,0
$GC,90,-0.76,-243.3,3.6,-6.4,9,117,9.68,2.40,-11.12,0.000,4,0.246,0.084,2512,3528,3715,0,0,0,0,0,0
$GC,195,-0.53,-243.3,51.3,-31.8,25,204,0.30,2.25,0.00,0.000,6,0.196,0.056,2595,2094,3715,0,0,1,0,0,0
$GC,561,-0.63,-243.3,118.5,-14.4,86,569,0.00,2.17,0.00,0.000,4,0.000,0.057,2595,675,3718,0,0,0,0,0,0
$GC,635,-0.90,-243.3,127.6,-10.4,98,645,0.28,2.20,0.00,0.000,6,0.059,0.048,2476,2117,3717,0,0,0,0,0,0
$GC,1000,-0.70,-243.3,212.3,-25.5,159,1010,0.25,0.00,0.00,0.000,6,0.196,0.000,2548,2118,3718,0,0,0,0,0,0
$GC,1358,-0.78,-243.3,262.5,-12.9,220,1367,0.00,2.20,0.00,0.000,4,0.000,0.067,2548,3513,3718,0,0,0,0,0,0
$GC,1451,-0.97,-243.3,273.1,-10.1,235,1461,0.20,2.20,0.00,0.000,6,0.071,0.053,2466,2091,3718,0,0,0,0,0,0
$GC,1800,-0.83,-243.3,344.6,-20.5,296,1808,0.15,2.15,0.00,0.000,4,0.201,0.059,2504,667,3718,0,0,0,0,0,0
$GC,1875,-0.90,-243.3,356.6,-13.7,309,1882,0.00,2.17,0.00,0.000,6,0.000,0.054,2503,2115,3718,0,0,0,0,0,0
$GC,2218,-0.90,-243.3,406.1,-14.2,370,2225,0.00,2.20,0.00,0.000,4,0.000,0.058,2504,671,3717,0,0,0,0,0,0
$GC,2292,-0.97,-243.3,415.9,-12.7,383,2300,0.12,2.20,0.00,0.000,6,0.110,0.054,2453,2121,3716,0,0,0,0,0,0
$GC,2636,-0.89,-243.3,477.0,-19.2,444,2643,0.12,2.17,0.00,0.000,4,0.195,0.070,2485,3523,3715,0,0,0,0,0,0
$GC,2666,-0.89,-243.3,482.3,-17.0,449,2673,0.00,2.20,0.00,0.000,6,0.000,0.053,2484,2087,3714,0,0,0,0,0,0
$STATE,2784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2784,begin apogee
$GC,2787,-0.12,0.0,500.4,14.8,470,2983,0.80,0.00,190.10,0.837,6,0.179,0.000,2724,2085,2718,0,0,0,0,0,0
$STATE,2983,end apogee,CONTROL_FINISHED_OK
$STATE,2984,begin climb
$GC,2985,0.76,243.3,509.9,0.0,487,3197,0.80,2.22,201.25,0.817,4,0.057,0.044,3032,664,1724,0,0,0,0,0,0
$GC,3314,0.58,243.3,453.3,21.9,534,3321,0.25,2.22,0.00,0.000,6,0.174,0.036,2965,2136,1719,0,0,0,0,0,0
$GC,3658,0.49,243.3,389.0,18.0,595,3665,0.00,2.10,0.00,0.000,4,0.000,0.044,2964,3534,1715,0,0,0,0,0,0
$GC,3705,0.42,243.3,380.1,18.2,603,3714,0.22,2.17,0.00,0.000,6,0.164,0.035,2911,2062,1713,0,0,1,0,0,0
$GC,4051,0.62,339.6,336.9,11.1,664,4136,0.17,2.15,76.85,0.735,4,0.069,0.045,3013,666,1332,0,0,0,0,0,0
$GC,4186,0.58,339.6,309.0,21.1,687,4194,0.17,2.22,0.00,0.000,6,0.157,0.037,2965,2127,1328,0,0,0,0,0,0
$GC,4547,0.58,339.6,243.2,18.6,748,4556,0.00,2.12,0.00,0.000,4,0.000,0.044,2964,3529,1324,0,0,0,0,0,0
$GC,4582,0.58,339.6,236.6,19.6,753,4591,0.00,2.20,0.00,0.000,6,0.000,0.034,2975,2067,1323,0,0,0,0,0,0
$GC,4945,0.58,339.6,169.3,18.3,814,4954,0.00,2.22,0.00,0.000,4,0.000,0.044,2975,3532,1322,0,0,0,0,0,0
$GC,4979,0.58,339.6,163.0,18.9,819,4989,0.00,2.17,0.00,0.000,6,0.000,0.034,2986,2076,1322,0,0,0,0,0,0
$GC,5337,0.58,339.6,99.0,19.3,880,5345,0.00,2.20,0.00,0.000,4,0.000,0.044,2987,3531,1322,0,0,0,0,0,0
$GC,5401,0.68,346.2,88.4,14.9,890,5411,0.00,2.17,5.07,0.436,6,0.000,0.034,2998,2071,1305,0,0,0,0,0,0
$GC,5760,1.05,515.8,50.2,8.1,951,5900,0.28,2.17,129.80,0.535,4,0.053,0.042,3147,665,614,0,0,0,0,0,0
$GC,5938,0.91,515.8,4.5,29.0,974,5947,0.22,2.25,0.00,0.000,6,0.150,0.035,3076,2134,612,0,0,0,0,0,0
$STATE,5954,end climb,SURFACE_DEPTH_REACHED
$STATE,5955,begin surface coast
$FINISH,-0.1,1.006754
$STATE,5968,end surface coast,CONTROL_FINISHED_OK
$STATE,5968,begin surface
$SM_CCo,6043,0.00,0.000,0,0,610,517.09
$SM_GC,0.69,8.80,0.00,0.00,0.111,0.000,0.000,150,2065,610,-8.18,-0.99,517.09
$IRIDIUM_FIX,2411.01,12703.55,230910,030344
$TT8_MAMPS,0.026215
$HUMID,44.64
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.4,4.257
$10V_AH,10.5,3.342
$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,22.825,57.250,603.075,0.000,0.000,24.983,36.241,213.058,0.000,0.000,33.426,2224.186,709.272,592.619,2785.329,110.824,0.000,1470.076,0.000,2514.020,0.000,0.545,0.000
$DEVICE_MAMPS,245.565,97.920,836.910,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,653.102,0.000,1731.298,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334056
$DATA_FILE_SIZE,56968,978
$CAP_FILE_SIZE,90887,0
$CFSIZE,260165632,252715008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.104,155.0,1
$GPS,230910,071119,2417.567,12700.999,10,2.0,27,-3.7