version: 66.08
glider: 169
mission: 2
dive: 12
start: 9 23 110 3 39 23
data:
$ID,169
$MISSION,2
$DIVE,12
$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,-6685.5479
$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
$GPS1,230910,033431,2419.498,12702.652,9,1.4,14,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-76.1
$GPS2,230910,033856,2419.442,12702.646,12,1.6,12,-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,245.8,71879,-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,-243.3,0.0,0.0,0,103,0.00,0.00,-86.20,0.000,2,0.000,0.000,145,2077,3234,0,0,0,0,0,0
$GC,105,-0.76,-243.3,4.6,-9.5,11,131,9.70,2.33,-7.75,0.000,4,0.246,0.079,2507,3530,3712,0,0,0,0,0,0
$GC,261,-0.63,-243.3,73.3,-25.4,36,270,0.20,2.28,0.00,0.000,6,0.189,0.055,2564,2090,3714,0,0,0,0,0,0
$GC,618,-0.63,-243.3,138.7,-17.1,97,628,0.00,2.17,0.00,0.000,4,0.000,0.058,2564,675,3716,0,0,0,0,0,0
$GC,705,-0.83,-243.3,151.4,-12.2,111,715,0.12,2.20,0.00,0.000,6,0.070,0.051,2503,2107,3716,0,0,0,0,0,0
$GC,1071,-0.76,-243.3,223.1,-19.3,172,1079,0.00,2.22,0.00,0.000,4,0.000,0.065,2503,3527,3716,0,0,0,0,0,0
$GC,1099,-0.70,-243.3,228.6,-18.9,176,1108,0.12,2.22,0.00,0.000,6,0.174,0.052,2540,2090,3716,0,0,0,0,0,0
$GC,1464,-0.76,-243.3,282.8,-13.4,237,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2090,3716,0,0,0,0,0,0
$GC,1814,-0.85,-243.3,325.9,-12.7,298,1822,0.12,2.15,0.00,0.000,4,0.122,0.057,2494,674,3716,0,0,0,0,0,0
$GC,1844,-0.85,-243.3,330.6,-16.1,303,1851,0.00,2.17,0.00,0.000,6,0.000,0.053,2494,2117,3716,0,0,0,0,0,0
$GC,2186,-0.85,-243.3,388.1,-17.0,364,2193,0.00,2.17,0.00,0.000,4,0.000,0.060,2494,675,3715,0,0,0,0,0,0
$GC,2284,-0.91,-243.3,402.9,-14.5,381,2291,0.00,2.17,0.00,0.000,6,0.000,0.052,2494,2117,3715,0,0,0,0,0,0
$GC,2630,-0.91,-243.3,453.7,-13.7,442,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2117,3713,0,0,0,0,0,0
$GC,2973,-0.95,-243.3,499.1,-11.9,503,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2117,3711,0,0,0,0,0,0
$STATE,2983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2984,begin apogee
$GC,2987,-0.12,0.0,500.6,11.8,505,3184,0.75,0.00,189.57,0.839,6,0.169,0.000,2724,2117,2717,0,0,0,0,0,0
$STATE,3185,end apogee,CONTROL_FINISHED_OK
$STATE,3185,begin climb
$GC,3186,0.76,243.3,505.2,0.0,523,3396,0.80,2.38,200.65,0.816,4,0.057,0.047,3036,662,1725,0,0,0,0,0,0
$GC,3525,0.57,243.3,439.4,23.1,575,3532,0.28,2.22,0.00,0.000,6,0.173,0.036,2961,2133,1719,0,0,0,0,0,0
$GC,3868,0.49,243.3,377.4,18.2,636,3874,0.00,2.22,0.00,0.000,4,0.000,0.048,2972,661,1715,0,0,0,0,0,0
$GC,3892,0.42,243.3,373.0,17.4,640,3899,0.20,2.17,0.00,0.000,6,0.157,0.035,2915,2131,1715,0,0,0,0,0,0
$GC,4237,0.57,306.7,328.0,12.5,701,4294,0.12,2.35,50.35,0.731,4,0.086,0.048,2995,661,1466,0,0,0,0,0,0
$GC,4333,0.54,306.7,309.8,19.9,717,4342,0.17,2.22,0.00,0.000,6,0.155,0.036,2947,2133,1463,0,0,0,0,0,0
$GC,4693,0.55,320.0,252.0,14.6,778,4711,0.00,2.12,11.20,0.627,4,0.000,0.042,2946,3539,1412,0,0,0,0,0,0
$GC,4749,0.62,320.0,243.5,16.0,786,4758,0.00,2.22,0.00,0.000,6,0.000,0.035,2957,2071,1410,0,0,0,0,0,0
$GC,5113,0.65,320.0,184.0,16.2,847,5121,0.00,2.12,0.00,0.000,4,0.000,0.049,2961,665,1408,0,0,0,0,0,0
$GC,5130,0.70,330.3,181.4,14.7,849,5148,0.08,2.17,9.68,0.573,6,0.051,0.034,3021,2130,1369,0,0,0,0,0,0
$GC,5497,0.59,330.3,101.2,22.1,911,5507,0.17,2.12,0.00,0.000,4,0.162,0.043,2971,3533,1366,0,0,0,0,0,0
$GC,5628,0.82,387.4,82.5,12.8,932,5679,0.15,2.20,45.55,0.570,6,0.037,0.037,3070,2071,1137,0,0,0,0,0,0
$GC,6028,0.73,387.4,7.0,19.3,998,6037,0.20,2.12,0.00,0.000,4,0.163,0.045,3023,666,1131,0,0,0,0,0,0
$GC,6045,0.69,387.4,3.6,18.8,1000,6054,0.00,2.17,0.00,0.000,6,0.000,0.034,3024,2130,1131,0,0,0,0,0,0
$STATE,6061,end climb,SURFACE_DEPTH_REACHED
$STATE,6061,begin surface coast
$FINISH,-0.1,1.005747
$STATE,6081,end surface coast,CONTROL_FINISHED_OK
$STATE,6081,begin surface
$SM_CCo,6156,0.00,0.000,0,0,1127,390.27
$SM_GC,0.79,8.40,0.00,0.00,0.109,0.000,0.000,150,2073,1127,-8.18,-0.76,390.27
$IRIDIUM_FIX,2411.01,12703.55,230910,010109
$TT8_MAMPS,0.026215
$HUMID,46.41
$INTERNAL_PRESSURE,9.33009
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,24.4,4.114
$10V_AH,10.5,3.222
$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,21.600,53.025,507.000,0.000,0.000,30.567,37.649,115.372,0.000,0.000,13.081,2302.477,768.689,535.428,2728.155,88.316,0.000,1402.127,0.000,2544.577,0.000,0.544,0.000
$DEVICE_MAMPS,246.330,117.810,839.205,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,672.713,0.000,1724.881,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334004
$DATA_FILE_SIZE,56955,1005
$CAP_FILE_SIZE,90597,0
$CFSIZE,260165632,252776448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.141,167.1,1
$GPS,230910,052301,2418.466,12701.837,39,1.3,39,-3.7