version: 66.08
glider: 169
mission: 2
dive: 16
start: 9 23 110 10 50 29
data:
$ID,169
$MISSION,2
$DIVE,16
$N_DIVES,20
$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,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,-6690.665
$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,35
$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
$GPS1,230910,104537,2415.664,12659.859,35,0.9,35,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-74.5
$GPS2,230910,105002,2415.632,12659.897,15,1.2,15,-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,241.8,63501,-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,-243.3,0.0,0.0,0,95,0.00,0.00,-78.28,0.000,2,0.000,0.000,150,2125,2933,0,0,0,0,0,0
$GC,97,-0.76,-243.3,3.1,-4.9,10,131,9.45,1.98,-14.45,0.000,4,0.239,0.088,2516,3336,3713,0,0,0,0,0,0
$GC,243,-0.54,-243.3,62.1,-31.9,33,253,0.28,1.98,0.00,0.000,6,0.189,0.062,2594,2092,3714,0,0,1,0,0,0
$GC,608,-0.60,-243.3,127.5,-15.5,94,617,0.00,1.98,0.00,0.000,4,0.000,0.063,2594,3344,3716,0,0,0,0,0,0
$GC,637,-0.72,-243.3,131.5,-13.6,98,647,0.12,1.92,0.00,0.000,6,0.079,0.046,2540,2093,3716,0,0,0,0,0,0
$GC,1002,-0.72,-243.3,198.0,-15.9,159,1010,0.00,1.98,0.00,0.000,4,0.000,0.062,2539,3348,3716,0,0,0,0,0,0
$GC,1049,-0.81,-243.3,204.7,-14.5,166,1058,0.00,1.95,0.00,0.000,6,0.000,0.048,2540,2076,3716,0,0,0,0,0,0
$GC,1412,-0.81,-243.3,264.0,-15.8,227,1421,0.00,1.88,0.00,0.000,4,0.000,0.058,2539,846,3716,0,0,0,0,0,0
$GC,1536,-0.91,-243.3,281.0,-13.5,247,1545,0.12,1.95,0.00,0.000,6,0.069,0.054,2479,2110,3716,0,0,0,0,0,0
$GC,1886,-0.80,-243.3,351.3,-19.8,308,1894,0.12,0.00,0.00,0.000,6,0.196,0.000,2512,2110,3716,0,0,0,0,0,0
$GC,2231,-0.80,-243.3,405.7,-14.0,369,2237,0.00,1.90,0.00,0.000,4,0.000,0.057,2512,846,3716,0,0,0,0,0,0
$GC,2268,-0.85,-243.3,410.8,-13.7,375,2274,0.00,1.92,0.00,0.000,6,0.000,0.054,2512,2116,3716,0,0,0,0,0,0
$GC,2612,-0.91,-243.3,456.2,-13.6,436,2619,0.00,1.88,0.00,0.000,4,0.000,0.064,2512,3348,3714,0,0,0,0,0,0
$GC,2643,-1.01,-243.3,460.3,-13.0,441,2651,0.17,1.90,0.00,0.000,6,0.092,0.048,2444,2082,3714,0,0,0,0,0,0
$STATE,2850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2850,begin apogee
$GC,2853,-0.12,0.0,500.9,19.5,478,3051,0.95,0.00,189.90,0.841,6,0.186,0.000,2724,2080,2717,0,0,0,0,0,0
$STATE,3052,end apogee,CONTROL_FINISHED_OK
$STATE,3052,begin climb
$GC,3053,0.76,243.3,511.1,0.0,496,3266,0.80,2.08,201.38,0.821,4,0.063,0.043,3018,3359,1724,0,0,0,0,0,0
$GC,3423,0.50,243.3,437.7,25.9,550,3430,0.32,1.92,0.00,0.000,6,0.173,0.034,2937,2068,1716,0,0,0,0,0,0
$GC,3766,0.50,243.3,376.9,16.6,611,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2067,1713,0,0,0,0,0,0
$GC,4107,0.52,254.7,322.8,14.7,672,4122,0.00,2.00,8.68,0.640,4,0.000,0.043,2937,3360,1678,0,0,0,0,0,0
$GC,4190,0.53,265.7,310.2,14.7,686,4209,0.00,1.92,10.57,0.652,6,0.000,0.033,2947,2058,1633,0,0,0,0,0,0
$GC,4561,0.58,302.7,258.0,13.6,749,4603,0.00,1.88,30.85,0.682,4,0.000,0.047,2956,847,1481,0,0,0,0,0,0
$GC,4646,0.70,336.4,245.7,13.7,761,4681,0.10,1.95,28.33,0.662,6,0.044,0.036,3024,2131,1346,0,0,0,0,0,0
$GC,5030,0.55,336.4,152.2,22.8,825,5039,0.25,1.85,0.00,0.000,4,0.158,0.040,2945,3353,1339,0,0,0,0,0,0
$GC,5077,0.64,355.0,143.4,14.4,832,5103,0.00,1.92,15.52,0.583,6,0.000,0.034,2955,2070,1268,0,0,0,0,0,0
$GC,5452,0.92,445.6,97.2,11.4,895,5535,0.28,2.03,70.93,0.576,4,0.051,0.041,3094,3354,899,0,0,0,0,0,0
$GC,5647,0.86,445.6,48.7,22.9,924,5658,0.15,1.92,0.00,0.000,6,0.151,0.036,3056,2079,896,0,0,1,0,0,0
$STATE,5894,end climb,SURFACE_DEPTH_REACHED
$STATE,5894,begin surface coast
$FINISH,-0.1,1.021812
$STATE,5913,end surface coast,CONTROL_FINISHED_OK
$STATE,5913,begin surface
$SM_CCo,5987,0.00,0.000,0,0,891,448.16
$SM_GC,0.94,8.48,0.00,0.00,0.106,0.000,0.000,150,2112,891,-8.18,0.34,448.16
$IRIDIUM_FIX,2408.65,12658.81,230910,080844
$TT8_MAMPS,0.025466
$HUMID,46.10
$INTERNAL_PRESSURE,9.31056
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.4,4.639
$10V_AH,10.5,3.697
$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,21.600,42.725,556.150,0.000,0.000,27.658,35.942,114.942,0.000,0.000,16.690,2206.548,732.528,551.610,2675.657,89.057,0.000,1419.404,0.000,2493.390,0.000,0.545,0.000
$DEVICE_MAMPS,238.680,148.410,840.735,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,647.020,0.000,1705.673,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333968
$DATA_FILE_SIZE,53593,968
$CAP_FILE_SIZE,87347,0
$CFSIZE,260165632,252571648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.118,150.9,1
$GPS,230910,123050,2414.648,12659.199,11,1.7,11,-3.7