version: 66.08
glider: 169
mission: 2
dive: 17
start: 9 23 110 12 35 11
data:
$ID,169
$MISSION,2
$DIVE,17
$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,-6692.3452
$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
$GPS1,230910,123050,2414.648,12659.199,11,1.7,11,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-71.9
$GPS2,230910,123444,2414.608,12659.232,11,1.4,11,-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,243.1,61337,-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,-78.22,0.000,2,0.000,0.000,149,2112,2994,0,0,0,0,0,0
$GC,97,-0.76,-243.3,3.5,-6.2,10,124,9.57,2.03,-12.77,0.000,4,0.243,0.083,2516,3348,3713,0,0,0,0,0,0
$GC,208,-0.60,-243.3,50.4,-30.7,27,217,0.17,1.98,0.00,0.000,6,0.190,0.057,2566,2092,3715,0,0,1,0,0,0
$GC,566,-0.56,-243.3,136.6,-17.7,88,575,0.00,1.98,0.00,0.000,4,0.000,0.063,2566,3344,3716,0,0,0,0,0,0
$GC,590,-0.56,-243.3,141.0,-17.9,91,599,0.00,1.95,0.00,0.000,6,0.000,0.048,2566,2082,3716,0,0,0,0,0,0
$GC,954,-0.62,-243.3,195.1,-13.9,152,964,0.00,2.00,0.00,0.000,4,0.000,0.065,2567,3345,3718,0,0,0,0,0,0
$GC,1038,-0.86,-243.3,204.5,-9.1,165,1047,0.17,1.92,0.00,0.000,6,0.073,0.047,2492,2090,3718,0,0,0,0,0,0
$GC,1396,-0.73,-243.3,278.5,-20.8,226,1405,0.17,1.90,0.00,0.000,4,0.197,0.058,2537,858,3718,0,0,0,0,0,0
$GC,1579,-0.84,-243.3,305.1,-13.0,257,1585,0.00,1.90,0.00,0.000,6,0.000,0.054,2537,2116,3718,0,0,0,0,0,0
$GC,1921,-0.92,-243.3,350.5,-12.1,318,1929,0.17,1.92,0.00,0.000,4,0.095,0.065,2469,3351,3717,0,0,0,0,0,0
$GC,1952,-0.88,-243.3,355.2,-16.3,323,1958,0.00,1.95,0.00,0.000,6,0.000,0.054,2469,2074,3717,0,0,0,0,0,0
$GC,2295,-0.78,-243.3,419.8,-18.8,384,2303,0.17,1.88,0.00,0.000,4,0.190,0.060,2516,843,3717,0,0,0,0,0,0
$GC,2365,-0.91,-243.3,430.0,-12.6,396,2373,0.00,1.92,0.00,0.000,6,0.000,0.054,2516,2117,3717,0,0,0,0,0,0
$GC,2709,-0.98,-243.3,478.0,-12.8,457,2716,0.15,1.92,0.00,0.000,4,0.102,0.066,2457,3351,3715,0,0,0,0,0,0
$GC,2728,-1.01,-243.3,481.0,-14.2,460,2736,0.00,1.92,0.00,0.000,6,0.000,0.053,2457,2087,3715,0,0,0,0,0,0
$STATE,2846,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2846,begin apogee
$GC,2849,-0.12,0.0,500.7,16.5,481,3049,0.90,0.00,189.93,0.838,6,0.182,0.000,2728,2086,2717,0,0,0,0,0,0
$STATE,3050,end apogee,CONTROL_FINISHED_OK
$STATE,3050,begin climb
$GC,3051,0.76,243.3,506.8,0.0,499,3260,0.77,2.00,201.00,0.818,4,0.060,0.043,3026,841,1725,0,0,0,0,0,0
$GC,3373,0.57,243.3,449.6,20.5,547,3380,0.22,1.95,0.00,0.000,6,0.172,0.035,2965,2136,1718,0,0,0,0,0,0
$GC,3716,0.47,243.3,386.2,17.8,608,3724,0.12,1.83,0.00,0.000,4,0.184,0.043,2932,3363,1715,0,0,0,0,0,0
$GC,3781,0.47,243.3,374.9,16.0,619,3787,0.00,1.92,0.00,0.000,6,0.000,0.034,2941,2065,1712,0,0,0,0,0,0
$GC,4123,0.47,243.3,318.6,15.3,680,4130,0.00,1.92,0.00,0.000,4,0.000,0.043,2942,3359,1711,0,0,0,0,0,0
$GC,4164,0.47,243.3,312.2,15.4,687,4170,0.00,1.90,0.00,0.000,6,0.000,0.034,2952,2068,1710,0,0,0,0,0,0
$GC,4522,0.45,254.1,257.5,14.7,748,4541,0.10,1.85,7.82,0.593,4,0.187,0.046,2934,843,1681,0,0,0,0,0,0
$GC,4568,0.59,300.3,251.2,13.2,754,4617,0.00,1.92,38.92,0.681,6,0.000,0.036,2934,2136,1491,0,0,0,0,0,0
$GC,4966,0.73,340.4,197.9,13.5,820,5009,0.20,2.00,32.62,0.641,4,0.063,0.042,3039,844,1327,0,0,0,0,0,0
$GC,5028,0.55,340.4,185.8,22.2,828,5038,0.25,1.95,0.00,0.000,6,0.151,0.036,2960,2127,1326,0,0,0,0,0,0
$GC,5395,0.64,360.3,133.2,14.3,889,5419,0.00,1.88,16.42,0.577,4,0.000,0.041,2959,3357,1248,0,0,0,0,0,0
$GC,5509,0.88,438.1,118.2,11.9,907,5583,0.22,1.95,61.92,0.584,6,0.033,0.034,3093,2063,929,0,0,0,0,0,0
$GC,5932,0.70,438.1,5.8,24.7,976,5942,0.28,1.98,0.00,0.000,4,0.170,0.038,3008,3362,922,0,0,0,0,0,0
$STATE,5948,end climb,SURFACE_DEPTH_REACHED
$STATE,5949,begin surface coast
$FINISH,-0.1,1.021780
$STATE,5962,end surface coast,CONTROL_FINISHED_OK
$STATE,5962,begin surface
$SM_CCo,6038,0.00,0.000,0,0,920,441.05
$SM_GC,0.79,8.38,0.00,0.00,0.109,0.000,0.000,150,2079,920,-8.18,-0.57,441.05
$IRIDIUM_FIX,2406.29,12658.81,230910,101047
$TT8_MAMPS,0.026215
$HUMID,45.94
$INTERNAL_PRESSURE,9.32032
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.4,4.766
$10V_AH,10.5,3.813
$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,22.050,54.225,548.650,0.000,0.000,29.281,13.472,107.064,0.000,0.000,13.291,2244.715,747.365,558.030,2633.342,90.681,0.000,1437.479,0.000,2482.503,0.000,0.545,0.000
$DEVICE_MAMPS,242.505,83.385,838.440,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,655.002,0.000,1696.039,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,56948,980
$CAP_FILE_SIZE,91433,0
$CFSIZE,260165632,252510208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.133,162.5,1
$GPS,230910,141655,2413.648,12658.607,43,1.1,43,-3.7