version: 66.08
glider: 169
mission: 2
dive: 18
start: 9 23 110 14 21 59
data:
$ID,169
$MISSION,2
$DIVE,18
$N_DIVES,30
$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,-6693.6953
$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
$GPS1,230910,141655,2413.648,12658.607,43,1.1,43,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-74.1
$GPS2,230910,142132,2413.579,12658.636,16,1.3,16,-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,244.1,59246,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.76,-243.3,0.0,0.0,0,98,0.00,0.00,-81.20,0.000,2,0.000,0.000,138,2077,3148,0,0,0,0,0,0
$GC,100,-0.76,-243.3,4.5,-9.1,10,127,9.62,1.92,-9.32,0.000,4,0.243,0.077,2522,842,3712,0,0,0,0,0,0
$GC,318,-0.62,-243.3,81.5,-20.9,46,328,0.15,2.00,0.00,0.000,6,0.168,0.057,2567,2113,3714,0,0,0,0,0,0
$GC,683,-0.55,-243.3,155.8,-18.1,107,692,0.00,1.95,0.00,0.000,4,0.000,0.067,2567,3346,3715,0,0,0,0,0,0
$GC,766,-0.67,-243.3,166.8,-12.0,120,774,0.00,1.95,0.00,0.000,6,0.000,0.049,2567,2085,3715,0,0,0,0,0,0
$GC,1130,-0.75,-243.3,220.8,-12.6,181,1139,0.00,1.88,0.00,0.000,4,0.000,0.057,2567,857,3716,0,0,0,0,0,0
$GC,1189,-0.91,-243.3,227.2,-10.4,190,1198,0.20,1.92,0.00,0.000,6,0.059,0.053,2476,2110,3716,0,0,0,0,0,0
$GC,1543,-0.74,-243.3,305.3,-21.6,251,1551,0.20,1.92,0.00,0.000,4,0.191,0.056,2529,846,3716,0,0,0,0,0,0
$GC,1665,-0.84,-243.3,322.4,-12.3,272,1672,0.00,1.92,0.00,0.000,6,0.000,0.054,2528,2116,3716,0,0,0,0,0,0
$GC,2008,-0.89,-243.3,369.7,-13.4,333,2015,0.12,0.00,0.00,0.000,6,0.110,0.000,2477,2117,3715,0,0,0,0,0,0
$GC,2351,-0.81,-243.3,428.5,-16.7,394,2358,0.12,1.95,0.00,0.000,4,0.186,0.060,2509,846,3715,0,0,0,0,0,0
$GC,2398,-0.88,-243.3,435.1,-12.8,402,2405,0.00,1.92,0.00,0.000,6,0.000,0.054,2509,2117,3714,0,0,0,0,0,0
$GC,2740,-0.93,-243.3,479.4,-12.7,463,2748,0.10,1.95,0.00,0.000,4,0.113,0.059,2467,844,3713,0,0,0,0,0,0
$GC,2772,-0.93,-243.3,484.2,-15.1,468,2778,0.00,1.95,0.00,0.000,6,0.000,0.057,2466,2121,3712,0,0,0,0,0,0
$STATE,2867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2867,begin apogee
$GC,2870,-0.12,0.0,500.3,17.3,485,3068,0.85,0.03,189.35,0.838,6,0.171,0.084,2727,2092,2717,0,0,0,0,0,0
$STATE,3069,end apogee,CONTROL_FINISHED_OK
$STATE,3069,begin climb
$GC,3071,0.76,243.3,508.5,0.0,503,3284,0.80,2.00,200.82,0.819,4,0.060,0.044,3033,844,1724,0,0,0,0,0,0
$GC,3386,0.54,243.3,451.6,23.2,548,3393,0.30,1.95,0.00,0.000,6,0.170,0.036,2949,2135,1718,0,0,0,0,0,0
$GC,3731,0.48,243.3,390.1,16.4,609,3737,0.00,1.83,0.00,0.000,4,0.000,0.044,2949,3357,1715,0,0,0,0,0,0
$GC,3805,0.43,243.3,377.4,16.2,622,3812,0.15,1.92,0.00,0.000,6,0.170,0.035,2918,2064,1713,0,0,0,0,0,0
$GC,4149,0.52,279.7,330.7,13.6,683,4180,0.00,0.00,29.02,0.721,6,0.000,0.000,2918,2062,1577,0,0,0,0,0,0
$GC,4527,0.67,335.0,278.2,12.8,748,4584,0.20,2.08,45.15,0.696,4,0.060,0.044,3018,3365,1350,0,0,0,0,0,0
$GC,4617,0.48,335.0,257.9,26.3,760,4626,0.30,1.98,0.00,0.000,6,0.154,0.034,2935,2077,1347,0,0,0,0,0,0
$GC,4982,0.64,387.6,204.1,12.9,821,5032,0.12,1.88,42.15,0.647,4,0.080,0.045,3018,841,1136,0,0,0,0,0,0
$GC,5087,0.64,387.6,182.2,20.2,836,5096,0.10,1.95,0.00,0.000,6,0.144,0.037,2985,2125,1133,0,0,0,0,0,0
$GC,5451,0.64,387.6,113.2,17.3,897,5459,0.00,1.85,0.00,0.000,4,0.000,0.042,2985,3359,1130,0,0,0,0,0,0
$GC,5526,0.74,394.9,101.4,14.8,909,5543,0.00,1.92,5.93,0.463,6,0.000,0.035,2995,2071,1107,0,0,0,0,0,0
$GC,5892,0.92,430.0,47.2,13.7,971,5927,0.20,1.90,28.60,0.533,4,0.060,0.046,3108,841,963,0,0,0,0,0,0
$GC,6005,0.83,430.0,24.2,22.3,988,6014,0.17,1.92,0.00,0.000,6,0.147,0.034,3050,2136,962,0,0,0,0,0,0
$STATE,6115,end climb,SURFACE_DEPTH_REACHED
$STATE,6115,begin surface coast
$FINISH,0.8,1.021714
$STATE,6129,end surface coast,CONTROL_FINISHED_OK
$STATE,6129,begin surface
$SM_CCo,6204,0.00,0.000,0,0,957,431.73
$SM_GC,0.86,8.27,0.00,0.00,0.096,0.000,0.000,146,2065,957,-8.19,-0.99,431.73
$IRIDIUM_FIX,2406.29,12657.39,230910,121201
$TT8_MAMPS,0.026215
$HUMID,45.31
$INTERNAL_PRESSURE,9.32032
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.4,4.894
$10V_AH,10.5,3.932
$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,22.000,46.550,541.025,0.000,0.000,32.301,36.610,114.444,0.000,0.000,17.680,2313.166,791.624,547.158,2740.074,92.291,0.000,1432.104,0.000,2546.685,0.000,0.545,0.000
$DEVICE_MAMPS,243.270,97.155,838.440,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,673.944,0.000,1708.868,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333988
$DATA_FILE_SIZE,56926,1008
$CAP_FILE_SIZE,92320,0
$CFSIZE,260165632,252461056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131,164.9,1
$GPS,230910,160556,2412.666,12657.868,10,1.6,10,-3.7