version: 66.08
glider: 169
mission: 2
dive: 19
start: 9 23 110 16 10 29
data:
$ID,169
$MISSION,2
$DIVE,19
$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,-6695.3584
$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
$GPS1,230910,160556,2412.666,12657.868,10,1.6,10,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-74.2
$GPS2,230910,161002,2412.620,12657.872,14,1.6,14,-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,243.7,57063,-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,-78.40,0.000,2,0.000,0.000,137,2066,3066,0,0,0,0,0,0
$GC,97,-0.76,-243.3,3.8,-6.9,10,124,9.52,2.08,-11.12,0.000,4,0.240,0.079,2507,3346,3714,0,0,0,0,0,0
$GC,189,-0.53,-243.3,47.8,-33.4,24,199,0.30,1.98,0.00,0.000,6,0.195,0.055,2592,2088,3716,0,0,1,0,0,0
$GC,554,-0.53,-243.3,123.0,-16.1,85,563,0.00,1.90,0.00,0.000,4,0.000,0.057,2592,845,3717,0,0,0,0,0,0
$GC,641,-0.76,-243.3,134.0,-10.6,99,650,0.12,1.95,0.00,0.000,6,0.068,0.050,2533,2115,3717,0,0,0,0,0,0
$GC,1005,-0.68,-243.3,202.7,-18.8,160,1014,0.00,1.92,0.00,0.000,4,0.000,0.066,2532,3344,3718,0,0,0,0,0,0
$GC,1145,-0.77,-243.3,224.1,-13.5,183,1154,0.00,1.95,0.00,0.000,6,0.000,0.050,2532,2081,3718,0,0,0,0,0,0
$GC,1509,-0.77,-243.3,286.2,-16.5,244,1518,0.00,1.88,0.00,0.000,4,0.000,0.059,2533,853,3718,0,0,0,0,0,0
$GC,1618,-0.87,-243.3,302.6,-12.9,262,1625,0.12,1.90,0.00,0.000,6,0.109,0.054,2481,2118,3717,0,0,0,0,0,0
$GC,1963,-0.77,-243.3,366.0,-17.1,323,1970,0.15,0.00,0.00,0.000,6,0.193,0.000,2520,2118,3718,0,0,0,0,0,0
$GC,2305,-0.82,-243.3,411.4,-13.2,384,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2118,3718,0,0,0,0,0,0
$GC,2648,-0.90,-243.3,454.1,-11.8,445,2656,0.10,1.95,0.00,0.000,4,0.121,0.059,2479,845,3716,0,0,0,0,0,0
$GC,2689,-0.90,-243.3,460.3,-15.2,452,2697,0.00,1.95,0.00,0.000,6,0.000,0.056,2478,2123,3716,0,0,0,0,0,0
$STATE,2936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2936,begin apogee
$GC,2940,-0.12,0.0,500.8,16.0,496,3140,0.82,0.03,189.85,0.842,6,0.174,0.086,2728,2105,2716,0,0,0,0,0,0
$STATE,3140,end apogee,CONTROL_FINISHED_OK
$STATE,3141,begin climb
$GC,3142,0.76,243.3,509.8,0.0,514,3356,0.77,2.03,201.18,0.821,4,0.060,0.043,3027,848,1724,0,0,0,0,0,0
$GC,3417,0.56,243.3,461.0,24.1,552,3425,0.25,1.95,0.00,0.000,6,0.168,0.036,2958,2130,1720,0,0,0,0,0,0
$GC,3763,0.46,243.3,393.0,17.7,613,3771,0.12,1.83,0.00,0.000,4,0.184,0.044,2925,3358,1716,0,0,0,0,0,0
$GC,3811,0.46,243.3,384.9,15.5,621,3818,0.00,1.92,0.00,0.000,6,0.000,0.034,2935,2067,1713,0,0,0,0,0,0
$GC,4154,0.46,244.9,331.5,15.1,682,4161,0.00,1.92,0.00,0.000,4,0.000,0.043,2935,3359,1712,0,0,0,0,0,0
$GC,4189,0.46,244.9,325.7,16.6,688,4196,0.00,1.90,0.00,0.000,6,0.000,0.034,2945,2070,1711,0,0,0,0,0,0
$GC,4539,0.47,253.3,271.1,14.8,749,4556,0.00,1.98,7.20,0.588,4,0.000,0.044,2945,3359,1685,0,0,0,0,0,0
$GC,4576,0.47,253.3,265.0,16.2,754,4584,0.00,1.92,0.00,0.000,6,0.000,0.034,2955,2071,1684,0,0,0,0,0,0
$GC,4932,0.47,254.0,209.3,15.1,815,4941,0.00,1.83,0.00,0.000,4,0.000,0.045,2964,844,1682,0,0,0,0,0,0
$GC,4997,0.57,290.4,200.0,13.6,825,5038,0.00,1.90,31.33,0.649,6,0.000,0.035,2964,2129,1532,0,0,0,0,0,0
$GC,5387,0.58,300.6,141.1,14.7,890,5403,0.00,0.00,8.85,0.544,6,0.000,0.000,2964,2129,1490,0,0,0,0,0,0
$GC,5752,0.78,404.0,95.1,10.8,952,5842,0.17,0.00,81.85,0.577,6,0.067,0.000,3049,2128,1070,0,0,0,0,0,0
$GC,6190,0.78,404.0,10.1,17.6,1023,6199,0.00,1.85,0.00,0.000,4,0.000,0.040,3049,3362,1063,0,0,0,0,0,0
$STATE,6230,end climb,SURFACE_DEPTH_REACHED
$STATE,6230,begin surface coast
$FINISH,0.5,1.021725
$STATE,6249,end surface coast,CONTROL_FINISHED_OK
$STATE,6249,begin surface
$SM_CCo,6325,0.00,0.000,0,0,1060,406.95
$SM_GC,0.80,8.43,0.00,0.00,0.105,0.000,0.000,151,2068,1060,-8.17,-0.90,406.95
$IRIDIUM_FIX,2406.29,12658.81,230910,141410
$TT8_MAMPS,0.025466
$HUMID,45.19
$INTERNAL_PRESSURE,9.32032
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.4,5.016
$10V_AH,10.5,4.055
$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,20.900,42.575,520.250,0.000,0.000,31.512,15.887,111.027,0.000,0.000,15.509,2363.994,776.975,532.919,2804.960,93.120,0.000,1429.387,0.000,2646.562,0.000,0.545,0.000
$DEVICE_MAMPS,240.210,120.105,841.500,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,691.204,0.000,1836.884,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,56936,1032
$CAP_FILE_SIZE,89533,0
$CFSIZE,260165632,252411904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.092,165.8,1
$GPS,230910,175652,2411.730,12657.048,15,4.4,34,-3.7