version: 66.08
glider: 169
mission: 2
dive: 20
start: 9 23 110 18 1 40
data:
$ID,169
$MISSION,2
$DIVE,20
$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,-6696.709
$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,2755
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,33
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0020000001
$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
$GPS1,230910,175652,2411.730,12657.048,15,4.4,34,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-73.8
$GPS2,230910,180113,2411.677,12657.022,18,1.9,34,-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,238.6,54803,-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,-0.88,-243.3,0.0,0.0,0,95,0.00,0.00,-78.55,0.000,2,0.000,0.000,138,2067,3187,0,0,0,0,0,0
$GC,97,-0.88,-243.3,4.3,-8.6,10,124,9.35,2.00,-8.75,0.000,4,0.243,0.073,2448,3348,3711,0,0,0,0,0,0
$GC,220,-0.85,-243.3,61.3,-32.9,29,229,0.08,2.00,0.00,0.000,6,0.198,0.056,2469,2086,3713,0,0,0,0,0,0
$GC,575,-0.84,-243.3,177.2,-26.1,90,583,0.00,1.90,0.00,0.000,4,0.000,0.060,2469,856,3714,0,0,0,0,0,0
$GC,830,-0.82,-243.3,235.0,-21.7,133,836,0.00,1.92,0.00,0.000,6,0.000,0.057,2469,2113,3715,0,0,0,0,0,0
$GC,1184,-0.81,-243.3,317.8,-20.7,187,1188,0.00,1.92,0.00,0.000,4,0.000,0.057,2470,845,3714,0,0,0,0,0,0
$GC,1223,-0.81,-243.3,326.5,-19.6,190,1232,0.00,1.98,0.00,0.000,6,0.000,0.056,2469,2117,3715,0,0,0,0,0,0
$GC,1550,-0.80,-243.3,389.9,-20.5,221,1554,0.00,1.95,0.00,0.000,4,0.000,0.058,2469,832,3714,0,0,0,0,0,0
$GC,1577,-0.79,-243.3,396.3,-21.1,223,1585,0.08,1.98,0.00,0.000,6,0.184,0.056,2494,2108,3714,0,0,0,0,0,0
$GC,1902,-0.79,-243.3,448.5,-15.4,254,1905,0.00,1.90,0.00,0.000,4,0.000,0.058,2494,845,3715,0,0,0,0,0,0
$GC,1952,-0.79,-243.3,456.2,-14.5,258,1961,0.00,1.95,0.00,0.000,6,0.000,0.054,2494,2115,3714,0,0,0,0,0,0
$STATE,2257,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2257,begin apogee
$GC,2260,-0.15,0.0,500.1,14.2,287,2457,0.65,0.00,189.85,0.838,6,0.164,0.000,2696,2115,2717,0,0,0,0,0,0
$STATE,2458,end apogee,CONTROL_FINISHED_OK
$STATE,2458,begin climb
$GC,2459,0.88,243.3,509.1,0.0,303,2675,0.98,2.08,201.90,0.818,4,0.088,0.043,3040,839,1724,0,0,0,0,0,0
$GC,2680,0.86,243.3,471.2,25.2,323,2689,0.00,2.03,0.00,0.000,6,0.000,0.034,3040,2131,1722,0,0,0,0,0,0
$GC,3005,0.84,243.3,377.6,28.2,354,3009,0.00,1.83,0.00,0.000,4,0.000,0.043,3040,3363,1716,0,0,0,0,0,0
$GC,3032,0.82,243.3,369.5,29.4,356,3042,0.08,1.95,0.00,0.000,6,0.184,0.032,3026,2070,1715,0,0,0,0,0,0
$GC,3361,0.80,243.3,287.4,23.1,391,3369,0.00,1.92,0.00,0.000,4,0.000,0.043,3026,3369,1713,0,0,0,0,0,0
$GC,3432,0.78,243.3,270.4,22.6,403,3440,0.00,1.92,0.00,0.000,6,0.000,0.034,3037,2061,1712,0,0,0,0,0,0
$GC,3777,0.76,243.3,183.6,25.9,464,3786,0.12,1.83,0.00,0.000,4,0.199,0.044,3014,836,1710,0,0,0,0,0,0
$GC,3811,0.75,243.3,176.2,21.6,469,3818,0.00,1.90,0.00,0.000,6,0.000,0.036,3014,2131,1710,0,0,0,0,0,0
$GC,4167,0.74,243.3,113.3,16.3,530,4175,0.00,1.83,0.00,0.000,4,0.000,0.044,3015,3353,1709,0,0,0,0,0,0
$GC,4272,0.73,243.3,96.0,15.6,547,4282,0.08,1.90,0.00,0.000,6,0.169,0.034,2999,2070,1708,0,0,0,0,0,0
$GC,4631,0.85,337.0,50.1,11.2,608,4712,0.00,2.00,71.85,0.549,4,0.000,0.038,2998,3356,1341,0,0,0,0,0,0
$GC,4767,1.01,459.6,36.3,10.0,627,4873,0.15,1.95,94.72,0.522,6,0.036,0.034,3108,2071,842,0,0,0,0,0,0
$STATE,4922,end climb,SURFACE_DEPTH_REACHED
$STATE,4922,begin surface coast
$FINISH,-0.1,1.014794
$STATE,4936,end surface coast,CONTROL_FINISHED_OK
$STATE,4936,begin surface
$SM_CCo,5011,0.00,0.000,0,0,836,461.41
$SM_GC,0.80,8.75,0.00,0.00,0.102,0.000,0.000,146,2128,836,-8.12,0.79,461.41
$IRIDIUM_FIX,2406.29,12658.81,230910,161611
$TT8_MAMPS,0.026215
$HUMID,44.84
$INTERNAL_PRESSURE,9.30079
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,24.4,5.140
$10V_AH,10.5,4.148
$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,20.300,42.700,558.325,0.000,0.000,27.162,13.264,109.449,0.000,0.000,34.926,1485.814,1155.493,515.993,2042.164,74.305,0.000,1214.741,0.000,1866.736,0.000,0.544,0.000
$DEVICE_MAMPS,243.270,123.165,837.675,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,431.859,0.000,1408.203,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333932
$DATA_FILE_SIZE,40384,650
$CAP_FILE_SIZE,68203,0
$CFSIZE,260165632,252395520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,184.9,1
$GPS,230910,192606,2410.942,12656.334,16,1.8,32,-3.7