version: 66.08
glider: 169
mission: 2
dive: 21
start: 9 23 110 19 30 29
data:
$ID,169
$MISSION,2
$DIVE,21
$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,-6697.9658
$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
$GPS1,230910,192606,2410.942,12656.334,16,1.8,32,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-73.6
$GPS2,230910,193002,2410.891,12656.294,12,1.9,12,-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,231.8,52898,-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,-0.88,-243.3,0.0,0.0,0,102,0.00,0.00,-86.00,0.000,2,0.000,0.000,132,2128,3202,0,0,0,0,0,0
$GC,104,-0.88,-243.3,4.5,-8.8,11,131,9.48,1.92,-8.38,0.000,4,0.245,0.073,2451,3352,3711,0,0,0,0,0,0
$GC,284,-0.86,-243.3,80.3,-36.7,40,292,0.00,1.98,0.00,0.000,6,0.000,0.060,2451,2097,3713,0,0,1,0,0,0
$GC,642,-0.84,-243.3,193.2,-28.1,101,650,0.12,1.90,0.00,0.000,4,0.226,0.062,2480,849,3715,0,0,0,0,0,0
$GC,884,-0.83,-243.3,240.5,-20.1,143,890,0.00,1.95,0.00,0.000,6,0.000,0.056,2479,2121,3716,0,0,0,0,0,0
$GC,1228,-0.82,-243.3,310.0,-17.8,199,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2121,3715,0,0,0,0,0,0
$GC,1546,-0.82,-243.3,367.4,-18.1,229,1550,0.00,1.90,0.00,0.000,4,0.000,0.057,2480,846,3715,0,0,0,0,0,0
$GC,1615,-0.82,-243.3,379.3,-15.2,235,1619,0.00,1.95,0.00,0.000,6,0.000,0.054,2480,2125,3715,0,0,0,0,0,0
$GC,1947,-0.81,-243.3,434.8,-16.2,266,1951,0.00,1.90,0.00,0.000,4,0.000,0.056,2480,846,3715,0,0,0,0,0,0
$GC,2005,-0.81,-243.3,443.8,-14.6,271,2009,0.00,1.92,0.00,0.000,6,0.000,0.054,2481,2115,3715,0,0,0,0,0,0
$GC,2337,-0.81,-243.3,492.9,-14.0,302,2341,0.00,1.92,0.00,0.000,4,0.000,0.058,2480,845,3712,0,0,0,0,0,0
$GC,2383,-0.81,-243.3,499.5,-14.2,306,2387,0.00,1.95,0.00,0.000,6,0.000,0.055,2480,2105,3712,0,0,0,0,0,0
$STATE,2394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2394,begin apogee
$GC,2397,-0.15,0.0,501.1,13.5,307,2592,0.70,0.00,189.57,0.842,6,0.172,0.000,2693,2105,2718,0,0,0,0,0,0
$STATE,2593,end apogee,CONTROL_FINISHED_OK
$STATE,2593,begin climb
$GC,2594,0.88,243.3,509.1,0.0,323,2805,1.02,2.05,201.35,0.820,4,0.099,0.044,3043,843,1725,0,0,0,0,0,0
$GC,2926,0.87,243.3,448.0,22.6,351,2929,0.00,1.95,0.00,0.000,6,0.000,0.036,3043,2133,1719,0,0,0,0,0,0
$GC,3257,0.84,243.3,355.9,27.2,382,3261,0.00,1.83,0.00,0.000,4,0.000,0.044,3043,3368,1715,0,0,0,0,0,0
$GC,3317,0.82,243.3,338.3,28.7,387,3326,0.10,1.95,0.00,0.000,6,0.180,0.034,3022,2070,1713,0,0,0,0,0,0
$GC,3654,0.80,243.3,259.1,24.5,433,3661,0.00,1.92,0.00,0.000,4,0.000,0.044,3022,3360,1712,0,0,0,0,0,0
$GC,3713,0.79,243.3,244.1,25.3,443,3721,0.00,1.90,0.00,0.000,6,0.000,0.034,3032,2066,1711,0,0,0,0,0,0
$GC,4057,0.77,243.3,162.8,21.0,504,4066,0.00,1.83,0.00,0.000,4,0.000,0.044,3042,840,1709,0,0,0,0,0,0
$GC,4117,0.76,243.3,150.8,18.5,514,4127,0.10,1.90,0.00,0.000,6,0.164,0.036,3008,2127,1709,0,0,0,0,0,0
$GC,4483,0.77,252.7,91.7,14.8,575,4493,0.00,0.00,6.32,0.478,6,0.000,0.000,3009,2127,1687,0,0,0,0,0,0
$GC,4842,0.94,389.2,43.7,9.4,636,4956,0.12,1.95,107.00,0.539,4,0.087,0.042,3076,3358,1129,0,0,0,0,0,0
$GC,5046,0.93,389.2,10.1,17.5,665,5055,0.08,1.95,0.00,0.000,6,0.161,0.034,3061,2068,1125,0,0,1,0,0,0
$STATE,5085,end climb,SURFACE_DEPTH_REACHED
$STATE,5085,begin surface coast
$FINISH,-0.0,1.009740
$STATE,5105,end surface coast,CONTROL_FINISHED_OK
$STATE,5105,begin surface
$SM_CCo,5180,0.00,0.000,0,0,1120,391.99
$SM_GC,0.82,8.55,0.00,0.00,0.104,0.000,0.000,151,2127,1120,-8.11,0.74,391.99
$IRIDIUM_FIX,2403.92,12655.50,230910,171703
$TT8_MAMPS,0.026215
$HUMID,45.39
$INTERNAL_PRESSURE,9.32032
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.4,5.257
$10V_AH,10.5,4.244
$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,20.275,38.600,504.250,0.000,0.000,31.278,35.419,89.922,0.000,0.000,13.182,1581.553,1182.437,449.373,2134.492,75.170,0.000,1155.242,0.000,1975.001,0.000,0.545,0.000
$DEVICE_MAMPS,244.800,133.875,842.265,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,449.984,0.000,1453.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334032
$DATA_FILE_SIZE,40283,674
$CAP_FILE_SIZE,69830,0
$CFSIZE,260165632,252350464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.083,178.6,1
$GPS,230910,205746,2410.056,12655.718,14,2.9,33,-3.7