version: 66.08
glider: 169
mission: 2
dive: 39
start: 9 24 110 21 54 52
data:
$ID,169
$MISSION,2
$DIVE,39
$N_DIVES,40
$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,-6722.5889
$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,32
$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,360
$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,110
$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
$GPS1,240910,215014,2357.809,12643.170,9,1.4,9,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-75.3
$GPS2,240910,215425,2357.803,12643.055,11,1.3,16,-3.6
$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,207.8,19875,-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,-243.3,0.0,0.0,0,90,0.00,0.00,-73.55,0.000,2,0.000,0.000,139,2070,3099,0,0,0,0,0,0
$GC,92,-0.88,-243.3,3.5,-6.0,9,119,9.48,1.92,-10.77,0.000,4,0.245,0.085,2456,3240,3714,0,0,0,0,0,0
$GC,161,-0.85,-243.3,37.3,-43.3,19,171,0.00,1.83,0.00,0.000,6,0.000,0.053,2456,2082,3715,0,0,0,0,0,0
$GC,523,-0.83,-243.3,151.6,-26.5,80,532,0.12,1.85,0.00,0.000,4,0.208,0.064,2486,3237,3717,0,0,0,0,0,0
$GC,704,-0.82,-243.3,189.3,-20.5,111,711,0.00,1.77,0.00,0.000,6,0.000,0.051,2486,2076,3718,0,0,0,0,0,0
$GC,1050,-0.81,-243.3,266.3,-20.5,172,1058,0.00,1.70,0.00,0.000,4,0.000,0.059,2486,963,3718,0,0,0,0,0,0
$GC,1155,-0.80,-243.3,286.5,-17.3,190,1163,0.00,1.77,0.00,0.000,6,0.000,0.056,2486,2109,3718,0,0,0,0,0,0
$GC,1489,-0.79,-243.3,347.7,-18.1,227,1492,0.00,1.75,0.00,0.000,4,0.000,0.056,2486,952,3718,0,0,0,0,0,0
$GC,1626,-0.79,-243.3,370.2,-15.9,239,1629,0.00,1.77,0.00,0.000,6,0.000,0.052,2486,2127,3718,0,0,0,0,0,0
$GC,1957,-0.79,-243.3,426.7,-16.9,270,1961,0.00,1.75,0.00,0.000,4,0.000,0.054,2487,950,3718,0,0,0,0,0,0
$GC,1993,-0.78,-243.3,432.6,-17.0,273,1996,0.00,1.77,0.00,0.000,6,0.000,0.052,2486,2126,3718,0,0,0,0,0,0
$GC,2325,-0.78,-243.3,483.5,-15.1,304,2329,0.00,1.75,0.00,0.000,4,0.000,0.054,2486,948,3716,0,0,0,0,0,0
$GC,2383,-0.78,-243.3,492.3,-14.8,309,2387,0.00,1.77,0.00,0.000,6,0.000,0.053,2486,2123,3716,0,0,0,0,0,0
$STATE,2436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2436,begin apogee
$GC,2440,-0.15,0.0,500.4,14.4,314,2637,0.68,0.08,190.55,0.844,6,0.158,0.114,2699,2128,2717,0,0,0,0,0,0
$STATE,2638,end apogee,CONTROL_FINISHED_OK
$STATE,2638,begin climb
$GC,2639,0.88,243.3,507.8,0.0,330,2850,0.98,1.80,201.23,0.820,4,0.086,0.041,3033,3254,1724,0,0,0,0,0,0
$GC,2923,0.86,243.3,447.6,28.5,354,2927,0.00,1.80,0.00,0.000,6,0.000,0.036,3042,2071,1718,0,0,0,0,0,0
$GC,3255,0.83,243.3,347.0,30.6,385,3259,0.00,1.75,0.00,0.000,4,0.000,0.040,3042,3261,1715,0,0,0,0,0,0
$GC,3302,0.81,243.3,333.3,29.2,389,3306,0.12,1.77,0.00,0.000,6,0.199,0.036,3020,2067,1714,0,0,0,0,0,0
$GC,3636,0.79,243.3,244.3,26.3,438,3645,0.00,1.67,0.00,0.000,4,0.000,0.046,3029,946,1711,0,0,0,0,0,0
$GC,3681,0.77,243.3,233.3,24.5,445,3688,0.00,1.75,0.00,0.000,6,0.000,0.036,3030,2141,1711,0,0,0,0,0,0
$GC,4025,0.75,243.3,152.1,20.6,506,4034,0.12,1.65,0.00,0.000,4,0.186,0.041,2991,3259,1709,0,0,0,0,0,0
$GC,4078,0.74,243.3,141.6,19.3,514,4086,0.00,1.77,0.00,0.000,6,0.000,0.035,3000,2067,1709,0,0,0,0,0,0
$GC,4435,0.74,243.3,77.0,19.0,575,4444,0.00,1.65,0.00,0.000,4,0.000,0.044,3009,950,1708,0,0,0,0,0,0
$GC,4511,0.77,275.8,65.2,13.8,587,4545,0.00,1.73,24.92,0.558,6,0.000,0.034,3009,2130,1591,0,0,0,0,0,0
$GC,4895,0.97,430.5,19.4,8.7,651,5010,0.15,0.00,111.53,0.523,2,0.075,0.000,3089,2130,1008,0,0,0,0,0,0
$STATE,5011,end climb,SURFACE_DEPTH_REACHED
$STATE,5011,begin surface coast
$FINISH,-0.1,1.020489
$STATE,5031,end surface coast,CONTROL_FINISHED_OK
$STATE,5031,begin surface
$SM_CCo,5106,0.00,0.000,0,0,1001,421.18
$SM_GC,0.75,8.68,0.00,0.00,0.097,0.000,0.000,150,2072,1001,-8.12,-0.79,421.18
$IRIDIUM_FIX,2349.77,12641.35,240910,202041
$TT8_MAMPS,0.026215
$HUMID,45.15
$INTERNAL_PRESSURE,9.31056
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.4,7.407
$10V_AH,10.5,5.894
$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,20.325,39.000,528.225,0.000,0.000,27.397,42.151,92.001,0.000,0.000,17.442,1567.663,1121.039,461.053,2131.983,81.568,0.000,1178.957,0.000,1960.864,0.000,0.545,0.000
$DEVICE_MAMPS,244.800,118.575,843.795,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,445.704,0.000,1449.793,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333980
$DATA_FILE_SIZE,40312,668
$CAP_FILE_SIZE,71055,0
$CFSIZE,260165632,251613184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117,334.1,1
$GPS,240910,232052,2357.466,12642.588,11,4.2,30,-3.6