version: 66.08
glider: 169
mission: 2
dive: 51
start: 9 25 110 15 25 11
data:
$ID,169
$MISSION,2
$DIVE,51
$N_DIVES,55
$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,-6739.6484
$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
$GPS1,250910,152106,2351.835,12636.246,31,1.0,36,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-76.0
$GPS2,250910,152444,2351.820,12636.228,14,1.0,14,-3.6
$SPEED_LIMITS,0.262,0.375
$TGT_NAME,WAKE1
$TGT_LATLONG,2400.000,12609.000
$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,300.6,48493,-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,-243.3,0.0,0.0,0,87,0.00,0.00,-71.05,0.000,2,0.000,0.000,149,2067,3226,0,0,0,0,0,0
$GC,89,-0.88,-243.3,4.5,-9.1,9,116,9.25,1.85,-8.18,0.000,4,0.239,0.073,2450,3254,3712,0,0,0,0,0,0
$GC,189,-0.86,-243.3,52.0,-39.1,24,197,0.00,1.85,0.00,0.000,6,0.000,0.053,2449,2085,3714,0,0,0,0,0,0
$GC,550,-0.84,-243.3,167.1,-28.0,85,557,0.12,1.73,0.00,0.000,4,0.209,0.060,2479,950,3716,0,0,0,0,0,0
$GC,689,-0.83,-243.3,198.9,-21.4,109,695,0.00,1.77,0.00,0.000,6,0.000,0.054,2480,2117,3716,0,0,0,0,0,0
$GC,1034,-0.81,-243.3,274.2,-20.1,170,1042,0.00,1.77,0.00,0.000,4,0.000,0.054,2480,957,3717,0,0,0,0,0,0
$GC,1082,-0.81,-243.3,283.8,-18.6,178,1091,0.00,1.77,0.00,0.000,6,0.000,0.055,2479,2105,3717,0,0,0,0,0,0
$GC,1415,-0.80,-243.3,347.7,-18.9,216,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2105,3717,0,0,0,0,0,0
$GC,1733,-0.79,-243.3,408.3,-18.5,246,1737,0.00,1.70,0.00,0.000,4,0.000,0.053,2480,953,3717,0,0,0,0,0,0
$GC,1771,-0.79,-243.3,415.5,-17.7,249,1779,0.00,1.77,0.00,0.000,6,0.000,0.053,2480,2109,3717,0,0,0,0,0,0
$GC,2097,-0.78,-243.3,467.9,-15.7,280,2101,0.00,1.73,0.00,0.000,4,0.000,0.054,2479,950,3717,0,0,0,0,0,0
$GC,2134,-0.78,-243.3,473.5,-15.1,283,2138,0.00,1.77,0.00,0.000,6,0.000,0.053,2479,2107,3716,0,0,0,0,0,0
$STATE,2314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2314,begin apogee
$GC,2317,-0.15,0.0,500.4,14.7,300,2514,0.70,0.00,190.00,0.842,6,0.163,0.000,2697,2107,2717,0,0,0,0,0,0
$STATE,2515,end apogee,CONTROL_FINISHED_OK
$STATE,2515,begin climb
$GC,2516,0.88,243.3,507.2,0.0,316,2730,0.98,1.85,201.23,0.821,4,0.083,0.043,3045,951,1724,0,0,0,0,0,0
$GC,2755,0.86,243.3,460.4,30.1,337,2759,0.00,1.80,0.00,0.000,6,0.000,0.033,3044,2137,1722,0,0,0,0,0,0
$GC,3087,0.83,243.3,361.0,29.8,368,3091,0.00,1.65,0.00,0.000,4,0.000,0.041,3045,3258,1716,0,0,0,0,0,0
$GC,3123,0.81,243.3,350.5,30.1,371,3127,0.15,1.77,0.00,0.000,6,0.200,0.034,3016,2064,1714,0,0,0,0,0,0
$GC,3455,0.79,243.3,262.8,27.2,414,3464,0.00,1.80,0.00,0.000,4,0.000,0.041,3016,3259,1712,0,0,0,0,0,0
$GC,3533,0.77,243.3,242.6,26.1,427,3540,0.00,1.75,0.00,0.000,6,0.000,0.034,3025,2068,1711,0,0,0,0,0,0
$GC,3877,0.75,243.3,163.6,21.8,488,3886,0.00,1.65,0.00,0.000,4,0.000,0.043,3034,949,1710,0,0,0,0,0,0
$GC,3911,0.74,243.3,156.9,20.9,493,3918,0.15,1.70,0.00,0.000,6,0.175,0.034,2993,2136,1710,0,0,0,0,0,0
$GC,4266,0.73,243.3,93.5,18.6,554,4275,0.00,1.77,0.00,0.000,4,0.000,0.044,3001,948,1710,0,0,0,0,0,0
$GC,4289,0.73,243.3,89.1,17.6,557,4298,0.00,1.75,0.00,0.000,6,0.000,0.036,3002,2136,1709,0,0,0,0,0,0
$GC,4653,0.89,371.2,45.6,9.8,618,4759,0.10,1.77,98.95,0.544,4,0.101,0.041,3058,3263,1203,0,0,0,0,0,0
$GC,4803,0.88,371.2,21.1,19.0,638,4811,0.00,1.83,0.00,0.000,6,0.000,0.032,3068,2067,1200,0,0,0,0,0,0
$STATE,4907,end climb,SURFACE_DEPTH_REACHED
$STATE,4907,begin surface coast
$FINISH,0.2,1.021992
$STATE,4927,end surface coast,CONTROL_FINISHED_OK
$STATE,4927,begin surface
$SM_CCo,5002,0.00,0.000,0,0,1193,373.84
$SM_GC,0.97,8.48,0.00,0.00,0.099,0.000,0.000,152,2136,1193,-8.11,1.02,373.84
$IRIDIUM_FIX,2340.34,12638.53,250910,131359
$TT8_MAMPS,0.026215
$HUMID,45.27
$INTERNAL_PRESSURE,9.33009
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.4,8.775
$10V_AH,10.5,6.996
$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,19.925,38.925,490.175,0.000,0.000,28.222,13.616,93.725,0.000,0.000,15.756,1537.021,1123.178,449.995,2038.579,78.121,0.000,1131.534,0.000,1902.468,0.000,0.544,0.000
$DEVICE_MAMPS,239.445,106.335,841.500,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,438.719,0.000,1424.233,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40355,658
$CAP_FILE_SIZE,68629,0
$CFSIZE,260165632,251125760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.063,247.0,1
$GPS,250910,164914,2352.074,12635.016,18,1.5,18,-3.6