version: 66.08
glider: 169
mission: 2
dive: 67
start: 9 26 110 17 20 40
data:
$ID,169
$MISSION,2
$DIVE,67
$N_DIVES,75
$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,-8
$MAX_BUOY,210
$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,640
$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,-6762.3887
$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,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$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,2025
$C_ROLL_CLIMB,2120
$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,3091
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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
$GPS1,260910,171606,2356.305,12619.249,34,1.0,34,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-73.4
$GPS2,260910,172014,2356.313,12619.231,15,1.2,15,-3.6
$SPEED_LIMITS,0.262,0.346
$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,306.4,18609,-21.0,-15.152
$D_GRID,3797
$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,-0.72,-204.4,0.0,0.0,0,111,0.00,0.00,-94.07,0.000,2,0.000,0.000,145,1999,3055,0,0,0,0,0,0
$GC,113,-0.72,-204.4,3.4,-5.3,12,147,9.27,1.88,-15.65,0.000,4,0.233,0.076,2486,3166,3927,0,0,0,0,0,0
$GC,220,-0.71,-204.4,44.2,-27.6,28,229,0.00,1.80,0.00,0.000,6,0.000,0.049,2486,2016,3928,0,0,0,0,0,0
$GC,585,-0.70,-204.4,150.7,-24.4,89,591,0.00,1.77,0.00,0.000,4,0.000,0.064,2486,3167,3930,0,0,0,0,0,0
$GC,634,-0.70,-204.4,162.3,-20.5,97,641,0.00,1.77,0.00,0.000,6,0.000,0.047,2486,2000,3930,0,0,0,0,0,0
$GC,990,-0.70,-204.4,243.1,-23.4,158,999,0.00,1.70,0.00,0.000,4,0.000,0.053,2487,880,3931,0,0,0,0,0,0
$GC,1074,-0.70,-204.4,260.9,-20.1,172,1082,0.00,1.80,0.00,0.000,6,0.000,0.054,2486,2046,3931,0,0,0,0,0,0
$GC,1420,-0.70,-204.4,329.6,-19.2,219,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2047,3930,0,0,0,0,0,0
$GC,1738,-0.70,-204.4,384.8,-16.3,249,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2047,3929,0,0,0,0,0,0
$GC,2057,-0.70,-204.4,436.4,-15.5,279,2060,0.00,1.70,0.00,0.000,4,0.000,0.063,2486,3170,3928,0,0,0,0,0,0
$GC,2118,-0.71,-204.4,446.7,-14.7,284,2127,0.00,1.77,0.00,0.000,6,0.000,0.047,2486,2003,3928,0,0,0,0,0,0
$GC,2446,-0.71,-204.4,498.9,-16.5,315,2450,0.00,1.83,0.00,0.000,4,0.000,0.062,2486,3167,3926,0,0,0,0,0,0
$STATE,2456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2456,begin apogee
$GC,2461,-0.18,0.0,501.0,15.7,316,2625,0.57,0.08,156.12,0.848,6,0.157,0.125,2665,2150,3090,0,0,0,0,0,0
$STATE,2626,end apogee,CONTROL_FINISHED_OK
$STATE,2626,begin climb
$GC,2627,0.72,204.4,512.0,0.0,329,2804,0.82,1.90,168.32,0.838,4,0.080,0.041,2966,962,2256,0,0,0,0,0,0
$GC,2893,0.71,204.4,495.9,16.6,351,2900,0.00,1.80,0.00,0.000,6,0.000,0.034,2965,2146,2248,0,0,0,0,0,0
$GC,3219,0.70,206.3,445.2,15.1,382,3222,0.00,1.67,0.00,0.000,4,0.000,0.041,2965,3277,2243,0,0,0,0,0,0
$GC,3277,0.69,206.3,436.1,16.3,387,3281,0.00,1.77,0.00,0.000,6,0.000,0.032,2974,2071,2242,0,0,0,0,0,0
$GC,3610,0.70,222.4,384.6,14.3,418,3628,0.00,1.80,14.15,0.724,4,0.000,0.038,2974,3274,2183,0,0,0,0,0,0
$GC,3730,0.69,222.4,364.3,16.5,428,3734,0.00,1.75,0.00,0.000,6,0.000,0.032,2984,2086,2178,0,0,0,0,0,0
$GC,4063,0.68,222.4,311.5,15.4,459,4067,0.12,1.60,0.00,0.000,4,0.191,0.042,2960,964,2174,0,0,0,0,0,0
$GC,4097,0.70,239.9,306.3,14.3,462,4121,0.00,1.75,14.98,0.693,6,0.000,0.035,2959,2161,2110,0,0,0,0,0,0
$GC,4456,0.71,248.2,254.8,14.7,522,4470,0.00,1.80,7.40,0.588,4,0.000,0.043,2968,949,2077,0,0,0,0,0,0
$GC,4524,0.73,270.6,245.2,14.0,533,4553,0.00,1.77,19.38,0.666,6,0.000,0.035,2968,2155,1987,0,0,0,0,0,0
$GC,4893,0.74,282.0,189.4,14.6,597,4908,0.00,0.00,10.10,0.588,6,0.000,0.000,2968,2155,1940,0,0,0,0,0,0
$GC,5251,0.80,329.9,137.7,12.8,659,5293,0.00,0.00,39.25,0.614,6,0.000,0.000,2968,2156,1745,0,0,0,0,0,0
$GC,5643,0.87,376.7,84.9,12.8,724,5685,0.12,1.88,36.67,0.571,4,0.082,0.043,3042,958,1554,0,0,0,0,0,0
$GC,5740,0.88,388.4,70.4,14.6,738,5757,0.00,1.80,10.38,0.505,6,0.000,0.034,3042,2157,1505,0,0,0,0,0,0
$GC,6106,0.89,400.5,14.0,14.6,800,6124,0.00,1.65,9.85,0.472,4,0.000,0.038,3042,3274,1458,0,0,0,0,0,0
$STATE,6177,end climb,SURFACE_DEPTH_REACHED
$STATE,6177,begin surface coast
$FINISH,-0.0,1.021962
$STATE,6198,end surface coast,CONTROL_FINISHED_OK
$STATE,6198,begin surface
$SM_CCo,6215,154.55,0.478,1,0,479,640.23
$SM_GC,0.91,0.00,0.00,154.55,0.000,0.000,0.478,152,1995,479,-8.06,-0.85,640.23
$IRIDIUM_FIX,2349.77,12617.77,260910,151552
$TT8_MAMPS,0.026215
$HUMID,42.75
$INTERNAL_PRESSURE,9.27149
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.4,10.721
$10V_AH,10.5,8.630
$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,19.150,42.650,486.600,154.550,0.000,27.454,35.700,96.236,0.000,0.000,16.173,1919.572,1500.243,618.548,2491.400,99.896,0.000,1422.420,0.000,2329.822,0.000,0.544,0.000
$DEVICE_MAMPS,233.325,125.460,848.385,478.125,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,544.621,0.000,1718.686,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50241,814
$CAP_FILE_SIZE,82800,0
$CFSIZE,260165632,250396672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.062,269.7,1
$GPS,260910,190732,2356.918,12618.105,12,1.3,12,-3.6