version: 66.08
glider: 169
mission: 2
dive: 68
start: 9 26 110 19 12 5
data:
$ID,169
$MISSION,2
$DIVE,68
$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,-6763.7393
$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
$GPS1,260910,190732,2356.918,12618.105,12,1.3,12,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-71.7
$GPS2,260910,191138,2356.934,12618.076,12,1.3,12,-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,297.4,16372,-21.0,-15.152
$D_GRID,3496
$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,-0.72,-204.4,0.0,0.0,0,120,0.00,0.00,-102.93,0.000,2,0.000,0.000,151,1995,3347,0,0,0,0,0,0
$GC,122,-0.72,-204.4,4.8,-9.8,13,149,9.40,1.85,-9.18,0.000,4,0.239,0.075,2486,3167,3927,0,0,0,0,0,0
$GC,233,-0.71,-204.4,53.7,-30.2,30,242,0.00,1.83,0.00,0.000,6,0.000,0.052,2486,2005,3929,0,0,0,0,0,0
$GC,597,-0.70,-204.4,159.3,-24.4,91,604,0.00,1.70,0.00,0.000,4,0.000,0.057,2486,881,3931,0,0,0,0,0,0
$GC,703,-0.70,-204.4,182.9,-20.6,109,710,0.00,1.77,0.00,0.000,6,0.000,0.054,2486,2037,3931,0,0,0,0,0,0
$GC,1048,-0.69,-204.4,261.2,-20.3,170,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2037,3931,0,0,0,0,0,0
$GC,1391,-0.69,-204.4,331.3,-20.0,218,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2037,3931,0,0,0,0,0,0
$GC,1711,-0.69,-204.4,390.5,-18.3,248,1715,0.00,1.70,0.00,0.000,4,0.000,0.063,2486,3167,3931,0,0,0,0,0,0
$GC,1749,-0.69,-204.4,397.8,-16.8,251,1758,0.00,1.77,0.00,0.000,6,0.000,0.047,2486,2003,3930,0,0,0,0,0,0
$GC,2075,-0.69,-204.4,453.7,-16.5,282,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2001,3929,0,0,0,0,0,0
$STATE,2362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2362,begin apogee
$GC,2366,-0.18,0.0,500.5,14.9,309,2533,0.57,0.05,156.18,0.847,6,0.155,0.070,2667,2093,3090,0,0,0,0,0,0
$STATE,2534,end apogee,CONTROL_FINISHED_OK
$STATE,2534,begin climb
$GC,2535,0.72,204.4,508.5,0.0,323,2711,0.82,1.92,168.07,0.835,4,0.081,0.042,2957,3271,2256,0,0,0,0,0,0
$GC,2861,0.71,204.4,476.0,17.9,350,2871,0.00,1.80,0.00,0.000,6,0.000,0.031,2966,2087,2246,0,0,0,0,0,0
$GC,3189,0.70,204.4,425.1,15.2,381,3192,0.00,1.80,0.00,0.000,4,0.000,0.041,2966,3270,2243,0,0,0,0,0,0
$GC,3245,0.69,204.4,415.6,16.3,386,3248,0.00,1.75,0.00,0.000,6,0.000,0.032,2975,2078,2241,0,0,0,0,0,0
$GC,3577,0.68,204.4,362.8,15.5,417,3580,0.00,1.80,0.00,0.000,4,0.000,0.041,2975,3281,2240,0,0,0,0,0,0
$GC,3670,0.66,204.4,347.3,17.1,425,3674,0.15,1.75,0.00,0.000,6,0.186,0.032,2945,2085,2238,0,0,0,0,0,0
$GC,4001,0.72,257.8,302.3,12.5,456,4048,0.00,0.00,41.53,0.730,6,0.000,0.000,2945,2083,2038,0,0,0,0,0,0
$GC,4388,0.76,287.7,248.2,13.7,522,4417,0.00,1.73,24.25,0.679,4,0.000,0.043,2954,967,1916,0,0,0,0,0,0
$GC,4481,0.77,296.7,234.4,14.7,537,4496,0.00,1.77,7.93,0.581,6,0.000,0.035,2954,2163,1881,0,0,0,0,0,0
$GC,4836,0.80,316.5,183.1,14.2,599,4858,0.10,0.00,17.20,0.625,6,0.098,0.000,3009,2163,1800,0,0,0,0,0,0
$GC,5207,0.79,316.5,115.3,17.3,662,5216,0.00,1.80,0.00,0.000,4,0.000,0.042,3018,965,1793,0,0,0,0,0,0
$GC,5258,0.79,316.5,106.4,15.9,670,5268,0.10,1.75,0.00,0.000,6,0.151,0.035,2985,2152,1793,0,0,0,0,0,0
$GC,5624,0.98,467.4,63.5,7.6,731,5747,0.17,1.77,116.00,0.565,4,0.067,0.039,3076,3272,1183,0,0,0,0,0,0
$GC,5824,0.98,467.4,27.6,20.9,759,5834,0.10,1.77,0.00,0.000,6,0.148,0.032,3052,2089,1179,0,0,1,0,0,0
$STATE,5967,end climb,SURFACE_DEPTH_REACHED
$STATE,5967,begin surface coast
$FINISH,-0.0,1.021493
$STATE,5988,end surface coast,CONTROL_FINISHED_OK
$STATE,5988,begin surface
$SM_CCo,6003,115.12,0.056,0,0,481,640.23
$SM_GC,0.83,0.00,0.00,115.12,0.000,0.000,0.056,151,1979,481,-8.06,-1.30,640.23
$IRIDIUM_FIX,2349.77,12621.06,260910,171714
$TT8_MAMPS,0.026215
$HUMID,43.58
$INTERNAL_PRESSURE,9.26173
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.4,10.843
$10V_AH,10.4,8.738
$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,19.750,32.450,531.150,115.125,0.000,29.731,35.400,98.425,0.000,0.000,13.204,1822.522,1445.332,602.683,2404.107,95.819,0.000,1390.019,0.000,2244.600,0.000,0.544,0.000
$DEVICE_MAMPS,238.680,83.385,846.855,55.845,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,524.960,0.000,1641.831,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333972
$DATA_FILE_SIZE,46944,786
$CAP_FILE_SIZE,77659,0
$CFSIZE,260165632,250363904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.135,319.1,1
$GPS,260910,205507,2357.746,12616.685,39,1.0,39,-3.6