version: 66.08
glider: 169
mission: 2
dive: 69
start: 9 26 110 20 59 22
data:
$ID,169
$MISSION,2
$DIVE,69
$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,-6765.0869
$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
$GPS1,260910,205507,2357.746,12616.685,39,1.0,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-73.2
$GPS2,260910,205855,2357.760,12616.646,14,1.3,14,-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,279.8,13586,-21.0,-15.152
$D_GRID,3053
$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,-95.07,0.000,2,0.000,0.000,151,1979,3044,0,0,0,0,0,0
$GC,113,-0.72,-204.4,3.0,-4.4,12,148,9.23,1.92,-16.02,0.000,4,0.233,0.080,2489,3167,3928,0,0,0,0,0,0
$GC,244,-0.71,-204.4,51.4,-30.3,32,252,0.00,1.80,0.00,0.000,6,0.000,0.050,2489,2009,3929,0,0,0,0,0,0
$GC,608,-0.70,-204.4,156.3,-22.9,93,614,0.00,1.70,0.00,0.000,4,0.000,0.054,2489,881,3931,0,0,0,0,0,0
$GC,727,-0.70,-204.4,181.1,-18.0,113,734,0.00,1.75,0.00,0.000,6,0.000,0.054,2489,2037,3932,0,0,0,0,0,0
$GC,1082,-0.69,-204.4,258.2,-21.8,174,1092,0.00,1.75,0.00,0.000,4,0.000,0.063,2489,3164,3932,0,0,0,0,0,0
$GC,1117,-0.69,-204.4,265.0,-21.0,179,1124,0.00,1.73,0.00,0.000,6,0.000,0.048,2489,2004,3932,0,0,0,0,0,0
$GC,1459,-0.69,-204.4,332.1,-18.6,225,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2002,3932,0,0,0,0,0,0
$GC,1779,-0.69,-204.4,389.9,-17.6,255,1782,0.00,1.80,0.00,0.000,4,0.000,0.061,2489,3167,3931,0,0,0,0,0,0
$GC,1793,-0.69,-204.4,393.4,-17.1,256,1804,0.00,1.80,0.00,0.000,6,0.000,0.045,2489,1997,3931,0,0,0,0,0,0
$GC,2122,-0.70,-204.4,446.3,-15.5,287,2126,0.00,1.80,0.00,0.000,4,0.000,0.060,2489,3167,3929,0,0,0,0,0,0
$GC,2149,-0.70,-204.4,451.3,-14.9,289,2156,0.00,1.77,0.00,0.000,6,0.000,0.045,2489,2002,3929,0,0,0,0,0,0
$STATE,2473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2473,begin apogee
$GC,2477,-0.18,0.0,500.7,15.0,320,2640,0.55,0.05,156.38,0.854,6,0.156,0.067,2661,2094,3090,0,0,0,0,0,0
$STATE,2641,end apogee,CONTROL_FINISHED_OK
$STATE,2641,begin climb
$GC,2642,0.72,204.4,509.8,0.0,333,2818,0.82,1.92,168.23,0.842,4,0.078,0.041,2956,3274,2255,0,0,0,0,0,0
$GC,2909,0.71,204.4,491.9,16.3,356,2913,0.00,1.77,0.00,0.000,6,0.000,0.031,2965,2086,2247,0,0,0,0,0,0
$GC,3241,0.70,204.4,438.7,16.3,387,3245,0.00,1.80,0.00,0.000,4,0.000,0.042,2965,3266,2243,0,0,0,0,0,0
$GC,3275,0.69,204.4,432.9,16.1,390,3278,0.00,1.75,0.00,0.000,6,0.000,0.033,2974,2080,2242,0,0,0,0,0,0
$GC,3607,0.69,219.1,384.9,14.4,421,3627,0.00,0.00,11.15,0.711,6,0.000,0.000,2974,2078,2195,0,0,0,0,0,0
$GC,3945,0.68,219.1,330.7,16.0,453,3949,0.00,1.80,0.00,0.000,4,0.000,0.041,2974,3281,2190,0,0,0,0,0,0
$GC,4083,0.67,219.1,308.5,16.2,465,4087,0.12,1.75,0.00,0.000,6,0.190,0.033,2952,2084,2188,0,0,0,0,0,0
$GC,4423,0.70,242.0,262.2,14.0,520,4447,0.00,1.73,19.15,0.688,4,0.000,0.043,2960,957,2103,0,0,0,0,0,0
$GC,4476,0.76,289.7,255.1,12.8,528,4519,0.00,1.80,39.22,0.696,6,0.000,0.036,2960,2160,1910,0,0,0,0,0,0
$GC,4862,0.79,320.5,196.7,13.6,594,4891,0.00,0.00,24.70,0.649,6,0.000,0.000,2960,2160,1783,0,0,0,0,0,0
$GC,5235,0.83,348.5,145.7,13.8,658,5270,0.10,1.85,22.70,0.611,4,0.098,0.044,3026,964,1668,0,0,0,0,0,0
$GC,5354,0.83,348.5,124.8,18.9,676,5363,0.00,1.77,0.00,0.000,6,0.000,0.034,3026,2151,1666,0,0,0,0,0,0
$GC,5718,0.91,414.1,63.7,11.9,737,5775,0.00,0.00,51.10,0.568,6,0.000,0.000,3026,2152,1402,0,0,0,0,0,0
$GC,6125,0.96,452.7,7.1,13.2,804,6159,0.00,1.33,30.35,0.514,3,0.000,0.038,3026,3029,1244,0,0,0,0,0,0
$STATE,6160,end climb,SURFACE_DEPTH_REACHED
$STATE,6160,begin surface coast
$FINISH,-0.0,1.021961
$STATE,6186,end surface coast,CONTROL_FINISHED_OK
$STATE,6186,begin surface
$SM_CCo,6202,126.43,0.056,0,0,481,640.23
$SM_GC,0.88,0.00,0.00,126.43,0.000,0.000,0.056,150,1991,481,-8.06,-0.96,640.23
$IRIDIUM_FIX,2347.41,12619.67,260910,191943
$TT8_MAMPS,0.026215
$HUMID,42.99
$INTERNAL_PRESSURE,9.26173
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.4,10.965
$10V_AH,10.5,8.850
$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,19.200,38.975,522.975,126.425,0.000,25.930,16.864,96.986,0.000,0.000,14.992,1891.754,1515.095,608.607,2448.816,100.149,0.000,1412.525,0.000,2310.286,0.000,0.544,0.000
$DEVICE_MAMPS,233.325,80.325,853.740,55.845,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,542.869,0.000,1696.265,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333996
$DATA_FILE_SIZE,47042,812
$CAP_FILE_SIZE,80333,0
$CFSIZE,260165632,250314752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.148,327.8,1
$GPS,260910,224526,2358.258,12615.172,10,1.4,10,-3.6