version: 66.08
glider: 169
mission: 2
dive: 70
start: 9 26 110 22 50 11
data:
$ID,169
$MISSION,2
$DIVE,70
$N_DIVES,80
$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,-6766.4375
$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
$GPS1,260910,224526,2358.258,12615.172,10,1.4,10,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-72.1
$GPS2,260910,224944,2358.292,12615.149,13,1.6,13,-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,274.2,10874,-21.0,-15.152
$D_GRID,2806
$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,-204.4,0.0,0.0,0,118,0.00,0.00,-101.05,0.000,2,0.000,0.000,149,1992,3275,0,0,0,0,0,0
$GC,120,-0.72,-204.4,4.4,-7.9,13,147,9.35,1.90,-10.73,0.000,4,0.238,0.076,2476,3167,3930,0,0,0,0,0,0
$GC,235,-0.70,-204.4,54.6,-34.4,31,245,0.00,1.83,0.00,0.000,6,0.000,0.054,2476,2011,3931,0,0,0,0,0,0
$GC,597,-0.69,-204.4,160.1,-27.3,92,606,0.10,1.73,0.00,0.000,4,0.228,0.056,2499,882,3933,0,0,0,0,0,0
$GC,744,-0.69,-204.4,191.4,-19.2,117,750,0.00,1.77,0.00,0.000,6,0.000,0.053,2499,2048,3934,0,0,0,0,0,0
$GC,1089,-0.69,-204.4,262.0,-18.3,178,1097,0.00,1.73,0.00,0.000,4,0.000,0.062,2499,3160,3934,0,0,0,0,0,0
$GC,1133,-0.70,-204.4,269.8,-17.6,185,1140,0.00,1.75,0.00,0.000,6,0.000,0.047,2499,2003,3934,0,0,0,0,0,0
$GC,1467,-0.70,-204.4,333.5,-19.2,230,1470,0.00,1.80,0.00,0.000,4,0.000,0.061,2499,3166,3933,0,0,0,0,0,0
$GC,1490,-0.70,-204.4,337.6,-18.1,232,1494,0.00,1.75,0.00,0.000,6,0.000,0.045,2499,2002,3933,0,0,0,0,0,0
$GC,1822,-0.70,-204.4,393.8,-16.8,263,1826,0.00,1.80,0.00,0.000,4,0.000,0.060,2499,3168,3932,0,0,0,0,0,0
$GC,1871,-0.71,-204.4,401.1,-14.4,267,1874,0.00,1.75,0.00,0.000,6,0.000,0.045,2499,2001,3932,0,0,0,0,0,0
$GC,2201,-0.72,-204.4,449.3,-13.0,298,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1999,3931,0,0,0,0,0,0
$GC,2521,-0.72,-204.4,492.7,-13.3,328,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1999,3929,0,0,0,0,0,0
$STATE,2573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2573,begin apogee
$GC,2577,-0.18,0.0,500.2,14.3,333,2740,0.52,0.05,156.35,0.853,6,0.152,0.067,2664,2095,3091,0,0,0,0,0,0
$STATE,2741,end apogee,CONTROL_FINISHED_OK
$STATE,2741,begin climb
$GC,2742,0.72,204.4,510.6,0.0,346,2918,0.82,1.88,168.45,0.842,4,0.084,0.039,2953,3276,2255,0,0,0,0,0,0
$GC,2975,0.71,204.4,498.8,15.2,366,2979,0.00,1.80,0.00,0.000,6,0.000,0.031,2962,2092,2248,0,0,1,0,0,0
$GC,3308,0.71,217.5,449.1,14.5,397,3320,0.00,0.00,10.40,0.718,6,0.000,0.000,2962,2091,2204,0,0,0,0,0,0
$GC,3636,0.71,217.5,396.4,16.7,428,3639,0.00,1.65,0.00,0.000,4,0.000,0.043,2970,965,2196,0,0,0,0,0,0
$GC,3672,0.70,217.5,390.8,15.5,431,3676,0.00,1.73,0.00,0.000,6,0.000,0.036,2970,2153,2195,0,0,0,0,0,0
$GC,4004,0.72,241.5,343.2,14.0,462,4030,0.00,1.75,20.15,0.741,4,0.000,0.042,2970,3281,2105,0,0,0,0,0,0
$GC,4138,0.71,241.5,321.9,16.9,473,4145,0.00,1.77,0.00,0.000,6,0.000,0.033,2979,2081,2099,0,0,1,0,0,0
$GC,4480,0.70,241.5,265.3,16.7,522,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2081,2095,0,0,0,0,0,0
$GC,4839,0.69,241.5,209.8,16.6,583,4846,0.00,1.77,0.00,0.000,4,0.000,0.042,2979,3273,2093,0,0,0,0,0,0
$GC,5085,0.69,241.5,170.3,15.3,625,5092,0.12,1.75,0.00,0.000,6,0.187,0.034,2956,2075,2091,0,0,0,0,0,0
$GC,5443,0.79,325.1,127.9,11.0,686,5517,0.00,1.70,65.18,0.618,4,0.000,0.041,2965,968,1763,0,0,0,0,0,0
$GC,5591,0.88,394.9,111.1,11.7,707,5657,0.10,1.77,54.80,0.594,6,0.044,0.034,3030,2147,1478,0,0,0,0,0,0
$GC,6006,0.88,394.9,41.9,15.9,775,6015,0.00,1.77,0.00,0.000,4,0.000,0.042,3039,970,1470,0,0,0,0,0,0
$GC,6022,0.88,394.9,39.1,15.4,777,6031,0.00,1.75,0.00,0.000,6,0.000,0.033,3039,2151,1470,0,0,0,0,0,0
$STATE,6262,end climb,SURFACE_DEPTH_REACHED
$STATE,6262,begin surface coast
$FINISH,0.3,1.021931
$STATE,6288,end surface coast,CONTROL_FINISHED_OK
$STATE,6288,begin surface
$SM_CCo,6302,158.23,0.480,1,0,480,640.23
$SM_GC,0.91,0.00,0.00,158.23,0.000,0.000,0.480,152,1991,480,-8.06,-0.96,640.23
$IRIDIUM_FIX,2349.77,12617.77,260910,202017
$TT8_MAMPS,0.026215
$HUMID,43.42
$INTERNAL_PRESSURE,9.27149
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.4,11.099
$10V_AH,10.5,8.963
$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,19.175,39.400,475.325,158.225,0.000,29.443,35.585,103.895,0.000,0.000,14.805,1931.146,1584.222,618.022,2501.237,95.286,0.000,1414.711,0.000,2327.205,0.000,0.544,0.000
$DEVICE_MAMPS,237.915,77.265,852.975,480.420,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,549.635,0.000,1718.686,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50294,821
$CAP_FILE_SIZE,81807,0
$CFSIZE,260165632,250265600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.134,334.2,1
$GPS,270910,003901,2358.630,12613.844,39,1.0,39,-3.6