version: 66.08
glider: 169
mission: 2
dive: 7
start: 9 22 110 19 23 1
data:
$ID,169
$MISSION,2
$DIVE,7
$N_DIVES,9
$D_SURF,3
$D_FLARE,3
$D_TGT,270
$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,80
$T_MISSION,100
$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,200
$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,-6678.8013
$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,2775
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,42
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$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,400
$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,100
$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
$GPS1,220910,191821,2424.436,12706.001,12,2.4,31,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-72.0
$GPS2,220910,192234,2424.382,12706.003,16,2.4,35,-3.7
$SPEED_LIMITS,0.195,0.307
$TGT_NAME,WAKE1
$TGT_LATLONG,2350.000,12635.000
$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,244.5,82542,-16.7,-11.250
$D_GRID,1000
$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,15,-0.64,-194.6,0.0,0.0,0,111,0.00,0.00,-93.90,0.000,2,0.000,0.000,144,2088,2986,0,0,0,0,0,0
$GC,113,-0.64,-194.6,3.1,-4.4,12,140,9.88,2.25,-9.93,0.000,4,0.248,0.077,2554,3526,3512,0,0,0,0,0,0
$GC,238,-0.49,-194.6,43.6,-23.3,31,247,0.17,2.25,0.00,0.000,6,0.184,0.056,2605,2091,3513,0,0,0,0,0,0
$GC,604,-0.49,-194.6,103.8,-12.5,92,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2090,3513,0,0,0,0,0,0
$GC,971,-0.58,-194.6,147.3,-9.7,153,980,0.00,2.15,0.00,0.000,4,0.000,0.057,2605,675,3513,0,0,0,0,0,0
$GC,1108,-0.76,-194.6,158.1,-6.9,175,1117,0.17,2.17,0.00,0.000,6,0.054,0.050,2526,2111,3513,0,0,0,0,0,0
$GC,1475,-0.64,-194.6,213.1,-17.0,236,1484,0.15,2.22,0.00,0.000,4,0.189,0.062,2565,678,3512,0,0,0,0,0,0
$GC,1541,-0.70,-194.6,222.7,-13.1,246,1550,0.00,2.17,0.00,0.000,6,0.000,0.052,2565,2104,3512,0,0,0,0,0,0
$GC,1907,-0.74,-194.6,264.3,-9.1,307,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2104,3511,0,0,0,0,0,0
$STATE,1969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1969,begin apogee
$GC,1972,-0.12,0.0,270.4,9.8,317,2124,0.50,0.00,145.40,0.663,6,0.158,0.000,2725,2104,2717,0,0,0,0,0,0
$STATE,2125,end apogee,CONTROL_FINISHED_OK
$STATE,2125,begin climb
$GC,2126,0.64,194.6,274.4,0.0,336,2290,0.75,2.30,156.00,0.649,4,0.109,0.044,2985,661,1923,0,0,0,0,0,0
$GC,2305,0.44,194.6,257.8,16.4,358,2314,0.20,2.25,0.00,0.000,6,0.146,0.033,2923,2140,1920,0,0,0,0,0,0
$GC,2672,0.44,199.6,212.9,11.1,419,2681,0.00,2.12,3.72,0.371,4,0.000,0.041,2923,3539,1904,0,0,0,0,0,0
$GC,2701,0.44,199.6,209.2,12.3,423,2710,0.00,2.20,0.00,0.000,6,0.000,0.034,2934,2065,1902,0,0,0,0,0,0
$GC,3067,0.44,199.6,169.0,11.8,484,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2063,1900,0,0,0,0,0,0
$GC,3432,0.44,199.6,127.3,11.3,545,3441,0.00,2.08,0.00,0.000,4,0.000,0.047,2934,667,1900,0,0,0,0,0,0
$GC,3509,0.56,245.8,119.4,9.4,557,3552,0.00,2.15,37.58,0.571,6,0.000,0.034,2934,2140,1714,0,0,0,0,0,0
$GC,3911,0.74,311.7,83.2,8.7,622,3968,0.20,2.25,50.53,0.547,4,0.061,0.044,3043,662,1446,0,0,0,0,0,0
$GC,3989,0.58,311.7,69.8,19.7,632,3998,0.22,2.20,0.00,0.000,6,0.145,0.033,2970,2134,1444,0,0,0,0,0,0
$GC,4357,0.89,430.4,39.2,6.6,693,4455,0.25,2.15,89.60,0.513,4,0.057,0.039,3099,3544,962,0,0,0,0,0,0
$GC,4500,0.74,430.4,11.4,22.2,712,4509,0.30,2.22,0.00,0.000,6,0.149,0.035,3016,2072,960,0,0,1,0,0,0
$STATE,4552,end climb,SURFACE_DEPTH_REACHED
$STATE,4552,begin surface coast
$FINISH,-0.0,1.007846
$STATE,4578,end surface coast,CONTROL_FINISHED_OK
$STATE,4578,begin surface
$SM_CCo,4652,0.00,0.000,0,0,956,432.22
$SM_GC,1.02,8.30,0.00,0.00,0.099,0.000,0.000,146,2112,956,-8.19,0.34,432.22
$IRIDIUM_FIX,2415.74,12708.29,220910,191929
$TT8_MAMPS,0.026215
$HUMID,44.64
$INTERNAL_PRESSURE,9.40822
$TCM_TEMP,26.10
$XPDR_PINGS,0
$24V_AH,24.8,3.475
$10V_AH,10.5,2.581
$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,21.100,35.225,482.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,37.032,1642.898,75.104,413.799,2535.959,71.354,0.000,1165.638,0.000,2519.110,0.000,0.549,0.000
$DEVICE_MAMPS,247.860,130.050,663.255,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,482.117,2516.579,2316.915,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334160
$DATA_FILE_SIZE,46955,724
$CAP_FILE_SIZE,74909,0
$CFSIZE,260165632,253095936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.208,148.8,1
$GPS,220910,204107,2423.622,12705.620,11,1.6,11,-3.7