version: 66.08
glider: 169
mission: 2
dive: 35
start: 9 24 110 16 8 5
data:
$ID,169
$MISSION,2
$DIVE,35
$N_DIVES,40
$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,-5
$MAX_BUOY,250
$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,-6716.6611
$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,2755
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,33
$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,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,360
$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,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
$GPS1,240910,160332,2400.559,12646.531,9,1.5,9,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-73.7
$GPS2,240910,160738,2400.524,12646.464,12,1.1,12,-3.6
$SPEED_LIMITS,0.262,0.375
$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,226.7,27515,-19.2,-15.152
$D_GRID,5000
$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,13,begin dive
$GC,14,-0.88,-243.3,0.0,0.0,0,102,0.00,0.00,-85.80,0.000,2,0.000,0.000,150,2131,3229,0,0,0,0,0,0
$GC,104,-0.88,-243.3,4.4,-8.1,11,131,9.38,1.73,-8.12,0.000,4,0.243,0.074,2452,3247,3712,0,0,0,0,0,0
$GC,334,-0.86,-243.3,100.7,-25.6,49,344,0.00,1.83,0.00,0.000,6,0.000,0.055,2452,2081,3714,0,0,0,0,0,0
$GC,688,-0.84,-243.3,205.8,-26.5,110,697,0.12,1.75,0.00,0.000,4,0.220,0.061,2481,957,3715,0,0,0,0,0,0
$GC,726,-0.83,-243.3,215.7,-24.3,116,734,0.00,1.80,0.00,0.000,6,0.000,0.057,2481,2111,3715,0,0,0,0,0,0
$GC,1073,-0.81,-243.3,294.8,-21.8,177,1081,0.00,1.75,0.00,0.000,4,0.000,0.066,2481,3247,3716,0,0,0,0,0,0
$GC,1089,-0.80,-243.3,298.1,-21.5,179,1095,0.00,1.77,0.00,0.000,6,0.000,0.050,2481,2076,3716,0,0,0,0,0,0
$GC,1422,-0.79,-243.3,368.5,-20.2,211,1426,0.00,1.67,0.00,0.000,4,0.000,0.057,2481,954,3715,0,0,0,0,0,0
$GC,1471,-0.78,-243.3,377.5,-17.8,215,1475,0.00,1.77,0.00,0.000,6,0.000,0.055,2481,2122,3715,0,0,0,0,0,0
$GC,1802,-0.78,-243.3,435.6,-16.6,246,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2122,3715,0,0,0,0,0,0
$GC,2120,-0.77,-243.3,487.6,-15.8,276,2124,0.00,1.77,0.00,0.000,4,0.000,0.055,2482,947,3714,0,0,0,0,0,0
$GC,2156,-0.77,-243.3,492.9,-15.4,279,2160,0.00,1.80,0.00,0.000,6,0.000,0.056,2481,2117,3714,0,0,0,0,0,0
$STATE,2209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2209,begin apogee
$GC,2212,-0.15,0.0,501.0,14.6,284,2407,0.70,0.00,189.93,0.836,6,0.168,0.000,2696,2116,2718,0,0,0,0,0,0
$STATE,2408,end apogee,CONTROL_FINISHED_OK
$STATE,2408,begin climb
$GC,2409,0.88,243.3,508.3,0.0,300,2616,1.00,0.00,201.68,0.815,6,0.087,0.000,3033,2116,1725,0,0,0,0,0,0
$GC,2943,0.86,243.3,375.2,28.7,351,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2116,1715,0,0,0,0,0,0
$GC,3264,0.84,243.3,287.0,27.0,385,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2116,1712,0,0,0,0,0,0
$GC,3607,0.82,243.3,200.3,24.4,446,3616,0.00,1.70,0.00,0.000,4,0.000,0.041,3033,3261,1710,0,0,0,0,0,0
$GC,3652,0.80,243.3,189.8,23.7,453,3660,0.12,1.75,0.00,0.000,6,0.197,0.034,3010,2056,1709,0,0,0,0,0,0
$GC,4006,0.79,243.3,117.3,17.9,514,4014,0.00,1.80,0.00,0.000,4,0.000,0.040,3010,3264,1707,0,0,0,0,0,0
$GC,4046,0.78,243.3,110.0,17.4,520,4055,0.00,1.77,0.00,0.000,6,0.000,0.034,3020,2067,1706,0,0,0,0,0,0
$GC,4410,0.92,358.5,57.8,10.3,581,4508,0.00,1.75,88.18,0.552,4,0.000,0.044,3026,944,1254,0,0,0,0,0,0
$GC,4575,1.03,440.0,38.8,11.7,604,4649,0.12,1.80,63.70,0.523,6,0.043,0.033,3110,2140,922,0,0,0,0,0,0
$STATE,4759,end climb,SURFACE_DEPTH_REACHED
$STATE,4760,begin surface coast
$FINISH,0.1,1.009518
$STATE,4773,end surface coast,CONTROL_FINISHED_OK
$STATE,4773,begin surface
$SM_CCo,4849,0.00,0.000,0,0,914,442.28
$SM_GC,0.91,8.55,0.00,0.00,0.095,0.000,0.000,150,2065,914,-8.11,-0.99,442.28
$IRIDIUM_FIX,2352.12,12639.46,240910,141400
$TT8_MAMPS,0.026215
$HUMID,44.36
$INTERNAL_PRESSURE,9.33009
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.4,6.944
$10V_AH,10.5,5.524
$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,20.000,28.325,543.475,0.000,0.000,26.206,39.724,93.858,0.000,0.000,14.075,1445.361,1119.750,488.809,1974.763,73.204,0.000,1152.369,0.000,1807.347,0.000,0.546,0.000
$DEVICE_MAMPS,243.270,94.095,836.145,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,421.343,0.000,1373.019,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334000
$DATA_FILE_SIZE,36954,634
$CAP_FILE_SIZE,63455,0
$CFSIZE,260165632,251785216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.122,248.3,1
$GPS,240910,172946,2359.692,12645.483,9,2.6,28,-3.6