version: 66.08
glider: 167
mission: 6
dive: 6
start: 9 30 110 14 33 32
data:
$ID,167
$MISSION,6
$DIVE,6
$N_DIVES,8
$D_SURF,3
$D_FLARE,5
$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,135
$T_MISSION,180
$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,235
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51890
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,375
$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,-34031.676
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2822
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,790
$C_ROLL_CLIMB,1000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,131
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,3029
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$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,-16.491346
$PRESSURE_SLOPE,0.0001158971
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004337667
$SEABIRD_T_H,0.00063136261
$SEABIRD_T_I,2.3680945e-05
$SEABIRD_T_J,2.4321864e-06
$SEABIRD_C_G,-9.8870621
$SEABIRD_C_H,1.1051886
$SEABIRD_C_I,-0.001683808
$SEABIRD_C_J,0.00020742195
$GPS1,300910,142736,2303.902,12653.248,12,1.3,28,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.6
$GPS2,300910,143308,2303.939,12653.229,12,1.9,12,-3.4
$SPEED_LIMITS,0.214,0.341
$TGT_NAME,WAKEB_WEST
$TGT_LATLONG,2303.000,12650.000
$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,228.1,5772,-17.3,-12.346
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.76,-228.7,0.0,0.0,0,83,0.00,0.00,-62.83,0.000,2,0.000,0.000,124,792,3416,0,0,0,0,0,0
$GC,86,-0.76,-228.7,6.4,-15.3,9,111,9.18,0.90,-8.27,0.000,4,0.222,0.072,2568,182,3963,0,0,0,0,0,0
$GC,187,-0.76,-228.7,55.2,-35.6,26,196,0.00,0.75,0.00,0.000,6,0.000,0.024,2565,774,3965,0,0,0,0,0,0
$GC,513,-0.76,-228.7,133.4,-21.0,87,521,0.00,0.88,0.00,0.000,4,0.000,0.046,2566,180,3967,0,0,0,0,0,0
$GC,769,-0.76,-228.7,187.8,-19.7,133,775,0.00,0.77,0.00,0.000,6,0.000,0.024,2561,806,3968,0,0,0,0,0,0
$GC,1107,-0.76,-228.7,249.8,-16.7,194,1116,0.00,1.90,0.00,0.000,4,0.000,0.020,2561,2161,3969,0,0,0,0,0,0
$GC,1329,-0.76,-228.7,277.5,-12.5,233,1336,0.00,2.08,0.00,0.000,6,0.000,0.037,2561,762,3969,0,0,0,0,0,0
$GC,1667,-0.76,-228.7,333.9,-17.3,277,1671,0.00,0.82,0.00,0.000,4,0.000,0.047,2561,190,3969,0,0,0,0,0,0
$GC,1915,-0.76,-228.7,377.6,-16.9,299,1919,0.00,0.70,0.00,0.000,6,0.000,0.024,2560,781,3968,0,0,0,0,0,0
$GC,2246,-0.76,-228.7,426.0,-13.2,330,2250,0.00,0.88,0.00,0.000,4,0.000,0.047,2560,187,3967,0,0,0,0,0,0
$GC,2359,-0.76,-228.7,441.4,-14.6,340,2362,0.00,0.70,0.00,0.000,6,0.000,0.024,2558,766,3967,0,0,0,0,0,0
$GC,2691,-0.76,-228.7,484.2,-12.9,371,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,768,3965,0,0,0,0,0,0
$STATE,2816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2816,begin apogee
$GC,2823,-0.14,0.0,500.7,13.1,383,3002,0.60,0.00,169.50,0.954,4,0.122,0.000,2763,990,3027,0,0,0,0,0,0
$STATE,3002,end apogee,CONTROL_FINISHED_OK
$STATE,3002,begin climb
$GC,3005,0.76,228.7,510.1,0.0,398,3187,0.85,2.05,172.65,0.927,4,0.058,0.020,3077,2405,2095,0,0,0,0,0,0
$GC,3372,0.76,228.7,464.3,17.3,429,3379,0.00,2.15,0.00,0.000,6,0.000,0.034,3086,991,2090,0,0,0,0,0,0
$GC,3699,0.76,228.7,408.1,17.8,460,3702,0.00,1.17,0.00,0.000,4,0.000,0.044,3092,194,2087,0,0,0,0,0,0
$GC,3959,0.76,228.7,358.2,18.7,483,3963,0.00,1.08,0.00,0.000,6,0.000,0.021,3092,1027,2085,0,0,0,0,0,0
$GC,4290,0.76,228.7,300.5,16.0,514,4294,0.00,1.90,0.00,0.000,4,0.000,0.021,3092,2359,2084,0,0,0,0,0,0
$GC,4370,0.76,228.7,288.7,14.5,527,4377,0.12,2.03,0.00,0.000,6,0.176,0.035,3069,1004,2083,0,0,0,0,0,0
$GC,4710,0.76,228.7,244.8,13.4,588,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1004,2082,0,0,0,0,0,0
$GC,5053,0.76,228.7,200.8,13.1,649,5060,0.00,1.92,0.00,0.000,4,0.000,0.020,3069,2369,2081,0,0,0,0,0,0
$GC,5233,0.76,230.8,178.3,12.3,681,5240,0.00,2.00,0.00,0.000,6,0.000,0.035,3075,1020,2081,0,0,0,0,0,0
$GC,5569,0.76,230.8,136.3,13.5,742,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1020,2081,0,0,0,0,0,0
$GC,5895,0.86,305.9,99.1,9.6,803,5961,0.00,1.27,56.62,0.682,4,0.000,0.045,3082,190,1780,0,0,0,0,0,0
$GC,5986,0.86,305.9,89.0,12.6,816,5994,0.00,1.10,0.00,0.000,6,0.000,0.020,3082,1043,1777,0,0,0,0,0,0
$GC,6313,0.94,371.5,53.5,10.0,877,6368,0.12,1.35,50.03,0.633,4,0.092,0.044,3147,186,1513,0,0,0,0,0,0
$GC,6381,0.94,371.5,44.8,12.9,886,6390,0.00,1.12,0.00,0.000,6,0.000,0.020,3147,1035,1511,0,0,0,0,0,0
$STATE,6691,end climb,SURFACE_DEPTH_REACHED
$STATE,6691,begin surface coast
$FINISH,0.4,0.998470
$STATE,6715,end surface coast,CONTROL_FINISHED_OK
$STATE,6715,begin surface
$SM_CCo,6733,0.08,0.193,0,0,1500,375.06
$SM_GC,2.01,0.00,0.00,0.08,0.000,0.000,0.193,116,780,1500,-8.46,-0.28,375.06
$IRIDIUM_FIX,2253.38,12653.13,300910,121214
$TT8_MAMPS,0.028462
$HUMID,40.58
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.10
$XPDR_PINGS,0
$24V_AH,24.6,11.544
$10V_AH,10.6,9.350
$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,18.475,30.100,448.800,0.075,0.000,31.247,17.933,139.079,0.000,0.000,13.711,2241.956,1619.745,430.227,2499.491,274.938,0.000,1296.927,0.000,2323.763,0.000,0.543,0.000
$DEVICE_MAMPS,221.850,71.910,953.955,192.780,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,639.476,970.667,1618.626,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333940
$DATA_FILE_SIZE,53527,948
$CAP_FILE_SIZE,86745,0
$CFSIZE,260165632,166899712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.206,315.4,1
$GPS,300910,162654,2304.076,12652.421,14,2.0,30,-3.4