version: 66.08
glider: 167
mission: 6
dive: 15
start: 10 1 110 8 16 43
data:
$ID,167
$MISSION,6
$DIVE,15
$N_DIVES,25
$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,-34042.98
$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,36
$R_STBD_OVSHOOT,132
$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
$GPS1,011010,081032,2304.587,12653.679,11,1.8,11,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.9
$GPS2,011010,081619,2304.607,12653.595,13,1.8,18,-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,222.5,6810,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.76,-228.7,0.0,0.0,0,92,0.00,0.00,-72.12,0.000,2,0.000,0.000,124,785,3427,0,0,0,0,0,0
$GC,95,-0.76,-228.7,6.6,-15.9,10,119,9.10,0.85,-8.15,0.000,4,0.219,0.074,2569,187,3963,0,0,0,0,0,0
$GC,359,-0.76,-228.7,103.2,-28.1,58,367,0.00,0.73,0.00,0.000,6,0.000,0.023,2566,789,3966,0,0,0,0,0,0
$GC,685,-0.76,-228.7,170.1,-18.5,119,693,0.00,1.88,0.00,0.000,4,0.000,0.017,2556,2170,3969,0,0,0,0,0,0
$GC,876,-0.76,-228.7,201.8,-16.5,153,883,0.00,2.05,0.00,0.000,6,0.000,0.034,2557,784,3969,0,0,0,0,0,0
$GC,1208,-0.76,-228.7,262.3,-16.3,214,1215,0.00,0.85,0.00,0.000,4,0.000,0.045,2557,193,3969,0,0,0,0,0,0
$GC,1461,-0.76,-228.7,308.9,-17.1,256,1465,0.00,0.70,0.00,0.000,6,0.000,0.022,2552,784,3969,0,0,0,0,0,0
$GC,1794,-0.76,-228.7,363.9,-16.5,287,1797,0.00,0.88,0.00,0.000,4,0.000,0.044,2552,186,3969,0,0,0,0,0,0
$GC,2048,-0.76,-228.7,409.4,-16.6,310,2052,0.00,0.70,0.00,0.000,6,0.000,0.022,2548,784,3968,0,0,0,0,0,0
$GC,2380,-0.76,-228.7,461.1,-14.7,341,2384,0.00,0.88,0.00,0.000,4,0.000,0.045,2548,187,3967,0,0,0,0,0,0
$GC,2636,-0.76,-228.7,498.0,-14.1,364,2640,0.00,0.70,0.00,0.000,6,0.000,0.023,2548,777,3966,0,0,0,0,0,0
$STATE,2658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2658,begin apogee
$GC,2666,-0.14,0.0,501.2,14.2,366,2847,0.65,0.00,169.60,0.957,4,0.122,0.000,2770,998,3028,0,0,0,0,0,0
$STATE,2848,end apogee,CONTROL_FINISHED_OK
$STATE,2848,begin climb
$GC,2850,0.76,228.7,509.0,0.0,381,3032,0.82,2.03,172.75,0.933,4,0.057,0.018,3078,2405,2095,0,0,0,0,0,0
$GC,3181,0.76,228.7,469.2,16.2,409,3185,0.00,2.12,0.00,0.000,6,0.000,0.034,3088,999,2091,0,0,0,0,0,0
$GC,3507,0.76,228.7,411.9,17.1,439,3511,0.00,1.20,0.00,0.000,4,0.000,0.044,3094,190,2087,0,0,0,0,0,0
$GC,3680,0.76,228.7,379.6,17.7,454,3689,0.00,1.10,0.00,0.000,6,0.000,0.020,3094,1041,2085,0,0,0,0,0,0
$GC,4008,0.76,228.7,323.8,16.2,485,4012,0.00,1.83,0.00,0.000,4,0.000,0.020,3094,2352,2083,0,0,0,0,0,0
$GC,4068,0.76,228.7,313.8,15.3,490,4077,0.10,2.00,0.00,0.000,6,0.159,0.034,3071,1028,2083,0,0,0,0,0,0
$GC,4406,0.76,228.7,264.8,15.1,543,4414,0.00,1.88,0.00,0.000,4,0.000,0.020,3071,2357,2081,0,0,0,0,0,0
$GC,4455,0.76,228.7,257.1,15.1,551,4462,0.00,1.95,0.00,0.000,6,0.000,0.034,3078,1043,2081,0,0,0,0,0,0
$GC,4795,0.76,228.7,206.4,13.0,612,4804,0.00,1.25,0.00,0.000,4,0.000,0.043,3085,191,2080,0,0,0,0,0,0
$GC,4854,0.76,228.7,198.2,13.7,622,4862,0.00,1.10,0.00,0.000,6,0.000,0.021,3085,1055,2080,0,0,0,0,0,0
$GC,5196,0.76,228.7,154.5,13.2,683,5202,0.00,1.77,0.00,0.000,4,0.000,0.020,3085,2351,2079,0,0,0,0,0,0
$GC,5269,0.77,235.8,145.1,12.1,696,5279,0.00,1.95,4.30,0.518,6,0.000,0.034,3092,1050,2066,0,0,0,0,0,0
$GC,5599,0.81,264.0,104.8,11.3,757,5629,0.00,0.00,22.55,0.684,6,0.000,0.000,3092,1051,1951,0,0,0,0,0,0
$GC,5948,0.91,348.4,64.8,9.3,821,6017,0.00,1.95,64.22,0.653,4,0.000,0.020,3092,2358,1607,0,0,0,0,0,0
$GC,6184,1.03,450.5,42.9,8.6,861,6272,0.12,1.98,78.68,0.620,6,0.052,0.034,3172,1065,1191,0,0,0,0,0,0
$STATE,6433,end climb,SURFACE_DEPTH_REACHED
$STATE,6433,begin surface coast
$FINISH,0.3,1.008742
$STATE,6450,end surface coast,CONTROL_FINISHED_OK
$STATE,6452,begin surface
$SM_CCo,6529,0.00,0.000,0,0,1183,452.82
$SM_GC,1.23,7.85,0.00,0.00,0.037,0.000,0.000,124,789,1183,-8.36,-0.03,452.82
$IRIDIUM_FIX,2258.07,12657.82,011010,060611
$TT8_MAMPS,0.028462
$HUMID,38.97
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,27.00
$XPDR_PINGS,0
$24V_AH,24.6,12.714
$10V_AH,10.6,10.431
$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,18.650,34.875,512.100,0.000,0.000,22.801,22.791,142.643,0.000,0.000,19.552,2133.114,1551.658,474.812,2432.855,281.682,0.000,1348.395,0.000,2249.515,0.000,0.543,0.000
$DEVICE_MAMPS,218.790,74.205,957.015,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,610.231,926.535,1552.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333916
$DATA_FILE_SIZE,53417,906
$CAP_FILE_SIZE,86240,0
$CFSIZE,260165632,166408192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.141,331.0,1
$GPS,011010,100637,2304.416,12653.254,29,1.2,29,-3.4