version: 66.08
glider: 167
mission: 6
dive: 34
start: 10 2 110 21 3 44
data:
$ID,167
$MISSION,6
$DIVE,34
$N_DIVES,45
$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,-34066.855
$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,42
$R_STBD_OVSHOOT,141
$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
$GPS1,021010,205731,2305.511,12653.091,38,1.2,38,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.7
$GPS2,021010,210320,2305.514,12652.999,11,1.1,11,-3.4
$SPEED_LIMITS,0.214,0.341
$TGT_NAME,WAKEB_EAST
$TGT_LATLONG,2303.000,12705.000
$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,135.8,20975,-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,-228.7,0.0,0.0,0,84,0.00,0.00,-64.03,0.000,2,0.000,0.000,124,771,3457,0,0,0,0,0,0
$GC,87,-0.76,-228.7,6.5,-15.8,9,111,9.18,0.82,-7.72,0.000,4,0.222,0.076,2568,192,3964,0,0,0,0,0,0
$GC,350,-0.76,-228.7,98.0,-25.1,57,358,0.00,0.70,0.00,0.000,6,0.000,0.022,2565,802,3967,0,0,0,0,0,0
$GC,678,-0.76,-228.7,168.3,-17.8,118,686,0.00,0.90,0.00,0.000,4,0.000,0.044,2565,191,3969,0,0,0,0,0,0
$GC,878,-0.76,-228.7,206.8,-17.4,154,886,0.00,0.68,0.00,0.000,6,0.000,0.022,2561,796,3969,0,0,0,0,0,0
$GC,1212,-0.76,-228.7,267.6,-18.3,215,1219,0.00,0.88,0.00,0.000,4,0.000,0.043,2561,195,3969,0,0,0,0,0,0
$GC,1304,-0.76,-228.7,286.0,-19.2,231,1311,0.00,0.65,0.00,0.000,6,0.000,0.022,2561,801,3969,0,0,0,0,0,0
$GC,1638,-0.76,-228.7,345.9,-16.9,269,1642,0.00,0.90,0.00,0.000,4,0.000,0.044,2560,189,3969,0,0,0,0,0,0
$GC,1820,-0.76,-228.7,377.9,-15.7,285,1828,0.00,0.62,0.00,0.000,6,0.000,0.022,2560,744,3969,0,0,0,0,0,0
$GC,2147,-0.76,-228.7,423.4,-12.9,316,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,744,3969,0,0,0,0,0,0
$GC,2466,-0.76,-228.7,467.3,-13.2,346,2470,0.00,0.80,0.00,0.000,4,0.000,0.045,2560,196,3967,0,0,0,0,0,0
$GC,2638,-0.76,-228.7,492.7,-14.5,361,2644,0.00,0.65,0.00,0.000,6,0.000,0.024,2559,754,3966,0,0,0,0,0,0
$STATE,2697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2697,begin apogee
$GC,2703,-0.14,0.0,500.8,13.8,367,2882,0.62,0.00,169.55,0.964,4,0.125,0.000,2770,999,3029,0,0,0,0,0,0
$STATE,2883,end apogee,CONTROL_FINISHED_OK
$STATE,2883,begin climb
$GC,2885,0.76,228.7,511.1,0.0,382,3069,0.77,0.00,172.32,0.938,6,0.055,0.000,3070,999,2095,0,0,0,0,0,0
$GC,3387,0.76,228.7,444.3,17.3,427,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,999,2088,0,0,0,0,0,0
$GC,3708,0.76,228.7,391.4,15.9,457,3712,0.00,1.92,0.00,0.000,4,0.000,0.021,3070,2341,2086,0,0,0,0,0,0
$GC,3798,0.76,228.7,375.8,17.4,465,3802,0.00,2.00,0.00,0.000,6,0.000,0.034,3079,1005,2085,0,0,0,0,0,0
$GC,4129,0.76,228.7,317.9,17.6,496,4133,0.00,1.92,0.00,0.000,4,0.000,0.020,3079,2357,2083,0,0,0,0,0,0
$GC,4152,0.76,228.7,313.8,18.0,498,4156,0.00,2.00,0.00,0.000,6,0.000,0.034,3088,1001,2083,0,0,0,0,0,0
$GC,4484,0.76,228.7,263.1,14.9,551,4491,0.00,1.90,0.00,0.000,4,0.000,0.019,3088,2362,2082,0,0,0,0,0,0
$GC,4623,0.76,228.7,243.6,13.8,576,4631,0.08,2.03,0.00,0.000,6,0.163,0.034,3073,1019,2081,0,0,0,0,0,0
$GC,4956,0.76,228.7,200.4,12.8,637,4962,0.00,1.85,0.00,0.000,4,0.000,0.019,3073,2353,2081,0,0,0,0,0,0
$GC,5156,0.76,228.7,175.3,13.2,674,5164,0.00,1.95,0.00,0.000,6,0.000,0.034,3080,1054,2080,0,0,0,0,0,0
$GC,5489,0.76,228.7,126.6,14.5,735,5498,0.00,1.27,0.00,0.000,4,0.000,0.044,3087,190,2079,0,0,0,0,0,0
$GC,5574,0.77,238.9,114.6,12.0,750,5591,0.00,1.12,6.60,0.599,6,0.000,0.019,3087,1083,2054,0,0,0,0,0,0
$GC,5911,0.81,265.6,75.7,11.4,812,5940,0.00,1.83,20.90,0.659,4,0.000,0.018,3087,2359,1947,0,0,0,0,0,0
$GC,6056,0.88,328.1,61.5,10.1,837,6115,0.00,1.90,49.25,0.650,6,0.000,0.034,3093,1098,1690,0,0,0,0,0,0
$GC,6436,0.95,380.7,21.9,10.4,905,6482,0.10,1.40,40.67,0.604,4,0.109,0.044,3145,195,1474,0,0,0,0,0,0
$STATE,6579,end climb,SURFACE_DEPTH_REACHED
$STATE,6579,begin surface coast
$FINISH,0.3,0.998245
$STATE,6601,end surface coast,CONTROL_FINISHED_OK
$STATE,6601,begin surface
$SM_CCo,6679,0.00,0.000,0,0,1467,383.16
$SM_GC,1.19,7.75,0.00,0.00,0.035,0.000,0.000,123,782,1467,-8.37,-0.23,383.16
$IRIDIUM_FIX,2258.07,12653.13,021010,191909
$TT8_MAMPS,0.028462
$HUMID,38.97
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,27.00
$XPDR_PINGS,0
$24V_AH,24.6,15.083
$10V_AH,10.5,12.677
$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,18.500,31.650,459.300,0.000,0.000,28.096,38.012,140.748,0.000,0.000,12.499,2188.024,1671.115,445.765,2435.960,282.675,0.000,1290.828,0.000,2250.950,0.000,0.543,0.000
$DEVICE_MAMPS,221.850,75.735,963.900,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,629.833,954.854,1603.213,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333932
$DATA_FILE_SIZE,53585,933
$CAP_FILE_SIZE,85417,0
$CFSIZE,260165632,165412864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.256,  9.4,1
$GPS,021010,225606,2305.992,12654.191,11,1.6,27,-3.4