version: 66.08
glider: 167
mission: 6
dive: 41
start: 10 3 110 10 28 44
data:
$ID,167
$MISSION,6
$DIVE,41
$N_DIVES,50
$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,-34075.656
$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,40
$R_STBD_OVSHOOT,137
$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
$GPS1,031010,102232,2306.517,12658.975,14,1.3,14,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-73.6
$GPS2,031010,102820,2306.591,12659.013,12,1.3,12,-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,132.6,12179,-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,-228.7,0.0,0.0,0,83,0.00,0.00,-63.20,0.000,2,0.000,0.000,122,780,3303,0,0,0,0,0,0
$GC,87,-0.76,-228.7,5.5,-12.1,9,112,9.15,0.90,-10.35,0.000,4,0.220,0.081,2565,190,3964,0,0,0,0,0,0
$GC,167,-0.76,-228.7,43.4,-39.1,22,176,0.00,0.73,0.00,0.000,6,0.000,0.021,2562,825,3967,0,0,0,0,0,0
$GC,493,-0.76,-228.7,136.9,-23.4,83,501,0.00,1.80,0.00,0.000,4,0.000,0.016,2553,2130,3968,0,0,0,0,0,0
$GC,652,-0.76,-228.7,167.8,-17.3,111,659,0.00,2.00,0.00,0.000,6,0.000,0.035,2553,782,3969,0,0,0,0,0,0
$GC,991,-0.76,-228.7,240.2,-19.2,172,999,0.00,0.85,0.00,0.000,4,0.000,0.043,2553,189,3970,0,0,0,0,0,0
$GC,1249,-0.76,-228.7,290.4,-18.2,218,1258,0.00,0.62,0.00,0.000,6,0.000,0.023,2550,752,3970,0,0,0,0,0,0
$GC,1582,-0.76,-228.7,349.4,-17.9,253,1586,0.00,0.82,0.00,0.000,4,0.000,0.044,2548,187,3970,0,0,0,0,0,0
$GC,1744,-0.76,-228.7,378.2,-16.5,267,1750,0.00,0.68,0.00,0.000,6,0.000,0.022,2548,791,3970,0,0,0,0,0,0
$GC,2069,-0.76,-228.7,430.2,-14.8,298,2073,0.00,0.88,0.00,0.000,4,0.000,0.043,2548,192,3970,0,0,0,0,0,0
$GC,2208,-0.76,-228.7,452.8,-15.5,310,2217,0.00,0.65,0.00,0.000,6,0.000,0.021,2548,768,3969,0,0,0,0,0,0
$GC,2535,-0.76,-228.7,499.5,-13.5,341,2538,0.00,0.85,0.00,0.000,4,0.000,0.044,2548,186,3967,0,0,0,0,0,0
$STATE,2545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2545,begin apogee
$GC,2551,-0.14,0.0,501.3,13.6,342,2727,0.65,0.05,170.00,0.955,4,0.123,0.143,2770,1009,3030,0,0,0,0,0,0
$STATE,2728,end apogee,CONTROL_FINISHED_OK
$STATE,2728,begin climb
$GC,2730,0.76,228.7,509.8,0.0,356,2912,0.77,2.03,172.43,0.930,4,0.047,0.018,3079,2382,2096,0,0,0,0,0,0
$GC,3069,0.76,228.7,468.6,17.7,385,3073,0.00,2.10,0.00,0.000,6,0.000,0.034,3090,989,2091,0,0,0,0,0,0
$GC,3396,0.76,228.7,411.0,17.1,415,3399,0.00,1.17,0.00,0.000,4,0.000,0.043,3095,193,2088,0,0,0,0,0,0
$GC,3573,0.76,228.7,378.1,19.9,431,3577,0.00,1.05,0.00,0.000,6,0.000,0.021,3095,1032,2086,0,0,0,0,0,0
$GC,3904,0.76,228.7,319.6,17.5,462,3908,0.00,1.83,0.00,0.000,4,0.000,0.020,3095,2336,2084,0,0,0,0,0,0
$GC,4062,0.76,228.7,294.3,15.2,479,4070,0.12,1.95,0.00,0.000,6,0.174,0.034,3072,1026,2083,0,0,0,0,0,0
$GC,4396,0.76,228.7,246.5,14.4,540,4404,0.00,1.23,0.00,0.000,4,0.000,0.044,3077,194,2082,0,0,0,0,0,0
$GC,4428,0.76,228.7,241.7,14.9,545,4435,0.00,1.05,0.00,0.000,6,0.000,0.021,3077,1030,2082,0,0,0,0,0,0
$GC,4762,0.76,228.7,192.8,15.2,606,4769,0.00,1.85,0.00,0.000,4,0.000,0.020,3077,2341,2081,0,0,0,0,0,0
$GC,4848,0.76,228.7,180.1,13.9,621,4854,0.00,1.92,0.00,0.000,6,0.000,0.034,3085,1043,2081,0,0,0,0,0,0
$GC,5179,0.82,276.9,138.0,10.6,682,5224,0.00,1.90,34.97,0.715,4,0.000,0.020,3086,2350,1899,0,0,0,0,0,0
$GC,5244,0.82,276.9,130.3,12.6,691,5253,0.00,1.95,0.00,0.000,6,0.000,0.034,3093,1073,1897,0,0,0,0,0,0
$GC,5569,0.82,276.9,89.3,12.6,752,5577,0.00,1.83,0.00,0.000,4,0.000,0.019,3093,2351,1894,0,0,0,0,0,0
$GC,5816,0.98,403.5,67.4,7.8,798,5919,0.08,1.88,96.68,0.644,6,0.070,0.035,3148,1103,1383,0,0,0,0,0,0
$GC,6240,0.98,403.5,3.6,15.0,872,6247,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1104,1376,0,0,0,0,0,0
$STATE,6254,end climb,SURFACE_DEPTH_REACHED
$STATE,6254,begin surface coast
$FINISH,0.2,1.007879
$STATE,6277,end surface coast,CONTROL_FINISHED_OK
$STATE,6277,begin surface
$SM_CCo,6355,0.00,0.000,0,0,1371,406.71
$SM_GC,1.16,7.72,0.00,0.00,0.036,0.000,0.000,120,799,1371,-8.38,0.25,406.71
$IRIDIUM_FIX,2255.72,12701.56,031010,080810
$TT8_MAMPS,0.028462
$HUMID,39.25
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.20
$XPDR_PINGS,0
$24V_AH,24.6,15.956
$10V_AH,10.5,13.489
$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,18.500,36.025,474.075,0.000,0.000,30.518,37.406,138.323,0.000,0.000,13.415,2067.425,1549.480,455.832,2355.449,272.369,0.000,1290.143,0.000,2163.807,0.000,0.543,0.000
$DEVICE_MAMPS,220.320,143.055,955.485,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,591.317,897.947,1509.305,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333960
$DATA_FILE_SIZE,50317,878
$CAP_FILE_SIZE,84506,0
$CFSIZE,260165632,165048320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.150,313.3,1
$GPS,031010,121555,2306.655,12659.302,40,1.6,40,-3.4