version: 66.08
glider: 167
mission: 6
dive: 85
start: 10 7 110 0 40 44
data:
$ID,167
$MISSION,6
$DIVE,85
$N_DIVES,105
$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,400
$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,-34377.113
$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,37
$R_STBD_OVSHOOT,168
$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,48
$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
$GPS1,071010,003454,2304.370,12706.107,40,1.0,40,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-67.4
$GPS2,071010,004019,2304.419,12706.055,16,1.6,16,-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,179.2,3183,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.76,-228.7,0.0,0.0,0,84,0.00,0.00,-63.92,0.000,2,0.000,0.000,117,790,3272,0,0,0,0,0,0
$GC,86,-0.76,-228.7,5.4,-12.8,9,112,9.30,0.93,-11.25,0.000,4,0.224,0.076,2566,177,3964,0,0,0,0,0,0
$GC,351,-0.76,-228.7,98.4,-26.7,57,359,0.00,0.70,0.00,0.000,6,0.000,0.021,2564,773,3967,0,0,0,0,0,0
$GC,680,-0.76,-228.7,177.5,-21.5,118,688,0.00,0.85,0.00,0.000,4,0.000,0.042,2564,190,3968,0,0,0,0,0,0
$GC,939,-0.76,-228.7,233.1,-19.5,164,947,0.00,0.70,0.00,0.000,6,0.000,0.022,2561,803,3968,0,0,0,0,0,0
$GC,1281,-0.76,-228.7,295.3,-17.9,225,1288,0.00,0.90,0.00,0.000,4,0.000,0.043,2560,186,3969,0,0,0,0,0,0
$GC,1341,-0.76,-228.7,306.5,-18.6,232,1344,0.00,0.73,0.00,0.000,6,0.000,0.021,2561,823,3969,0,0,0,0,0,0
$GC,1673,-0.76,-228.7,360.4,-15.6,263,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,823,3969,0,0,0,0,0,0
$GC,1992,-0.76,-228.7,405.6,-14.4,293,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,823,3968,0,0,0,0,0,0
$GC,2321,-0.76,-228.7,453.4,-14.9,324,2324,0.00,0.93,0.00,0.000,4,0.000,0.042,2561,192,3967,0,0,0,0,0,0
$GC,2580,-0.76,-228.7,492.0,-14.2,347,2584,0.00,0.70,0.00,0.000,6,0.000,0.022,2560,786,3966,0,0,0,0,0,0
$STATE,2633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2633,begin apogee
$GC,2640,-0.14,0.0,500.1,14.0,352,2819,0.62,0.00,169.62,0.952,4,0.121,0.000,2773,1002,3027,0,0,0,0,0,0
$STATE,2820,end apogee,CONTROL_FINISHED_OK
$STATE,2820,begin climb
$GC,2824,0.76,228.7,509.9,0.0,367,3005,0.75,2.00,172.10,0.926,4,0.050,0.018,3076,2371,2095,0,0,0,0,0,0
$GC,3185,0.76,228.7,466.6,16.5,398,3194,0.00,2.10,0.00,0.000,6,0.000,0.033,3085,1005,2090,0,0,0,0,0,0
$GC,3514,0.76,228.7,412.6,15.7,429,3518,0.00,1.20,0.00,0.000,4,0.000,0.041,3091,189,2087,0,0,0,0,0,0
$GC,3574,0.76,228.7,401.2,17.9,434,3583,0.00,1.05,0.00,0.000,6,0.000,0.019,3091,1038,2087,0,0,0,0,0,0
$GC,3902,0.76,228.7,342.4,18.0,465,3906,0.00,1.83,0.00,0.000,4,0.000,0.020,3091,2322,2085,0,0,0,0,0,0
$GC,4092,0.76,228.7,311.0,14.7,482,4097,0.08,1.98,0.00,0.000,6,0.151,0.033,3065,1013,2083,0,0,0,0,0,0
$GC,4428,0.81,263.7,269.7,11.1,535,4461,0.00,1.88,25.67,0.804,4,0.000,0.020,3065,2327,1952,0,0,0,0,0,0
$GC,4711,0.84,296.2,235.6,11.2,585,4745,0.00,1.90,26.23,0.770,6,0.000,0.034,3072,1054,1820,0,0,0,0,0,0
$GC,5081,0.84,296.2,183.1,14.2,650,5090,0.00,1.27,0.00,0.000,4,0.000,0.043,3076,193,1815,0,0,0,0,0,0
$GC,5103,0.84,296.2,179.7,15.2,653,5110,0.00,1.10,0.00,0.000,6,0.000,0.020,3075,1064,1815,0,0,0,0,0,0
$GC,5438,0.84,296.2,128.8,14.2,714,5447,0.00,1.77,0.00,0.000,4,0.000,0.019,3076,2324,1815,0,0,0,0,0,0
$GC,5628,0.88,326.7,106.0,11.2,749,5659,0.00,1.85,24.02,0.673,6,0.000,0.034,3079,1091,1696,0,0,0,0,0,0
$GC,5980,1.00,425.9,68.6,8.8,813,6063,0.17,1.40,76.93,0.645,4,0.075,0.041,3170,193,1291,0,0,0,0,0,0
$GC,6206,1.00,425.9,26.3,20.9,850,6214,0.00,1.12,0.00,0.000,6,0.000,0.018,3170,1101,1285,0,0,0,0,0,0
$STATE,6319,end climb,SURFACE_DEPTH_REACHED
$STATE,6319,begin surface coast
$FINISH,0.9,1.022151
$STATE,6332,end surface coast,CONTROL_FINISHED_OK
$STATE,6332,begin surface
$SM_CCo,6410,0.00,0.000,0,0,1281,428.78
$SM_GC,1.27,7.78,0.00,0.00,0.034,0.000,0.000,116,792,1281,-8.38,0.06,428.78
$IRIDIUM_FIX,2255.72,12706.71,061010,222245
$TT8_MAMPS,0.028462
$HUMID,40.35
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,26.70
$XPDR_PINGS,1
$24V_AH,24.7,21.545
$10V_AH,10.5,18.701
$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,18.700,29.500,494.575,0.000,0.000,28.079,15.351,136.423,0.250,0.000,16.884,2047.408,1647.705,463.991,2299.310,276.105,0.000,1289.156,0.000,2134.762,0.000,0.544,0.000
$DEVICE_MAMPS,224.145,76.500,951.660,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,587.599,892.925,1468.693,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333936
$DATA_FILE_SIZE,50192,873
$CAP_FILE_SIZE,82296,0
$CFSIZE,260165632,162713600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.290,348.7,1
$GPS,071010,022840,2304.803,12706.363,10,99.0,29,-3.4