version: 66.08
glider: 167
mission: 6
dive: 91
start: 10 7 110 12 11 38
data:
$ID,167
$MISSION,6
$DIVE,91
$N_DIVES,110
$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,-34384.645
$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,149
$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
$GPS1,071010,120536,2305.036,12708.601,9,1.4,26,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-70.1
$GPS2,071010,121113,2305.062,12708.563,13,2.0,13,-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,236.6,7173,-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,-228.7,0.0,0.0,0,89,0.00,0.00,-69.62,0.000,2,0.000,0.000,114,783,3531,0,0,0,0,0,0
$GC,92,-0.76,-228.7,6.8,-15.4,10,116,9.23,0.85,-6.47,0.000,4,0.220,0.070,2570,192,3963,0,0,0,0,0,0
$GC,355,-0.76,-228.7,103.2,-26.3,58,363,0.00,0.70,0.00,0.000,6,0.000,0.021,2567,795,3965,0,0,0,0,0,0
$GC,684,-0.76,-228.7,177.7,-21.0,119,692,0.00,1.83,0.00,0.000,4,0.000,0.016,2558,2156,3967,0,0,0,0,0,0
$GC,874,-0.76,-228.7,210.7,-14.9,153,881,0.00,2.05,0.00,0.000,6,0.000,0.034,2558,755,3967,0,0,0,0,0,0
$GC,1208,-0.76,-228.7,269.3,-16.9,214,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,755,3967,0,0,0,0,0,0
$GC,1544,-0.76,-228.7,330.9,-16.9,260,1548,0.00,0.80,0.00,0.000,4,0.000,0.043,2558,193,3967,0,0,0,0,0,0
$GC,1803,-0.76,-228.7,375.0,-16.1,283,1807,0.00,0.68,0.00,0.000,6,0.000,0.022,2553,776,3967,0,0,0,0,0,0
$GC,2133,-0.76,-228.7,425.6,-14.2,314,2137,0.00,0.85,0.00,0.000,4,0.000,0.043,2554,190,3966,0,0,0,0,0,0
$GC,2378,-0.76,-228.7,460.9,-13.8,336,2381,0.00,0.68,0.00,0.000,6,0.000,0.023,2551,770,3965,0,0,0,0,0,0
$STATE,2668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2668,begin apogee
$GC,2674,-0.14,0.0,500.9,13.8,363,2848,0.65,0.00,169.20,0.959,4,0.122,0.000,2770,998,3028,0,0,0,0,0,0
$STATE,2849,end apogee,CONTROL_FINISHED_OK
$STATE,2849,begin climb
$GC,2852,0.76,228.7,511.5,0.0,377,3029,0.77,0.00,171.98,0.929,6,0.057,0.000,3070,998,2096,0,0,0,0,0,0
$GC,3348,0.76,228.7,448.9,16.8,422,3352,0.00,1.95,0.00,0.000,4,0.000,0.019,3070,2349,2088,0,0,0,0,0,0
$GC,3522,0.76,228.7,420.8,16.0,437,3529,0.00,2.00,0.00,0.000,6,0.000,0.034,3078,1036,2087,0,0,0,0,0,0
$GC,3848,0.76,228.7,366.8,15.2,468,3851,0.00,1.25,0.00,0.000,4,0.000,0.042,3085,189,2085,0,0,0,0,0,0
$GC,3895,0.76,228.7,359.0,18.1,472,3898,0.00,1.10,0.00,0.000,6,0.000,0.019,3085,1064,2085,0,0,0,0,0,0
$GC,4227,0.76,228.7,305.9,14.9,503,4231,0.00,1.30,0.00,0.000,4,0.000,0.042,3091,191,2083,0,0,0,0,0,0
$GC,4262,0.76,228.7,300.1,16.1,506,4265,0.00,1.08,0.00,0.000,6,0.000,0.020,3091,1050,2083,0,0,0,0,0,0
$GC,4598,0.76,228.7,250.2,14.1,566,4606,0.00,1.80,0.00,0.000,4,0.000,0.019,3091,2331,2081,0,0,0,0,0,0
$GC,4776,0.76,228.7,225.7,13.9,597,4784,0.12,1.90,0.00,0.000,6,0.170,0.034,3067,1050,2080,0,0,0,0,0,0
$GC,5117,0.77,232.1,186.3,12.2,658,5125,0.00,1.25,0.00,0.000,4,0.000,0.042,3072,194,2081,0,0,0,0,0,0
$GC,5153,0.77,232.1,181.3,12.6,664,5162,0.00,1.12,0.00,0.000,6,0.000,0.019,3072,1089,2080,0,0,0,0,0,0
$GC,5493,0.82,274.8,143.2,10.8,725,5531,0.00,1.83,33.50,0.714,4,0.000,0.019,3072,2341,1907,0,0,0,0,0,0
$GC,5632,0.87,314.8,128.3,10.9,748,5670,0.00,1.90,31.77,0.689,6,0.000,0.034,3078,1096,1744,0,0,0,0,0,0
$GC,5992,1.00,424.8,85.8,8.4,813,6083,0.17,1.42,84.80,0.654,4,0.075,0.040,3165,187,1296,0,0,0,0,0,0
$GC,6184,1.00,424.8,52.1,20.2,843,6192,0.00,1.17,0.00,0.000,6,0.000,0.018,3165,1111,1291,0,0,0,0,0,0
$STATE,6450,end climb,SURFACE_DEPTH_REACHED
$STATE,6450,begin surface coast
$FINISH,0.4,1.012929
$STATE,6467,end surface coast,CONTROL_FINISHED_OK
$STATE,6467,begin surface
$SM_CCo,6546,0.00,0.000,0,0,1285,427.80
$SM_GC,1.14,7.75,0.00,0.00,0.035,0.000,0.000,122,799,1285,-8.37,0.25,427.80
$IRIDIUM_FIX,2255.72,12709.99,071010,101040
$TT8_MAMPS,0.028462
$HUMID,40.51
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,26.90
$XPDR_PINGS,0
$24V_AH,24.7,22.293
$10V_AH,10.6,19.406
$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,18.700,30.150,491.250,0.000,0.000,25.278,25.886,142.243,0.000,0.000,14.784,2112.687,1680.334,443.809,2363.647,280.342,0.000,1285.577,0.000,2185.688,0.000,0.543,0.000
$DEVICE_MAMPS,219.555,70.380,959.310,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,603.956,916.418,1494.065,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53763,896
$CAP_FILE_SIZE,83356,0
$CFSIZE,260165632,162394112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128,350.3,1
$GPS,071010,140152,2304.885,12707.887,13,99.0,32,-3.4