version: 66.08
glider: 167
mission: 6
dive: 93
start: 10 7 110 16 6 9
data:
$ID,167
$MISSION,6
$DIVE,93
$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,-34387.152
$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,127
$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
$GPS1,071010,160008,2304.857,12707.454,11,1.5,11,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-71.2
$GPS2,071010,160544,2304.919,12707.376,17,1.5,17,-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,201.4,5387,-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,-70.05,0.000,2,0.000,0.000,121,782,3440,0,0,0,0,0,0
$GC,92,-0.76,-228.7,6.0,-13.5,10,117,9.32,0.90,-8.07,0.000,4,0.225,0.076,2569,183,3964,0,0,0,0,0,0
$GC,356,-0.76,-228.7,102.3,-27.0,58,364,0.00,0.75,0.00,0.000,6,0.000,0.021,2566,817,3967,0,0,0,0,0,0
$GC,687,-0.76,-228.7,170.7,-20.4,119,693,0.00,0.93,0.00,0.000,4,0.000,0.042,2566,186,3968,0,0,0,0,0,0
$GC,945,-0.76,-228.7,225.5,-21.0,165,952,0.00,0.68,0.00,0.000,6,0.000,0.022,2562,774,3969,0,0,0,0,0,0
$GC,1283,-0.76,-228.7,289.2,-15.1,226,1291,0.00,0.85,0.00,0.000,4,0.000,0.042,2562,190,3969,0,0,0,0,0,0
$GC,1545,-0.76,-228.7,333.3,-16.5,255,1549,0.00,0.62,0.00,0.000,6,0.000,0.023,2560,754,3969,0,0,0,0,0,0
$GC,1876,-0.76,-228.7,381.5,-13.9,286,1879,0.00,0.82,0.00,0.000,4,0.000,0.043,2561,189,3969,0,0,0,0,0,0
$GC,2011,-0.76,-228.7,400.7,-14.2,298,2014,0.00,0.60,0.00,0.000,6,0.000,0.023,2559,718,3969,0,0,0,0,0,0
$GC,2344,-0.76,-228.7,448.0,-14.2,329,2347,0.00,1.98,0.00,0.000,4,0.000,0.017,2558,2151,3967,0,0,0,0,0,0
$GC,2416,-0.76,-228.7,457.4,-11.7,335,2423,0.00,2.10,0.00,0.000,6,0.000,0.034,2558,722,3967,0,0,0,0,0,0
$STATE,2730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2730,begin apogee
$GC,2736,-0.14,0.0,500.1,13.7,365,2915,0.62,0.00,169.18,0.962,4,0.122,0.000,2770,988,3031,0,0,0,0,0,0
$STATE,2916,end apogee,CONTROL_FINISHED_OK
$STATE,2916,begin climb
$GC,2918,0.76,228.7,510.2,0.0,380,3103,0.75,2.03,172.62,0.934,4,0.050,0.018,3072,2361,2097,0,0,0,0,0,0
$GC,3240,0.76,228.7,478.1,17.3,407,3243,0.00,2.08,0.00,0.000,6,0.000,0.034,3081,996,2092,0,0,0,0,0,0
$GC,3566,0.76,228.7,418.2,18.1,437,3570,0.00,1.95,0.00,0.000,4,0.000,0.019,3081,2341,2090,0,0,0,0,0,0
$GC,3825,0.76,228.7,375.0,16.2,460,3829,0.00,2.03,0.00,0.000,6,0.000,0.034,3091,977,2087,0,0,0,0,0,0
$GC,4157,0.76,228.7,321.4,15.5,491,4161,0.00,1.95,0.00,0.000,4,0.000,0.019,3091,2348,2086,0,0,0,0,0,0
$GC,4404,0.76,228.7,284.3,14.6,522,4412,0.10,2.03,0.00,0.000,6,0.147,0.034,3067,1011,2084,0,0,0,0,0,0
$GC,4747,0.76,228.7,239.9,12.9,583,4753,0.00,1.88,0.00,0.000,4,0.000,0.018,3067,2350,2083,0,0,0,0,0,0
$GC,4932,0.76,228.7,216.1,13.0,616,4941,0.00,2.00,0.00,0.000,6,0.000,0.034,3074,1023,2083,0,0,0,0,0,0
$GC,5275,0.81,266.4,175.1,11.0,677,5308,0.00,1.23,27.52,0.740,4,0.000,0.040,3081,190,1941,0,0,0,0,0,0
$GC,5339,0.81,266.4,167.0,13.5,687,5345,0.00,1.08,0.00,0.000,6,0.000,0.020,3081,1041,1940,0,0,0,0,0,0
$GC,5669,0.86,311.7,124.7,10.7,748,5708,0.00,0.00,35.45,0.695,6,0.000,0.000,3079,1041,1758,0,0,0,0,0,0
$GC,6032,0.90,341.5,74.1,11.3,813,6062,0.00,1.90,23.80,0.641,4,0.000,0.019,3081,2338,1635,0,0,0,0,0,0
$GC,6163,0.97,400.8,60.2,10.2,835,6217,0.10,2.00,46.95,0.635,6,0.052,0.035,3150,1026,1394,0,0,0,0,0,0
$STATE,6523,end climb,SURFACE_DEPTH_REACHED
$STATE,6523,begin surface coast
$FINISH,0.3,1.010295
$STATE,6541,end surface coast,CONTROL_FINISHED_OK
$STATE,6541,begin surface
$SM_CCo,6620,0.00,0.000,0,0,1384,403.52
$SM_GC,1.11,7.70,0.00,0.00,0.034,0.000,0.000,118,783,1384,-8.37,-0.20,403.52
$IRIDIUM_FIX,2255.72,12708.12,071010,141401
$TT8_MAMPS,0.028462
$HUMID,40.66
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,26.90
$XPDR_PINGS,0
$24V_AH,24.7,22.545
$10V_AH,10.5,19.645
$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,18.600,32.925,475.525,0.000,0.000,27.575,18.499,141.655,0.000,0.000,18.347,2132.668,1695.768,440.402,2407.321,277.096,0.000,1288.701,0.000,2225.921,0.000,0.544,0.000
$DEVICE_MAMPS,224.910,76.500,962.370,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,608.987,923.500,1519.388,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53727,903
$CAP_FILE_SIZE,84123,0
$CFSIZE,260165632,162287616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.182,325.9,1
$GPS,071010,175737,2304.770,12707.211,33,1.1,33,-3.4