version: 66.08
glider: 167
mission: 6
dive: 116
start: 10 9 110 12 39 15
data:
$ID,167
$MISSION,6
$DIVE,116
$N_DIVES,119
$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,-34416.035
$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,44
$R_STBD_OVSHOOT,153
$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
$GPS1,091010,123301,2301.390,12701.099,11,1.4,28,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-73.7
$GPS2,091010,123850,2301.378,12701.076,10,1.7,10,-3.3
$SPEED_LIMITS,0.214,0.341
$TGT_NAME,WAKEB_WEST
$TGT_LATLONG,2303.000,12650.000
$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,279.4,19113,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.76,-228.7,0.0,0.0,0,82,0.00,0.00,-62.50,0.000,2,0.000,0.000,118,777,3246,0,0,0,0,0,0
$GC,85,-0.76,-228.7,5.2,-10.7,9,117,9.50,1.95,-11.57,0.000,4,0.231,0.032,2559,2140,3964,0,0,0,0,0,0
$GC,236,-0.76,-228.7,55.6,-26.9,35,244,0.00,2.05,0.00,0.000,6,0.000,0.036,2558,797,3966,0,0,0,0,0,0
$GC,561,-0.76,-228.7,141.2,-25.6,96,569,0.00,0.88,0.00,0.000,4,0.000,0.041,2558,187,3967,0,0,0,0,0,0
$GC,819,-0.76,-228.7,202.5,-21.1,142,828,0.00,0.68,0.00,0.000,6,0.000,0.021,2555,793,3968,0,0,0,0,0,0
$GC,1162,-0.76,-228.7,273.6,-19.7,203,1168,0.00,0.88,0.00,0.000,4,0.000,0.041,2554,190,3969,0,0,0,0,0,0
$GC,1420,-0.76,-228.7,324.7,-18.2,238,1424,0.00,0.62,0.00,0.000,6,0.000,0.022,2550,752,3969,0,0,0,0,0,0
$GC,1752,-0.76,-228.7,378.9,-15.5,269,1756,0.00,0.82,0.00,0.000,4,0.000,0.042,2550,182,3969,0,0,0,0,0,0
$GC,1844,-0.76,-228.7,394.0,-17.4,277,1848,0.00,0.65,0.00,0.000,6,0.000,0.022,2548,770,3968,0,0,0,0,0,0
$GC,2174,-0.76,-228.7,449.3,-16.2,308,2178,0.00,0.85,0.00,0.000,4,0.000,0.042,2548,186,3967,0,0,0,0,0,0
$GC,2241,-0.76,-228.7,460.3,-16.5,314,2245,0.00,0.62,0.00,0.000,6,0.000,0.023,2548,741,3967,0,0,0,0,0,0
$STATE,2520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2520,begin apogee
$GC,2526,-0.14,0.0,500.5,15.3,340,2704,0.65,0.00,169.65,0.953,4,0.123,0.000,2768,1000,3028,0,0,0,0,0,0
$STATE,2705,end apogee,CONTROL_FINISHED_OK
$STATE,2705,begin climb
$GC,2709,0.76,228.7,512.1,0.0,355,2887,0.75,1.27,172.10,0.929,4,0.055,0.042,3069,190,2095,0,0,0,0,0,0
$GC,3139,0.76,228.7,458.9,19.2,392,3147,0.00,1.02,0.00,0.000,6,0.000,0.018,3069,1009,2089,0,0,0,0,0,0
$GC,3466,0.76,228.7,403.6,16.5,423,3469,0.00,1.23,0.00,0.000,4,0.000,0.041,3075,186,2085,0,0,0,0,0,0
$GC,3723,0.76,228.7,358.1,17.5,446,3727,0.00,1.05,0.00,0.000,6,0.000,0.020,3075,1023,2084,0,0,0,0,0,0
$GC,4055,0.76,228.7,305.4,16.6,477,4059,0.00,1.25,0.00,0.000,4,0.000,0.041,3081,180,2083,0,0,0,0,0,0
$GC,4146,0.76,228.7,290.3,15.9,490,4155,0.00,1.08,0.00,0.000,6,0.000,0.019,3080,1038,2082,0,0,0,0,0,0
$GC,4490,0.77,232.5,240.3,12.2,551,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1039,2080,0,0,0,0,0,0
$GC,4828,0.77,232.5,194.8,13.1,612,4836,0.00,1.83,0.00,0.000,4,0.000,0.018,3081,2338,2079,0,0,0,0,0,0
$GC,4878,0.77,232.5,188.8,12.3,620,4886,0.00,2.00,0.00,0.000,6,0.000,0.034,3086,1012,2079,0,0,0,0,0,0
$GC,5218,0.77,233.7,145.4,12.3,681,5227,0.00,1.20,0.00,0.000,4,0.000,0.041,3091,190,2079,0,0,0,0,0,0
$GC,5261,0.77,236.8,139.8,12.2,688,5270,0.00,1.02,5.07,0.552,6,0.000,0.020,3091,1023,2062,0,0,0,0,0,0
$GC,5591,0.81,268.3,99.9,11.2,749,5621,0.00,0.00,25.15,0.672,6,0.000,0.000,3091,1024,1933,0,0,0,0,0,0
$GC,5938,0.90,341.8,64.3,9.7,813,6004,0.00,1.92,56.67,0.645,4,0.000,0.019,3091,2341,1633,0,0,0,0,0,0
$GC,6065,0.97,394.2,52.2,10.4,832,6118,0.00,2.05,41.25,0.622,6,0.000,0.033,3099,1007,1420,0,0,0,0,0,0
$GC,6438,1.05,459.3,12.6,10.0,899,6498,0.15,1.90,50.33,0.589,4,0.079,0.016,3173,2342,1156,0,0,0,0,0,0
$STATE,6504,end climb,SURFACE_DEPTH_REACHED
$STATE,6504,begin surface coast
$FINISH,0.4,1.021754
$STATE,6525,end surface coast,CONTROL_FINISHED_OK
$STATE,6525,begin surface
$SM_CCo,6605,0.00,0.000,0,0,1151,460.67
$SM_GC,1.12,7.88,0.00,0.00,0.035,0.000,0.000,116,786,1151,-8.37,-0.11,460.67
$IRIDIUM_FIX,2253.38,12701.56,091010,101011
$TT8_MAMPS,0.028462
$HUMID,39.21
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,27.50
$XPDR_PINGS,0
$24V_AH,24.7,25.438
$10V_AH,10.5,22.355
$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,18.925,31.450,520.225,0.000,0.000,28.140,36.656,140.544,0.000,0.000,11.736,2137.497,1606.010,478.258,2446.729,284.794,0.000,1350.670,0.000,2256.562,0.000,0.543,0.000
$DEVICE_MAMPS,231.030,42.075,953.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,612.921,931.850,1588.117,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53680,911
$CAP_FILE_SIZE,86126,0
$CFSIZE,260165632,161071104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.142,311.1,1
$GPS,091010,143008,2301.533,12659.703,12,1.2,12,-3.3