version: 66.08
glider: 167
mission: 6
dive: 158
start: 10 12 110 21 4 27
data:
$ID,167
$MISSION,6
$DIVE,158
$N_DIVES,169
$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,-34468.863
$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,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
$GPS1,121010,205814,2306.046,12706.943,14,1.5,14,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-73.6
$GPS2,121010,210402,2306.158,12706.938,16,1.5,16,-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,201.9,6717,-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,-62.42,0.000,2,0.000,0.000,121,779,3243,0,0,0,0,0,0
$GC,85,-0.76,-228.7,5.4,-11.9,9,111,9.50,0.90,-11.48,0.000,4,0.230,0.076,2566,179,3964,0,0,0,0,0,0
$GC,350,-0.76,-228.7,93.6,-26.5,57,358,0.00,0.73,0.00,0.000,6,0.000,0.021,2563,807,3967,0,0,0,0,0,0
$GC,681,-0.76,-228.7,170.0,-24.1,118,690,0.00,0.90,0.00,0.000,4,0.000,0.041,2563,190,3969,0,0,0,0,0,0
$GC,916,-0.76,-228.7,226.1,-22.8,159,923,0.00,0.68,0.00,0.000,6,0.000,0.021,2560,802,3969,0,0,0,0,0,0
$GC,1255,-0.76,-228.7,295.5,-18.7,220,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,803,3969,0,0,0,0,0,0
$GC,1592,-0.76,-228.7,354.1,-17.4,253,1595,0.00,0.90,0.00,0.000,4,0.000,0.041,2560,186,3969,0,0,0,0,0,0
$GC,1831,-0.76,-228.7,399.4,-18.2,274,1840,0.00,0.68,0.00,0.000,6,0.000,0.021,2557,787,3969,0,0,0,0,0,0
$GC,2158,-0.76,-228.7,451.3,-16.0,305,2161,0.00,1.85,0.00,0.000,4,0.000,0.016,2548,2138,3969,0,0,0,0,0,0
$GC,2192,-0.76,-228.7,456.6,-14.8,308,2196,0.00,2.00,0.00,0.000,6,0.000,0.034,2548,781,3968,0,0,0,0,0,0
$STATE,2469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2469,begin apogee
$GC,2477,-0.14,0.0,500.1,14.9,334,2657,0.65,0.00,170.30,0.948,4,0.122,0.000,2768,982,3030,0,0,0,0,0,0
$STATE,2658,end apogee,CONTROL_FINISHED_OK
$STATE,2658,begin climb
$GC,2660,0.76,228.7,510.6,0.0,349,2843,0.82,2.03,172.70,0.926,4,0.051,0.017,3079,2390,2095,0,0,0,0,0,0
$GC,3046,0.76,228.7,465.7,15.8,382,3054,0.00,2.12,0.00,0.000,6,0.000,0.032,3089,1007,2090,0,0,0,0,0,0
$GC,3373,0.76,228.7,410.7,17.2,413,3376,0.00,1.90,0.00,0.000,4,0.000,0.018,3089,2349,2087,0,0,0,0,0,0
$GC,3628,0.76,228.7,368.3,16.0,436,3632,0.12,2.03,0.00,0.000,6,0.171,0.032,3066,993,2085,0,0,0,0,0,0
$GC,3953,0.76,228.7,321.8,14.1,466,3956,0.00,1.92,0.00,0.000,4,0.000,0.018,3066,2355,2084,0,0,0,0,0,0
$GC,4206,0.77,236.6,290.7,12.1,496,4220,0.00,2.00,5.43,0.643,6,0.000,0.033,3074,1030,2064,0,0,0,0,0,0
$GC,4549,0.77,236.6,243.7,13.3,558,4557,0.00,1.88,0.00,0.000,4,0.000,0.018,3072,2354,2062,0,0,0,0,0,0
$GC,4669,0.77,236.6,228.3,13.7,579,4676,0.00,1.95,0.00,0.000,6,0.000,0.033,3081,1042,2061,0,0,0,0,0,0
$GC,5002,0.81,268.1,185.5,11.2,640,5031,0.00,1.30,25.02,0.740,4,0.000,0.042,3086,190,1935,0,0,0,0,0,0
$GC,5083,0.81,268.1,174.6,15.1,653,5089,0.00,1.10,0.00,0.000,6,0.000,0.019,3086,1066,1933,0,0,0,0,0,0
$GC,5415,0.81,268.1,126.4,15.4,714,5423,0.00,1.80,0.00,0.000,4,0.000,0.018,3086,2350,1932,0,0,0,0,0,0
$GC,5450,0.81,268.1,121.3,14.9,719,5459,0.00,1.95,0.00,0.000,6,0.000,0.033,3095,1053,1931,0,0,0,0,0,0
$GC,5777,0.86,308.8,80.4,10.9,780,5815,0.00,1.90,32.08,0.659,4,0.000,0.018,3095,2354,1768,0,0,0,0,0,0
$GC,5878,0.93,362.5,70.1,10.4,796,5930,0.00,1.95,42.17,0.641,6,0.000,0.033,3099,1074,1549,0,0,0,0,0,0
$GC,6250,1.02,435.8,29.1,9.7,863,6317,0.15,1.35,56.53,0.606,4,0.080,0.041,3180,194,1251,0,0,0,0,0,0
$GC,6403,1.02,435.8,4.0,18.5,887,6412,0.08,1.12,0.00,0.000,6,0.151,0.018,3155,1105,1247,0,0,0,0,0,0
$STATE,6418,end climb,SURFACE_DEPTH_REACHED
$STATE,6418,begin surface coast
$FINISH,0.3,1.019934
$STATE,6437,end surface coast,CONTROL_FINISHED_OK
$STATE,6438,begin surface
$SM_CCo,6515,0.00,0.000,0,0,1244,437.86
$SM_GC,1.30,7.85,0.00,0.00,0.039,0.000,0.000,112,788,1244,-8.37,-0.08,437.86
$IRIDIUM_FIX,2300.41,12706.25,121010,191917
$TT8_MAMPS,0.027713
$HUMID,40.07
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.30
$XPDR_PINGS,0
$24V_AH,24.7,30.699
$10V_AH,10.4,27.261
$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,19.175,37.525,504.225,0.000,0.000,23.141,37.463,138.372,0.000,0.000,17.518,2100.753,1599.904,477.749,2402.418,279.588,0.000,1335.271,0.000,2211.841,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,75.735,947.835,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,599.731,911.747,1527.253,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53523,892
$CAP_FILE_SIZE,85712,0
$CFSIZE,260165632,158887936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.199, 31.1,1
$GPS,121010,225407,2305.868,12707.356,30,1.0,30,-3.4