version: 66.08
glider: 167
mission: 6
dive: 172
start: 10 13 110 23 52 51
data:
$ID,167
$MISSION,6
$DIVE,172
$N_DIVES,181
$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,-34486.441
$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,41
$R_STBD_OVSHOOT,150
$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
$GPS1,131010,234654,2303.844,12707.286,38,1.1,38,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-73.6
$GPS2,131010,235226,2303.935,12707.298,11,2.0,11,-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,235.4,4281,-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,-228.7,0.0,0.0,0,82,0.00,0.00,-62.72,0.000,2,0.000,0.000,108,783,3244,0,0,0,0,0,0
$GC,85,-0.76,-228.7,5.1,-10.3,9,117,9.62,1.95,-11.55,0.000,4,0.231,0.031,2555,2165,3966,0,0,0,0,0,0
$GC,284,-0.76,-228.7,66.3,-22.1,44,292,0.00,2.10,0.00,0.000,6,0.000,0.035,2555,783,3967,0,0,0,0,0,0
$GC,609,-0.76,-228.7,151.6,-23.0,105,616,0.00,0.85,0.00,0.000,4,0.000,0.041,2555,190,3969,0,0,0,0,0,0
$GC,782,-0.76,-228.7,195.8,-24.8,136,790,0.00,0.68,0.00,0.000,6,0.000,0.021,2550,800,3968,0,0,0,0,0,0
$GC,1115,-0.76,-228.7,271.7,-21.3,197,1122,0.00,0.88,0.00,0.000,4,0.000,0.040,2550,192,3969,0,0,0,0,0,0
$GC,1282,-0.76,-228.7,309.1,-21.8,224,1293,0.00,0.65,0.00,0.000,6,0.000,0.021,2547,786,3969,0,0,0,0,0,0
$GC,1610,-0.76,-228.7,377.6,-20.7,255,1613,0.00,0.85,0.00,0.000,4,0.000,0.041,2547,195,3969,0,0,0,0,0,0
$GC,1670,-0.76,-228.7,391.3,-21.8,260,1679,0.08,0.62,0.00,0.000,6,0.150,0.021,2569,758,3969,0,0,0,0,0,0
$GC,1998,-0.76,-228.7,446.8,-13.7,291,2002,0.00,0.82,0.00,0.000,4,0.000,0.041,2569,190,3969,0,0,0,0,0,0
$GC,2119,-0.76,-228.7,465.8,-14.5,302,2123,0.00,0.65,0.00,0.000,6,0.000,0.022,2567,761,3969,0,0,0,0,0,0
$STATE,2400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2400,begin apogee
$GC,2406,-0.14,0.0,500.4,11.1,328,2584,0.60,0.00,170.50,0.945,4,0.120,0.000,2769,1007,3028,0,0,0,0,0,0
$STATE,2585,end apogee,CONTROL_FINISHED_OK
$STATE,2585,begin climb
$GC,2589,0.76,228.7,506.6,0.0,343,2769,0.77,0.00,172.07,0.920,6,0.055,0.000,3069,1007,2095,0,0,0,0,0,0
$GC,3089,0.76,228.7,446.4,14.8,388,3093,0.00,1.88,0.00,0.000,4,0.000,0.018,3069,2350,2088,0,0,0,0,0,0
$GC,3303,0.76,228.7,415.8,13.3,407,3311,0.00,2.00,0.00,0.000,6,0.000,0.032,3078,1010,2087,0,0,0,0,0,0
$GC,3628,0.76,228.7,362.4,18.1,438,3632,0.00,1.88,0.00,0.000,4,0.000,0.018,3078,2345,2084,0,0,0,0,0,0
$GC,3664,0.76,228.7,356.2,17.1,441,3667,0.00,2.00,0.00,0.000,6,0.000,0.033,3085,1020,2085,0,0,0,0,0,0
$GC,3995,0.76,228.7,302.7,14.1,472,3999,0.00,1.83,0.00,0.000,4,0.000,0.018,3085,2342,2083,0,0,0,0,0,0
$GC,4071,0.76,228.7,292.8,12.7,484,4079,0.00,1.98,0.00,0.000,6,0.000,0.033,3091,1032,2083,0,0,0,0,0,0
$GC,4406,0.76,228.7,246.6,15.2,545,4412,0.00,1.80,0.00,0.000,4,0.000,0.017,3091,2348,2081,0,0,0,0,0,0
$GC,4469,0.76,228.7,237.0,14.3,556,4478,0.08,1.98,0.00,0.000,6,0.145,0.033,3073,1033,2081,0,0,0,0,0,0
$GC,4804,0.76,228.7,195.4,13.4,617,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1033,2081,0,0,0,0,0,0
$GC,5131,0.81,269.2,155.0,10.9,678,5167,0.00,1.92,29.33,0.714,4,0.000,0.018,3073,2355,1930,0,0,0,0,0,0
$GC,5208,0.86,311.8,146.8,10.8,690,5253,0.00,1.98,33.92,0.698,6,0.000,0.033,3080,1055,1757,0,0,0,0,0,0
$GC,5574,0.93,367.4,101.5,10.3,756,5626,0.12,1.83,43.55,0.664,4,0.086,0.016,3141,2340,1529,0,0,0,0,0,0
$GC,5669,0.93,367.4,87.5,15.0,770,5677,0.00,1.95,0.00,0.000,6,0.000,0.032,3150,1069,1525,0,0,0,0,0,0
$GC,5994,0.93,367.4,39.0,15.6,831,6003,0.00,1.30,0.00,0.000,4,0.000,0.041,3157,188,1522,0,0,0,0,0,0
$GC,6107,0.93,367.4,22.0,15.5,851,6117,0.10,1.10,0.00,0.000,6,0.146,0.018,3124,1076,1522,0,0,0,0,0,0
$STATE,6261,end climb,SURFACE_DEPTH_REACHED
$STATE,6261,begin surface coast
$FINISH,0.3,1.021138
$STATE,6290,end surface coast,CONTROL_FINISHED_OK
$STATE,6290,begin surface
$SM_CCo,6309,35.53,0.421,1,0,1398,400.08
$SM_GC,1.52,0.00,0.00,35.53,0.000,0.000,0.421,111,782,1398,-8.48,-0.23,400.08
$IRIDIUM_FIX,2255.72,12708.12,131010,212140
$TT8_MAMPS,0.028462
$HUMID,40.23
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,27.60
$XPDR_PINGS,0
$24V_AH,24.7,32.486
$10V_AH,10.5,28.892
$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,19.000,36.050,449.375,35.525,0.000,31.051,18.593,140.185,0.000,0.000,12.045,2086.904,1518.115,487.615,2311.152,278.580,0.000,1304.055,0.000,2139.174,0.000,0.543,0.000
$DEVICE_MAMPS,231.030,46.665,944.775,420.750,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,594.763,904.025,1509.552,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50225,884
$CAP_FILE_SIZE,84184,0
$CFSIZE,260165632,158154752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.120, 58.9,1
$GPS,141010,013942,2303.359,12706.979,12,1.5,22,-3.4