version: 66.08
glider: 167
mission: 5
dive: 5
start: 9 24 110 14 40 1
data:
$ID,167
$MISSION,5
$DIVE,5
$N_DIVES,5
$D_SURF,3
$D_FLARE,5
$D_TGT,240
$D_ABORT,300
$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,80
$T_MISSION,120
$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,150
$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,-27431.49
$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,2885
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,35
$C_ROLL_DIVE,920
$C_ROLL_CLIMB,820
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,86
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,490
$VBD_MAX,3960
$C_VBD,2707
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-15.831312
$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,49
$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
$GPS1,240910,143500,2406.021,12616.332,18,1.4,22,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.9
$GPS2,240910,143938,2406.012,12616.213,11,1.3,11,-3.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WAKE_N
$TGT_LATLONG,2400.000,12630.000
$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,74.1,25847,-18.2,-10.000
$D_GRID,1640
$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,16,-0.79,-146.0,0.0,0.0,0,97,0.00,0.00,-77.03,0.000,6,0.000,0.000,126,922,3305,0,0,0,0,0,0
$GC,100,-0.79,-146.0,6.4,-14.7,11,115,9.65,1.05,0.00,0.000,4,0.235,0.036,2624,179,3306,0,0,0,0,0,0
$GC,292,-0.79,-146.0,63.3,-17.9,46,300,0.00,1.00,0.00,0.000,6,0.000,0.027,2620,933,3307,0,0,0,0,0,0
$GC,617,-0.79,-146.0,113.7,-13.5,107,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,933,3308,0,0,0,0,0,0
$GC,943,-0.79,-146.0,154.6,-12.9,168,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,933,3308,0,0,0,0,0,0
$GC,1278,-0.79,-146.0,192.8,-10.4,229,1286,0.00,1.10,0.00,0.000,4,0.000,0.050,2620,192,3308,0,0,0,0,0,0
$GC,1530,-0.79,-146.0,224.1,-13.1,275,1537,0.00,0.93,0.00,0.000,6,0.000,0.028,2616,899,3308,0,0,0,0,0,0
$STATE,1677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1677,begin apogee
$GC,1683,-0.17,0.0,240.3,10.3,302,1796,0.62,0.00,103.82,0.739,4,0.133,0.000,2825,800,2708,0,0,0,0,0,0
$STATE,1798,end apogee,CONTROL_FINISHED_OK
$STATE,1798,begin climb
$GC,1801,0.79,146.0,242.3,0.0,319,1923,0.85,1.77,107.68,0.718,4,0.070,0.025,3138,2044,2109,0,0,0,0,0,0
$GC,1931,0.79,146.0,227.9,16.8,338,1939,0.00,1.90,0.00,0.000,6,0.000,0.042,3147,832,2107,0,0,0,0,0,0
$GC,2263,0.79,146.0,167.5,18.5,399,2270,0.00,1.70,0.00,0.000,4,0.000,0.026,3147,2038,2102,0,0,0,0,0,0
$GC,2410,0.79,146.0,144.9,14.9,425,2418,0.00,1.85,0.00,0.000,6,0.000,0.042,3156,822,2102,0,0,0,0,0,0
$GC,2736,0.79,146.0,94.5,13.7,486,2744,0.00,1.73,0.00,0.000,4,0.000,0.027,3155,2032,2100,0,0,0,0,0,0
$GC,2877,0.79,146.0,78.4,11.4,512,2885,0.00,1.83,0.00,0.000,6,0.000,0.042,3164,829,2100,0,0,0,0,0,0
$GC,3205,0.95,277.2,48.8,4.0,573,3310,0.00,1.77,94.47,0.620,4,0.000,0.026,3164,2018,1574,0,0,0,0,0,0
$GC,3550,0.95,277.2,10.3,12.5,632,3558,0.00,1.80,0.00,0.000,6,0.000,0.044,3170,849,1568,0,0,0,0,0,0
$STATE,3602,end climb,SURFACE_DEPTH_REACHED
$STATE,3602,begin surface coast
$FINISH,0.5,1.021765
$STATE,3625,end surface coast,CONTROL_FINISHED_OK
$STATE,3625,begin surface
$SM_CCo,3644,93.55,0.523,1,0,1075,400.08
$SM_GC,1.37,0.00,0.00,93.55,0.000,0.000,0.523,126,844,1075,-8.62,-2.15,400.08
$IRIDIUM_FIX,2356.84,12610.66,240910,131309
$TT8_MAMPS,0.028462
$HUMID,39.84
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,27.90
$XPDR_PINGS,1
$24V_AH,25.1,4.899
$10V_AH,10.7,3.710
$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,18.925,18.550,305.975,93.550,0.000,28.883,14.191,110.279,0.250,0.000,14.051,1464.090,227.614,423.707,1718.335,191.371,0.000,991.167,0.000,1583.845,0.000,0.547,0.000
$DEVICE_MAMPS,234.855,91.800,738.990,523.260,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,429.913,659.399,1313.847,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333796
$DATA_FILE_SIZE,37043,645
$CAP_FILE_SIZE,55172,0
$CFSIZE,260165632,167030784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.354,250.3,1
$GPS,240910,154314,2406.088,12615.628,13,1.7,13,-3.6