version: 66.08
glider: 167
mission: 6
dive: 4
start: 9 30 110 10 31 6
data:
$ID,167
$MISSION,6
$DIVE,4
$N_DIVES,6
$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,375
$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,-34029.16
$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,43
$R_STBD_OVSHOOT,129
$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,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
$GPS1,300910,102532,2304.376,12654.317,11,1.8,11,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-69.8
$GPS2,300910,103042,2304.454,12654.304,11,1.8,15,-3.4
$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,208.2,7813,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.76,-228.7,0.0,0.0,0,94,0.00,0.00,-73.82,0.000,2,0.000,0.000,118,778,3370,0,0,0,0,0,0
$GC,96,-0.76,-228.7,5.8,-13.5,10,121,9.25,0.88,-9.15,0.000,4,0.224,0.077,2569,190,3963,0,0,0,0,0,0
$GC,360,-0.76,-228.7,96.2,-21.4,58,368,0.00,0.73,0.00,0.000,6,0.000,0.023,2566,803,3966,0,0,0,0,0,0
$GC,689,-0.76,-228.7,163.5,-18.6,119,696,0.00,0.88,0.00,0.000,4,0.000,0.043,2566,200,3967,0,0,0,0,0,0
$GC,950,-0.76,-228.7,211.4,-17.1,165,956,0.00,0.68,0.00,0.000,6,0.000,0.023,2563,781,3968,0,0,0,0,0,0
$GC,1287,-0.76,-228.7,265.2,-15.7,226,1295,0.00,0.85,0.00,0.000,4,0.000,0.044,2562,196,3968,0,0,0,0,0,0
$GC,1549,-0.76,-228.7,309.6,-16.8,267,1553,0.00,0.68,0.00,0.000,6,0.000,0.023,2561,781,3967,0,0,0,0,0,0
$GC,1880,-0.76,-228.7,364.7,-16.3,298,1884,0.00,0.85,0.00,0.000,4,0.000,0.044,2561,197,3966,0,0,0,0,0,0
$GC,2099,-0.76,-228.7,400.3,-14.7,317,2106,0.00,0.70,0.00,0.000,6,0.000,0.022,2560,798,3965,0,0,0,0,0,0
$GC,2427,-0.76,-228.7,441.2,-11.7,348,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,798,3964,0,0,0,0,0,0
$GC,2748,-0.76,-228.7,482.2,-13.5,378,2751,0.00,0.88,0.00,0.000,4,0.000,0.045,2560,200,3962,0,0,0,0,0,0
$GC,2859,-0.76,-228.7,498.0,-13.4,388,2863,0.00,0.65,0.00,0.000,6,0.000,0.024,2559,744,3961,0,0,0,0,0,0
$STATE,2880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2880,begin apogee
$GC,2887,-0.14,0.0,500.8,12.5,390,3067,0.62,0.00,168.15,0.959,4,0.121,0.000,2774,999,3028,0,0,0,0,0,0
$STATE,3068,end apogee,CONTROL_FINISHED_OK
$STATE,3068,begin climb
$GC,3071,0.76,228.7,509.8,0.0,405,3250,0.75,0.00,171.60,0.933,6,0.056,0.000,3067,999,2096,0,0,0,0,0,0
$GC,3568,0.76,228.7,446.8,14.4,450,3571,0.00,1.95,0.00,0.000,4,0.000,0.021,3067,2373,2088,0,0,0,0,0,0
$GC,3670,0.76,228.7,431.8,15.0,459,3674,0.00,2.05,0.00,0.000,6,0.000,0.035,3077,1010,2087,0,0,0,0,0,0
$GC,4001,0.76,228.7,376.5,18.6,490,4005,0.00,1.90,0.00,0.000,4,0.000,0.021,3076,2364,2084,0,0,0,0,0,0
$GC,4136,0.76,228.7,353.5,17.1,502,4139,0.00,2.03,0.00,0.000,6,0.000,0.036,3086,1011,2084,0,0,0,0,0,0
$GC,4468,0.76,228.7,300.5,14.7,533,4472,0.00,1.92,0.00,0.000,4,0.000,0.021,3086,2355,2082,0,0,0,0,0,0
$GC,4565,0.76,228.7,286.9,14.2,549,4572,0.00,1.98,0.00,0.000,6,0.000,0.035,3096,1026,2082,0,0,0,0,0,0
$GC,4904,0.76,228.7,234.9,16.6,610,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1026,2081,0,0,0,0,0,0
$GC,5245,0.76,228.7,184.2,13.8,671,5252,0.00,1.88,0.00,0.000,4,0.000,0.020,3095,2365,2079,0,0,0,0,0,0
$GC,5320,0.76,228.7,174.2,13.3,684,5330,0.10,2.00,0.00,0.000,6,0.163,0.036,3067,1034,2079,0,0,0,0,0,0
$GC,5655,0.78,242.5,134.3,11.8,745,5670,0.00,1.20,9.27,0.661,4,0.000,0.041,3072,193,2039,0,0,0,0,0,0
$GC,5741,0.82,278.3,124.2,11.0,760,5779,0.00,1.08,28.30,0.705,6,0.000,0.021,3072,1032,1893,0,0,0,0,0,0
$GC,6099,0.89,334.7,83.8,10.3,825,6154,0.10,1.92,43.40,0.667,4,0.100,0.021,3121,2353,1662,0,0,0,0,0,0
$GC,6169,0.89,334.7,75.1,13.6,834,6177,0.00,2.03,0.00,0.000,6,0.000,0.034,3130,1035,1661,0,0,0,0,0,0
$GC,6495,0.92,358.9,33.6,11.5,895,6519,0.00,1.95,18.58,0.603,4,0.000,0.021,3130,2361,1564,0,0,0,0,0,0
$GC,6643,0.95,384.9,17.0,11.4,921,6674,0.00,2.00,21.45,0.590,6,0.000,0.036,3134,1045,1457,0,0,0,0,0,0
$STATE,6772,end climb,SURFACE_DEPTH_REACHED
$STATE,6772,begin surface coast
$FINISH,0.3,0.997495
$STATE,6800,end surface coast,CONTROL_FINISHED_OK
$STATE,6800,begin surface
$SM_CCo,6877,0.00,0.000,0,0,1450,387.33
$SM_GC,1.37,7.72,0.00,0.00,0.039,0.000,0.000,122,780,1450,-8.38,-0.28,387.33
$IRIDIUM_FIX,2253.38,12656.41,300910,090910
$TT8_MAMPS,0.028462
$HUMID,40.11
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,27.60
$XPDR_PINGS,1
$24V_AH,24.7,11.296
$10V_AH,10.6,9.106
$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,18.550,34.225,460.750,0.000,0.000,28.934,15.416,125.491,0.250,0.000,16.823,2243.467,1761.870,445.045,2464.909,271.482,0.000,1316.092,0.000,2308.167,0.000,0.545,0.000
$DEVICE_MAMPS,224.145,77.265,959.310,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,639.641,969.143,1628.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,56904,948
$CAP_FILE_SIZE,88455,0
$CFSIZE,260165632,167006208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,350.3,1
$GPS,300910,122701,2304.003,12654.248,42,1.2,42,-3.4