version: 66.08
glider: 167
mission: 6
dive: 81
start: 10 6 110 16 54 40
data:
$ID,167
$MISSION,6
$DIVE,81
$N_DIVES,95
$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,-34372.09
$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,35
$R_STBD_OVSHOOT,126
$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
$GPS1,061010,164834,2304.259,12706.491,12,2.2,31,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-71.3
$GPS2,061010,165416,2304.313,12706.430,15,4.0,34,-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,196.1,3443,-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,18,-0.76,-228.7,0.0,0.0,0,90,0.00,0.00,-69.62,0.000,2,0.000,0.000,121,793,3525,0,0,0,0,0,0
$GC,92,-0.76,-228.7,6.7,-15.3,10,117,9.25,0.88,-6.53,0.000,4,0.223,0.070,2568,188,3963,0,0,0,0,0,0
$GC,356,-0.76,-228.7,109.8,-28.1,58,364,0.00,0.73,0.00,0.000,6,0.000,0.022,2565,798,3966,0,0,0,0,0,0
$GC,691,-0.76,-228.7,183.6,-21.5,119,698,0.00,0.90,0.00,0.000,4,0.000,0.043,2565,184,3968,0,0,0,0,0,0
$GC,950,-0.76,-228.7,240.4,-20.1,165,957,0.00,0.73,0.00,0.000,6,0.000,0.021,2561,817,3967,0,0,0,0,0,0
$GC,1287,-0.76,-228.7,300.8,-17.4,226,1291,0.00,0.90,0.00,0.000,4,0.000,0.042,2562,191,3968,0,0,0,0,0,0
$GC,1550,-0.76,-228.7,351.0,-18.2,249,1553,0.00,0.70,0.00,0.000,6,0.000,0.021,2560,811,3968,0,0,0,0,0,0
$GC,1880,-0.76,-228.7,402.1,-13.7,280,1884,0.00,0.90,0.00,0.000,4,0.000,0.042,2560,192,3968,0,0,0,0,0,0
$GC,2023,-0.76,-228.7,421.6,-13.8,292,2032,0.00,0.65,0.00,0.000,6,0.000,0.022,2560,768,3967,0,0,0,0,0,0
$GC,2349,-0.76,-228.7,466.1,-14.5,323,2353,0.00,1.88,0.00,0.000,4,0.000,0.017,2557,2145,3966,0,0,0,0,0,0
$GC,2456,-0.76,-228.7,479.7,-12.1,332,2464,0.00,2.05,0.00,0.000,6,0.000,0.035,2557,783,3966,0,0,0,0,0,0
$STATE,2598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2598,begin apogee
$GC,2604,-0.14,0.0,500.2,14.3,346,2784,0.62,0.00,169.48,0.956,4,0.121,0.000,2770,990,3027,0,0,0,0,0,0
$STATE,2784,end apogee,CONTROL_FINISHED_OK
$STATE,2784,begin climb
$GC,2787,0.76,228.7,511.0,0.0,361,2967,0.82,2.03,171.88,0.930,4,0.057,0.018,3076,2385,2095,0,0,0,0,0,0
$GC,3203,0.76,228.7,461.2,16.6,397,3207,0.00,2.10,0.00,0.000,6,0.000,0.034,3083,989,2090,0,0,0,0,0,0
$GC,3530,0.76,228.7,405.7,16.6,427,3533,0.00,1.95,0.00,0.000,4,0.000,0.020,3083,2348,2087,0,0,0,0,0,0
$GC,3788,0.76,228.7,364.7,15.1,450,3792,0.00,2.03,0.00,0.000,6,0.000,0.033,3092,994,2085,0,0,0,0,0,0
$GC,4120,0.76,228.7,311.7,14.5,481,4124,0.00,1.92,0.00,0.000,4,0.000,0.019,3092,2354,2083,0,0,0,0,0,0
$GC,4375,0.76,228.7,271.9,15.4,520,4384,0.08,2.03,0.00,0.000,6,0.154,0.034,3074,1016,2082,0,0,0,0,0,0
$GC,4721,0.84,290.3,229.2,10.1,581,4775,0.00,1.92,45.78,0.783,4,0.000,0.018,3074,2346,1844,0,0,0,0,0,0
$GC,4959,0.84,290.3,198.3,13.1,621,4966,0.00,1.98,0.00,0.000,6,0.000,0.034,3079,1036,1839,0,0,0,0,0,0
$GC,5301,0.84,290.3,146.7,15.3,682,5309,0.00,1.25,0.00,0.000,4,0.000,0.042,3085,190,1838,0,0,0,0,0,0
$GC,5353,0.84,290.3,138.0,15.8,691,5361,0.00,1.08,0.00,0.000,6,0.000,0.019,3085,1055,1837,0,0,0,0,0,0
$GC,5679,0.84,290.3,91.6,13.2,752,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1055,1837,0,0,0,0,0,0
$GC,6006,0.95,385.3,55.5,8.9,813,6087,0.12,1.85,71.95,0.642,4,0.092,0.017,3148,2356,1456,0,0,0,0,0,0
$GC,6137,0.95,385.3,37.6,15.3,832,6146,0.00,2.05,0.00,0.000,6,0.000,0.034,3157,1023,1454,0,0,0,0,0,0
$STATE,6350,end climb,SURFACE_DEPTH_REACHED
$STATE,6350,begin surface coast
$FINISH,0.3,0.999525
$STATE,6367,end surface coast,CONTROL_FINISHED_OK
$STATE,6367,begin surface
$SM_CCo,6386,16.73,0.207,1,0,1398,400.08
$SM_GC,1.00,0.00,0.00,16.73,0.000,0.000,0.207,119,786,1398,-8.45,-0.11,400.08
$IRIDIUM_FIX,2255.72,12704.84,061010,141409
$TT8_MAMPS,0.028462
$HUMID,40.47
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,26.90
$XPDR_PINGS,0
$24V_AH,24.7,21.041
$10V_AH,10.5,18.231
$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,18.700,32.950,459.075,16.725,0.000,22.084,15.417,139.430,0.000,0.000,35.791,2071.784,1576.476,459.971,2368.661,273.036,0.000,1297.247,0.000,2182.369,0.000,0.544,0.000
$DEVICE_MAMPS,222.615,69.615,956.250,206.550,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,589.325,894.735,1476.324,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50270,875
$CAP_FILE_SIZE,83274,0
$CFSIZE,260165632,162930688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.190,326.5,1
$GPS,061010,184236,2304.207,12706.425,14,1.0,30,-3.4