version: 66.08
glider: 167
mission: 6
dive: 96
start: 10 7 110 22 2 38
data:
$ID,167
$MISSION,6
$DIVE,96
$N_DIVES,105
$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,-34390.926
$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,30
$R_STBD_OVSHOOT,134
$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
$GPS1,071010,215631,2304.279,12707.196,37,1.9,37,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-72.2
$GPS2,071010,220214,2304.338,12707.148,13,1.9,13,-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,221.7,4420,-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,-228.7,0.0,0.0,0,86,0.00,0.00,-66.03,0.000,2,0.000,0.000,113,794,3347,0,0,0,0,0,0
$GC,89,-0.76,-228.7,5.4,-12.3,9,115,9.38,0.93,-9.80,0.000,4,0.225,0.076,2568,177,3964,0,0,0,0,0,0
$GC,353,-0.76,-228.7,101.7,-28.5,57,361,0.00,0.75,0.00,0.000,6,0.000,0.021,2565,801,3967,0,0,0,0,0,0
$GC,682,-0.76,-228.7,175.7,-22.2,118,691,0.00,0.90,0.00,0.000,4,0.000,0.041,2565,183,3968,0,0,0,0,0,0
$GC,942,-0.76,-228.7,237.6,-22.4,164,951,0.00,0.73,0.00,0.000,6,0.000,0.021,2561,815,3969,0,0,0,0,0,0
$GC,1291,-0.76,-228.7,305.9,-17.3,223,1294,0.00,0.93,0.00,0.000,4,0.000,0.041,2561,181,3969,0,0,0,0,0,0
$GC,1547,-0.76,-228.7,349.3,-16.7,246,1551,0.00,0.65,0.00,0.000,6,0.000,0.022,2561,761,3969,0,0,0,0,0,0
$GC,1879,-0.76,-228.7,404.5,-17.0,277,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,761,3969,0,0,0,0,0,0
$GC,2202,-0.76,-228.7,452.1,-14.2,307,2206,0.00,0.85,0.00,0.000,4,0.000,0.043,2560,179,3968,0,0,0,0,0,0
$GC,2251,-0.76,-228.7,460.1,-14.8,311,2258,0.00,0.68,0.00,0.000,6,0.000,0.022,2560,764,3968,0,0,0,0,0,0
$STATE,2533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2533,begin apogee
$GC,2541,-0.14,0.0,500.4,14.0,338,2721,0.62,0.00,169.98,0.949,4,0.125,0.000,2771,999,3028,0,0,0,0,0,0
$STATE,2722,end apogee,CONTROL_FINISHED_OK
$STATE,2722,begin climb
$GC,2724,0.76,228.7,509.1,0.0,353,2904,0.77,1.27,171.95,0.923,4,0.059,0.042,3075,186,2096,0,0,0,0,0,0
$GC,3157,0.76,228.7,449.3,17.4,390,3165,0.00,1.05,0.00,0.000,6,0.000,0.019,3076,1016,2090,0,0,0,0,0,0
$GC,3483,0.76,228.7,396.4,15.9,421,3487,0.00,1.25,0.00,0.000,4,0.000,0.040,3081,179,2086,0,0,0,0,0,0
$GC,3743,0.76,228.7,352.0,19.3,444,3746,0.00,1.05,0.00,0.000,6,0.000,0.019,3081,1025,2085,0,0,0,0,0,0
$GC,4075,0.76,228.7,301.4,13.9,475,4079,0.00,1.25,0.00,0.000,4,0.000,0.041,3087,181,2083,0,0,0,0,0,0
$GC,4207,0.76,228.7,281.6,14.9,498,4216,0.00,1.02,0.00,0.000,6,0.000,0.020,3087,1007,2083,0,0,0,0,0,0
$GC,4551,0.78,240.7,238.0,11.9,559,4565,0.00,1.85,8.18,0.689,4,0.000,0.017,3087,2344,2049,0,0,0,0,0,0
$GC,4740,0.78,240.7,213.4,12.7,592,4748,0.00,1.98,0.00,0.000,6,0.000,0.033,3095,1028,2047,0,0,0,0,0,0
$GC,5080,0.78,240.7,168.8,12.6,653,5086,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1028,2046,0,0,0,0,0,0
$GC,5411,0.78,240.7,124.6,12.6,714,5420,0.00,1.23,0.00,0.000,4,0.000,0.041,3101,188,2047,0,0,0,0,0,0
$GC,5466,0.78,240.7,117.1,14.1,723,5475,0.08,1.05,0.00,0.000,6,0.156,0.018,3077,1039,2046,0,0,0,0,0,0
$GC,5796,0.94,371.9,83.3,7.6,784,5907,0.12,1.90,100.28,0.657,4,0.088,0.017,3135,2334,1510,0,0,0,0,0,0
$GC,5986,0.94,371.9,59.7,14.5,813,5993,0.00,1.92,0.00,0.000,6,0.000,0.033,3144,1077,1505,0,0,0,0,0,0
$GC,6313,0.94,371.9,13.3,14.5,874,6322,0.00,1.30,0.00,0.000,4,0.000,0.041,3151,196,1503,0,0,0,0,0,0
$GC,6347,0.94,371.9,7.9,15.2,879,6355,0.00,1.10,0.00,0.000,6,0.000,0.018,3151,1100,1503,0,0,0,0,0,0
$STATE,6376,end climb,SURFACE_DEPTH_REACHED
$STATE,6376,begin surface coast
$FINISH,0.3,1.022152
$STATE,6394,end surface coast,CONTROL_FINISHED_OK
$STATE,6394,begin surface
$SM_CCo,6413,25.62,0.349,1,0,1398,400.08
$SM_GC,1.44,0.00,0.00,25.62,0.000,0.000,0.349,118,779,1398,-8.45,-0.31,400.08
$IRIDIUM_FIX,2258.07,12708.12,071010,202002
$TT8_MAMPS,0.028462
$HUMID,39.68
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.20
$XPDR_PINGS,0
$24V_AH,24.7,22.924
$10V_AH,10.5,20.001
$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,18.625,26.275,450.375,25.625,0.000,24.463,37.305,137.517,0.000,0.000,13.974,2096.491,1575.485,469.429,2373.541,272.579,0.000,1301.368,0.000,2186.460,0.000,0.544,0.000
$DEVICE_MAMPS,224.910,75.735,948.600,348.840,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,597.176,906.747,1514.583,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333960
$DATA_FILE_SIZE,50329,887
$CAP_FILE_SIZE,83523,0
$CFSIZE,260165632,162131968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.125,354.7,1
$GPS,071010,235106,2304.090,12706.882,16,1.5,26,-3.4