version: 66.08
glider: 167
mission: 6
dive: 109
start: 10 8 110 23 18 51
data:
$ID,167
$MISSION,6
$DIVE,109
$N_DIVES,115
$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,-34407.25
$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,34
$R_STBD_OVSHOOT,143
$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
$GPS1,081010,231236,2302.528,12705.888,16,1.1,26,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-73.1
$GPS2,081010,231826,2302.519,12705.972,12,1.4,12,-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,257.5,27232,-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,-228.7,0.0,0.0,0,83,0.00,0.00,-63.50,0.000,2,0.000,0.000,116,795,3275,0,0,0,0,0,0
$GC,86,-0.76,-228.7,5.3,-11.5,9,112,9.45,0.93,-10.90,0.000,4,0.228,0.072,2567,173,3964,0,0,0,0,0,0
$GC,337,-0.76,-228.7,102.0,-28.3,54,346,0.00,0.73,0.00,0.000,6,0.000,0.021,2563,797,3967,0,0,0,0,0,0
$GC,674,-0.76,-228.7,178.9,-22.1,115,681,0.00,0.90,0.00,0.000,4,0.000,0.042,2564,181,3968,0,0,0,0,0,0
$GC,935,-0.76,-228.7,239.9,-22.1,161,941,0.00,0.68,0.00,0.000,6,0.000,0.022,2560,780,3969,0,0,0,0,0,0
$GC,1280,-0.76,-228.7,306.4,-18.4,220,1284,0.00,1.83,0.00,0.000,4,0.000,0.016,2551,2134,3969,0,0,0,0,0,0
$GC,1316,-0.76,-228.7,312.5,-17.0,223,1320,0.00,2.03,0.00,0.000,6,0.000,0.034,2551,764,3968,0,0,0,0,0,0
$GC,1647,-0.76,-228.7,373.1,-16.6,254,1651,0.00,0.82,0.00,0.000,4,0.000,0.043,2552,188,3968,0,0,0,0,0,0
$GC,1906,-0.76,-228.7,419.3,-16.3,277,1909,0.00,0.65,0.00,0.000,6,0.000,0.022,2548,764,3969,0,0,0,0,0,0
$GC,2237,-0.76,-228.7,468.0,-13.4,308,2241,0.00,0.82,0.00,0.000,4,0.000,0.043,2548,195,3968,0,0,0,0,0,0
$STATE,2454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2454,begin apogee
$GC,2460,-0.14,0.0,500.5,15.6,327,2635,0.65,0.00,169.82,0.944,4,0.121,0.000,2769,1032,3028,0,0,0,0,0,0
$STATE,2636,end apogee,CONTROL_FINISHED_OK
$STATE,2636,begin climb
$GC,2640,0.76,228.7,510.1,0.0,342,2823,0.77,1.98,171.88,0.921,4,0.054,0.017,3065,2380,2095,0,0,0,0,0,0
$GC,2984,0.76,228.7,471.3,16.3,372,2993,0.00,2.12,0.00,0.000,6,0.000,0.033,3076,1001,2091,0,0,0,0,0,0
$GC,3311,0.76,228.7,415.3,16.3,403,3314,0.00,1.20,0.00,0.000,4,0.000,0.042,3082,190,2088,0,0,0,0,0,0
$GC,3539,0.76,228.7,376.6,16.9,423,3546,0.00,1.05,0.00,0.000,6,0.000,0.019,3082,1046,2087,0,0,0,0,0,0
$GC,3864,0.76,228.7,326.5,14.2,454,3868,0.00,1.27,0.00,0.000,4,0.000,0.041,3086,189,2084,0,0,0,0,0,0
$GC,3902,0.76,228.7,320.3,15.2,457,3909,0.00,0.98,0.00,0.000,6,0.000,0.020,3086,980,2084,0,0,0,0,0,0
$GC,4236,0.76,228.7,270.3,13.6,506,4244,0.00,1.90,0.00,0.000,4,0.000,0.018,3086,2329,2084,0,0,0,0,0,0
$GC,4338,0.76,228.7,255.7,15.4,524,4347,0.00,2.03,0.00,0.000,6,0.000,0.033,3096,984,2083,0,0,0,0,0,0
$GC,4682,0.76,228.7,205.8,12.9,585,4689,0.00,1.88,0.00,0.000,4,0.000,0.018,3096,2341,2083,0,0,0,0,0,0
$GC,4866,0.76,228.7,182.2,12.9,618,4875,0.10,2.03,0.00,0.000,6,0.148,0.034,3068,996,2082,0,0,0,0,0,0
$GC,5207,0.80,259.5,144.3,11.2,679,5237,0.00,1.92,21.88,0.700,4,0.000,0.017,3068,2338,1971,0,0,0,0,0,0
$GC,5272,0.83,287.0,136.8,11.4,689,5303,0.00,2.03,22.77,0.684,6,0.000,0.034,3074,1004,1858,0,0,0,0,0,0
$GC,5625,0.85,300.0,94.0,11.9,753,5641,0.00,1.95,10.82,0.614,4,0.000,0.018,3074,2345,1804,0,0,0,0,0,0
$GC,5765,0.98,403.6,79.9,8.6,777,5855,0.12,2.00,80.47,0.647,6,0.051,0.035,3147,1024,1382,0,0,0,0,0,0
$GC,6178,0.98,403.6,11.3,16.4,849,6185,0.00,1.88,0.00,0.000,4,0.000,0.018,3147,2338,1375,0,0,0,0,0,0
$STATE,6233,end climb,SURFACE_DEPTH_REACHED
$STATE,6233,begin surface coast
$FINISH,0.5,1.021852
$STATE,6255,end surface coast,CONTROL_FINISHED_OK
$STATE,6255,begin surface
$SM_CCo,6337,0.00,0.000,0,0,1371,406.71
$SM_GC,1.17,7.65,0.00,0.00,0.032,0.000,0.000,119,791,1371,-8.36,0.06,406.71
$IRIDIUM_FIX,2255.72,12704.84,081010,212137
$TT8_MAMPS,0.028462
$HUMID,40.19
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,27.00
$XPDR_PINGS,0
$24V_AH,24.7,24.557
$10V_AH,10.5,21.535
$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,18.750,38.950,477.650,0.000,0.000,23.715,41.709,139.248,0.000,0.000,13.632,2040.973,1582.285,450.194,2331.504,278.162,0.000,1279.312,0.000,2141.869,0.000,0.544,0.000
$DEVICE_MAMPS,227.970,71.910,944.010,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,580.464,882.975,1456.178,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50387,863
$CAP_FILE_SIZE,83445,0
$CFSIZE,260165632,161443840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.141,348.9,1
$GPS,091010,010534,2302.517,12704.976,11,3.8,30,-3.4