version: 66.08
glider: 167
mission: 6
dive: 115
start: 10 9 110 10 44 2
data:
$ID,167
$MISSION,6
$DIVE,115
$N_DIVES,119
$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,-34414.781
$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,137
$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
$GPS1,091010,103801,2302.021,12701.944,38,1.4,38,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-73.5
$GPS2,091010,104337,2301.985,12701.967,10,1.2,15,-3.3
$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,264.3,20480,-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,17,-0.76,-228.7,0.0,0.0,0,83,0.00,0.00,-63.20,0.000,2,0.000,0.000,117,776,3221,0,0,0,0,0,0
$GC,85,-0.76,-228.7,5.3,-12.8,9,117,9.43,1.98,-12.12,0.000,4,0.229,0.032,2554,2161,3965,0,0,0,0,0,0
$GC,177,-0.76,-228.7,41.6,-29.0,24,185,0.00,2.08,0.00,0.000,6,0.000,0.036,2554,798,3966,0,0,0,0,0,0
$GC,505,-0.76,-228.7,134.9,-24.4,85,513,0.00,0.88,0.00,0.000,4,0.000,0.041,2554,190,3968,0,0,0,0,0,0
$GC,762,-0.76,-228.7,199.9,-24.7,131,768,0.00,0.68,0.00,0.000,6,0.000,0.021,2550,788,3969,0,0,0,0,0,0
$GC,1103,-0.76,-228.7,275.6,-21.1,192,1112,0.00,0.90,0.00,0.000,4,0.000,0.042,2550,186,3970,0,0,0,0,0,0
$GC,1362,-0.76,-228.7,327.7,-19.0,226,1366,0.00,0.65,0.00,0.000,6,0.000,0.022,2547,773,3969,0,0,0,0,0,0
$GC,1695,-0.76,-228.7,383.0,-17.2,257,1699,0.10,0.88,0.00,0.000,4,0.186,0.043,2572,182,3970,0,0,0,0,0,0
$GC,1887,-0.76,-228.7,413.0,-15.1,274,1896,0.00,0.65,0.00,0.000,6,0.000,0.021,2572,752,3969,0,0,0,0,0,0
$GC,2214,-0.76,-228.7,458.7,-13.0,305,2218,0.00,0.82,0.00,0.000,4,0.000,0.043,2572,186,3968,0,0,0,0,0,0
$GC,2284,-0.76,-228.7,468.3,-14.1,311,2287,0.00,0.62,0.00,0.000,6,0.000,0.023,2572,735,3968,0,0,0,0,0,0
$STATE,2527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2527,begin apogee
$GC,2535,-0.14,0.0,500.2,12.5,334,2709,0.57,0.00,169.75,0.951,4,0.119,0.000,2769,992,3029,0,0,0,0,0,0
$STATE,2710,end apogee,CONTROL_FINISHED_OK
$STATE,2710,begin climb
$GC,2712,0.76,228.7,510.0,0.0,348,2893,0.77,0.00,171.98,0.923,6,0.056,0.000,3069,992,2094,0,0,0,0,0,0
$GC,3211,0.76,228.7,446.5,17.0,393,3215,0.00,1.90,0.00,0.000,4,0.000,0.019,3069,2340,2087,0,0,0,0,0,0
$GC,3393,0.76,228.7,417.2,13.7,409,3400,0.00,1.98,0.00,0.000,6,0.000,0.034,3078,1013,2086,0,0,0,0,0,0
$GC,3719,0.76,228.7,367.2,14.8,440,3722,0.00,1.88,0.00,0.000,4,0.000,0.019,3078,2352,2085,0,0,0,0,0,0
$GC,3953,0.76,228.7,330.4,15.8,461,3957,0.00,1.95,0.00,0.000,6,0.000,0.034,3086,1031,2083,0,0,0,0,0,0
$GC,4284,0.76,228.7,278.2,14.6,505,4291,0.00,1.23,0.00,0.000,4,0.000,0.042,3091,197,2082,0,0,0,0,0,0
$GC,4377,0.76,228.7,263.2,16.3,522,4385,0.00,1.05,0.00,0.000,6,0.000,0.020,3090,1041,2082,0,0,0,0,0,0
$GC,4709,0.76,228.7,213.2,14.2,583,4717,0.00,1.80,0.00,0.000,4,0.000,0.018,3090,2342,2081,0,0,0,0,0,0
$GC,4800,0.76,228.7,200.4,14.0,599,4810,0.12,1.90,0.00,0.000,6,0.164,0.033,3066,1043,2080,0,0,0,0,0,0
$GC,5134,0.76,228.7,157.6,12.7,660,5142,0.00,1.25,0.00,0.000,4,0.000,0.042,3070,190,2080,0,0,0,0,0,0
$GC,5200,0.76,228.7,149.0,13.3,671,5209,0.00,1.05,0.00,0.000,6,0.000,0.020,3070,1037,2080,0,0,0,0,0,0
$GC,5527,0.86,310.9,114.1,9.4,732,5593,0.00,1.92,60.40,0.689,4,0.000,0.018,3070,2344,1760,0,0,0,0,0,0
$GC,5655,0.92,357.7,100.5,10.7,752,5701,0.08,2.00,36.97,0.656,6,0.057,0.034,3125,1038,1569,0,0,0,0,0,0
$GC,6024,0.93,361.6,47.4,12.2,818,6032,0.00,1.85,0.00,0.000,4,0.000,0.018,3125,2336,1562,0,0,0,0,0,0
$GC,6106,0.94,372.8,38.2,11.9,832,6129,0.00,1.98,12.20,0.576,6,0.000,0.034,3132,1032,1508,0,0,0,0,0,0
$STATE,6391,end climb,SURFACE_DEPTH_REACHED
$STATE,6391,begin surface coast
$FINISH,0.2,1.020205
$STATE,6424,end surface coast,CONTROL_FINISHED_OK
$STATE,6424,begin surface
$SM_CCo,6441,26.52,0.359,1,0,1398,400.08
$SM_GC,1.80,0.00,0.00,26.52,0.000,0.000,0.359,119,778,1398,-8.45,-0.34,400.08
$IRIDIUM_FIX,2253.38,12701.56,091010,080805
$TT8_MAMPS,0.028462
$HUMID,40.70
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,27.40
$XPDR_PINGS,1
$24V_AH,24.7,25.306
$10V_AH,10.5,22.234
$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,18.750,34.400,451.300,26.525,0.000,26.081,15.502,141.031,0.250,0.000,16.492,2109.039,1575.433,470.472,2374.282,279.425,0.000,1309.126,0.000,2200.661,0.000,0.543,0.000
$DEVICE_MAMPS,228.735,50.490,950.895,358.785,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,599.448,910.040,1529.811,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53566,890
$CAP_FILE_SIZE,85169,0
$CFSIZE,260165632,161128448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.018, 26.5,1
$GPS,091010,123301,2301.390,12701.099,11,1.4,28,-3.3