version: 66.08
glider: 167
mission: 6
dive: 120
start: 10 9 110 20 23 26
data:
$ID,167
$MISSION,6
$DIVE,120
$N_DIVES,131
$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,-34421.066
$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,47
$R_STBD_OVSHOOT,147
$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
$GPS1,091010,201731,2302.265,12657.151,40,1.1,40,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-74.3
$GPS2,091010,202302,2302.291,12657.180,11,1.2,11,-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,234.4,12305,-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,-228.7,0.0,0.0,0,88,0.00,0.00,-68.12,0.000,2,0.000,0.000,115,783,3449,0,0,0,0,0,0
$GC,91,-0.76,-228.7,6.9,-15.9,10,115,9.40,0.85,-7.62,0.000,4,0.228,0.072,2566,197,3963,0,0,0,0,0,0
$GC,355,-0.76,-228.7,105.0,-25.8,58,363,0.00,0.70,0.00,0.000,6,0.000,0.021,2564,816,3966,0,0,0,0,0,0
$GC,685,-0.76,-228.7,183.6,-23.9,119,693,0.00,0.90,0.00,0.000,4,0.000,0.041,2564,198,3967,0,0,0,0,0,0
$GC,942,-0.76,-228.7,241.5,-21.9,165,948,0.00,0.65,0.00,0.000,6,0.000,0.022,2561,791,3968,0,0,0,0,0,0
$GC,1279,-0.76,-228.7,302.4,-17.6,226,1283,0.00,0.88,0.00,0.000,4,0.000,0.041,2561,190,3968,0,0,0,0,0,0
$GC,1536,-0.76,-228.7,349.5,-18.2,249,1540,0.00,0.62,0.00,0.000,6,0.000,0.022,2561,762,3968,0,0,0,0,0,0
$GC,1868,-0.76,-228.7,407.0,-16.9,280,1872,0.00,0.82,0.00,0.000,4,0.000,0.042,2561,193,3967,0,0,0,0,0,0
$GC,2127,-0.76,-228.7,449.0,-15.3,303,2130,0.00,0.62,0.00,0.000,6,0.000,0.023,2561,748,3967,0,0,0,0,0,0
$GC,2459,-0.76,-228.7,491.6,-12.6,334,2463,0.00,0.80,0.00,0.000,4,0.000,0.043,2561,197,3965,0,0,0,0,0,0
$STATE,2523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2523,begin apogee
$GC,2530,-0.14,0.0,500.3,13.0,340,2710,0.62,0.00,169.57,0.952,4,0.125,0.000,2771,1030,3027,0,0,0,0,0,0
$STATE,2711,end apogee,CONTROL_FINISHED_OK
$STATE,2711,begin climb
$GC,2714,0.76,228.7,509.4,0.0,355,2895,0.75,1.98,171.70,0.928,4,0.050,0.018,3073,2379,2095,0,0,0,0,0,0
$GC,3109,0.76,228.7,466.6,14.6,389,3113,0.00,2.08,0.00,0.000,6,0.000,0.033,3083,1010,2090,0,0,0,0,0,0
$GC,3436,0.76,228.7,412.6,16.9,419,3439,0.00,1.20,0.00,0.000,4,0.000,0.041,3090,193,2087,0,0,0,0,0,0
$GC,3602,0.76,228.7,382.6,16.9,434,3606,0.00,1.05,0.00,0.000,6,0.000,0.019,3090,1044,2086,0,0,0,0,0,0
$GC,3934,0.76,228.7,332.0,14.3,465,3938,0.00,1.75,0.00,0.000,4,0.000,0.018,3090,2324,2084,0,0,0,0,0,0
$GC,4068,0.76,228.7,313.0,13.8,477,4073,0.12,1.95,0.00,0.000,6,0.167,0.033,3066,1011,2083,0,0,0,0,0,0
$GC,4398,0.76,228.7,268.3,12.6,528,4406,0.00,1.85,0.00,0.000,4,0.000,0.018,3066,2318,2082,0,0,0,0,0,0
$GC,4538,0.76,228.7,251.6,12.8,553,4545,0.00,1.90,0.00,0.000,6,0.000,0.034,3072,1040,2081,0,0,0,0,0,0
$GC,4873,0.77,233.8,212.0,12.2,614,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1039,2081,0,0,0,0,0,0
$GC,5205,0.83,287.7,171.8,10.4,675,5252,0.00,0.00,43.22,0.737,6,0.000,0.000,3072,1039,1855,0,0,0,0,0,0
$GC,5578,0.83,287.7,123.3,12.6,742,5586,0.00,1.83,0.00,0.000,4,0.000,0.018,3072,2324,1850,0,0,0,0,0,0
$GC,5682,0.84,290.0,110.0,12.3,761,5690,0.00,1.95,0.00,0.000,6,0.000,0.034,3079,1034,1849,0,0,0,0,0,0
$GC,6009,0.96,388.0,75.0,8.8,822,6094,0.15,1.85,76.47,0.650,4,0.080,0.016,3153,2327,1446,0,0,0,0,0,0
$GC,6141,0.96,388.0,57.0,14.7,841,6149,0.08,2.00,0.00,0.000,6,0.155,0.033,3137,1025,1442,0,0,0,0,0,0
$GC,6468,0.96,388.0,11.8,13.3,902,6477,0.00,1.85,0.00,0.000,4,0.000,0.018,3137,2331,1439,0,0,0,0,0,0
$GC,6532,0.96,390.2,3.4,12.3,913,6540,0.00,1.95,0.00,0.000,6,0.000,0.033,3144,1040,1439,0,0,0,0,0,0
$STATE,6546,end climb,SURFACE_DEPTH_REACHED
$STATE,6546,begin surface coast
$FINISH,0.3,1.009033
$STATE,6569,end surface coast,CONTROL_FINISHED_OK
$STATE,6569,begin surface
$SM_CCo,6588,14.62,0.142,1,0,1398,400.08
$SM_GC,0.88,0.00,0.00,14.62,0.000,0.000,0.142,116,789,1398,-8.46,-0.03,400.08
$IRIDIUM_FIX,2253.38,12658.28,091010,181809
$TT8_MAMPS,0.028462
$HUMID,41.14
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,27.50
$XPDR_PINGS,1
$24V_AH,24.7,25.938
$10V_AH,10.5,22.831
$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,18.800,33.375,460.975,14.625,0.000,27.207,14.809,143.328,0.250,0.000,12.435,2184.620,1547.614,457.737,2461.253,285.727,0.000,1326.093,0.000,2290.724,0.000,0.544,0.000
$DEVICE_MAMPS,227.970,71.910,952.425,141.525,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,619.412,940.108,1557.649,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53703,919
$CAP_FILE_SIZE,87789,0
$CFSIZE,260165632,160858112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.201, 13.5,1
$GPS,091010,221446,2302.227,12657.242,14,2.1,33,-3.3