version: 66.08
glider: 167
mission: 6
dive: 124
start: 10 10 110 4 6 2
data:
$ID,167
$MISSION,6
$DIVE,124
$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,-34426.086
$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,46
$R_STBD_OVSHOOT,141
$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
$GPS1,101010,035719,2302.261,12655.419,9,2.0,14,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-71.1
$GPS2,101010,040536,2302.374,12655.326,35,1.0,39,-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,246.1,9150,-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,16,-0.76,-228.7,0.0,0.0,0,83,0.00,0.00,-65.00,0.000,2,0.000,0.000,117,775,3362,0,0,0,0,0,0
$GC,87,-0.76,-228.7,6.1,-13.9,9,112,9.45,0.88,-9.05,0.000,4,0.228,0.076,2568,186,3965,0,0,0,0,0,0
$GC,350,-0.76,-228.7,100.5,-25.0,57,358,0.00,0.73,0.00,0.000,6,0.000,0.021,2565,801,3967,0,0,0,0,0,0
$GC,679,-0.76,-228.7,172.3,-22.2,118,687,0.00,0.88,0.00,0.000,4,0.000,0.041,2565,197,3969,0,0,0,0,0,0
$GC,932,-0.76,-228.7,229.2,-21.3,164,940,0.00,0.68,0.00,0.000,6,0.000,0.022,2561,795,3968,0,0,0,0,0,0
$GC,1266,-0.76,-228.7,291.5,-17.5,225,1273,0.00,0.88,0.00,0.000,4,0.000,0.041,2561,193,3969,0,0,0,0,0,0
$GC,1524,-0.76,-228.7,342.2,-20.3,252,1527,0.00,0.65,0.00,0.000,6,0.000,0.022,2560,774,3969,0,0,0,0,0,0
$GC,1858,-0.76,-228.7,395.2,-14.7,283,1862,0.00,0.85,0.00,0.000,4,0.000,0.042,2561,190,3969,0,0,0,0,0,0
$GC,2112,-0.76,-228.7,437.6,-17.0,306,2115,0.00,0.65,0.00,0.000,6,0.000,0.023,2558,755,3968,0,0,0,0,0,0
$GC,2444,-0.76,-228.7,483.8,-13.2,337,2448,0.00,0.82,0.00,0.000,4,0.000,0.043,2557,191,3966,0,0,0,0,0,0
$STATE,2565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2565,begin apogee
$GC,2572,-0.14,0.0,500.4,13.4,348,2752,0.65,0.00,169.62,0.955,4,0.122,0.000,2773,1028,3031,0,0,0,0,0,0
$STATE,2752,end apogee,CONTROL_FINISHED_OK
$STATE,2752,begin climb
$GC,2755,0.76,228.7,509.9,0.0,363,2937,0.77,0.00,172.77,0.931,6,0.056,0.000,3075,1028,2094,0,0,0,0,0,0
$GC,3255,0.76,228.7,442.9,16.3,408,3259,0.00,1.92,0.00,0.000,4,0.000,0.020,3075,2358,2087,0,0,0,0,0,0
$GC,3513,0.76,228.7,402.0,15.6,431,3517,0.00,2.00,0.00,0.000,6,0.000,0.034,3084,1025,2085,0,0,0,0,0,0
$GC,3843,0.76,228.7,348.8,16.0,462,3847,0.00,1.23,0.00,0.000,4,0.000,0.042,3091,194,2083,0,0,0,0,0,0
$GC,3871,0.76,228.7,344.3,15.9,464,3879,0.00,1.08,0.00,0.000,6,0.000,0.020,3091,1054,2083,0,0,0,0,0,0
$GC,4201,0.76,228.7,292.1,15.7,499,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1055,2081,0,0,0,0,0,0
$GC,4531,0.76,228.7,240.1,14.8,560,4539,0.00,1.85,0.00,0.000,4,0.000,0.019,3091,2363,2080,0,0,0,0,0,0
$GC,4671,0.76,228.7,220.6,13.6,585,4679,0.12,1.98,0.00,0.000,6,0.171,0.033,3066,1017,2079,0,0,0,0,0,0
$GC,5005,0.76,228.7,177.8,13.9,646,5012,0.00,1.20,0.00,0.000,4,0.000,0.041,3071,194,2079,0,0,0,0,0,0
$GC,5026,0.76,228.7,174.8,13.7,649,5033,0.00,1.08,0.00,0.000,6,0.000,0.019,3071,1058,2079,0,0,0,0,0,0
$GC,5356,0.79,255.2,136.1,11.4,710,5379,0.00,0.00,18.55,0.698,6,0.000,0.000,3071,1058,1987,0,0,0,0,0,0
$GC,5700,0.84,292.8,97.4,11.0,773,5740,0.00,1.90,29.67,0.674,4,0.000,0.018,3071,2371,1834,0,0,0,0,0,0
$GC,5834,0.91,349.6,83.5,10.3,795,5888,0.08,2.08,44.45,0.656,6,0.055,0.033,3128,1005,1602,0,0,0,0,0,0
$GC,6210,0.92,360.8,33.7,11.9,862,6226,0.00,1.92,9.25,0.556,4,0.000,0.015,3128,2374,1557,0,0,0,0,0,0
$GC,6276,0.94,371.7,26.1,12.0,873,6292,0.00,2.08,10.32,0.557,6,0.000,0.034,3129,1008,1512,0,0,0,0,0,0
$STATE,6478,end climb,SURFACE_DEPTH_REACHED
$STATE,6478,begin surface coast
$FINISH,0.3,1.021619
$STATE,6500,end surface coast,CONTROL_FINISHED_OK
$STATE,6500,begin surface
$SM_CCo,6518,28.00,0.374,1,0,1397,400.08
$SM_GC,1.68,0.00,0.00,28.00,0.000,0.000,0.374,113,783,1397,-8.47,-0.20,400.08
$IRIDIUM_FIX,2253.38,12653.13,101010,030324
$TT8_MAMPS,0.026964
$HUMID,40.90
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.30
$XPDR_PINGS,0
$24V_AH,24.7,26.450
$10V_AH,10.5,23.303
$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,18.700,28.625,454.650,28.000,0.000,49.958,82.941,130.890,0.000,0.000,40.469,2167.756,1596.408,465.789,2542.151,279.903,0.000,1319.907,0.000,2265.308,0.000,0.542,0.000
$DEVICE_MAMPS,227.970,75.735,955.485,374.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,616.615,934.876,1577.863,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53750,914
$CAP_FILE_SIZE,86345,0
$CFSIZE,260165632,160645120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.230,349.5,1
$GPS,101010,055622,2302.256,12654.658,9,2.2,28,-3.3