version: 66.08
glider: 167
mission: 6
dive: 131
start: 10 10 110 17 26 10
data:
$ID,167
$MISSION,6
$DIVE,131
$N_DIVES,142
$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,-34434.875
$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,49
$R_STBD_OVSHOOT,153
$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
$GPS1,101010,171936,2302.413,12651.189,29,1.0,29,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-74.0
$GPS2,101010,172544,2302.447,12651.180,16,1.6,16,-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,260.9,2257,-28.1,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.89,-86.4,0.0,0.0,0,83,0.00,0.00,-63.47,0.000,2,0.000,0.000,117,778,3304,0,0,0,0,0,0
$GC,86,-0.89,-86.4,5.8,-12.5,9,102,9.23,0.88,-1.25,0.000,4,0.226,0.072,2530,177,3384,0,0,0,0,0,0
$GC,122,-0.89,-86.4,25.6,-55.2,14,130,0.00,0.73,0.00,0.000,6,0.000,0.022,2526,770,3386,0,0,0,0,0,0
$GC,447,-0.89,-86.4,119.4,-26.8,75,456,0.00,1.95,0.00,0.000,4,0.000,0.015,2517,2181,3388,0,0,0,0,0,0
$GC,621,-0.89,-86.4,152.1,-16.9,107,629,0.00,2.08,0.00,0.000,6,0.000,0.034,2517,766,3389,0,0,0,0,0,0
$GC,955,-0.89,-86.4,215.9,-17.9,168,963,0.00,0.82,0.00,0.000,4,0.000,0.041,2517,187,3390,0,0,0,0,0,0
$GC,1206,-0.89,-86.4,266.0,-19.0,214,1214,0.00,0.68,0.00,0.000,6,0.000,0.022,2512,771,3390,0,0,0,0,0,0
$GC,1539,-0.89,-86.4,323.3,-18.0,263,1543,0.00,0.82,0.00,0.000,4,0.000,0.041,2512,196,3390,0,0,0,0,0,0
$GC,1794,-0.89,-86.4,369.5,-17.8,286,1797,0.00,0.65,0.00,0.000,6,0.000,0.022,2508,771,3390,0,0,0,0,0,0
$GC,2126,-0.89,-86.4,420.7,-15.2,317,2130,0.00,0.82,0.00,0.000,4,0.000,0.041,2508,198,3389,0,0,0,0,0,0
$GC,2382,-0.89,-86.4,461.9,-16.3,340,2386,0.08,0.60,0.00,0.000,6,0.174,0.024,2529,723,3388,0,0,0,0,0,0
$STATE,2690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2690,begin apogee
$GC,2698,-0.14,0.0,500.8,11.3,369,2768,0.75,0.00,65.53,0.959,4,0.137,0.000,2773,996,3029,0,0,0,0,0,0
$STATE,2769,end apogee,CONTROL_FINISHED_OK
$STATE,2769,begin climb
$GC,2772,0.89,86.4,503.0,0.0,375,2846,0.85,1.25,65.80,0.932,4,0.065,0.042,3108,191,2675,0,0,0,0,0,0
$GC,3098,0.91,105.8,472.1,10.5,403,3119,0.00,1.02,15.57,0.868,6,0.000,0.021,3107,1010,2597,0,0,0,0,0,0
$GC,3436,0.93,121.8,435.1,10.8,435,3453,0.00,1.90,12.57,0.848,4,0.000,0.017,3107,2346,2531,0,0,0,0,0,0
$GC,3559,0.93,121.8,418.8,13.3,445,3566,0.00,2.03,0.00,0.000,6,0.000,0.033,3116,994,2529,0,0,0,0,0,0
$GC,3885,0.93,121.8,376.5,12.5,476,3888,0.00,1.90,0.00,0.000,4,0.000,0.018,3117,2344,2526,0,0,0,0,0,0
$GC,3911,0.93,121.8,372.9,12.5,478,3919,0.00,2.03,0.00,0.000,6,0.000,0.034,3126,1005,2526,0,0,0,0,0,0
$GC,4239,0.95,141.2,332.6,10.5,509,4258,0.00,0.00,14.40,0.832,6,0.000,0.000,3126,1005,2453,0,0,0,0,0,0
$GC,4579,0.96,150.4,293.7,11.5,546,4594,0.00,1.17,8.12,0.741,4,0.000,0.039,3133,183,2416,0,0,0,0,0,0
$GC,4732,0.96,150.4,274.9,12.9,573,4739,0.00,1.02,0.00,0.000,6,0.000,0.019,3133,1015,2415,0,0,0,0,0,0
$GC,5065,0.96,150.4,234.6,12.7,634,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1016,2414,0,0,0,0,0,0
$GC,5401,1.02,193.0,199.8,8.3,695,5442,0.00,1.25,32.80,0.768,4,0.000,0.041,3139,197,2241,0,0,0,0,0,0
$GC,5488,1.02,193.0,189.7,14.2,709,5494,0.00,1.00,0.00,0.000,6,0.000,0.020,3139,993,2239,0,0,0,0,0,0
$GC,5823,1.02,193.0,143.4,13.5,770,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,992,2236,0,0,0,0,0,0
$GC,6147,1.03,200.2,103.6,11.7,831,6164,0.00,1.95,6.22,0.574,4,0.000,0.018,3139,2351,2211,0,0,0,0,0,0
$GC,6211,1.05,216.2,96.9,10.8,841,6234,0.00,2.03,13.50,0.649,6,0.000,0.032,3148,1007,2147,0,0,0,0,0,0
$GC,6556,1.10,264.1,63.3,7.8,904,6601,0.00,1.92,36.92,0.648,4,0.000,0.016,3148,2338,1950,0,0,0,0,0,0
$GC,6839,1.15,304.6,38.0,8.5,955,6879,0.08,1.98,31.52,0.615,6,0.053,0.033,3206,1028,1785,0,0,0,0,0,0
$STATE,7114,end climb,SURFACE_DEPTH_REACHED
$STATE,7114,begin surface coast
$FINISH,0.3,1.018188
$STATE,7142,end surface coast,CONTROL_FINISHED_OK
$STATE,7142,begin surface
$SM_CCo,7159,77.15,0.516,1,0,1397,400.08
$SM_GC,1.08,0.00,0.00,77.15,0.000,0.000,0.516,124,795,1397,-8.43,0.14,400.08
$IRIDIUM_FIX,2251.04,12649.85,101010,151545
$TT8_MAMPS,0.028462
$HUMID,38.97
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,27.80
$XPDR_PINGS,0
$24V_AH,24.8,27.297
$10V_AH,10.5,24.135
$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,18.875,33.025,302.975,77.150,0.000,28.739,44.478,141.627,0.000,0.000,17.249,2425.936,1798.558,427.769,2658.065,299.989,0.000,1292.288,0.000,2452.137,0.000,0.543,0.000
$DEVICE_MAMPS,225.675,71.910,959.310,516.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,681.423,1030.532,1725.326,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333932
$DATA_FILE_SIZE,60332,1008
$CAP_FILE_SIZE,92769,0
$CFSIZE,260165632,160276480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.226,355.5,1
$GPS,101010,192744,2303.035,12650.913,13,1.9,13,-3.3