version: 66.08
glider: 167
mission: 6
dive: 151
start: 10 12 110 7 34 57
data:
$ID,167
$MISSION,6
$DIVE,151
$N_DIVES,155
$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,-34459.992
$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,35
$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
$GPS1,121010,072837,2306.214,12704.398,41,1.0,41,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-72.6
$GPS2,121010,073432,2306.264,12704.303,15,1.0,15,-3.4
$SPEED_LIMITS,0.214,0.341
$TGT_NAME,WAKEB_EAST
$TGT_LATLONG,2303.000,12705.000
$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,168.2,6161,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.76,-228.7,0.0,0.0,0,89,0.00,0.00,-69.95,0.000,2,0.000,0.000,112,793,3253,0,0,0,0,0,0
$GC,93,-0.76,-228.7,5.2,-11.1,10,118,9.55,0.93,-11.52,0.000,4,0.230,0.075,2566,177,3964,0,0,0,0,0,0
$GC,356,-0.76,-228.7,100.6,-27.9,58,364,0.00,0.73,0.00,0.000,6,0.000,0.021,2563,808,3968,0,0,0,0,0,0
$GC,688,-0.76,-228.7,178.1,-21.4,119,695,0.00,0.90,0.00,0.000,4,0.000,0.040,2563,190,3969,0,0,0,0,0,0
$GC,940,-0.76,-228.7,235.5,-20.5,165,947,0.00,0.65,0.00,0.000,6,0.000,0.021,2560,789,3969,0,0,0,0,0,0
$GC,1275,-0.76,-228.7,299.2,-20.6,226,1283,0.00,0.88,0.00,0.000,4,0.000,0.041,2560,186,3969,0,0,0,0,0,0
$GC,1359,-0.76,-228.7,317.2,-19.9,234,1368,0.00,0.62,0.00,0.000,6,0.000,0.021,2557,769,3969,0,0,0,0,0,0
$GC,1687,-0.76,-228.7,374.7,-16.2,265,1690,0.00,0.85,0.00,0.000,4,0.000,0.041,2557,181,3969,0,0,0,0,0,0
$GC,1912,-0.76,-228.7,412.8,-15.5,285,1919,0.00,0.62,0.00,0.000,6,0.000,0.022,2554,740,3969,0,0,0,0,0,0
$GC,2238,-0.76,-228.7,460.6,-14.3,316,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,740,3968,0,0,0,0,0,0
$STATE,2523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2523,begin apogee
$GC,2531,-0.14,0.0,500.2,13.7,343,2710,0.65,0.00,170.43,0.955,4,0.123,0.000,2773,998,3028,0,0,0,0,0,0
$STATE,2711,end apogee,CONTROL_FINISHED_OK
$STATE,2711,begin climb
$GC,2715,0.76,228.7,509.9,0.0,358,2897,0.77,1.27,172.05,0.930,4,0.057,0.041,3080,190,2095,0,0,0,0,0,0
$GC,3043,0.76,228.7,467.9,18.3,386,3051,0.00,1.02,0.00,0.000,6,0.000,0.019,3080,1005,2089,0,0,0,0,0,0
$GC,3370,0.76,228.7,412.8,16.6,417,3374,0.00,1.23,0.00,0.000,4,0.000,0.040,3086,185,2086,0,0,0,0,0,0
$GC,3627,0.76,228.7,368.2,16.3,440,3631,0.00,1.05,0.00,0.000,6,0.000,0.020,3086,1026,2085,0,0,0,0,0,0
$GC,3960,0.76,228.7,317.6,15.2,471,3963,0.00,1.83,0.00,0.000,4,0.000,0.018,3086,2337,2082,0,0,0,0,0,0
$GC,4016,0.76,228.7,309.3,14.6,476,4020,0.00,1.95,0.00,0.000,6,0.000,0.032,3095,1011,2082,0,0,0,0,0,0
$GC,4348,0.76,228.7,258.3,16.2,531,4355,0.00,1.85,0.00,0.000,4,0.000,0.018,3095,2337,2081,0,0,0,0,0,0
$GC,4601,0.76,228.7,222.5,13.5,577,4608,0.12,1.90,0.00,0.000,6,0.170,0.033,3068,1040,2080,0,0,0,0,0,0
$GC,4934,0.82,274.3,184.5,10.7,638,4975,0.00,0.00,33.40,0.748,6,0.000,0.000,3069,1040,1909,0,0,0,0,0,0
$GC,5300,0.86,308.0,140.8,11.1,704,5331,0.00,1.90,26.65,0.699,4,0.000,0.018,3068,2335,1772,0,0,0,0,0,0
$GC,5378,0.86,308.0,130.7,12.9,716,5386,0.00,1.95,0.00,0.000,6,0.000,0.034,3073,1061,1770,0,0,0,0,0,0
$GC,5705,0.91,347.1,87.9,10.9,777,5743,0.12,1.80,30.77,0.659,4,0.087,0.016,3134,2336,1613,0,0,0,0,0,0
$GC,5753,0.91,347.1,81.7,14.0,783,5762,0.00,1.92,0.00,0.000,6,0.000,0.032,3143,1074,1612,0,0,0,0,0,0
$GC,6079,0.91,347.1,32.2,12.9,844,6087,0.00,1.30,0.00,0.000,4,0.000,0.041,3150,194,1609,0,0,0,0,0,0
$GC,6212,0.91,347.1,14.0,14.6,868,6220,0.10,1.10,0.00,0.000,6,0.143,0.018,3116,1078,1608,0,0,0,0,0,0
$STATE,6304,end climb,SURFACE_DEPTH_REACHED
$STATE,6304,begin surface coast
$FINISH,0.4,1.021134
$STATE,6330,end surface coast,CONTROL_FINISHED_OK
$STATE,6330,begin surface
$SM_CCo,6349,51.62,0.483,1,0,1397,400.08
$SM_GC,1.35,0.00,0.00,51.62,0.000,0.000,0.483,112,783,1397,-8.47,-0.20,400.08
$IRIDIUM_FIX,2258.07,12706.25,121010,050526
$TT8_MAMPS,0.028462
$HUMID,40.58
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,27.20
$XPDR_PINGS,0
$24V_AH,24.7,29.812
$10V_AH,10.4,26.440
$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,18.900,28.875,433.300,51.625,0.000,23.738,44.569,139.372,0.000,0.000,16.773,2103.197,1516.179,489.527,2372.018,281.338,0.000,1306.824,0.000,2178.459,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,74.970,955.485,482.715,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,599.457,909.153,1506.806,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53635,889
$CAP_FILE_SIZE,83892,0
$CFSIZE,260165632,159260672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.224,358.5,1
$GPS,121010,092232,2306.274,12704.783,11,1.3,11,-3.4