version: 66.08
glider: 167
mission: 6
dive: 152
start: 10 12 110 9 28 56
data:
$ID,167
$MISSION,6
$DIVE,152
$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,-34461.25
$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,45
$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
$GPS1,121010,092232,2306.274,12704.783,11,1.3,11,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-73.6
$GPS2,121010,092831,2306.345,12704.730,12,1.3,17,-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,181.0,6212,-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,-228.7,0.0,0.0,0,85,0.00,0.00,-65.70,0.000,2,0.000,0.000,112,783,3389,0,0,0,0,0,0
$GC,88,-0.76,-228.7,6.3,-14.6,9,113,9.60,0.90,-8.73,0.000,4,0.231,0.076,2569,180,3964,0,0,0,0,0,0
$GC,352,-0.76,-228.7,104.8,-28.2,57,360,0.00,0.70,0.00,0.000,6,0.000,0.021,2565,804,3966,0,0,0,0,0,0
$GC,681,-0.76,-228.7,186.1,-22.4,118,688,0.00,0.88,0.00,0.000,4,0.000,0.041,2566,200,3968,0,0,0,0,0,0
$GC,933,-0.76,-228.7,241.6,-20.4,164,941,0.00,0.62,0.00,0.000,6,0.000,0.022,2562,767,3969,0,0,0,0,0,0
$GC,1270,-0.76,-228.7,304.2,-18.6,224,1274,0.00,0.82,0.00,0.000,4,0.000,0.041,2562,195,3969,0,0,0,0,0,0
$GC,1359,-0.76,-228.7,322.5,-20.5,232,1363,0.00,0.65,0.00,0.000,6,0.000,0.021,2561,800,3968,0,0,0,0,0,0
$GC,1691,-0.76,-228.7,386.6,-19.3,263,1695,0.00,0.88,0.00,0.000,4,0.000,0.041,2560,196,3969,0,0,0,0,0,0
$GC,1835,-0.76,-228.7,414.0,-17.7,276,1839,0.00,0.60,0.00,0.000,6,0.000,0.023,2561,739,3968,0,0,0,0,0,0
$GC,2167,-0.76,-228.7,464.7,-14.1,307,2171,0.00,0.80,0.00,0.000,4,0.000,0.042,2561,189,3967,0,0,0,0,0,0
$GC,2224,-0.76,-228.7,472.9,-13.9,312,2227,0.00,0.60,0.00,0.000,6,0.000,0.023,2561,725,3968,0,0,0,0,0,0
$STATE,2427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2427,begin apogee
$GC,2434,-0.14,0.0,500.0,13.1,331,2614,0.62,0.00,170.18,0.948,4,0.124,0.000,2772,965,3028,0,0,0,0,0,0
$STATE,2615,end apogee,CONTROL_FINISHED_OK
$STATE,2615,begin climb
$GC,2619,0.76,228.7,509.2,0.0,346,2799,0.77,1.20,172.00,0.925,4,0.056,0.041,3065,197,2095,0,0,0,0,0,0
$GC,2957,0.76,228.7,471.9,16.0,375,2961,0.00,1.02,0.00,0.000,6,0.000,0.019,3066,1008,2090,0,0,0,0,0,0
$GC,3289,0.76,228.7,422.4,15.9,406,3293,0.00,1.20,0.00,0.000,4,0.000,0.040,3071,198,2086,0,0,0,0,0,0
$GC,3506,0.76,228.7,387.2,16.2,425,3509,0.00,1.00,0.00,0.000,6,0.000,0.020,3071,1004,2085,0,0,0,0,0,0
$GC,3837,0.76,228.7,339.1,13.0,456,3840,0.00,1.88,0.00,0.000,4,0.000,0.018,3071,2349,2083,0,0,0,0,0,0
$GC,3897,0.76,228.7,330.8,13.1,461,3904,0.00,2.00,0.00,0.000,6,0.000,0.033,3081,1019,2082,0,0,0,0,0,0
$GC,4229,0.76,228.7,282.5,15.8,502,4236,0.00,1.88,0.00,0.000,4,0.000,0.018,3080,2342,2081,0,0,0,0,0,0
$GC,4331,0.76,228.7,266.4,15.6,520,4339,0.00,2.00,0.00,0.000,6,0.000,0.033,3089,1014,2081,0,0,0,0,0,0
$GC,4675,0.76,228.7,214.1,14.6,581,4682,0.00,1.88,0.00,0.000,4,0.000,0.018,3089,2341,2080,0,0,0,0,0,0
$GC,4932,0.78,241.6,181.1,11.9,627,4948,0.00,1.95,9.02,0.672,6,0.000,0.033,3098,1025,2042,0,0,0,0,0,0
$GC,5280,0.78,241.6,137.5,12.6,689,5288,0.00,1.85,0.00,0.000,4,0.000,0.017,3098,2339,2041,0,0,0,0,0,0
$GC,5349,0.79,252.1,128.4,12.0,701,5364,0.00,1.95,9.35,0.636,6,0.000,0.033,3107,1042,2000,0,0,0,0,0,0
$GC,5684,0.87,314.7,88.2,10.1,763,5739,0.00,1.92,48.53,0.668,4,0.000,0.018,3107,2351,1745,0,0,0,0,0,0
$GC,5759,0.90,342.8,80.2,11.3,773,5790,0.00,1.98,23.05,0.632,6,0.000,0.033,3114,1063,1630,0,0,0,0,0,0
$GC,6111,0.95,378.4,39.0,11.1,837,6143,0.00,1.35,27.88,0.610,4,0.000,0.041,3120,187,1485,0,0,0,0,0,0
$GC,6245,0.95,378.4,21.8,13.0,860,6254,0.00,1.10,0.00,0.000,6,0.000,0.019,3120,1067,1483,0,0,0,0,0,0
$STATE,6395,end climb,SURFACE_DEPTH_REACHED
$STATE,6396,begin surface coast
$FINISH,0.4,1.011012
$STATE,6420,end surface coast,CONTROL_FINISHED_OK
$STATE,6420,begin surface
$SM_CCo,6438,22.15,0.308,1,0,1397,400.08
$SM_GC,1.52,0.00,0.00,22.15,0.000,0.000,0.308,122,781,1397,-8.44,-0.25,400.08
$IRIDIUM_FIX,2258.07,12701.10,121010,070747
$TT8_MAMPS,0.028462
$HUMID,40.58
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,27.70
$XPDR_PINGS,0
$24V_AH,24.7,29.936
$10V_AH,10.5,26.556
$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,18.650,34.200,460.000,22.150,0.000,27.424,42.502,140.615,0.000,0.000,18.190,2118.451,1572.218,460.444,2391.907,282.156,0.000,1292.657,0.000,2188.010,0.000,0.543,0.000
$DEVICE_MAMPS,231.030,75.735,947.835,307.530,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,600.491,910.743,1527.184,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53486,891
$CAP_FILE_SIZE,85488,0
$CFSIZE,260165632,159207424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.200, 19.9,1
$GPS,121010,111800,2306.217,12705.357,39,1.2,39,-3.4