version: 66.08
glider: 167
mission: 6
dive: 154
start: 10 12 110 13 21 1
data:
$ID,167
$MISSION,6
$DIVE,154
$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,-34463.758
$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,41
$R_STBD_OVSHOOT,171
$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
$GPS1,121010,131412,2305.782,12705.556,12,2.0,28,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-73.4
$GPS2,121010,132036,2305.870,12705.510,35,1.0,35,-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,193.9,5386,-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,-228.7,0.0,0.0,0,90,0.00,0.00,-70.18,0.000,2,0.000,0.000,118,782,3244,0,0,0,0,0,0
$GC,93,-0.76,-228.7,5.3,-11.9,10,118,9.57,0.90,-11.50,0.000,4,0.233,0.076,2565,179,3963,0,0,0,0,0,0
$GC,359,-0.76,-228.7,101.2,-28.3,58,367,0.00,0.68,0.00,0.000,6,0.000,0.021,2563,790,3966,0,0,0,0,0,0
$GC,691,-0.76,-228.7,179.2,-21.7,119,698,0.00,0.88,0.00,0.000,4,0.000,0.042,2562,192,3968,0,0,0,0,0,0
$GC,951,-0.76,-228.7,240.1,-22.2,165,958,0.00,0.65,0.00,0.000,6,0.000,0.022,2560,794,3968,0,0,0,0,0,0
$GC,1291,-0.76,-228.7,307.2,-19.7,223,1295,0.00,0.88,0.00,0.000,4,0.000,0.040,2560,190,3968,0,0,0,0,0,0
$GC,1497,-0.76,-228.7,351.5,-20.4,241,1504,0.00,0.62,0.00,0.000,6,0.000,0.021,2558,754,3968,0,0,0,0,0,0
$GC,1823,-0.76,-228.7,410.2,-17.5,272,1826,0.00,0.82,0.00,0.000,4,0.000,0.042,2558,186,3969,0,0,0,0,0,0
$GC,1973,-0.76,-228.7,435.9,-17.2,285,1977,0.00,0.62,0.00,0.000,6,0.000,0.022,2557,748,3968,0,0,0,0,0,0
$GC,2304,-0.76,-228.7,486.3,-13.8,316,2308,0.00,1.92,0.00,0.000,4,0.000,0.016,2548,2134,3967,0,0,0,0,0,0
$GC,2333,-0.76,-228.7,490.1,-13.1,318,2341,0.00,2.08,0.00,0.000,6,0.000,0.034,2548,750,3967,0,0,0,0,0,0
$STATE,2411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2411,begin apogee
$GC,2419,-0.14,0.0,501.4,14.7,326,2600,0.65,0.00,169.80,0.946,4,0.122,0.000,2768,993,3028,0,0,0,0,0,0
$STATE,2600,end apogee,CONTROL_FINISHED_OK
$STATE,2601,begin climb
$GC,2605,0.76,228.7,509.9,0.0,341,2784,0.77,0.00,171.82,0.921,6,0.054,0.000,3070,992,2095,0,0,0,0,0,0
$GC,3104,0.76,228.7,440.7,17.1,386,3108,0.00,1.90,0.00,0.000,4,0.000,0.018,3070,2347,2088,0,0,0,0,0,0
$GC,3362,0.76,228.7,398.7,15.9,409,3366,0.00,1.95,0.00,0.000,6,0.000,0.032,3079,1024,2086,0,0,0,0,0,0
$GC,3693,0.76,228.7,347.1,15.0,440,3697,0.00,1.85,0.00,0.000,4,0.000,0.018,3079,2344,2084,0,0,0,0,0,0
$GC,3854,0.76,228.7,323.8,13.8,454,3862,0.00,1.95,0.00,0.000,6,0.000,0.033,3088,1049,2083,0,0,0,0,0,0
$GC,4185,0.76,228.7,275.1,14.1,500,4193,0.00,1.83,0.00,0.000,4,0.000,0.018,3088,2340,2082,0,0,0,0,0,0
$GC,4337,0.76,228.7,253.8,15.2,527,4344,0.00,1.90,0.00,0.000,6,0.000,0.033,3096,1044,2081,0,0,0,0,0,0
$GC,4670,0.76,228.7,205.6,13.4,588,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1044,2081,0,0,0,0,0,0
$GC,5007,0.78,246.7,162.9,11.7,649,5028,0.00,1.85,12.55,0.685,4,0.000,0.018,3095,2343,2022,0,0,0,0,0,0
$GC,5081,0.79,254.3,153.9,12.1,661,5096,0.00,1.95,7.43,0.615,6,0.000,0.032,3104,1032,1991,0,0,0,0,0,0
$GC,5417,0.79,254.3,108.8,13.6,723,5425,0.00,1.23,0.00,0.000,4,0.000,0.040,3111,193,1989,0,0,0,0,0,0
$GC,5466,0.79,254.3,101.8,15.2,731,5474,0.10,1.02,0.00,0.000,6,0.147,0.019,3078,1022,1989,0,0,0,0,0,0
$GC,5796,0.93,365.2,66.8,8.3,792,5887,0.12,1.95,84.53,0.642,4,0.086,0.018,3140,2344,1540,0,0,0,0,0,0
$GC,5944,0.93,365.2,48.1,14.4,814,5952,0.00,2.03,0.00,0.000,6,0.000,0.032,3149,1024,1536,0,0,0,0,0,0
$GC,6271,0.93,365.2,3.4,14.0,875,6279,0.00,1.23,0.00,0.000,4,0.000,0.040,3155,190,1534,0,0,0,0,0,0
$STATE,6285,end climb,SURFACE_DEPTH_REACHED
$STATE,6285,begin surface coast
$FINISH,0.4,0.998497
$STATE,6302,end surface coast,CONTROL_FINISHED_OK
$STATE,6302,begin surface
$SM_CCo,6322,34.25,0.414,1,0,1398,400.08
$SM_GC,1.63,0.00,0.00,34.25,0.000,0.000,0.414,116,781,1398,-8.46,-0.25,400.08
$IRIDIUM_FIX,2258.07,12706.25,121010,111106
$TT8_MAMPS,0.028462
$HUMID,40.62
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,27.30
$XPDR_PINGS,0
$24V_AH,24.7,30.193
$10V_AH,10.5,26.788
$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,18.975,33.575,446.125,34.250,0.000,29.541,39.927,139.894,0.000,0.000,36.126,2088.565,1500.372,480.235,2392.460,282.781,0.000,1304.540,0.000,2172.711,0.000,0.544,0.000
$DEVICE_MAMPS,232.560,75.735,945.540,413.865,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,592.203,900.030,1512.062,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50233,880
$CAP_FILE_SIZE,84217,0
$CFSIZE,260165632,159105024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.150,343.0,1
$GPS,121010,150750,2305.447,12705.683,10,1.6,10,-3.4