version: 66.08
glider: 167
mission: 6
dive: 159
start: 10 12 110 23 0 2
data:
$ID,167
$MISSION,6
$DIVE,159
$N_DIVES,169
$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,-34470.117
$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,42
$R_STBD_OVSHOOT,140
$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
$GPS1,121010,225407,2305.868,12707.356,30,1.0,30,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-73.2
$GPS2,121010,225938,2305.939,12707.366,14,1.2,14,-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,216.8,6774,-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,19,-0.76,-228.7,0.0,0.0,0,90,0.00,0.00,-69.55,0.000,2,0.000,0.000,112,788,3297,0,0,0,0,0,0
$GC,93,-0.76,-228.7,5.8,-13.5,10,118,9.57,0.90,-10.40,0.000,4,0.230,0.073,2568,182,3964,0,0,0,0,0,0
$GC,355,-0.76,-228.7,99.9,-27.4,58,363,0.00,0.73,0.00,0.000,6,0.000,0.021,2565,810,3967,0,0,0,0,0,0
$GC,688,-0.76,-228.7,180.9,-23.1,119,695,0.00,0.90,0.00,0.000,4,0.000,0.040,2565,190,3969,0,0,0,0,0,0
$GC,943,-0.76,-228.7,240.7,-22.2,165,950,0.00,0.68,0.00,0.000,6,0.000,0.021,2561,801,3969,0,0,0,0,0,0
$GC,1283,-0.76,-228.7,308.3,-18.9,223,1286,0.00,0.88,0.00,0.000,4,0.000,0.041,2561,194,3969,0,0,0,0,0,0
$GC,1388,-0.76,-228.7,331.2,-20.3,232,1396,0.00,0.65,0.00,0.000,6,0.000,0.021,2560,793,3969,0,0,0,0,0,0
$GC,1715,-0.76,-228.7,386.7,-16.5,263,1718,0.00,0.88,0.00,0.000,4,0.000,0.041,2561,190,3969,0,0,0,0,0,0
$GC,1917,-0.76,-228.7,420.8,-15.3,281,1920,0.00,0.62,0.00,0.000,6,0.000,0.022,2559,753,3968,0,0,0,0,0,0
$GC,2248,-0.76,-228.7,470.4,-14.0,312,2252,0.00,1.90,0.00,0.000,4,0.000,0.016,2557,2133,3968,0,0,0,0,0,0
$GC,2315,-0.76,-228.7,478.3,-10.6,318,2319,0.00,2.00,0.00,0.000,6,0.000,0.034,2557,782,3968,0,0,0,0,0,0
$STATE,2475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2475,begin apogee
$GC,2483,-0.14,0.0,500.2,14.1,333,2661,0.62,0.00,170.05,0.946,4,0.122,0.000,2769,998,3029,0,0,0,0,0,0
$STATE,2662,end apogee,CONTROL_FINISHED_OK
$STATE,2662,begin climb
$GC,2666,0.76,228.7,509.0,0.0,348,2847,0.82,2.00,172.48,0.923,4,0.052,0.017,3080,2367,2096,0,0,0,0,0,0
$GC,3024,0.76,228.7,472.3,15.7,379,3028,0.00,2.08,0.00,0.000,6,0.000,0.032,3090,997,2091,0,0,0,0,0,0
$GC,3352,0.76,228.7,416.5,15.3,409,3356,0.00,1.17,0.00,0.000,4,0.000,0.041,3096,196,2088,0,0,0,0,0,0
$GC,3606,0.76,228.7,370.3,18.6,432,3610,0.00,1.05,0.00,0.000,6,0.000,0.019,3096,1047,2087,0,0,0,0,0,0
$GC,3938,0.76,228.7,312.8,16.2,463,3942,0.00,1.75,0.00,0.000,4,0.000,0.018,3096,2332,2084,0,0,0,0,0,0
$GC,3994,0.76,228.7,304.1,14.9,468,3999,0.12,1.95,0.00,0.000,6,0.167,0.032,3071,1017,2084,0,0,0,0,0,0
$GC,4326,0.76,228.7,258.8,12.8,526,4334,0.00,1.85,0.00,0.000,4,0.000,0.018,3071,2330,2083,0,0,0,0,0,0
$GC,4416,0.81,264.6,248.2,11.0,542,4453,0.00,1.95,26.20,0.779,6,0.000,0.033,3076,1033,1949,0,0,0,0,0,0
$GC,4783,0.81,264.6,200.4,14.4,607,4790,0.00,1.23,0.00,0.000,4,0.000,0.041,3083,199,1945,0,0,0,0,0,0
$GC,4802,0.81,264.6,197.3,14.6,610,4810,0.00,1.05,0.00,0.000,6,0.000,0.019,3082,1044,1945,0,0,0,0,0,0
$GC,5134,0.81,264.6,153.6,12.7,671,5141,0.00,1.80,0.00,0.000,4,0.000,0.018,3082,2346,1945,0,0,0,0,0,0
$GC,5192,0.83,281.9,146.0,11.7,681,5215,0.00,1.95,14.68,0.675,6,0.000,0.032,3091,1048,1878,0,0,0,0,0,0
$GC,5537,0.83,281.9,100.2,12.6,744,5545,0.00,1.83,0.00,0.000,4,0.000,0.018,3090,2342,1875,0,0,0,0,0,0
$GC,5617,0.93,361.6,91.6,9.5,758,5690,0.00,1.92,61.58,0.661,6,0.000,0.033,3098,1062,1552,0,0,0,0,0,0
$GC,6011,0.95,382.8,45.2,11.6,828,6035,0.00,0.00,16.77,0.592,6,0.000,0.000,3098,1061,1468,0,0,0,0,0,0
$GC,6353,1.04,450.9,10.2,9.9,891,6408,0.15,0.00,51.92,0.584,2,0.079,0.000,3174,1061,1198,0,0,0,0,0,0
$STATE,6409,end climb,SURFACE_DEPTH_REACHED
$STATE,6409,begin surface coast
$FINISH,0.3,1.007963
$STATE,6426,end surface coast,CONTROL_FINISHED_OK
$STATE,6427,begin surface
$SM_CCo,6504,0.00,0.000,0,0,1193,450.13
$SM_GC,1.19,7.88,0.00,0.00,0.036,0.000,0.000,115,779,1193,-8.36,-0.31,450.13
$IRIDIUM_FIX,2255.72,12708.12,121010,212120
$TT8_MAMPS,0.027713
$HUMID,39.48
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,27.80
$XPDR_PINGS,0
$24V_AH,24.7,30.830
$10V_AH,10.5,27.379
$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,19.175,34.250,513.675,0.000,0.000,22.330,15.953,142.556,0.000,0.000,15.548,2121.003,1551.253,474.449,2402.578,282.346,0.000,1339.403,0.000,2234.281,0.000,0.543,0.000
$DEVICE_MAMPS,230.265,73.440,946.305,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,605.737,920.817,1555.305,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53601,901
$CAP_FILE_SIZE,86449,0
$CFSIZE,260165632,158830592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.147, 42.5,1
$GPS,131010,004914,2305.483,12707.531,10,1.5,10,-3.4