version: 66.08
glider: 167
mission: 6
dive: 161
start: 10 13 110 2 47 2
data:
$ID,167
$MISSION,6
$DIVE,161
$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,-34472.625
$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,46
$R_STBD_OVSHOOT,168
$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
$GPS1,131010,024106,2305.194,12707.765,29,1.8,29,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.2
$GPS2,131010,024638,2305.235,12707.794,15,2.0,15,-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,231.7,6309,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.76,-228.7,0.0,0.0,0,83,0.00,0.00,-63.00,0.000,2,0.000,0.000,107,783,3254,0,0,0,0,0,0
$GC,86,-0.76,-228.7,5.3,-12.6,9,111,9.57,0.90,-11.40,0.000,4,0.230,0.076,2565,182,3964,0,0,0,0,0,0
$GC,348,-0.76,-228.7,95.5,-28.0,57,356,0.00,0.68,0.00,0.000,6,0.000,0.021,2562,791,3967,0,0,0,0,0,0
$GC,678,-0.76,-228.7,174.3,-23.8,118,686,0.00,0.88,0.00,0.000,4,0.000,0.040,2562,188,3968,0,0,0,0,0,0
$GC,932,-0.76,-228.7,234.8,-22.1,164,940,0.00,0.68,0.00,0.000,6,0.000,0.021,2560,822,3969,0,0,0,0,0,0
$GC,1267,-0.76,-228.7,302.6,-18.6,224,1271,0.00,0.90,0.00,0.000,4,0.000,0.041,2561,199,3969,0,0,0,0,0,0
$GC,1525,-0.76,-228.7,350.6,-17.2,247,1529,0.00,0.57,0.00,0.000,6,0.000,0.023,2558,733,3969,0,0,0,0,0,0
$GC,1856,-0.76,-228.7,406.4,-16.7,278,1859,0.00,0.77,0.00,0.000,4,0.000,0.042,2558,195,3969,0,0,0,0,0,0
$GC,1944,-0.76,-228.7,421.0,-16.5,286,1947,0.00,0.57,0.00,0.000,6,0.000,0.023,2557,728,3969,0,0,0,0,0,0
$GC,2276,-0.76,-228.7,472.5,-15.4,317,2280,0.00,1.88,0.00,0.000,4,0.000,0.015,2549,2101,3968,0,0,0,0,0,0
$GC,2311,-0.76,-228.7,477.6,-13.9,320,2315,0.00,2.00,0.00,0.000,6,0.000,0.034,2548,772,3967,0,0,0,0,0,0
$STATE,2449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2449,begin apogee
$GC,2457,-0.14,0.0,500.5,17.6,333,2634,0.68,0.00,170.18,0.948,4,0.126,0.000,2773,962,3029,0,0,0,0,0,0
$STATE,2635,end apogee,CONTROL_FINISHED_OK
$STATE,2635,begin climb
$GC,2639,0.76,228.7,512.0,0.0,348,2821,0.80,2.03,172.55,0.924,4,0.051,0.017,3077,2366,2095,0,0,0,0,0,0
$GC,3003,0.76,228.7,468.9,18.8,379,3010,0.00,2.08,0.00,0.000,6,0.000,0.031,3086,1008,2090,0,0,0,0,0,0
$GC,3331,0.76,228.7,408.2,17.1,410,3335,0.00,1.23,0.00,0.000,4,0.000,0.041,3093,186,2087,0,0,0,0,0,0
$GC,3590,0.76,228.7,362.4,19.1,433,3594,0.00,1.02,0.00,0.000,6,0.000,0.019,3093,1017,2086,0,0,0,0,0,0
$GC,3921,0.76,228.7,307.9,16.6,464,3925,0.00,1.23,0.00,0.000,4,0.000,0.040,3098,190,2084,0,0,0,0,0,0
$GC,4047,0.76,228.7,286.8,17.2,481,4054,0.08,1.00,0.00,0.000,6,0.158,0.020,3074,995,2083,0,0,0,0,0,0
$GC,4386,0.76,228.7,239.0,14.5,542,4393,0.00,1.90,0.00,0.000,4,0.000,0.018,3074,2345,2082,0,0,0,0,0,0
$GC,4499,0.76,228.7,224.6,12.6,561,4506,0.00,2.00,0.00,0.000,6,0.000,0.032,3082,997,2082,0,0,0,0,0,0
$GC,4841,0.76,228.7,180.6,13.6,622,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,997,2081,0,0,0,0,0,0
$GC,5178,0.76,228.7,137.7,12.5,683,5187,0.00,1.90,0.00,0.000,4,0.000,0.018,3082,2347,2081,0,0,0,0,0,0
$GC,5399,0.76,228.7,113.2,12.8,724,5408,0.00,2.00,0.00,0.000,6,0.000,0.033,3091,1013,2081,0,0,0,0,0,0
$GC,5725,0.85,302.6,75.5,9.7,785,5785,0.00,1.27,54.12,0.650,4,0.000,0.041,3096,182,1794,0,0,0,0,0,0
$GC,5869,0.92,356.2,61.6,10.4,808,5914,0.00,1.05,42.03,0.623,6,0.000,0.019,3097,1025,1575,0,0,0,0,0,0
$GC,6235,1.03,450.6,28.0,8.9,874,6317,0.15,1.90,72.70,0.596,4,0.079,0.016,3173,2332,1190,0,0,0,0,0,0
$GC,6349,1.03,450.6,11.3,14.4,890,6359,0.00,2.03,0.00,0.000,6,0.000,0.031,3182,1014,1188,0,0,0,0,0,0
$STATE,6396,end climb,SURFACE_DEPTH_REACHED
$STATE,6396,begin surface coast
$FINISH,0.5,1.021496
$STATE,6414,end surface coast,CONTROL_FINISHED_OK
$STATE,6414,begin surface
$SM_CCo,6492,0.00,0.000,0,0,1185,452.33
$SM_GC,1.27,7.88,0.00,0.00,0.036,0.000,0.000,117,780,1185,-8.35,-0.28,452.33
$IRIDIUM_FIX,2255.72,12704.84,131010,000019
$TT8_MAMPS,0.028462
$HUMID,40.15
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,27.70
$XPDR_PINGS,0
$24V_AH,24.7,31.082
$10V_AH,10.5,27.612
$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,19.150,32.875,511.575,0.000,0.000,25.879,19.046,139.049,0.000,0.000,16.355,2124.290,1536.773,463.085,2414.132,282.719,0.000,1325.867,0.000,2243.456,0.000,0.542,0.000
$DEVICE_MAMPS,230.265,75.735,947.835,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,605.693,922.035,1570.545,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53447,901
$CAP_FILE_SIZE,85192,0
$CFSIZE,260165632,158728192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080, 15.7,1
$GPS,131010,043622,2304.864,12707.572,13,99.0,32,-3.4