version: 66.08
glider: 167
mission: 6
dive: 84
start: 10 6 110 22 44 32
data:
$ID,167
$MISSION,6
$DIVE,84
$N_DIVES,105
$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,-34375.859
$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,155
$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
$GPS1,061010,223831,2304.279,12706.268,9,1.8,14,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.8
$GPS2,061010,224407,2304.325,12706.211,11,1.8,16,-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,191.9,3206,-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,17,-0.76,-228.7,0.0,0.0,0,84,0.00,0.00,-64.47,0.000,2,0.000,0.000,121,786,3274,0,0,0,0,0,0
$GC,87,-0.76,-228.7,5.2,-11.9,9,113,9.25,0.90,-11.23,0.000,4,0.223,0.077,2567,186,3964,0,0,0,0,0,0
$GC,351,-0.76,-228.7,101.6,-26.3,57,358,0.00,0.70,0.00,0.000,6,0.000,0.022,2565,777,3967,0,0,0,0,0,0
$GC,682,-0.76,-228.7,176.1,-21.6,118,690,0.00,0.85,0.00,0.000,4,0.000,0.042,2565,190,3969,0,0,0,0,0,0
$GC,941,-0.76,-228.7,235.8,-21.0,164,949,0.00,0.70,0.00,0.000,6,0.000,0.021,2561,804,3969,0,0,0,0,0,0
$GC,1286,-0.76,-228.7,296.6,-17.6,225,1293,0.00,0.90,0.00,0.000,4,0.000,0.042,2561,187,3969,0,0,0,0,0,0
$GC,1436,-0.76,-228.7,325.7,-19.0,240,1440,0.00,0.70,0.00,0.000,6,0.000,0.021,2561,808,3969,0,0,0,0,0,0
$GC,1769,-0.76,-228.7,380.9,-16.7,271,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,808,3969,0,0,0,0,0,0
$GC,2088,-0.76,-228.7,429.9,-14.7,301,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,809,3969,0,0,0,0,0,0
$GC,2417,-0.76,-228.7,471.0,-11.2,332,2421,0.00,0.90,0.00,0.000,4,0.000,0.042,2561,193,3967,0,0,0,0,0,0
$STATE,2644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2644,begin apogee
$GC,2652,-0.14,0.0,500.5,12.9,352,2826,0.62,0.00,169.57,0.950,4,0.121,0.000,2770,1019,3028,0,0,0,0,0,0
$STATE,2827,end apogee,CONTROL_FINISHED_OK
$STATE,2827,begin climb
$GC,2831,0.76,228.7,510.4,0.0,367,3012,0.82,1.98,172.30,0.926,4,0.055,0.018,3077,2395,2095,0,0,0,0,0,0
$GC,3265,0.76,228.7,460.7,17.1,405,3269,0.00,2.10,0.00,0.000,6,0.000,0.033,3087,1004,2089,0,0,0,0,0,0
$GC,3592,0.76,228.7,401.9,17.0,435,3596,0.00,1.20,0.00,0.000,4,0.000,0.042,3094,190,2086,0,0,0,0,0,0
$GC,3643,0.76,228.7,391.7,19.3,439,3650,0.00,1.10,0.00,0.000,6,0.000,0.018,3094,1071,2086,0,0,0,0,0,0
$GC,3971,0.76,228.7,334.9,18.5,470,3975,0.00,1.77,0.00,0.000,4,0.000,0.020,3094,2352,2084,0,0,0,0,0,0
$GC,4155,0.76,228.7,304.1,17.1,486,4165,0.10,1.98,0.00,0.000,6,0.150,0.034,3069,1040,2083,0,0,0,0,0,0
$GC,4497,0.76,228.7,254.4,12.7,545,4504,0.00,1.25,0.00,0.000,4,0.000,0.042,3075,189,2082,0,0,0,0,0,0
$GC,4607,0.76,228.7,238.6,15.6,564,4615,0.00,1.08,0.00,0.000,6,0.000,0.020,3074,1050,2082,0,0,0,0,0,0
$GC,4948,0.76,228.7,194.8,12.5,625,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1048,2081,0,0,0,0,0,0
$GC,5284,0.77,233.6,153.9,12.2,686,5293,0.00,1.80,0.00,0.000,4,0.000,0.018,3075,2339,2080,0,0,0,0,0,0
$GC,5505,0.85,297.0,129.3,10.0,726,5564,0.00,1.92,50.05,0.702,6,0.000,0.035,3076,1058,1816,0,0,0,0,0,0
$GC,5884,0.90,343.6,79.8,10.7,794,5930,0.10,1.88,36.10,0.649,4,0.106,0.019,3120,2338,1627,0,0,0,0,0,0
$GC,5955,0.90,343.6,70.6,13.4,804,5963,0.00,2.00,0.00,0.000,6,0.000,0.033,3129,1036,1625,0,0,0,0,0,0
$GC,6284,0.90,343.6,25.8,12.7,865,6292,0.00,1.25,0.00,0.000,4,0.000,0.041,3136,189,1622,0,0,0,0,0,0
$GC,6333,0.90,343.6,18.8,14.5,873,6341,0.00,1.05,0.00,0.000,6,0.000,0.019,3136,1048,1621,0,0,0,0,0,0
$STATE,6447,end climb,SURFACE_DEPTH_REACHED
$STATE,6447,begin surface coast
$FINISH,0.7,1.022108
$STATE,6467,end surface coast,CONTROL_FINISHED_OK
$STATE,6468,begin surface
$SM_CCo,6485,53.78,0.487,1,0,1397,400.08
$SM_GC,1.37,0.00,0.00,53.78,0.000,0.000,0.487,118,790,1397,-8.45,0.00,400.08
$IRIDIUM_FIX,2255.72,12704.84,061010,202024
$TT8_MAMPS,0.028462
$HUMID,40.19
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,27.00
$XPDR_PINGS,0
$24V_AH,24.7,21.416
$10V_AH,10.5,18.587
$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,18.550,29.375,428.025,53.775,0.000,32.326,15.333,136.959,0.000,0.000,17.498,2127.352,1611.161,480.792,2385.552,275.522,0.000,1310.710,0.000,2204.683,0.000,0.543,0.000
$DEVICE_MAMPS,223.380,77.265,950.130,486.540,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,604.779,916.928,1522.061,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333908
$DATA_FILE_SIZE,53568,897
$CAP_FILE_SIZE,84219,0
$CFSIZE,260165632,162762752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.256,338.3,1
$GPS,071010,003454,2304.370,12706.107,40,1.0,40,-3.4