version: 66.08
glider: 167
mission: 6
dive: 149
start: 10 12 110 3 47 1
data:
$ID,167
$MISSION,6
$DIVE,149
$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,-34457.48
$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,37
$R_STBD_OVSHOOT,146
$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
$GPS1,121010,034106,2306.106,12703.872,34,1.1,34,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-73.0
$GPS2,121010,034637,2306.139,12703.824,12,1.4,17,-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,167.2,6149,-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,-228.7,0.0,0.0,0,86,0.00,0.00,-65.60,0.000,2,0.000,0.000,115,782,3381,0,0,0,0,0,0
$GC,88,-0.76,-228.7,5.9,-12.6,9,113,9.52,0.90,-9.10,0.000,4,0.230,0.076,2569,179,3965,0,0,0,0,0,0
$GC,350,-0.76,-228.7,100.1,-26.9,57,358,0.00,0.73,0.00,0.000,6,0.000,0.021,2566,818,3968,0,0,0,0,0,0
$GC,680,-0.76,-228.7,175.2,-23.6,118,689,0.00,0.93,0.00,0.000,4,0.000,0.040,2566,182,3969,0,0,0,0,0,0
$GC,941,-0.76,-228.7,234.1,-22.3,164,949,0.00,0.65,0.00,0.000,6,0.000,0.022,2563,770,3969,0,0,0,0,0,0
$GC,1286,-0.76,-228.7,296.5,-17.8,225,1292,0.00,0.85,0.00,0.000,4,0.000,0.041,2563,184,3969,0,0,0,0,0,0
$GC,1356,-0.76,-228.7,309.8,-17.9,233,1360,0.00,0.68,0.00,0.000,6,0.000,0.021,2561,801,3970,0,0,0,0,0,0
$GC,1687,-0.76,-228.7,366.2,-17.0,264,1691,0.00,0.90,0.00,0.000,4,0.000,0.041,2561,183,3969,0,0,0,0,0,0
$GC,1723,-0.76,-228.7,372.2,-17.7,267,1727,0.00,0.62,0.00,0.000,6,0.000,0.022,2561,754,3970,0,0,0,0,0,0
$GC,2055,-0.76,-228.7,427.4,-15.5,298,2059,0.00,0.82,0.00,0.000,4,0.000,0.041,2561,187,3969,0,0,0,0,0,0
$GC,2228,-0.76,-228.7,456.3,-15.4,313,2235,0.00,0.65,0.00,0.000,6,0.000,0.022,2560,751,3968,0,0,0,0,0,0
$GC,2553,-0.76,-228.7,499.0,-13.0,344,2557,0.00,0.82,0.00,0.000,4,0.000,0.042,2560,185,3967,0,0,0,0,0,0
$STATE,2565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2565,begin apogee
$GC,2572,-0.14,0.0,500.7,12.6,345,2752,0.62,0.03,170.48,0.951,4,0.122,0.084,2772,1004,3028,0,0,0,0,0,0
$STATE,2752,end apogee,CONTROL_FINISHED_OK
$STATE,2753,begin climb
$GC,2755,0.76,228.7,510.4,0.0,360,2936,0.77,0.00,172.18,0.924,6,0.052,0.000,3078,1004,2095,0,0,0,0,0,0
$GC,3253,0.76,228.7,442.9,17.5,405,3256,0.00,1.23,0.00,0.000,4,0.000,0.040,3084,178,2088,0,0,0,0,0,0
$GC,3478,0.76,228.7,401.8,19.0,425,3482,0.00,1.12,0.00,0.000,6,0.000,0.019,3084,1072,2088,0,0,0,0,0,0
$GC,3809,0.76,228.7,345.6,17.2,456,3813,0.00,1.77,0.00,0.000,4,0.000,0.018,3084,2365,2085,0,0,0,0,0,0
$GC,3860,0.76,228.7,337.4,15.3,460,3868,0.00,2.00,0.00,0.000,6,0.000,0.032,3093,1042,2085,0,0,0,0,0,0
$GC,4189,0.76,228.7,284.2,15.8,500,4198,0.00,1.88,0.00,0.000,4,0.000,0.018,3093,2362,2083,0,0,0,0,0,0
$GC,4347,0.76,228.7,261.0,15.0,527,4354,0.12,1.92,0.00,0.000,6,0.166,0.033,3068,1051,2082,0,0,0,0,0,0
$GC,4689,0.76,228.7,209.8,13.2,588,4697,0.00,1.85,0.00,0.000,4,0.000,0.018,3068,2364,2081,0,0,0,0,0,0
$GC,4744,0.76,228.7,202.7,13.2,597,4751,0.00,1.90,0.00,0.000,6,0.000,0.033,3075,1066,2081,0,0,0,0,0,0
$GC,5085,0.79,252.6,160.7,11.5,658,5108,0.00,1.90,17.15,0.710,4,0.000,0.018,3075,2374,1998,0,0,0,0,0,0
$GC,5190,0.83,281.0,148.9,11.3,675,5220,0.00,1.98,23.15,0.702,6,0.000,0.034,3083,1069,1883,0,0,0,0,0,0
$GC,5543,0.83,281.0,104.0,14.1,739,5551,0.00,1.30,0.00,0.000,4,0.000,0.041,3090,190,1879,0,0,0,0,0,0
$GC,5591,0.83,281.0,97.0,14.1,747,5599,0.00,1.15,0.00,0.000,6,0.000,0.018,3089,1110,1878,0,0,0,0,0,0
$GC,5919,0.87,318.0,60.4,11.0,808,5956,0.00,1.40,28.95,0.639,4,0.000,0.038,3093,188,1731,0,0,0,0,0,0
$GC,6035,0.95,381.8,48.2,10.0,827,6090,0.08,1.12,50.08,0.624,6,0.065,0.018,3143,1073,1472,0,0,0,0,0,0
$STATE,6372,end climb,SURFACE_DEPTH_REACHED
$STATE,6372,begin surface coast
$FINISH,0.3,1.011734
$STATE,6396,end surface coast,CONTROL_FINISHED_OK
$STATE,6396,begin surface
$SM_CCo,6414,20.17,0.278,1,0,1398,400.08
$SM_GC,1.31,0.00,0.00,20.17,0.000,0.000,0.278,121,789,1398,-8.44,-0.03,400.08
$IRIDIUM_FIX,2258.07,12704.84,121010,010123
$TT8_MAMPS,0.027713
$HUMID,41.10
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.10
$XPDR_PINGS,0
$24V_AH,24.7,29.554
$10V_AH,10.5,26.210
$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,18.850,32.550,461.975,20.175,0.000,25.013,15.596,136.938,0.000,0.000,18.328,2105.818,1579.922,464.690,2332.402,287.884,0.000,1292.438,0.000,2165.648,0.000,0.546,0.000
$DEVICE_MAMPS,230.265,84.150,950.895,277.695,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,600.382,911.955,1532.276,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53632,891
$CAP_FILE_SIZE,85009,0
$CFSIZE,260165632,159367168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.211,346.9,1
$GPS,121010,053514,2306.056,12704.265,14,1.6,14,-3.4