version: 66.08
glider: 167
mission: 6
dive: 21
start: 10 1 110 19 56 43
data:
$ID,167
$MISSION,6
$DIVE,21
$N_DIVES,40
$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,375
$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,-34050.52
$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,40
$R_STBD_OVSHOOT,137
$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,49
$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
$GPS1,011010,195024,2304.625,12652.368,26,1.3,43,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.0
$GPS2,011010,195619,2304.671,12652.249,12,1.3,17,-3.4
$SPEED_LIMITS,0.214,0.341
$TGT_NAME,WAKEB_WEST
$TGT_LATLONG,2303.000,12650.000
$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,194.4,4926,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.76,-228.7,0.0,0.0,0,83,0.00,0.00,-63.45,0.000,2,0.000,0.000,125,782,3433,0,0,0,0,0,0
$GC,86,-0.76,-228.7,6.3,-14.0,9,111,9.07,0.88,-8.23,0.000,4,0.218,0.073,2570,189,3962,0,0,0,0,0,0
$GC,348,-0.76,-228.7,96.9,-23.2,57,356,0.00,0.73,0.00,0.000,6,0.000,0.021,2566,800,3965,0,0,0,0,0,0
$GC,676,-0.76,-228.7,166.4,-19.1,118,684,0.00,0.90,0.00,0.000,4,0.000,0.044,2566,191,3967,0,0,0,0,0,0
$GC,935,-0.76,-228.7,219.4,-19.5,164,943,0.00,0.70,0.00,0.000,6,0.000,0.022,2563,794,3967,0,0,0,0,0,0
$GC,1277,-0.76,-228.7,277.2,-16.9,225,1284,0.00,0.88,0.00,0.000,4,0.000,0.044,2563,195,3968,0,0,0,0,0,0
$GC,1537,-0.76,-228.7,321.1,-16.2,260,1541,0.00,0.68,0.00,0.000,6,0.000,0.022,2561,800,3968,0,0,0,0,0,0
$GC,1870,-0.76,-228.7,372.5,-14.9,291,1874,0.00,0.88,0.00,0.000,4,0.000,0.044,2561,200,3967,0,0,0,0,0,0
$GC,2127,-0.76,-228.7,412.6,-14.6,314,2131,0.00,0.65,0.00,0.000,6,0.000,0.022,2561,774,3967,0,0,0,0,0,0
$GC,2459,-0.76,-228.7,458.7,-14.3,345,2463,0.00,0.85,0.00,0.000,4,0.000,0.046,2561,195,3965,0,0,0,0,0,0
$GC,2530,-0.76,-228.7,469.0,-15.0,351,2534,0.00,0.68,0.00,0.000,6,0.000,0.022,2561,774,3965,0,0,0,0,0,0
$STATE,2753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2753,begin apogee
$GC,2759,-0.14,0.0,500.5,13.0,372,2940,0.62,0.00,169.25,0.965,4,0.124,0.000,2773,998,3029,0,0,0,0,0,0
$STATE,2940,end apogee,CONTROL_FINISHED_OK
$STATE,2940,begin climb
$GC,2943,0.76,228.7,509.8,0.0,387,3124,0.75,2.03,172.73,0.939,4,0.048,0.018,3074,2375,2095,0,0,0,0,0,0
$GC,3376,0.76,228.7,456.0,15.9,424,3384,0.00,2.10,0.00,0.000,6,0.000,0.034,3083,1007,2089,0,0,0,0,0,0
$GC,3703,0.76,228.7,401.7,15.6,455,3706,0.00,1.20,0.00,0.000,4,0.000,0.043,3089,194,2086,0,0,0,0,0,0
$GC,3961,0.76,228.7,354.3,18.8,478,3965,0.00,1.02,0.00,0.000,6,0.000,0.021,3089,1010,2085,0,0,0,0,0,0
$GC,4290,0.76,228.7,297.5,17.2,509,4296,0.00,1.23,0.00,0.000,4,0.000,0.043,3096,190,2083,0,0,0,0,0,0
$GC,4331,0.76,228.7,289.7,18.3,516,4338,0.00,1.00,0.00,0.000,6,0.000,0.021,3095,981,2083,0,0,0,0,0,0
$GC,4671,0.76,228.7,233.0,15.8,577,4678,0.00,1.90,0.00,0.000,4,0.000,0.020,3096,2350,2081,0,0,0,0,0,0
$GC,4807,0.76,228.7,212.3,15.1,601,4815,0.12,2.00,0.00,0.000,6,0.183,0.034,3070,987,2080,0,0,0,0,0,0
$GC,5148,0.76,228.7,167.6,12.6,662,5157,0.00,1.92,0.00,0.000,4,0.000,0.020,3070,2340,2080,0,0,0,0,0,0
$GC,5183,0.76,228.7,163.5,12.9,667,5190,0.00,2.00,0.00,0.000,6,0.000,0.034,3077,996,2080,0,0,0,0,0,0
$GC,5513,0.76,228.7,120.6,14.3,728,5521,0.00,1.92,0.00,0.000,4,0.000,0.019,3077,2349,2079,0,0,0,0,0,0
$GC,5581,0.76,228.7,111.4,12.6,740,5589,0.00,2.00,0.00,0.000,6,0.000,0.035,3083,1018,2080,0,0,0,0,0,0
$GC,5909,0.95,385.2,75.1,6.7,801,6038,0.12,1.98,115.75,0.662,4,0.095,0.019,3141,2340,1457,0,0,0,0,0,0
$GC,6075,0.95,385.2,56.5,14.9,824,6083,0.00,2.10,0.00,0.000,6,0.000,0.034,3147,996,1454,0,0,0,0,0,0
$GC,6403,0.95,385.2,5.4,16.2,885,6411,0.00,1.95,0.00,0.000,4,0.000,0.020,3147,2341,1450,0,0,0,0,0,0
$STATE,6418,end climb,SURFACE_DEPTH_REACHED
$STATE,6418,begin surface coast
$FINISH,0.3,1.011837
$STATE,6438,end surface coast,CONTROL_FINISHED_OK
$STATE,6438,begin surface
$SM_CCo,6518,0.00,0.000,0,0,1445,388.31
$SM_GC,1.13,7.75,0.00,0.00,0.040,0.000,0.000,128,788,1445,-8.35,-0.08,388.31
$IRIDIUM_FIX,2258.07,12651.26,011010,171730
$TT8_MAMPS,0.028462
$HUMID,39.56
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,24.6,13.469
$10V_AH,10.5,11.142
$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,18.450,36.725,457.725,0.000,0.000,30.085,36.935,138.247,0.000,0.000,18.447,2106.574,1635.878,441.922,2415.914,269.819,0.000,1293.075,0.000,2214.646,0.000,0.543,0.000
$DEVICE_MAMPS,218.025,72.675,964.665,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,600.232,910.833,1521.931,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53640,890
$CAP_FILE_SIZE,84728,0
$CFSIZE,260165632,166096896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.245,  1.3,1
$GPS,011010,214609,2304.850,12652.663,13,1.6,13,-3.4