version: 66.08
glider: 167
mission: 6
dive: 66
start: 10 5 110 11 57 32
data:
$ID,167
$MISSION,6
$DIVE,66
$N_DIVES,75
$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,-34353.234
$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,38
$R_STBD_OVSHOOT,151
$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
$GPS1,051010,115143,2305.273,12706.633,13,1.1,30,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-63.7
$GPS2,051010,115708,2305.312,12706.585,14,1.3,14,-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,210.0,5063,-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,-228.7,0.0,0.0,0,86,0.00,0.00,-65.93,0.000,2,0.000,0.000,113,789,3394,0,0,0,0,0,0
$GC,89,-0.76,-228.7,5.3,-10.1,9,114,9.15,0.85,-9.10,0.000,4,0.218,0.073,2568,182,3963,0,0,0,0,0,0
$GC,352,-0.76,-228.7,105.4,-29.1,57,361,0.00,0.70,0.00,0.000,6,0.000,0.022,2565,776,3966,0,0,0,0,0,0
$GC,680,-0.76,-228.7,181.1,-22.0,118,688,0.00,0.85,0.00,0.000,4,0.000,0.044,2565,192,3968,0,0,0,0,0,0
$GC,932,-0.76,-228.7,235.0,-19.3,164,940,0.00,0.70,0.00,0.000,6,0.000,0.022,2561,801,3968,0,0,0,0,0,0
$GC,1271,-0.76,-228.7,294.1,-17.6,225,1278,0.00,0.90,0.00,0.000,4,0.000,0.044,2561,187,3968,0,0,0,0,0,0
$GC,1532,-0.76,-228.7,342.8,-19.4,251,1536,0.00,0.68,0.00,0.000,6,0.000,0.022,2560,788,3968,0,0,0,0,0,0
$GC,1864,-0.76,-228.7,399.4,-15.5,282,1867,0.00,0.88,0.00,0.000,4,0.000,0.043,2560,189,3968,0,0,0,0,0,0
$GC,1975,-0.76,-228.7,416.5,-14.9,292,1979,0.00,0.68,0.00,0.000,6,0.000,0.022,2558,781,3968,0,0,0,0,0,0
$GC,2307,-0.76,-228.7,467.9,-15.7,323,2311,0.00,1.88,0.00,0.000,4,0.000,0.017,2553,2143,3966,0,0,0,0,0,0
$GC,2334,-0.76,-228.7,472.3,-14.6,325,2342,0.00,2.03,0.00,0.000,6,0.000,0.035,2553,795,3966,0,0,0,0,0,0
$STATE,2530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2530,begin apogee
$GC,2537,-0.14,0.0,500.6,14.2,344,2711,0.65,0.00,169.35,0.955,4,0.123,0.000,2773,993,3028,0,0,0,0,0,0
$STATE,2712,end apogee,CONTROL_FINISHED_OK
$STATE,2712,begin climb
$GC,2715,0.76,228.7,509.9,0.0,358,2896,0.75,2.03,172.15,0.926,4,0.050,0.018,3075,2362,2096,0,0,0,0,0,0
$GC,3064,0.76,228.7,469.1,17.3,388,3068,0.00,2.08,0.00,0.000,6,0.000,0.034,3083,988,2090,0,0,0,0,0,0
$GC,3390,0.76,228.7,409.9,17.9,418,3393,0.00,1.92,0.00,0.000,4,0.000,0.020,3082,2344,2088,0,0,0,0,0,0
$GC,3646,0.76,228.7,367.9,16.7,441,3650,0.00,2.00,0.00,0.000,6,0.000,0.034,3092,996,2086,0,0,0,0,0,0
$GC,3976,0.76,228.7,313.0,16.3,472,3980,0.00,1.90,0.00,0.000,4,0.000,0.019,3092,2341,2084,0,0,0,0,0,0
$GC,4172,0.76,228.7,283.1,16.1,499,4179,0.12,1.98,0.00,0.000,6,0.177,0.035,3067,1019,2083,0,0,0,0,0,0
$GC,4507,0.78,247.2,240.5,11.7,560,4529,0.00,1.25,13.38,0.752,4,0.000,0.044,3073,190,2020,0,0,0,0,0,0
$GC,4677,0.78,247.2,217.7,13.9,590,4685,0.00,1.05,0.00,0.000,6,0.000,0.020,3072,1023,2018,0,0,0,0,0,0
$GC,5010,0.78,247.2,172.5,14.1,651,5017,0.00,1.88,0.00,0.000,4,0.000,0.019,3073,2347,2017,0,0,0,0,0,0
$GC,5081,0.78,247.2,162.9,13.2,663,5088,0.00,2.03,0.00,0.000,6,0.000,0.035,3079,1008,2016,0,0,0,0,0,0
$GC,5409,0.79,252.0,118.1,12.2,724,5418,0.00,1.23,4.75,0.523,4,0.000,0.042,3085,191,2000,0,0,0,0,0,0
$GC,5527,0.80,258.4,103.5,12.1,745,5537,0.00,1.00,6.62,0.578,6,0.000,0.020,3086,999,1975,0,0,0,0,0,0
$GC,5859,0.92,360.5,73.2,8.6,806,5947,0.10,1.95,78.12,0.653,4,0.108,0.018,3133,2331,1556,0,0,0,0,0,0
$GC,6069,0.92,360.5,46.9,12.7,840,6077,0.00,2.03,0.00,0.000,6,0.000,0.034,3142,1011,1552,0,0,0,0,0,0
$STATE,6367,end climb,SURFACE_DEPTH_REACHED
$STATE,6367,begin surface coast
$FINISH,0.3,1.001471
$STATE,6393,end surface coast,CONTROL_FINISHED_OK
$STATE,6393,begin surface
$SM_CCo,6410,21.67,0.304,1,0,1500,375.06
$SM_GC,1.47,0.00,0.00,21.67,0.000,0.000,0.304,128,767,1500,-8.42,-0.65,375.06
$IRIDIUM_FIX,2300.41,12709.54,051010,090946
$TT8_MAMPS,0.028462
$HUMID,39.91
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.10
$XPDR_PINGS,0
$24V_AH,24.7,19.163
$10V_AH,10.5,16.467
$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,18.450,34.875,444.375,21.675,0.000,30.243,14.996,135.527,0.000,0.000,14.882,2142.069,1494.296,451.359,2391.265,283.732,0.000,1286.300,0.000,2227.411,0.000,0.545,0.000
$DEVICE_MAMPS,218.025,72.675,954.720,304.470,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,607.248,921.381,1539.845,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53502,900
$CAP_FILE_SIZE,85207,0
$CFSIZE,260165632,163725312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.139,323.6,1
$GPS,051010,134606,2305.098,12706.465,39,1.3,39,-3.4