version: 66.08
glider: 167
mission: 6
dive: 67
start: 10 5 110 13 52 27
data:
$ID,167
$MISSION,6
$DIVE,67
$N_DIVES,85
$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,-34354.492
$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,49
$R_STBD_OVSHOOT,145
$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
$GPS1,051010,134606,2305.098,12706.465,39,1.3,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-68.0
$GPS2,051010,135202,2305.169,12706.403,15,1.6,15,-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,192.1,4675,-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,17,-0.76,-228.7,0.0,0.0,0,85,0.00,0.00,-65.62,0.000,2,0.000,0.000,113,763,3544,0,0,0,0,0,0
$GC,88,-0.76,-228.7,6.9,-15.4,9,113,9.18,0.82,-6.20,0.000,4,0.219,0.072,2568,192,3963,0,0,0,0,0,0
$GC,352,-0.76,-228.7,108.0,-27.0,57,360,0.00,0.70,0.00,0.000,6,0.000,0.022,2566,791,3966,0,0,0,0,0,0
$GC,680,-0.76,-228.7,185.3,-22.2,118,688,0.00,0.85,0.00,0.000,4,0.000,0.044,2566,205,3968,0,0,0,0,0,0
$GC,934,-0.76,-228.7,239.9,-18.9,164,942,0.00,0.65,0.00,0.000,6,0.000,0.024,2562,775,3968,0,0,0,0,0,0
$GC,1270,-0.76,-228.7,298.8,-17.2,225,1279,0.00,0.82,0.00,0.000,4,0.000,0.044,2562,205,3969,0,0,0,0,0,0
$GC,1528,-0.76,-228.7,345.0,-17.8,249,1532,0.00,0.65,0.00,0.000,6,0.000,0.023,2561,786,3968,0,0,0,0,0,0
$GC,1861,-0.76,-228.7,397.8,-16.2,280,1865,0.00,0.85,0.00,0.000,4,0.000,0.043,2560,202,3968,0,0,0,0,0,0
$GC,1928,-0.76,-228.7,408.9,-16.0,286,1932,0.00,0.65,0.00,0.000,6,0.000,0.023,2558,771,3968,0,0,0,0,0,0
$GC,2260,-0.76,-228.7,457.1,-13.9,317,2264,0.00,0.82,0.00,0.000,4,0.000,0.044,2558,203,3967,0,0,0,0,0,0
$GC,2330,-0.76,-228.7,467.9,-14.8,323,2338,0.00,0.65,0.00,0.000,6,0.000,0.022,2558,774,3966,0,0,0,0,0,0
$STATE,2581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2581,begin apogee
$GC,2588,-0.14,0.0,500.3,12.9,347,2763,0.62,0.00,169.35,0.953,4,0.124,0.000,2769,991,3028,0,0,0,0,0,0
$STATE,2763,end apogee,CONTROL_FINISHED_OK
$STATE,2763,begin climb
$GC,2766,0.76,228.7,509.3,0.0,361,2946,0.77,0.00,172.07,0.928,6,0.059,0.000,3065,992,2095,0,0,0,0,0,0
$GC,3263,0.76,228.7,444.9,16.9,406,3267,0.00,1.95,0.00,0.000,4,0.000,0.019,3065,2340,2089,0,0,0,0,0,0
$GC,3396,0.76,228.7,423.9,16.0,418,3400,0.00,2.00,0.00,0.000,6,0.000,0.034,3074,1004,2087,0,0,0,0,0,0
$GC,3729,0.76,228.7,369.8,15.9,449,3732,0.00,1.90,0.00,0.000,4,0.000,0.019,3075,2341,2085,0,0,0,0,0,0
$GC,3917,0.76,228.7,337.7,15.9,466,3921,0.00,2.00,0.00,0.000,6,0.000,0.035,3082,1006,2084,0,0,0,0,0,0
$GC,4246,0.76,228.7,287.8,14.0,504,4253,0.00,1.90,0.00,0.000,4,0.000,0.019,3082,2337,2082,0,0,0,0,0,0
$GC,4354,0.76,228.7,272.9,13.2,523,4362,0.00,1.95,0.00,0.000,6,0.000,0.034,3091,1026,2082,0,0,0,0,0,0
$GC,4689,0.76,228.7,221.3,14.7,584,4697,0.00,1.88,0.00,0.000,4,0.000,0.019,3091,2345,2081,0,0,0,0,0,0
$GC,4763,0.76,228.7,210.5,14.3,597,4770,0.12,1.95,0.00,0.000,6,0.174,0.034,3066,1033,2080,0,0,0,0,0,0
$GC,5098,0.80,257.4,172.0,11.3,658,5120,0.00,0.00,20.50,0.731,6,0.000,0.000,3066,1033,1979,0,0,0,0,0,0
$GC,5440,0.82,276.8,132.6,11.6,721,5463,0.00,1.85,16.20,0.686,4,0.000,0.018,3066,2342,1899,0,0,0,0,0,0
$GC,5603,0.82,276.8,113.0,13.2,750,5611,0.00,1.98,0.00,0.000,6,0.000,0.035,3072,1042,1897,0,0,0,0,0,0
$GC,5930,0.91,351.9,76.5,9.6,811,5991,0.12,0.00,57.62,0.658,6,0.085,0.000,3134,1042,1594,0,0,0,0,0,0
$GC,6313,0.91,351.9,25.4,14.4,879,6322,0.00,1.88,0.00,0.000,4,0.000,0.019,3134,2352,1587,0,0,0,0,0,0
$GC,6368,0.91,351.9,17.8,13.9,888,6376,0.00,1.98,0.00,0.000,6,0.000,0.033,3142,1049,1586,0,0,0,0,0,0
$STATE,6481,end climb,SURFACE_DEPTH_REACHED
$STATE,6481,begin surface coast
$FINISH,0.3,1.022058
$STATE,6502,end surface coast,CONTROL_FINISHED_OK
$STATE,6502,begin surface
$SM_CCo,6520,41.55,0.452,1,0,1397,400.08
$SM_GC,1.16,0.00,0.00,41.55,0.000,0.000,0.452,130,779,1397,-8.41,-0.31,400.08
$IRIDIUM_FIX,2258.07,12706.25,051010,111153
$TT8_MAMPS,0.028462
$HUMID,39.76
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,27.00
$XPDR_PINGS,0
$24V_AH,24.7,19.288
$10V_AH,10.6,16.586
$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,18.575,31.200,435.750,41.550,0.000,30.359,40.008,139.693,0.000,0.000,16.788,2162.874,1590.050,466.976,2426.564,277.233,0.000,1300.983,0.000,2230.154,0.000,0.543,0.000
$DEVICE_MAMPS,218.790,71.910,953.190,452.115,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,615.656,932.164,1552.465,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53498,912
$CAP_FILE_SIZE,84931,0
$CFSIZE,260165632,163672064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.144,299.4,1
$GPS,051010,154244,2304.708,12706.319,13,2.0,13,-3.4