version: 66.08
glider: 167
mission: 6
dive: 69
start: 10 5 110 17 44 44
data:
$ID,167
$MISSION,6
$DIVE,69
$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,-34357.008
$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,32
$R_STBD_OVSHOOT,130
$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
$GPS1,051010,173854,2304.396,12705.729,40,1.1,40,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-70.3
$GPS2,051010,174420,2304.452,12705.693,14,1.2,14,-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,174.1,2937,-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,-228.7,0.0,0.0,0,87,0.00,0.00,-66.78,0.000,2,0.000,0.000,113,791,3398,0,0,0,0,0,0
$GC,90,-0.76,-228.7,5.9,-12.9,9,114,9.27,0.88,-8.80,0.000,4,0.223,0.072,2570,174,3963,0,0,0,0,0,0
$GC,354,-0.76,-228.7,104.5,-30.1,57,362,0.00,0.75,0.00,0.000,6,0.000,0.021,2567,803,3966,0,0,0,0,0,0
$GC,686,-0.76,-228.7,182.4,-22.8,118,695,0.00,0.90,0.00,0.000,4,0.000,0.042,2567,187,3968,0,0,0,0,0,0
$GC,948,-0.76,-228.7,239.8,-18.5,164,956,0.00,0.68,0.00,0.000,6,0.000,0.022,2563,776,3968,0,0,0,0,0,0
$GC,1289,-0.76,-228.7,307.1,-20.1,222,1293,0.00,0.88,0.00,0.000,4,0.000,0.043,2563,176,3969,0,0,0,0,0,0
$GC,1430,-0.76,-228.7,336.0,-20.7,234,1439,0.00,0.70,0.00,0.000,6,0.000,0.021,2561,800,3969,0,0,0,0,0,0
$GC,1757,-0.76,-228.7,393.2,-15.8,265,1761,0.00,0.90,0.00,0.000,4,0.000,0.043,2561,183,3969,0,0,0,0,0,0
$GC,1782,-0.76,-228.7,397.1,-16.0,267,1786,0.00,0.68,0.00,0.000,6,0.000,0.022,2561,780,3969,0,0,0,0,0,0
$GC,2113,-0.76,-228.7,449.3,-15.0,298,2117,0.00,0.88,0.00,0.000,4,0.000,0.043,2561,182,3968,0,0,0,0,0,0
$GC,2372,-0.76,-228.7,488.1,-14.5,321,2376,0.00,0.68,0.00,0.000,6,0.000,0.022,2561,764,3967,0,0,0,0,0,0
$STATE,2457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2457,begin apogee
$GC,2465,-0.14,0.0,500.3,13.5,329,2642,0.62,0.00,169.57,0.949,4,0.125,0.000,2773,997,3029,0,0,0,0,0,0
$STATE,2643,end apogee,CONTROL_FINISHED_OK
$STATE,2643,begin climb
$GC,2647,0.76,228.7,509.3,0.0,344,2827,0.77,0.00,171.95,0.923,6,0.057,0.000,3070,996,2095,0,0,0,0,0,0
$GC,3143,0.76,228.7,449.4,15.0,389,3146,0.00,1.92,0.00,0.000,4,0.000,0.020,3069,2351,2088,0,0,0,0,0,0
$GC,3177,0.76,228.7,443.9,15.3,392,3181,0.00,2.03,0.00,0.000,6,0.000,0.034,3077,993,2088,0,0,0,0,0,0
$GC,3509,0.76,228.7,393.0,16.5,423,3513,0.00,1.92,0.00,0.000,4,0.000,0.019,3078,2341,2086,0,0,0,0,0,0
$GC,3715,0.76,228.7,359.2,15.4,441,3721,0.00,1.98,0.00,0.000,6,0.000,0.034,3086,1034,2084,0,0,0,0,0,0
$GC,4040,0.76,228.7,307.3,16.6,472,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1033,2083,0,0,0,0,0,0
$GC,4371,0.76,228.7,258.3,14.8,527,4378,0.00,1.85,0.00,0.000,4,0.000,0.019,3086,2351,2082,0,0,0,0,0,0
$GC,4630,0.76,228.7,222.8,14.4,573,4636,0.00,1.98,0.00,0.000,6,0.000,0.034,3094,1021,2081,0,0,0,0,0,0
$GC,4968,0.76,228.7,175.2,14.2,634,4977,0.00,1.90,0.00,0.000,4,0.000,0.019,3094,2357,2080,0,0,0,0,0,0
$GC,5161,0.78,240.2,151.0,11.9,668,5175,0.00,1.95,7.88,0.635,6,0.000,0.034,3099,1059,2048,0,0,0,0,0,0
$GC,5494,0.78,240.2,107.5,12.5,730,5503,0.00,1.27,0.00,0.000,4,0.000,0.042,3106,191,2047,0,0,0,0,0,0
$GC,5559,0.78,240.2,98.9,14.1,741,5567,0.10,1.08,0.00,0.000,6,0.155,0.020,3073,1039,2047,0,0,0,0,0,0
$GC,5886,0.93,368.3,72.1,7.7,802,5990,0.15,1.35,97.12,0.646,4,0.080,0.041,3149,184,1525,0,0,0,0,0,0
$GC,6015,0.93,368.3,55.3,15.8,820,6023,0.00,1.12,0.00,0.000,6,0.000,0.018,3150,1067,1523,0,0,0,0,0,0
$GC,6342,0.93,368.3,4.3,16.2,881,6350,0.00,1.83,0.00,0.000,4,0.000,0.019,3149,2358,1518,0,0,0,0,0,0
$STATE,6356,end climb,SURFACE_DEPTH_REACHED
$STATE,6356,begin surface coast
$FINISH,0.2,1.009190
$STATE,6379,end surface coast,CONTROL_FINISHED_OK
$STATE,6379,begin surface
$SM_CCo,6400,34.92,0.418,1,0,1398,400.08
$SM_GC,1.16,0.00,0.00,34.92,0.000,0.000,0.418,127,778,1398,-8.42,-0.28,400.08
$IRIDIUM_FIX,2248.70,12420.38,051010,151548
$TT8_MAMPS,0.028462
$HUMID,40.27
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,27.20
$XPDR_PINGS,2
$24V_AH,24.7,19.537
$10V_AH,10.6,16.818
$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,18.550,32.675,446.525,34.925,0.000,24.009,17.691,139.503,0.500,0.000,15.526,2096.645,1588.630,473.416,2338.247,268.828,0.000,1291.435,0.000,2167.198,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,71.910,949.365,417.690,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,597.619,906.461,1522.149,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50407,887
$CAP_FILE_SIZE,83286,0
$CFSIZE,260165632,163569664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.184,324.0,1
$GPS,051010,193316,2304.220,12705.944,13,2.3,32,-3.4