version: 66.08
glider: 167
mission: 6
dive: 80
start: 10 6 110 14 55 57
data:
$ID,167
$MISSION,6
$DIVE,80
$N_DIVES,95
$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,-34370.832
$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,126
$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
$GPS1,061010,145005,2304.277,12707.243,12,1.8,28,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-71.0
$GPS2,061010,145532,2304.321,12707.156,16,1.3,16,-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,220.6,4414,-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,-228.7,0.0,0.0,0,89,0.00,0.00,-69.68,0.000,2,0.000,0.000,125,779,3509,0,0,0,0,0,0
$GC,92,-0.76,-228.7,6.3,-13.6,10,116,9.15,0.85,-6.85,0.000,4,0.219,0.070,2574,176,3960,0,0,0,0,0,0
$GC,356,-0.76,-228.7,106.2,-25.4,58,363,0.00,0.75,0.00,0.000,6,0.000,0.022,2571,813,3963,0,0,0,0,0,0
$GC,689,-0.76,-228.7,179.5,-20.9,119,695,0.00,0.93,0.00,0.000,4,0.000,0.043,2571,185,3964,0,0,0,0,0,0
$GC,731,-0.76,-228.7,189.0,-22.4,126,739,0.00,0.70,0.00,0.000,6,0.000,0.021,2567,794,3965,0,0,0,0,0,0
$GC,1073,-0.76,-228.7,256.1,-17.7,187,1080,0.00,1.83,0.00,0.000,4,0.000,0.016,2561,2148,3966,0,0,0,0,0,0
$GC,1323,-0.76,-228.7,293.1,-14.0,232,1332,0.00,2.05,0.00,0.000,6,0.000,0.034,2561,775,3965,0,0,0,0,0,0
$GC,1660,-0.76,-228.7,347.1,-15.3,267,1664,0.00,0.82,0.00,0.000,4,0.000,0.044,2561,195,3965,0,0,0,0,0,0
$GC,1918,-0.76,-228.7,387.6,-15.6,290,1922,0.00,0.65,0.00,0.000,6,0.000,0.023,2561,767,3965,0,0,0,0,0,0
$GC,2251,-0.76,-228.7,434.5,-14.5,321,2255,0.00,1.90,0.00,0.000,4,0.000,0.017,2560,2150,3964,0,0,0,0,0,0
$GC,2299,-0.76,-228.7,440.7,-12.3,325,2302,0.00,2.03,0.00,0.000,6,0.000,0.034,2560,782,3964,0,0,0,0,0,0
$GC,2630,-0.76,-228.7,486.5,-13.6,356,2634,0.00,0.85,0.00,0.000,4,0.000,0.044,2559,190,3962,0,0,0,0,0,0
$GC,2701,-0.76,-228.7,497.1,-14.2,362,2709,0.00,0.68,0.00,0.000,6,0.000,0.022,2560,761,3962,0,0,0,0,0,0
$STATE,2729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2729,begin apogee
$GC,2737,-0.14,0.0,500.6,13.4,365,2913,0.62,0.00,169.12,0.956,4,0.122,0.000,2773,1007,3029,0,0,0,0,0,0
$STATE,2914,end apogee,CONTROL_FINISHED_OK
$STATE,2914,begin climb
$GC,2916,0.76,228.7,509.0,0.0,380,3100,0.80,2.00,171.85,0.930,4,0.056,0.018,3070,2385,2097,0,0,0,0,0,0
$GC,3273,0.76,228.7,465.8,16.8,410,3281,0.00,2.12,0.00,0.000,6,0.000,0.034,3078,1009,2092,0,0,0,0,0,0
$GC,3600,0.76,228.7,411.6,15.9,441,3604,0.00,1.92,0.00,0.000,4,0.000,0.020,3078,2341,2090,0,0,0,0,0,0
$GC,3835,0.76,228.7,374.5,15.6,462,3839,0.00,2.05,0.00,0.000,6,0.000,0.035,3088,975,2088,0,0,0,0,0,0
$GC,4168,0.76,228.7,320.4,16.8,493,4171,0.00,1.92,0.00,0.000,4,0.000,0.019,3088,2347,2086,0,0,0,0,0,0
$GC,4311,0.76,228.7,296.6,17.7,507,4317,0.00,2.03,0.00,0.000,6,0.000,0.034,3097,993,2085,0,0,0,0,0,0
$GC,4652,0.76,228.7,246.2,14.1,568,4660,0.00,1.17,0.00,0.000,4,0.000,0.044,3103,191,2085,0,0,0,0,0,0
$GC,4696,0.76,228.7,240.2,14.0,575,4703,0.10,1.02,0.00,0.000,6,0.160,0.021,3072,994,2084,0,0,0,0,0,0
$GC,5038,0.78,240.2,199.7,11.9,636,5053,0.00,1.90,8.43,0.683,4,0.000,0.018,3071,2357,2048,0,0,0,0,0,0
$GC,5303,0.81,264.6,168.3,11.5,683,5331,0.00,1.95,19.70,0.719,6,0.000,0.034,3078,1034,1948,0,0,0,0,0,0
$GC,5657,0.83,283.2,121.7,11.7,747,5681,0.00,0.00,15.80,0.671,6,0.000,0.000,3078,1033,1872,0,0,0,0,0,0
$GC,6000,0.91,352.1,80.5,9.9,810,6060,0.10,1.90,52.75,0.661,4,0.104,0.017,3125,2355,1593,0,0,0,0,0,0
$GC,6167,0.93,361.8,60.3,12.0,837,6183,0.00,1.98,8.90,0.566,6,0.000,0.034,3131,1066,1552,0,0,0,0,0,0
$GC,6501,0.93,367.7,17.9,12.1,899,6510,0.00,0.00,5.75,0.489,6,0.000,0.000,3131,1066,1528,0,0,0,0,0,0
$STATE,6605,end climb,SURFACE_DEPTH_REACHED
$STATE,6605,begin surface coast
$FINISH,0.4,1.022119
$STATE,6632,end surface coast,CONTROL_FINISHED_OK
$STATE,6632,begin surface
$SM_CCo,6650,30.65,0.399,1,0,1397,400.08
$SM_GC,1.41,0.00,0.00,30.65,0.000,0.000,0.399,122,793,1397,-8.44,0.08,400.08
$IRIDIUM_FIX,2255.72,12708.12,061010,121248
$TT8_MAMPS,0.028462
$HUMID,40.07
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.20
$XPDR_PINGS,0
$24V_AH,24.7,20.917
$10V_AH,10.5,18.116
$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,18.475,36.600,452.300,30.650,0.000,24.851,17.222,135.981,0.000,0.000,17.400,2190.750,1619.384,474.424,2440.882,289.034,0.000,1333.283,0.000,2269.684,0.000,0.543,0.000
$DEVICE_MAMPS,218.790,70.380,956.250,398.565,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,621.755,943.729,1565.173,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53611,922
$CAP_FILE_SIZE,88157,0
$CFSIZE,260165632,162975744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.184,307.1,1
$GPS,061010,164834,2304.259,12706.491,12,2.2,31,-3.4