version: 66.08
glider: 167
mission: 6
dive: 86
start: 10 7 110 2 34 59
data:
$ID,167
$MISSION,6
$DIVE,86
$N_DIVES,105
$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,-34378.375
$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,34
$R_STBD_OVSHOOT,158
$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
$GPS1,071010,022840,2304.803,12706.363,10,99.0,29,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-67.4
$GPS2,071010,023434,2304.897,12706.285,14,4.4,33,-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,179.8,4140,-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,-228.7,0.0,0.0,0,93,0.00,0.00,-72.93,0.000,2,0.000,0.000,114,788,3464,0,0,0,0,0,0
$GC,96,-0.76,-228.7,6.3,-14.1,10,120,9.30,0.90,-7.62,0.000,4,0.223,0.071,2569,175,3963,0,0,0,0,0,0
$GC,360,-0.76,-228.7,101.3,-22.0,58,368,0.00,0.70,0.00,0.000,6,0.000,0.021,2566,772,3966,0,0,0,0,0,0
$GC,690,-0.76,-228.7,175.8,-21.4,119,697,0.00,0.85,0.00,0.000,4,0.000,0.042,2566,188,3968,0,0,0,0,0,0
$GC,947,-0.76,-228.7,231.6,-20.3,165,954,0.00,0.70,0.00,0.000,6,0.000,0.022,2562,787,3968,0,0,0,0,0,0
$GC,1278,-0.76,-228.7,290.5,-15.5,226,1285,0.00,0.88,0.00,0.000,4,0.000,0.041,2562,186,3968,0,0,0,0,0,0
$GC,1325,-0.76,-228.7,299.4,-18.5,234,1333,0.00,0.75,0.00,0.000,6,0.000,0.021,2561,841,3969,0,0,0,0,0,0
$GC,1652,-0.76,-228.7,354.0,-15.3,265,1656,0.00,0.95,0.00,0.000,4,0.000,0.042,2561,190,3969,0,0,0,0,0,0
$GC,1788,-0.76,-228.7,376.0,-14.7,277,1795,0.00,0.73,0.00,0.000,6,0.000,0.021,2560,818,3968,0,0,0,0,0,0
$GC,2115,-0.76,-228.7,421.3,-14.3,308,2118,0.00,0.93,0.00,0.000,4,0.000,0.042,2561,187,3967,0,0,0,0,0,0
$GC,2329,-0.76,-228.7,454.4,-15.3,327,2336,0.00,0.68,0.00,0.000,6,0.000,0.022,2561,774,3967,0,0,0,0,0,0
$GC,2654,-0.76,-228.7,498.0,-13.7,358,2658,0.00,0.85,0.00,0.000,4,0.000,0.044,2560,190,3965,0,0,0,0,0,0
$STATE,2668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2668,begin apogee
$GC,2674,-0.14,0.0,500.4,14.0,359,2849,0.62,0.00,169.45,0.955,4,0.123,0.000,2772,1034,3029,0,0,0,0,0,0
$STATE,2850,end apogee,CONTROL_FINISHED_OK
$STATE,2850,begin climb
$GC,2852,0.76,228.7,510.0,0.0,374,3036,0.75,1.98,172.15,0.930,4,0.050,0.018,3074,2381,2095,0,0,0,0,0,0
$GC,3195,0.76,228.7,469.9,16.7,403,3200,0.00,2.10,0.00,0.000,6,0.000,0.034,3082,991,2090,0,0,0,0,0,0
$GC,3522,0.76,228.7,416.8,15.1,433,3526,0.00,1.20,0.00,0.000,4,0.000,0.042,3088,183,2088,0,0,0,0,0,0
$GC,3651,0.76,228.7,395.2,18.1,444,3660,0.00,1.08,0.00,0.000,6,0.000,0.019,3088,1052,2087,0,0,0,0,0,0
$GC,3978,0.76,228.7,342.1,16.6,475,3982,0.00,1.85,0.00,0.000,4,0.000,0.020,3088,2350,2085,0,0,0,0,0,0
$GC,4150,0.76,228.7,314.4,14.9,490,4158,0.00,2.03,0.00,0.000,6,0.000,0.033,3095,1011,2084,0,0,0,0,0,0
$GC,4482,0.76,228.7,262.4,14.5,542,4490,0.00,1.92,0.00,0.000,4,0.000,0.018,3095,2362,2083,0,0,0,0,0,0
$GC,4738,0.76,228.7,225.5,14.0,587,4745,0.12,1.92,0.00,0.000,6,0.168,0.034,3071,1051,2082,0,0,0,0,0,0
$GC,5080,0.80,259.8,186.2,11.2,648,5107,0.00,0.00,22.35,0.740,6,0.000,0.000,3071,1051,1968,0,0,0,0,0,0
$GC,5439,0.80,259.8,140.8,12.8,712,5449,0.00,1.88,0.00,0.000,4,0.000,0.018,3071,2364,1964,0,0,0,0,0,0
$GC,5643,0.84,295.9,117.4,11.0,749,5680,0.00,1.92,28.33,0.683,6,0.000,0.034,3075,1085,1822,0,0,0,0,0,0
$GC,6001,0.93,368.8,77.0,9.7,814,6063,0.12,1.40,56.55,0.652,4,0.088,0.042,3142,187,1524,0,0,0,0,0,0
$GC,6231,0.93,368.8,41.6,16.9,853,6239,0.00,1.12,0.00,0.000,6,0.000,0.018,3142,1089,1519,0,0,0,0,0,0
$STATE,6486,end climb,SURFACE_DEPTH_REACHED
$STATE,6486,begin surface coast
$FINISH,0.3,1.009130
$STATE,6509,end surface coast,CONTROL_FINISHED_OK
$STATE,6509,begin surface
$SM_CCo,6529,28.25,0.376,1,0,1397,400.08
$SM_GC,1.31,0.00,0.00,28.25,0.000,0.000,0.376,123,789,1397,-8.44,-0.03,400.08
$IRIDIUM_FIX,2255.72,12708.12,071010,000002
$TT8_MAMPS,0.028462
$HUMID,40.58
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.10
$XPDR_PINGS,0
$24V_AH,24.7,21.669
$10V_AH,10.5,18.820
$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,18.600,30.775,448.825,28.250,0.000,31.068,15.414,138.390,0.000,0.000,35.628,2139.599,1606.339,473.189,2421.251,277.310,0.000,1316.125,0.000,2222.456,0.000,0.543,0.000
$DEVICE_MAMPS,223.380,71.145,955.485,376.380,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,609.980,925.114,1537.267,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53689,905
$CAP_FILE_SIZE,84694,0
$CFSIZE,260165632,162656256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.279,358.2,1
$GPS,071010,042528,2305.223,12706.695,9,2.8,28,-3.4