version: 66.08
glider: 167
mission: 6
dive: 98
start: 10 8 110 1 54 14
data:
$ID,167
$MISSION,6
$DIVE,98
$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,-34393.434
$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,156
$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
$GPS1,081010,014601,2304.164,12706.668,41,1.2,41,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-70.2
$GPS2,081010,015349,2304.262,12706.620,14,1.5,14,-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,199.4,3617,-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,16,-0.76,-228.7,0.0,0.0,0,83,0.00,0.00,-65.12,0.000,2,0.000,0.000,132,780,3313,0,0,0,0,0,0
$GC,87,-0.76,-228.7,5.4,-12.3,9,113,9.27,0.88,-10.35,0.000,4,0.223,0.078,2567,195,3964,0,0,0,0,0,0
$GC,352,-0.76,-228.7,104.3,-25.6,57,360,0.00,0.68,0.00,0.000,6,0.000,0.022,2565,778,3966,0,0,0,0,0,0
$GC,677,-0.76,-228.7,177.0,-22.2,118,685,0.00,0.85,0.00,0.000,4,0.000,0.042,2565,193,3968,0,0,0,0,0,0
$GC,927,-0.76,-228.7,234.4,-22.6,164,935,0.00,0.70,0.00,0.000,6,0.000,0.021,2561,817,3968,0,0,0,0,0,0
$GC,1262,-0.76,-228.7,296.6,-16.2,225,1269,0.00,0.90,0.00,0.000,4,0.000,0.041,2561,195,3968,0,0,0,0,0,0
$GC,1424,-0.76,-228.7,324.0,-16.6,241,1431,0.00,0.65,0.00,0.000,6,0.000,0.021,2561,784,3968,0,0,0,0,0,0
$GC,1751,-0.76,-228.7,377.2,-15.6,272,1755,0.00,1.85,0.00,0.000,4,0.000,0.016,2558,2135,3968,0,0,0,0,0,0
$GC,1797,-0.76,-228.7,383.3,-12.1,276,1801,0.00,2.00,0.00,0.000,6,0.000,0.034,2557,767,3968,0,0,0,0,0,0
$GC,2129,-0.76,-228.7,428.9,-14.7,307,2132,0.00,0.82,0.00,0.000,4,0.000,0.044,2558,190,3967,0,0,0,0,0,0
$GC,2185,-0.76,-228.7,438.0,-16.4,312,2189,0.00,0.68,0.00,0.000,6,0.000,0.022,2558,780,3968,0,0,0,0,0,0
$GC,2518,-0.76,-228.7,486.8,-13.3,343,2521,0.00,0.85,0.00,0.000,4,0.000,0.043,2557,194,3966,0,0,0,0,0,0
$STATE,2616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2616,begin apogee
$GC,2625,-0.14,0.0,500.8,13.8,352,2803,0.62,0.00,169.43,0.954,4,0.122,0.000,2769,1026,3028,0,0,0,0,0,0
$STATE,2804,end apogee,CONTROL_FINISHED_OK
$STATE,2804,begin climb
$GC,2806,0.76,228.7,508.8,0.0,367,2987,0.77,1.98,171.95,0.928,4,0.050,0.018,3079,2375,2096,0,0,0,0,0,0
$GC,3235,0.76,228.7,455.2,16.5,404,3243,0.00,2.10,0.00,0.000,6,0.000,0.034,3089,1007,2089,0,0,0,0,0,0
$GC,3561,0.76,228.7,398.1,16.6,435,3565,0.00,1.20,0.00,0.000,4,0.000,0.042,3095,193,2087,0,0,0,0,0,0
$GC,3785,0.76,228.7,358.7,17.9,455,3788,0.00,1.05,0.00,0.000,6,0.000,0.019,3095,1048,2085,0,0,0,0,0,0
$GC,4116,0.76,228.7,301.4,16.1,486,4119,0.00,1.80,0.00,0.000,4,0.000,0.019,3095,2325,2083,0,0,0,0,0,0
$GC,4364,0.76,228.7,262.1,15.5,531,4373,0.12,1.92,0.00,0.000,6,0.165,0.033,3070,1027,2082,0,0,0,0,0,0
$GC,4699,0.76,229.5,217.5,12.3,592,4707,0.00,1.83,0.00,0.000,4,0.000,0.018,3070,2322,2081,0,0,0,0,0,0
$GC,4764,0.76,229.5,209.5,12.4,603,4772,0.00,1.92,0.00,0.000,6,0.000,0.034,3075,1042,2081,0,0,0,0,0,0
$GC,5098,0.76,229.5,167.9,13.6,664,5105,0.00,1.80,0.00,0.000,4,0.000,0.018,3075,2322,2081,0,0,0,0,0,0
$GC,5193,0.78,240.8,155.8,11.9,681,5208,0.00,1.90,8.12,0.646,6,0.000,0.034,3080,1042,2047,0,0,0,0,0,0
$GC,5530,0.78,240.8,114.7,12.9,743,5539,0.00,1.25,0.00,0.000,4,0.000,0.041,3087,190,2046,0,0,0,0,0,0
$GC,5713,0.84,290.2,92.9,10.6,776,5758,0.00,1.05,38.38,0.672,6,0.000,0.019,3087,1041,1846,0,0,0,0,0,0
$GC,6080,0.95,380.5,61.6,9.1,842,6155,0.12,1.90,69.38,0.636,4,0.093,0.018,3148,2334,1476,0,0,0,0,0,0
$GC,6211,0.95,380.5,43.5,16.2,862,6219,0.00,1.98,0.00,0.000,6,0.000,0.034,3156,1049,1472,0,0,0,0,0,0
$STATE,6453,end climb,SURFACE_DEPTH_REACHED
$STATE,6453,begin surface coast
$FINISH,0.3,1.008476
$STATE,6470,end surface coast,CONTROL_FINISHED_OK
$STATE,6470,begin surface
$SM_CCo,6490,23.90,0.330,1,0,1398,400.08
$SM_GC,1.44,0.00,0.00,23.90,0.000,0.000,0.330,126,791,1398,-8.43,0.06,400.08
$IRIDIUM_FIX,2253.38,12621.27,071010,232319
$TT8_MAMPS,0.028462
$HUMID,40.86
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,27.30
$XPDR_PINGS,1
$24V_AH,24.7,23.173
$10V_AH,10.5,20.240
$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,18.650,35.900,457.250,23.900,0.000,58.570,54.945,138.979,0.250,0.000,14.825,2156.684,1587.831,465.699,2493.413,284.079,0.000,1313.253,0.000,2244.766,0.000,0.543,0.000
$DEVICE_MAMPS,223.380,78.030,953.955,329.715,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,613.417,930.365,1560.132,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53553,910
$CAP_FILE_SIZE,87269,0
$CFSIZE,260165632,162017280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.256,348.3,1
$GPS,081010,034402,2304.423,12706.593,12,1.5,31,-3.4