version: 66.08
glider: 167
mission: 6
dive: 106
start: 10 8 110 17 22 7
data:
$ID,167
$MISSION,6
$DIVE,106
$N_DIVES,115
$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,-34403.48
$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,39
$R_STBD_OVSHOOT,137
$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
$GPS1,081010,171616,2303.694,12706.101,12,2.7,31,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-71.0
$GPS2,081010,172142,2303.806,12706.078,10,1.5,14,-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,190.6,2368,-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,-228.7,0.0,0.0,0,90,0.00,0.00,-70.40,0.000,2,0.000,0.000,113,774,3341,0,0,0,0,0,0
$GC,93,-0.76,-228.7,5.6,-12.1,10,118,9.38,2.00,-9.95,0.000,4,0.226,0.032,2558,2167,3964,0,0,0,0,0,0
$GC,143,-0.76,-228.7,29.7,-46.5,17,151,0.00,2.10,0.00,0.000,6,0.000,0.034,2557,784,3965,0,0,0,0,0,0
$GC,470,-0.76,-228.7,119.7,-21.3,78,478,0.00,0.85,0.00,0.000,4,0.000,0.042,2557,193,3967,0,0,0,0,0,0
$GC,725,-0.76,-228.7,182.0,-24.7,124,734,0.00,0.70,0.00,0.000,6,0.000,0.022,2553,798,3968,0,0,0,0,0,0
$GC,1067,-0.76,-228.7,250.9,-18.7,185,1074,0.00,0.88,0.00,0.000,4,0.000,0.041,2553,194,3968,0,0,0,0,0,0
$GC,1175,-0.76,-228.7,272.9,-21.9,204,1184,0.05,0.70,0.00,0.000,6,0.157,0.022,2567,801,3969,0,0,0,0,0,0
$GC,1517,-0.76,-228.7,332.8,-16.2,248,1520,0.00,0.88,0.00,0.000,4,0.000,0.042,2567,196,3968,0,0,0,0,0,0
$GC,1776,-0.76,-228.7,377.8,-16.4,271,1780,0.00,0.65,0.00,0.000,6,0.000,0.022,2565,764,3969,0,0,0,0,0,0
$GC,2107,-0.76,-228.7,427.0,-14.3,302,2111,0.00,0.82,0.00,0.000,4,0.000,0.042,2565,194,3968,0,0,0,0,0,0
$GC,2242,-0.76,-228.7,446.8,-15.0,314,2245,0.00,0.65,0.00,0.000,6,0.000,0.023,2562,758,3967,0,0,0,0,0,0
$GC,2574,-0.76,-228.7,491.0,-13.3,345,2576,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,758,3967,0,0,0,0,0,0
$STATE,2644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2644,begin apogee
$GC,2650,-0.14,0.0,501.1,14.0,352,2830,0.60,0.00,170.05,0.953,4,0.116,0.000,2769,995,3027,0,0,0,0,0,0
$STATE,2831,end apogee,CONTROL_FINISHED_OK
$STATE,2831,begin climb
$GC,2833,0.76,228.7,511.5,0.0,367,3014,0.77,0.00,172.07,0.929,6,0.051,0.000,3071,995,2095,0,0,0,0,0,0
$GC,3332,0.76,228.7,444.7,17.3,412,3336,0.00,1.95,0.00,0.000,4,0.000,0.019,3071,2370,2088,0,0,0,0,0,0
$GC,3503,0.76,228.7,417.2,16.3,427,3507,0.00,2.00,0.00,0.000,6,0.000,0.034,3080,1025,2086,0,0,0,0,0,0
$GC,3836,0.76,228.7,362.8,15.7,458,3839,0.00,1.88,0.00,0.000,4,0.000,0.018,3080,2350,2084,0,0,0,0,0,0
$GC,3929,0.76,228.7,349.5,13.2,466,3938,0.00,2.00,0.00,0.000,6,0.000,0.034,3089,1030,2084,0,0,0,0,0,0
$GC,4258,0.76,228.7,302.2,15.4,497,4262,0.00,1.23,0.00,0.000,4,0.000,0.042,3095,193,2083,0,0,0,0,0,0
$GC,4299,0.76,228.7,295.6,15.3,503,4306,0.00,1.08,0.00,0.000,6,0.000,0.020,3094,1054,2083,0,0,0,0,0,0
$GC,4641,0.76,228.7,247.4,13.2,564,4649,0.00,1.83,0.00,0.000,4,0.000,0.018,3095,2349,2081,0,0,0,0,0,0
$GC,4900,0.76,228.7,211.5,14.0,610,4908,0.10,1.92,0.00,0.000,6,0.142,0.034,3070,1066,2081,0,0,0,0,0,0
$GC,5241,0.76,228.7,168.0,12.4,671,5247,0.00,1.77,0.00,0.000,4,0.000,0.018,3069,2357,2080,0,0,0,0,0,0
$GC,5278,0.76,230.5,163.2,12.3,677,5285,0.00,1.90,0.00,0.000,6,0.000,0.033,3076,1061,2080,0,0,0,0,0,0
$GC,5608,0.78,243.0,123.4,11.9,738,5623,0.00,0.00,9.77,0.643,6,0.000,0.000,3076,1060,2037,0,0,0,0,0,0
$GC,5940,0.78,243.0,86.9,12.4,800,5948,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1061,2036,0,0,0,0,0,0
$GC,6267,1.00,422.3,55.8,5.9,861,6417,0.17,1.92,136.25,0.632,4,0.075,0.018,3157,2346,1304,0,0,0,0,0,0
$STATE,6626,end climb,SURFACE_DEPTH_REACHED
$STATE,6626,begin surface coast
$FINISH,0.4,1.011593
$STATE,6643,end surface coast,CONTROL_FINISHED_OK
$STATE,6643,begin surface
$SM_CCo,6723,0.00,0.000,0,0,1296,425.10
$SM_GC,1.19,7.75,0.00,0.00,0.034,0.000,0.000,119,788,1296,-8.36,-0.06,425.10
$IRIDIUM_FIX,2253.38,12651.73,081010,151548
$TT8_MAMPS,0.028462
$HUMID,39.95
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,26.90
$XPDR_PINGS,0
$24V_AH,24.7,24.179
$10V_AH,10.5,21.181
$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,18.825,32.275,488.150,0.000,0.000,28.911,15.323,137.008,0.000,0.000,14.930,2163.693,1724.840,460.331,2422.636,275.576,0.000,1321.534,0.000,2255.293,0.000,0.543,0.000
$DEVICE_MAMPS,225.675,45.135,953.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,621.811,943.860,1588.051,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53513,923
$CAP_FILE_SIZE,84858,0
$CFSIZE,260165632,161599488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.233,351.9,1
$GPS,081010,191530,2303.564,12706.323,40,1.0,45,-3.4