version: 66.08
glider: 167
mission: 6
dive: 113
start: 10 9 110 6 55 38
data:
$ID,167
$MISSION,6
$DIVE,113
$N_DIVES,119
$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,-34412.273
$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,47
$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
$GPS1,091010,064931,2302.811,12702.253,13,1.9,30,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-72.8
$GPS2,091010,065514,2302.848,12702.256,11,1.5,11,-3.4
$SPEED_LIMITS,0.214,0.341
$TGT_NAME,WAKEB_WEST
$TGT_LATLONG,2303.000,12650.000
$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,229.2,20887,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.76,-228.7,0.0,0.0,0,84,0.00,0.00,-64.43,0.000,2,0.000,0.000,113,783,3327,0,0,0,0,0,0
$GC,87,-0.76,-228.7,5.8,-13.0,9,113,9.70,2.00,-9.88,0.000,4,0.237,0.034,2558,2150,3965,0,0,0,0,0,0
$GC,132,-0.76,-228.7,30.1,-54.3,15,140,0.00,2.08,0.00,0.000,6,0.000,0.034,2558,787,3966,0,0,0,0,0,0
$GC,458,-0.76,-228.7,130.7,-21.4,76,466,0.00,0.85,0.00,0.000,4,0.000,0.042,2558,193,3969,0,0,0,0,0,0
$GC,714,-0.76,-228.7,192.8,-23.7,122,723,0.00,0.68,0.00,0.000,6,0.000,0.022,2555,796,3969,0,0,0,0,0,0
$GC,1060,-0.76,-228.7,263.8,-20.4,183,1066,0.00,0.88,0.00,0.000,4,0.000,0.041,2555,192,3969,0,0,0,0,0,0
$GC,1317,-0.76,-228.7,314.2,-18.5,223,1321,0.00,0.60,0.00,0.000,6,0.000,0.022,2552,736,3970,0,0,0,0,0,0
$GC,1649,-0.76,-228.7,370.2,-16.0,254,1652,0.00,0.80,0.00,0.000,4,0.000,0.042,2552,186,3969,0,0,0,0,0,0
$GC,1773,-0.76,-228.7,391.3,-17.6,265,1777,0.00,0.62,0.00,0.000,6,0.000,0.022,2548,743,3970,0,0,0,0,0,0
$GC,2103,-0.76,-228.7,447.8,-15.9,296,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,744,3970,0,0,0,0,0,0
$GC,2424,-0.76,-228.7,496.4,-14.0,326,2427,0.00,1.92,0.00,0.000,4,0.000,0.017,2547,2133,3968,0,0,0,0,0,0
$STATE,2449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2449,begin apogee
$GC,2457,-0.14,0.0,500.4,12.5,328,2633,0.65,0.00,170.27,0.948,4,0.115,0.000,2771,990,3028,0,0,0,0,0,0
$STATE,2634,end apogee,CONTROL_FINISHED_OK
$STATE,2634,begin climb
$GC,2636,0.76,228.7,509.4,0.0,343,2819,0.77,0.00,171.75,0.923,6,0.057,0.000,3071,991,2095,0,0,0,0,0,0
$GC,3137,0.76,228.7,442.3,17.3,389,3141,0.00,1.92,0.00,0.000,4,0.000,0.018,3071,2341,2089,0,0,0,0,0,0
$GC,3317,0.76,228.7,412.4,17.0,405,3320,0.00,2.00,0.00,0.000,6,0.000,0.035,3080,1016,2087,0,0,0,0,0,0
$GC,3648,0.76,228.7,358.4,16.7,436,3652,0.00,1.88,0.00,0.000,4,0.000,0.020,3080,2337,2085,0,0,0,0,0,0
$GC,3863,0.76,228.7,328.5,13.3,455,3867,0.00,1.92,0.00,0.000,6,0.000,0.034,3088,1049,2084,0,0,0,0,0,0
$GC,4193,0.76,228.7,277.7,16.1,499,4200,0.00,1.27,0.00,0.000,4,0.000,0.043,3095,184,2083,0,0,0,0,0,0
$GC,4306,0.76,228.7,258.8,16.6,519,4314,0.00,1.08,0.00,0.000,6,0.000,0.019,3095,1051,2082,0,0,0,0,0,0
$GC,4642,0.76,228.7,206.7,14.3,580,4650,0.00,1.80,0.00,0.000,4,0.000,0.018,3095,2337,2081,0,0,0,0,0,0
$GC,4706,0.76,228.7,197.3,14.0,591,4714,0.12,1.90,0.00,0.000,6,0.163,0.034,3070,1055,2081,0,0,0,0,0,0
$GC,5041,0.81,268.5,160.3,10.9,652,5075,0.00,0.00,28.80,0.721,6,0.000,0.000,3070,1054,1934,0,0,0,0,0,0
$GC,5396,0.83,287.3,115.6,11.7,717,5419,0.00,1.80,15.32,0.657,4,0.000,0.017,3070,2340,1858,0,0,0,0,0,0
$GC,5453,0.90,339.2,108.7,10.5,726,5506,0.08,1.92,41.55,0.670,6,0.056,0.034,3123,1072,1645,0,0,0,0,0,0
$GC,5829,0.93,365.0,57.6,11.4,793,5859,0.00,1.83,20.40,0.614,4,0.000,0.018,3123,2337,1538,0,0,0,0,0,0
$GC,5878,0.97,399.2,52.0,11.1,800,5915,0.00,1.92,28.05,0.611,6,0.000,0.034,3131,1077,1401,0,0,0,0,0,0
$GC,6239,0.97,399.2,6.9,12.8,865,6246,0.00,1.77,0.00,0.000,4,0.000,0.018,3131,2333,1396,0,0,0,0,0,0
$STATE,6265,end climb,SURFACE_DEPTH_REACHED
$STATE,6265,begin surface coast
$FINISH,0.3,1.021755
$STATE,6287,end surface coast,CONTROL_FINISHED_OK
$STATE,6287,begin surface
$SM_CCo,6369,0.00,0.000,0,0,1392,401.56
$SM_GC,1.16,7.57,0.00,0.00,0.030,0.000,0.000,114,786,1392,-8.36,-0.11,401.56
$IRIDIUM_FIX,2255.72,12701.56,091010,050559
$TT8_MAMPS,0.028462
$HUMID,39.80
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,27.60
$XPDR_PINGS,0
$24V_AH,24.7,25.058
$10V_AH,10.5,22.000
$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,18.900,37.550,476.150,0.000,0.000,25.450,36.412,138.716,0.000,0.000,12.268,2054.930,1615.696,451.038,2309.374,277.102,0.000,1269.808,0.000,2128.604,0.000,0.543,0.000
$DEVICE_MAMPS,237.150,42.840,947.835,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,587.533,892.997,1486.462,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50323,873
$CAP_FILE_SIZE,82963,0
$CFSIZE,260165632,161234944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.213, 22.7,1
$GPS,091010,084252,2302.608,12702.193,10,3.0,29,-3.4