version: 66.08
glider: 167
mission: 6
dive: 114
start: 10 9 110 8 49 11
data:
$ID,167
$MISSION,6
$DIVE,114
$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,-34413.523
$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,152
$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
$GPS1,091010,084252,2302.608,12702.193,10,3.0,29,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-73.6
$GPS2,091010,084846,2302.631,12702.213,16,3.0,35,-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,239.6,20823,-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,-228.7,0.0,0.0,0,82,0.00,0.00,-62.85,0.000,2,0.000,0.000,113,785,3244,0,0,0,0,0,0
$GC,85,-0.76,-228.7,5.4,-12.4,9,117,9.48,1.95,-11.52,0.000,4,0.230,0.034,2555,2138,3965,0,0,0,0,0,0
$GC,177,-0.76,-228.7,43.9,-32.8,24,185,0.00,2.05,0.00,0.000,6,0.000,0.037,2555,792,3966,0,0,0,0,0,0
$GC,505,-0.76,-228.7,141.7,-23.4,85,512,0.00,0.88,0.00,0.000,4,0.000,0.043,2555,186,3967,0,0,0,0,0,0
$GC,763,-0.76,-228.7,203.9,-23.5,131,769,0.00,0.68,0.00,0.000,6,0.000,0.022,2551,781,3969,0,0,0,0,0,0
$GC,1104,-0.76,-228.7,280.8,-21.7,192,1112,0.00,0.85,0.00,0.000,4,0.000,0.042,2551,193,3970,0,0,0,0,0,0
$GC,1364,-0.76,-228.7,334.9,-18.5,223,1368,0.00,0.62,0.00,0.000,6,0.000,0.023,2548,761,3969,0,0,0,0,0,0
$GC,1695,-0.76,-228.7,389.6,-15.4,254,1699,0.00,0.82,0.00,0.000,4,0.000,0.042,2548,190,3970,0,0,0,0,0,0
$GC,1829,-0.76,-228.7,413.9,-19.0,266,1833,0.00,0.65,0.00,0.000,6,0.000,0.022,2547,770,3969,0,0,0,0,0,0
$GC,2161,-0.76,-228.7,468.4,-15.7,297,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,770,3968,0,0,0,0,0,0
$STATE,2371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2371,begin apogee
$GC,2377,-0.14,0.0,501.5,15.6,317,2552,0.65,0.00,170.18,0.946,4,0.122,0.000,2768,988,3029,0,0,0,0,0,0
$STATE,2553,end apogee,CONTROL_FINISHED_OK
$STATE,2553,begin climb
$GC,2555,0.76,228.7,512.5,0.0,331,2737,0.77,0.00,172.05,0.923,6,0.056,0.000,3068,988,2095,0,0,0,0,0,0
$GC,3056,0.76,228.7,452.1,15.8,376,3060,0.00,1.95,0.00,0.000,4,0.000,0.019,3068,2362,2088,0,0,0,0,0,0
$GC,3194,0.76,228.7,429.5,16.8,388,3201,0.00,2.08,0.00,0.000,6,0.000,0.034,3078,1006,2087,0,0,0,0,0,0
$GC,3520,0.76,228.7,375.7,16.0,419,3524,0.00,1.92,0.00,0.000,4,0.000,0.020,3078,2340,2085,0,0,0,0,0,0
$GC,3752,0.76,228.7,340.8,14.8,440,3756,0.00,1.95,0.00,0.000,6,0.000,0.035,3087,1037,2084,0,0,0,0,0,0
$GC,4085,0.76,228.7,287.2,15.5,477,4091,0.00,1.25,0.00,0.000,4,0.000,0.043,3093,188,2082,0,0,0,0,0,0
$GC,4199,0.76,228.7,267.9,16.0,498,4207,0.00,1.08,0.00,0.000,6,0.000,0.019,3093,1054,2082,0,0,0,0,0,0
$GC,4530,0.76,228.7,218.2,14.4,559,4537,0.00,1.77,0.00,0.000,4,0.000,0.018,3093,2350,2081,0,0,0,0,0,0
$GC,4612,0.76,228.7,207.3,12.8,573,4619,0.12,1.92,0.00,0.000,6,0.164,0.034,3068,1049,2080,0,0,0,0,0,0
$GC,4944,0.76,229.8,169.7,12.3,634,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1049,2080,0,0,0,0,0,0
$GC,5274,0.83,285.4,132.4,10.3,695,5326,0.00,1.90,41.47,0.701,4,0.000,0.018,3069,2350,1864,0,0,0,0,0,0
$GC,5376,0.84,289.9,120.1,12.2,711,5386,0.00,1.98,4.90,0.506,6,0.000,0.033,3075,1056,1846,0,0,0,0,0,0
$GC,5707,0.90,336.9,84.0,10.6,772,5754,0.10,1.88,37.15,0.651,4,0.099,0.019,3125,2344,1654,0,0,0,0,0,0
$GC,5879,0.90,336.9,61.5,13.0,801,5887,0.00,1.90,0.00,0.000,6,0.000,0.034,3132,1099,1650,0,0,0,0,0,0
$GC,6208,0.92,358.3,21.1,11.6,862,6231,0.00,1.30,16.75,0.583,4,0.000,0.040,3138,194,1567,0,0,0,0,0,0
$GC,6245,0.98,405.8,17.1,10.6,867,6290,0.00,1.15,37.92,0.591,6,0.000,0.018,3138,1115,1375,0,0,0,0,0,0
$STATE,6353,end climb,SURFACE_DEPTH_REACHED
$STATE,6353,begin surface coast
$FINISH,0.3,1.021734
$STATE,6379,end surface coast,CONTROL_FINISHED_OK
$STATE,6379,begin surface
$SM_CCo,6457,0.00,0.000,0,0,1367,407.69
$SM_GC,1.45,7.72,0.00,0.00,0.036,0.000,0.000,119,776,1367,-8.36,-0.40,407.69
$IRIDIUM_FIX,2255.72,12704.84,091010,060638
$TT8_MAMPS,0.028462
$HUMID,39.99
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,27.60
$XPDR_PINGS,0
$24V_AH,24.7,25.183
$10V_AH,10.5,22.117
$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,18.850,33.175,480.425,0.000,0.000,31.149,15.413,138.733,0.000,0.000,37.097,2095.150,1618.344,453.185,2370.504,271.916,0.000,1289.208,0.000,2177.709,0.000,0.543,0.000
$DEVICE_MAMPS,230.265,51.255,945.540,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,598.246,908.701,1529.784,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50309,889
$CAP_FILE_SIZE,84008,0
$CFSIZE,260165632,161185792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110, 45.8,1
$GPS,091010,103801,2302.021,12701.944,38,1.4,38,-3.3