version: 66.08
glider: 167
mission: 6
dive: 132
start: 10 10 110 19 34 34
data:
$ID,167
$MISSION,6
$DIVE,132
$N_DIVES,142
$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,-34436.133
$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,40
$R_STBD_OVSHOOT,146
$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
$GPS1,101010,192744,2303.035,12650.913,13,1.9,13,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-72.6
$GPS2,101010,193408,2303.051,12650.931,16,1.8,16,-3.3
$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,134.8,23976,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.76,-228.7,0.0,0.0,0,82,0.00,0.00,-63.47,0.000,2,0.000,0.000,123,795,3308,0,0,0,0,0,0
$GC,85,-0.76,-228.7,5.7,-13.4,9,110,9.43,0.93,-10.18,0.000,4,0.226,0.074,2570,178,3965,0,0,0,0,0,0
$GC,348,-0.76,-228.7,104.6,-26.9,57,356,0.00,0.73,0.00,0.000,6,0.000,0.021,2567,807,3967,0,0,0,0,0,0
$GC,677,-0.76,-228.7,182.4,-22.8,118,685,0.00,0.90,0.00,0.000,4,0.000,0.041,2566,192,3969,0,0,0,0,0,0
$GC,934,-0.76,-228.7,240.8,-22.1,164,942,0.00,0.65,0.00,0.000,6,0.000,0.022,2564,780,3969,0,0,0,0,0,0
$GC,1267,-0.76,-228.7,302.7,-17.2,224,1271,0.00,0.85,0.00,0.000,4,0.000,0.041,2564,192,3969,0,0,0,0,0,0
$GC,1446,-0.76,-228.7,337.7,-19.5,240,1449,0.00,0.62,0.00,0.000,6,0.000,0.022,2561,769,3970,0,0,0,0,0,0
$GC,1778,-0.76,-228.7,392.2,-15.5,271,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,770,3970,0,0,0,0,0,0
$GC,2099,-0.76,-228.7,440.3,-15.3,301,2103,0.00,0.85,0.00,0.000,4,0.000,0.042,2561,188,3968,0,0,0,0,0,0
$GC,2159,-0.76,-228.7,450.3,-15.5,306,2167,0.00,0.62,0.00,0.000,6,0.000,0.022,2561,746,3968,0,0,0,0,0,0
$GC,2486,-0.76,-228.7,497.4,-14.6,337,2490,0.00,0.80,0.00,0.000,4,0.000,0.043,2561,195,3966,0,0,0,0,0,0
$STATE,2499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2500,begin apogee
$GC,2508,-0.14,0.0,500.1,13.8,338,2683,0.62,0.00,169.85,0.955,4,0.123,0.000,2772,1032,3029,0,0,0,0,0,0
$STATE,2684,end apogee,CONTROL_FINISHED_OK
$STATE,2684,begin climb
$GC,2688,0.76,228.7,510.7,0.0,353,2873,0.82,1.95,172.62,0.929,4,0.055,0.018,3078,2374,2095,0,0,0,0,0,0
$GC,3120,0.76,228.7,456.7,17.1,391,3126,0.00,2.08,0.00,0.000,6,0.000,0.033,3087,999,2089,0,0,0,0,0,0
$GC,3446,0.76,228.7,398.6,17.5,422,3449,0.00,1.17,0.00,0.000,4,0.000,0.041,3094,196,2087,0,0,0,0,0,0
$GC,3691,0.76,228.7,354.5,18.4,444,3694,0.00,1.05,0.00,0.000,6,0.000,0.019,3093,1048,2085,0,0,0,0,0,0
$GC,4023,0.76,228.7,300.0,17.8,475,4026,0.00,1.77,0.00,0.000,4,0.000,0.019,3093,2325,2081,0,0,0,0,0,0
$GC,4217,0.76,228.7,266.4,17.4,509,4225,0.12,1.92,0.00,0.000,6,0.177,0.033,3066,1024,2081,0,0,0,0,0,0
$GC,4551,0.76,228.7,218.5,13.5,570,4559,0.00,1.85,0.00,0.000,4,0.000,0.018,3066,2331,2081,0,0,0,0,0,0
$GC,4636,0.76,228.7,206.9,13.2,585,4643,0.00,1.92,0.00,0.000,6,0.000,0.033,3073,1031,2080,0,0,0,0,0,0
$GC,4971,0.77,232.0,166.1,12.2,646,4980,0.00,1.83,0.00,0.000,4,0.000,0.018,3073,2328,2080,0,0,0,0,0,0
$GC,5058,0.78,247.2,156.3,11.8,661,5079,0.00,1.90,12.88,0.689,6,0.000,0.034,3080,1046,2020,0,0,0,0,0,0
$GC,5400,0.78,247.2,114.8,12.9,724,5408,0.00,1.25,0.00,0.000,4,0.000,0.041,3085,191,2018,0,0,0,0,0,0
$GC,5429,0.79,253.4,111.4,12.1,728,5445,0.00,1.08,6.15,0.567,6,0.000,0.019,3085,1058,1994,0,0,0,0,0,0
$GC,5767,0.86,309.8,75.3,10.3,790,5817,0.00,0.00,43.95,0.656,6,0.000,0.000,3085,1059,1764,0,0,0,0,0,0
$GC,6143,0.97,399.5,37.4,9.1,857,6218,0.12,0.00,69.30,0.612,6,0.091,0.000,3150,1059,1399,0,0,0,0,0,0
$STATE,6401,end climb,SURFACE_DEPTH_REACHED
$STATE,6401,begin surface coast
$FINISH,0.3,1.021731
$STATE,6424,end surface coast,CONTROL_FINISHED_OK
$STATE,6424,begin surface
$SM_CCo,6503,0.00,0.000,0,0,1389,402.05
$SM_GC,1.05,7.70,0.00,0.00,0.032,0.000,0.000,119,786,1389,-8.36,-0.11,402.05
$IRIDIUM_FIX,2255.72,12704.84,101010,171753
$TT8_MAMPS,0.027713
$HUMID,39.80
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,27.60
$XPDR_PINGS,0
$24V_AH,24.7,27.423
$10V_AH,10.5,24.254
$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,18.825,28.125,474.750,0.000,0.000,30.354,45.593,150.400,0.000,0.000,16.925,2127.702,1578.339,444.438,2444.778,288.272,0.000,1288.013,0.000,2230.770,0.000,0.544,0.000
$DEVICE_MAMPS,226.440,74.205,954.720,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,609.401,925.327,1565.259,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333936
$DATA_FILE_SIZE,53522,905
$CAP_FILE_SIZE,84141,0
$CFSIZE,260165632,160231424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.236,  6.9,1
$GPS,101010,212407,2303.707,12651.851,35,1.0,35,-3.4