version: 66.08
glider: 167
mission: 6
dive: 134
start: 10 10 110 23 23 56
data:
$ID,167
$MISSION,6
$DIVE,134
$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,-34438.641
$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,45
$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
$GPS1,101010,231736,2303.904,12652.830,15,1.1,25,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-72.7
$GPS2,101010,232332,2303.897,12652.813,14,1.1,14,-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,131.9,20834,-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,-228.7,0.0,0.0,0,90,0.00,0.00,-69.68,0.000,2,0.000,0.000,109,780,3558,0,0,0,0,0,0
$GC,93,-0.76,-228.7,7.2,-16.2,10,117,9.48,0.85,-5.82,0.000,4,0.227,0.067,2571,187,3964,0,0,0,0,0,0
$GC,263,-0.76,-228.7,81.8,-31.1,40,272,0.00,0.70,0.00,0.000,6,0.000,0.021,2568,800,3966,0,0,0,0,0,0
$GC,592,-0.76,-228.7,162.3,-21.0,101,599,0.00,0.88,0.00,0.000,4,0.000,0.041,2568,196,3968,0,0,0,0,0,0
$GC,851,-0.76,-228.7,223.1,-21.0,147,858,0.00,0.62,0.00,0.000,6,0.000,0.023,2564,760,3968,0,0,0,0,0,0
$GC,1192,-0.76,-228.7,290.2,-18.4,208,1201,0.00,0.82,0.00,0.000,4,0.000,0.041,2564,190,3969,0,0,0,0,0,0
$GC,1310,-0.76,-228.7,313.9,-19.7,223,1318,0.00,0.62,0.00,0.000,6,0.000,0.022,2561,764,3969,0,0,0,0,0,0
$GC,1636,-0.76,-228.7,376.6,-18.7,254,1640,0.00,0.82,0.00,0.000,4,0.000,0.041,2561,192,3969,0,0,0,0,0,0
$GC,1864,-0.76,-228.7,421.7,-17.5,274,1873,0.00,0.62,0.00,0.000,6,0.000,0.022,2561,745,3968,0,0,0,0,0,0
$GC,2192,-0.76,-228.7,471.9,-14.1,305,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,745,3967,0,0,0,0,0,0
$STATE,2402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2402,begin apogee
$GC,2408,-0.14,0.0,501.2,14.1,325,2586,0.62,0.00,169.45,0.948,4,0.125,0.000,2772,985,3030,0,0,0,0,0,0
$STATE,2587,end apogee,CONTROL_FINISHED_OK
$STATE,2587,begin climb
$GC,2589,0.76,228.7,511.7,0.0,340,2772,0.80,2.03,172.57,0.925,4,0.053,0.018,3073,2362,2096,0,0,0,0,0,0
$GC,3021,0.76,228.7,458.5,16.7,377,3025,0.00,2.05,0.00,0.000,6,0.000,0.033,3083,996,2090,0,0,0,0,0,0
$GC,3351,0.76,228.7,399.3,17.9,408,3355,0.00,1.17,0.00,0.000,4,0.000,0.041,3089,193,2087,0,0,0,0,0,0
$GC,3546,0.76,228.7,364.3,18.3,425,3549,0.00,1.05,0.00,0.000,6,0.000,0.019,3089,1041,2086,0,0,0,0,0,0
$GC,3877,0.76,228.7,309.5,17.7,456,3880,0.00,1.83,0.00,0.000,4,0.000,0.018,3089,2334,2084,0,0,0,0,0,0
$GC,3953,0.76,228.7,297.4,15.9,463,3959,0.00,1.95,0.00,0.000,6,0.000,0.033,3098,1008,2083,0,0,0,0,0,0
$GC,4292,0.76,228.7,239.8,15.0,524,4301,0.00,1.88,0.00,0.000,4,0.000,0.018,3098,2331,2082,0,0,0,0,0,0
$GC,4395,0.76,228.7,224.9,14.2,542,4404,0.10,1.98,0.00,0.000,6,0.139,0.034,3073,1018,2082,0,0,0,0,0,0
$GC,4743,0.76,229.3,181.9,12.3,603,4750,0.00,1.85,0.00,0.000,4,0.000,0.018,3073,2345,2081,0,0,0,0,0,0
$GC,4874,0.81,270.4,166.8,10.9,626,4909,0.00,1.98,30.42,0.726,6,0.000,0.034,3079,1032,1925,0,0,0,0,0,0
$GC,5233,0.84,295.0,117.0,11.5,691,5257,0.00,1.27,19.62,0.669,4,0.000,0.041,3086,191,1826,0,0,0,0,0,0
$GC,5292,0.84,295.0,109.2,14.0,700,5300,0.00,1.05,0.00,0.000,6,0.000,0.020,3085,1033,1823,0,0,0,0,0,0
$GC,5619,0.92,353.4,73.2,10.2,761,5671,0.00,1.90,45.20,0.647,4,0.000,0.018,3085,2334,1587,0,0,0,0,0,0
$GC,5747,0.99,413.0,61.2,10.2,781,5800,0.10,1.98,47.33,0.624,6,0.054,0.033,3154,1039,1344,0,0,0,0,0,0
$GC,6121,0.99,413.0,4.2,15.8,848,6130,0.00,1.25,0.00,0.000,4,0.000,0.041,3159,191,1337,0,0,0,0,0,0
$STATE,6136,end climb,SURFACE_DEPTH_REACHED
$STATE,6136,begin surface coast
$FINISH,0.2,1.011009
$STATE,6153,end surface coast,CONTROL_FINISHED_OK
$STATE,6154,begin surface
$SM_CCo,6232,0.00,0.000,0,0,1333,415.54
$SM_GC,1.10,7.62,0.00,0.00,0.028,0.000,0.000,118,779,1333,-8.37,-0.31,415.54
$IRIDIUM_FIX,2255.72,12649.85,101010,212123
$TT8_MAMPS,0.028462
$HUMID,40.35
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.30
$XPDR_PINGS,0
$24V_AH,24.7,27.674
$10V_AH,10.5,24.484
$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,18.725,32.025,484.600,0.000,0.000,24.847,45.384,138.845,0.000,0.000,15.714,2002.661,1550.272,456.181,2303.531,270.877,0.000,1270.776,0.000,2105.342,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,67.320,947.835,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,573.616,872.057,1461.155,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50308,853
$CAP_FILE_SIZE,81913,0
$CFSIZE,260165632,160137216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.118,  9.5,1
$GPS,111010,010901,2304.018,12653.794,38,1.2,38,-3.4