version: 66.08
glider: 167
mission: 6
dive: 52
start: 10 4 110 7 50 44
data:
$ID,167
$MISSION,6
$DIVE,52
$N_DIVES,55
$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,375
$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,-34089.461
$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,46
$R_STBD_OVSHOOT,159
$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,49
$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
$GPS1,041010,074426,2307.195,12703.923,9,1.6,9,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-72.5
$GPS2,041010,075019,2307.231,12703.888,14,1.9,14,-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,185.1,8062,-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,-228.7,0.0,0.0,0,88,0.00,0.00,-68.20,0.000,2,0.000,0.000,120,774,3332,0,0,0,0,0,0
$GC,90,-0.76,-228.7,5.7,-12.5,10,115,9.25,0.88,-9.98,0.000,4,0.223,0.074,2569,183,3965,0,0,0,0,0,0
$GC,354,-0.76,-228.7,100.2,-27.7,58,362,0.00,0.70,0.00,0.000,6,0.000,0.021,2566,781,3968,0,0,0,0,0,0
$GC,687,-0.76,-228.7,179.8,-21.3,119,694,0.00,0.85,0.00,0.000,4,0.000,0.043,2566,197,3969,0,0,0,0,0,0
$GC,946,-0.76,-228.7,238.0,-22.6,165,952,0.00,0.68,0.00,0.000,6,0.000,0.022,2562,806,3970,0,0,0,0,0,0
$GC,1293,-0.76,-228.7,306.3,-18.1,224,1296,0.00,0.90,0.00,0.000,4,0.000,0.043,2562,192,3970,0,0,0,0,0,0
$GC,1554,-0.76,-228.7,356.4,-17.7,247,1557,0.00,0.65,0.00,0.000,6,0.000,0.023,2561,781,3970,0,0,0,0,0,0
$GC,1885,-0.76,-228.7,410.2,-14.5,278,1888,0.00,0.85,0.00,0.000,4,0.000,0.044,2561,199,3970,0,0,0,0,0,0
$GC,2034,-0.76,-228.7,432.0,-14.1,291,2039,0.00,0.62,0.00,0.000,6,0.000,0.023,2561,766,3970,0,0,0,0,0,0
$GC,2365,-0.76,-228.7,481.4,-14.3,322,2369,0.00,0.82,0.00,0.000,4,0.000,0.044,2561,199,3968,0,0,0,0,0,0
$GC,2434,-0.76,-228.7,491.3,-15.2,328,2438,0.00,0.62,0.00,0.000,6,0.000,0.024,2560,758,3968,0,0,0,0,0,0
$STATE,2497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2497,begin apogee
$GC,2503,-0.14,0.0,501.0,14.1,334,2681,0.62,0.00,169.52,0.953,4,0.122,0.000,2774,995,3028,0,0,0,0,0,0
$STATE,2682,end apogee,CONTROL_FINISHED_OK
$STATE,2682,begin climb
$GC,2686,0.76,228.7,509.7,0.0,349,2866,0.80,2.00,172.05,0.929,4,0.054,0.018,3074,2389,2095,0,0,0,0,0,0
$GC,3056,0.76,228.7,461.2,19.2,381,3063,0.00,2.08,0.00,0.000,6,0.000,0.034,3084,1008,2089,0,0,0,0,0,0
$GC,3381,0.76,228.7,397.5,18.3,412,3385,0.00,1.88,0.00,0.000,4,0.000,0.019,3084,2338,2087,0,0,0,0,0,0
$GC,3640,0.76,228.7,355.3,17.2,435,3644,0.00,2.03,0.00,0.000,6,0.000,0.035,3092,990,2086,0,0,0,0,0,0
$GC,3971,0.76,228.7,303.9,15.8,466,3975,0.00,1.90,0.00,0.000,4,0.000,0.019,3092,2350,2083,0,0,0,0,0,0
$GC,4133,0.76,228.7,277.0,17.5,492,4145,0.10,2.05,0.00,0.000,6,0.151,0.035,3069,996,2082,0,0,0,0,0,0
$GC,4477,0.76,228.7,223.3,15.0,553,4484,0.00,1.90,0.00,0.000,4,0.000,0.019,3069,2349,2081,0,0,0,0,0,0
$GC,4656,0.76,228.7,197.5,12.8,585,4663,0.00,1.98,0.00,0.000,6,0.000,0.035,3075,1019,2080,0,0,0,0,0,0
$GC,4998,0.78,241.2,156.6,11.9,646,5012,0.00,1.17,8.20,0.649,4,0.000,0.041,3081,191,2046,0,0,0,0,0,0
$GC,5064,0.78,241.2,148.5,12.7,657,5072,0.00,1.02,0.00,0.000,6,0.000,0.020,3082,1021,2045,0,0,0,0,0,0
$GC,5393,0.78,244.1,108.8,12.2,718,5403,0.00,1.88,4.05,0.473,4,0.000,0.020,3082,2338,2033,0,0,0,0,0,0
$GC,5496,0.87,317.8,97.3,9.7,736,5565,0.00,1.98,56.58,0.676,6,0.000,0.035,3089,1025,1732,0,0,0,0,0,0
$GC,5885,0.92,358.0,55.9,10.9,805,5922,0.00,1.30,31.33,0.627,4,0.000,0.044,3094,186,1567,0,0,0,0,0,0
$GC,5989,0.92,358.0,44.5,12.4,822,5997,0.00,1.05,0.00,0.000,6,0.000,0.019,3094,1013,1565,0,0,0,0,0,0
$GC,6318,0.97,394.7,6.8,11.0,883,6350,0.10,0.00,29.00,0.584,2,0.105,0.000,3146,1013,1419,0,0,0,0,0,0
$STATE,6351,end climb,SURFACE_DEPTH_REACHED
$STATE,6351,begin surface coast
$FINISH,0.3,1.008913
$STATE,6373,end surface coast,CONTROL_FINISHED_OK
$STATE,6373,begin surface
$SM_CCo,6451,0.00,0.000,0,0,1414,396.16
$SM_GC,1.10,7.85,0.00,0.00,0.043,0.000,0.000,122,780,1414,-8.37,-0.28,396.16
$IRIDIUM_FIX,2258.07,12702.97,041010,050539
$TT8_MAMPS,0.028462
$HUMID,38.89
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.50
$XPDR_PINGS,1
$24V_AH,24.7,17.346
$10V_AH,10.5,14.790
$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,18.725,32.300,470.725,0.000,0.000,23.979,44.033,137.168,0.250,0.000,14.824,2111.066,1554.632,436.967,2429.558,270.843,0.000,1285.014,0.000,2227.971,0.000,0.545,0.000
$DEVICE_MAMPS,222.615,74.205,953.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,600.253,911.466,1555.106,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50405,891
$CAP_FILE_SIZE,85235,0
$CFSIZE,260165632,164470784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022, 13.9,1
$GPS,041010,093931,2306.917,12704.468,41,1.0,41,-3.4