version: 66.08
glider: 167
mission: 6
dive: 73
start: 10 6 110 1 29 8
data:
$ID,167
$MISSION,6
$DIVE,73
$N_DIVES,85
$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,-34362.031
$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,128
$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
$GPS1,061010,012307,2304.941,12706.264,38,1.1,38,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-67.8
$GPS2,061010,012844,2304.996,12706.205,12,1.5,12,-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,188.5,4229,-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,18,-0.76,-228.7,0.0,0.0,0,90,0.00,0.00,-70.30,0.000,2,0.000,0.000,118,779,3532,0,0,0,0,0,0
$GC,93,-0.76,-228.7,6.4,-13.9,10,117,9.18,1.92,-6.47,0.000,4,0.220,0.029,2558,2185,3962,0,0,0,0,0,0
$GC,295,-0.76,-228.7,73.3,-24.4,46,303,0.00,2.12,0.00,0.000,6,0.000,0.036,2558,788,3966,0,0,0,0,0,0
$GC,619,-0.76,-228.7,148.5,-22.8,107,627,0.00,0.85,0.00,0.000,4,0.000,0.043,2558,194,3967,0,0,0,0,0,0
$GC,882,-0.76,-228.7,210.2,-21.3,153,888,0.00,0.73,0.00,0.000,6,0.000,0.021,2553,821,3968,0,0,0,0,0,0
$GC,1221,-0.76,-228.7,281.2,-21.1,214,1229,0.00,0.93,0.00,0.000,4,0.000,0.042,2553,189,3968,0,0,0,0,0,0
$GC,1484,-0.76,-228.7,333.1,-18.4,245,1488,0.00,0.68,0.00,0.000,6,0.000,0.022,2549,770,3968,0,0,0,0,0,0
$GC,1815,-0.76,-228.7,387.8,-16.3,276,1818,0.00,0.85,0.00,0.000,4,0.000,0.042,2549,186,3968,0,0,0,0,0,0
$GC,2077,-0.76,-228.7,432.8,-17.4,299,2081,0.00,0.68,0.00,0.000,6,0.000,0.022,2548,774,3968,0,0,0,0,0,0
$GC,2408,-0.76,-228.7,481.7,-14.4,330,2412,0.00,0.85,0.00,0.000,4,0.000,0.043,2548,190,3965,0,0,0,0,0,0
$STATE,2531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2531,begin apogee
$GC,2539,-0.14,0.0,500.6,15.5,341,2716,0.65,0.00,169.20,0.954,4,0.124,0.000,2769,1041,3028,0,0,0,0,0,0
$STATE,2717,end apogee,CONTROL_FINISHED_OK
$STATE,2717,begin climb
$GC,2721,0.76,228.7,512.1,0.0,356,2902,0.82,1.98,172.00,0.928,4,0.052,0.018,3080,2384,2095,0,0,0,0,0,0
$GC,3118,0.76,228.7,464.9,15.2,390,3128,0.00,2.12,0.00,0.000,6,0.000,0.034,3086,1001,2090,0,0,0,0,0,0
$GC,3445,0.76,228.7,409.8,16.8,421,3449,0.00,1.20,0.00,0.000,4,0.000,0.042,3092,190,2086,0,0,0,0,0,0
$GC,3617,0.76,228.7,380.3,16.5,436,3621,0.00,1.08,0.00,0.000,6,0.000,0.019,3092,1054,2086,0,0,0,0,0,0
$GC,3950,0.76,228.7,325.6,16.6,467,3954,0.00,1.83,0.00,0.000,4,0.000,0.020,3092,2371,2084,0,0,0,0,0,0
$GC,4029,0.76,228.7,312.4,16.4,474,4034,0.12,2.00,0.00,0.000,6,0.173,0.033,3068,1010,2083,0,0,0,0,0,0
$GC,4365,0.76,228.7,267.1,12.8,526,4374,0.00,1.92,0.00,0.000,4,0.000,0.019,3068,2360,2082,0,0,0,0,0,0
$GC,4535,0.76,228.7,246.9,12.7,555,4542,0.00,1.98,0.00,0.000,6,0.000,0.034,3075,1029,2081,0,0,0,0,0,0
$GC,4875,0.76,228.7,199.5,13.6,616,4883,0.00,1.90,0.00,0.000,4,0.000,0.018,3075,2365,2081,0,0,0,0,0,0
$GC,4920,0.76,228.7,193.7,12.6,623,4927,0.00,1.95,0.00,0.000,6,0.000,0.034,3083,1049,2080,0,0,0,0,0,0
$GC,5262,0.78,241.8,152.7,11.9,684,5275,0.00,0.00,8.77,0.653,6,0.000,0.000,3083,1049,2042,0,0,0,0,0,0
$GC,5594,0.80,262.3,110.3,11.6,746,5618,0.00,1.85,16.83,0.669,4,0.000,0.017,3083,2363,1957,0,0,0,0,0,0
$GC,5734,0.82,275.2,93.6,11.9,770,5751,0.00,1.98,11.65,0.627,6,0.000,0.034,3090,1057,1906,0,0,0,0,0,0
$GC,6074,0.93,362.2,60.3,9.2,832,6146,0.00,0.00,66.50,0.641,6,0.000,0.000,3091,1057,1550,0,0,0,0,0,0
$GC,6468,1.03,448.3,20.1,9.2,902,6543,0.17,1.30,66.03,0.595,4,0.074,0.037,3182,201,1199,0,0,0,0,0,0
$STATE,6578,end climb,SURFACE_DEPTH_REACHED
$STATE,6578,begin surface coast
$FINISH,0.4,1.022115
$STATE,6596,end surface coast,CONTROL_FINISHED_OK
$STATE,6596,begin surface
$SM_CCo,6674,0.00,0.000,0,0,1193,450.13
$SM_GC,1.15,7.88,0.00,0.00,0.035,0.000,0.000,128,801,1193,-8.35,0.31,450.13
$IRIDIUM_FIX,2255.72,12704.84,051010,232305
$TT8_MAMPS,0.029211
$HUMID,38.97
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,27.40
$XPDR_PINGS,0
$24V_AH,24.7,20.048
$10V_AH,10.5,17.292
$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,18.825,34.450,510.975,0.000,0.000,31.213,19.461,140.683,0.000,0.000,12.987,2166.288,1608.508,467.939,2478.936,286.358,0.000,1342.610,0.000,2302.185,0.000,0.544,0.000
$DEVICE_MAMPS,219.555,42.840,953.955,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,620.086,943.090,1603.441,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53563,921
$CAP_FILE_SIZE,86171,0
$CFSIZE,260165632,163348480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.292,  3.1,1
$GPS,061010,032108,2305.436,12706.688,10,1.8,10,-3.4