version: 66.08
glider: 167
mission: 6
dive: 97
start: 10 7 110 23 57 3
data:
$ID,167
$MISSION,6
$DIVE,97
$N_DIVES,105
$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,-34392.18
$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,37
$R_STBD_OVSHOOT,154
$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
$GPS1,071010,235106,2304.090,12706.882,16,1.5,26,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.3
$GPS2,071010,235638,2304.141,12706.856,14,1.2,14,-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,220.8,3804,-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,-62.80,0.000,2,0.000,0.000,116,779,3228,0,0,0,0,0,0
$GC,85,-0.76,-228.7,5.0,-11.6,9,111,9.25,0.90,-12.18,0.000,4,0.222,0.077,2565,183,3963,0,0,0,0,0,0
$GC,350,-0.76,-228.7,104.9,-28.3,57,358,0.00,0.70,0.00,0.000,6,0.000,0.022,2563,775,3965,0,0,0,0,0,0
$GC,677,-0.76,-228.7,177.0,-22.6,118,685,0.00,0.85,0.00,0.000,4,0.000,0.042,2562,190,3967,0,0,0,0,0,0
$GC,928,-0.76,-228.7,232.3,-21.7,164,936,0.00,0.73,0.00,0.000,6,0.000,0.021,2560,827,3968,0,0,0,0,0,0
$GC,1262,-0.76,-228.7,291.7,-16.8,225,1268,0.00,0.93,0.00,0.000,4,0.000,0.041,2561,192,3968,0,0,0,0,0,0
$GC,1519,-0.76,-228.7,337.0,-17.3,252,1523,0.00,0.65,0.00,0.000,6,0.000,0.022,2557,773,3968,0,0,0,0,0,0
$GC,1853,-0.76,-228.7,393.0,-16.6,283,1857,0.00,1.88,0.00,0.000,4,0.000,0.016,2549,2135,3968,0,0,0,0,0,0
$GC,1869,-0.76,-228.7,396.3,-16.4,284,1877,0.00,2.03,0.00,0.000,6,0.000,0.034,2549,779,3968,0,0,0,0,0,0
$GC,2196,-0.76,-228.7,444.7,-14.9,315,2199,0.00,0.85,0.00,0.000,4,0.000,0.043,2549,187,3967,0,0,0,0,0,0
$GC,2286,-0.76,-228.7,458.3,-14.5,323,2290,0.00,0.68,0.00,0.000,6,0.000,0.021,2548,776,3967,0,0,0,0,0,0
$STATE,2555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2555,begin apogee
$GC,2561,-0.14,0.0,500.3,15.6,348,2741,0.65,0.00,169.43,0.951,4,0.123,0.000,2769,998,3028,0,0,0,0,0,0
$STATE,2742,end apogee,CONTROL_FINISHED_OK
$STATE,2742,begin climb
$GC,2744,0.76,228.7,512.4,0.0,363,2924,0.75,2.00,172.07,0.929,4,0.048,0.018,3074,2365,2096,0,0,0,0,0,0
$GC,3151,0.76,228.7,460.7,17.5,398,3159,0.00,2.10,0.00,0.000,6,0.000,0.034,3083,996,2089,0,0,0,0,0,0
$GC,3478,0.76,228.7,404.1,15.5,429,3482,0.00,1.20,0.00,0.000,4,0.000,0.042,3089,182,2087,0,0,0,0,0,0
$GC,3701,0.76,228.7,366.4,17.5,449,3705,0.00,1.05,0.00,0.000,6,0.000,0.019,3089,1041,2085,0,0,0,0,0,0
$GC,4032,0.76,228.7,312.3,15.8,480,4036,0.00,1.75,0.00,0.000,4,0.000,0.019,3089,2318,2083,0,0,0,0,0,0
$GC,4288,0.76,228.7,270.8,15.5,519,4295,0.00,1.88,0.00,0.000,6,0.000,0.034,3096,1039,2082,0,0,0,0,0,0
$GC,4622,0.76,228.7,223.7,13.8,580,4630,0.00,1.83,0.00,0.000,4,0.000,0.019,3096,2330,2081,0,0,0,0,0,0
$GC,4775,0.76,228.7,203.6,12.9,607,4783,0.12,1.88,0.00,0.000,6,0.173,0.034,3070,1062,2081,0,0,0,0,0,0
$GC,5108,0.77,235.9,162.4,12.1,668,5117,0.00,1.30,4.50,0.529,4,0.000,0.041,3075,193,2067,0,0,0,0,0,0
$GC,5153,0.77,235.9,157.2,12.5,675,5161,0.00,1.05,0.00,0.000,6,0.000,0.020,3075,1047,2066,0,0,0,0,0,0
$GC,5481,0.81,264.1,120.4,11.3,736,5511,0.00,1.27,22.67,0.682,4,0.000,0.039,3082,197,1951,0,0,0,0,0,0
$GC,5566,0.82,276.7,110.6,11.9,750,5583,0.00,1.08,11.10,0.628,6,0.000,0.019,3082,1060,1901,0,0,0,0,0,0
$GC,5904,0.94,376.7,74.3,8.7,812,5992,0.12,1.85,76.97,0.649,4,0.090,0.019,3141,2324,1491,0,0,0,0,0,0
$GC,6067,0.94,376.7,52.4,14.1,837,6075,0.00,1.90,0.00,0.000,6,0.000,0.033,3147,1085,1487,0,0,0,0,0,0
$STATE,6392,end climb,SURFACE_DEPTH_REACHED
$STATE,6392,begin surface coast
$FINISH,0.5,1.022147
$STATE,6413,end surface coast,CONTROL_FINISHED_OK
$STATE,6413,begin surface
$SM_CCo,6430,23.02,0.321,1,0,1398,400.08
$SM_GC,1.49,0.00,0.00,23.02,0.000,0.000,0.321,132,780,1398,-8.41,-0.28,400.08
$IRIDIUM_FIX,2253.38,12706.71,071010,212136
$TT8_MAMPS,0.027713
$HUMID,40.39
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.00
$XPDR_PINGS,0
$24V_AH,24.7,23.047
$10V_AH,10.5,20.119
$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,18.650,32.875,456.750,23.025,0.000,27.339,20.025,136.517,0.000,0.000,15.091,2131.439,1519.060,464.885,2400.609,276.096,0.000,1306.237,0.000,2223.863,0.000,0.543,0.000
$DEVICE_MAMPS,221.850,77.265,950.895,321.300,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,607.084,920.930,1542.403,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53615,901
$CAP_FILE_SIZE,85140,0
$CFSIZE,260165632,162074624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.200,337.9,1
$GPS,081010,014601,2304.164,12706.668,41,1.2,41,-3.4