version: 66.08
glider: 167
mission: 6
dive: 138
start: 10 11 110 6 56 8
data:
$ID,167
$MISSION,6
$DIVE,138
$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,-34443.668
$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,44
$R_STBD_OVSHOOT,149
$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
$GPS1,111010,065013,2305.584,12655.422,15,1.2,32,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-74.3
$GPS2,111010,065544,2305.636,12655.391,12,1.4,12,-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,153.6,17088,-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,-228.7,0.0,0.0,0,88,0.00,0.00,-68.22,0.000,2,0.000,0.000,115,783,3492,0,0,0,0,0,0
$GC,91,-0.76,-228.7,6.8,-15.3,10,115,9.43,1.90,-6.95,0.000,4,0.227,0.028,2554,2185,3962,0,0,0,0,0,0
$GC,140,-0.76,-228.7,34.2,-49.9,17,148,0.00,2.12,0.00,0.000,6,0.000,0.034,2554,791,3965,0,0,0,0,0,0
$GC,465,-0.76,-228.7,130.1,-26.0,78,474,0.00,0.85,0.00,0.000,4,0.000,0.041,2554,195,3967,0,0,0,0,0,0
$GC,721,-0.76,-228.7,196.8,-24.7,124,730,0.00,0.65,0.00,0.000,6,0.000,0.022,2550,770,3967,0,0,0,0,0,0
$GC,1062,-0.76,-228.7,270.0,-21.2,185,1069,0.00,0.85,0.00,0.000,4,0.000,0.041,2550,185,3968,0,0,0,0,0,0
$GC,1112,-0.76,-228.7,280.3,-21.8,193,1119,0.00,0.68,0.00,0.000,6,0.000,0.022,2547,788,3968,0,0,0,0,0,0
$GC,1446,-0.76,-228.7,347.9,-18.7,232,1450,0.00,0.88,0.00,0.000,4,0.000,0.042,2547,187,3968,0,0,0,0,0,0
$GC,1707,-0.76,-228.7,398.9,-19.4,255,1711,0.08,0.62,0.00,0.000,6,0.148,0.023,2569,731,3968,0,0,0,0,0,0
$GC,2038,-0.76,-228.7,449.9,-14.4,286,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,731,3967,0,0,0,0,0,0
$GC,2360,-0.76,-228.7,491.6,-13.1,316,2364,0.00,1.90,0.00,0.000,4,0.000,0.016,2562,2119,3966,0,0,0,0,0,0
$GC,2411,-0.76,-228.7,498.3,-11.3,320,2420,0.00,2.08,0.00,0.000,6,0.000,0.034,2562,746,3966,0,0,0,0,0,0
$STATE,2425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2426,begin apogee
$GC,2432,-0.14,0.0,500.4,11.3,322,2610,0.62,0.00,169.77,0.955,4,0.118,0.000,2774,972,3028,0,0,0,0,0,0
$STATE,2610,end apogee,CONTROL_FINISHED_OK
$STATE,2610,begin climb
$GC,2614,0.76,228.7,510.9,0.0,337,2795,0.80,2.03,172.50,0.931,4,0.054,0.018,3074,2373,2095,0,0,0,0,0,0
$GC,2962,0.76,228.7,471.0,16.0,367,2969,0.00,2.08,0.00,0.000,6,0.000,0.034,3083,997,2089,0,0,0,0,0,0
$GC,3289,0.76,228.7,418.4,15.5,398,3293,0.00,1.20,0.00,0.000,4,0.000,0.042,3090,189,2087,0,0,0,0,0,0
$GC,3549,0.76,228.7,378.3,15.7,421,3553,0.00,1.05,0.00,0.000,6,0.000,0.020,3089,1026,2084,0,0,0,0,0,0
$GC,3880,0.76,228.7,324.5,17.3,452,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1027,2082,0,0,0,0,0,0
$GC,4206,0.76,228.7,271.7,15.4,498,4214,0.00,1.85,0.00,0.000,4,0.000,0.018,3089,2337,2081,0,0,0,0,0,0
$GC,4294,0.76,228.7,259.2,14.2,513,4302,0.12,2.00,0.00,0.000,6,0.168,0.033,3065,992,2080,0,0,0,0,0,0
$GC,4636,0.77,232.9,215.6,12.2,574,4643,0.00,1.90,0.00,0.000,4,0.000,0.018,3065,2334,2080,0,0,0,0,0,0
$GC,4769,0.77,236.5,199.4,12.2,597,4786,0.00,1.98,4.95,0.578,6,0.000,0.034,3072,1005,2063,0,0,0,0,0,0
$GC,5122,0.87,313.7,157.4,9.6,659,5190,0.00,1.92,59.72,0.727,4,0.000,0.016,3072,2348,1749,0,0,0,0,0,0
$GC,5313,0.87,313.7,134.5,13.7,692,5322,0.00,2.03,0.00,0.000,6,0.000,0.034,3078,1028,1744,0,0,0,0,0,0
$GC,5641,0.87,313.7,89.3,13.5,753,5649,0.00,1.88,0.00,0.000,4,0.000,0.018,3078,2345,1743,0,0,0,0,0,0
$GC,5691,0.93,368.6,83.8,10.4,761,5744,0.08,1.98,42.55,0.656,6,0.057,0.034,3134,1039,1524,0,0,0,0,0,0
$GC,6069,0.93,368.6,29.2,13.5,828,6077,0.00,1.25,0.00,0.000,4,0.000,0.041,3141,193,1519,0,0,0,0,0,0
$GC,6237,0.93,368.6,4.4,13.6,859,6245,0.00,1.05,0.00,0.000,6,0.000,0.019,3141,1043,1519,0,0,0,0,0,0
$STATE,6252,end climb,SURFACE_DEPTH_REACHED
$STATE,6252,begin surface coast
$FINISH,0.3,1.021098
$STATE,6274,end surface coast,CONTROL_FINISHED_OK
$STATE,6275,begin surface
$SM_CCo,6294,34.97,0.423,1,0,1398,400.08
$SM_GC,1.39,0.00,0.00,34.97,0.000,0.000,0.423,114,779,1398,-8.47,-0.31,400.08
$IRIDIUM_FIX,2258.07,12654.54,111010,040426
$TT8_MAMPS,0.028462
$HUMID,40.23
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,27.10
$XPDR_PINGS,0
$24V_AH,24.7,28.176
$10V_AH,10.5,24.941
$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,18.775,37.250,449.500,34.975,0.000,28.612,20.457,137.306,0.000,0.000,13.496,2042.568,1568.478,487.112,2293.222,274.678,0.000,1303.729,0.000,2116.223,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,48.195,954.720,423.045,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,582.671,884.224,1461.044,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50352,865
$CAP_FILE_SIZE,84419,0
$CFSIZE,260165632,159936512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.252,  4.5,1
$GPS,111010,084306,2305.857,12656.087,39,1.1,44,-3.4