version: 66.08
glider: 167
mission: 6
dive: 139
start: 10 11 110 8 49 20
data:
$ID,167
$MISSION,6
$DIVE,139
$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,-34444.926
$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,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,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
$GPS1,111010,084306,2305.857,12656.087,39,1.1,44,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-72.7
$GPS2,111010,084856,2305.903,12656.080,13,1.3,13,-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,157.9,16123,-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,-228.7,0.0,0.0,0,84,0.00,0.00,-64.00,0.000,2,0.000,0.000,113,779,3297,0,0,0,0,0,0
$GC,87,-0.76,-228.7,5.1,-10.2,9,112,9.43,0.88,-10.55,0.000,4,0.226,0.077,2568,192,3964,0,0,0,0,0,0
$GC,352,-0.76,-228.7,103.3,-27.6,57,360,0.00,0.68,0.00,0.000,6,0.000,0.021,2566,778,3967,0,0,0,0,0,0
$GC,682,-0.76,-228.7,181.0,-21.7,118,690,0.00,0.85,0.00,0.000,4,0.000,0.041,2566,193,3968,0,0,0,0,0,0
$GC,914,-0.76,-228.7,233.3,-22.6,160,923,0.00,0.70,0.00,0.000,6,0.000,0.021,2562,809,3969,0,0,0,0,0,0
$GC,1249,-0.76,-228.7,298.2,-18.7,221,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,810,3969,0,0,0,0,0,0
$GC,1583,-0.76,-228.7,358.7,-18.0,253,1587,0.00,0.90,0.00,0.000,4,0.000,0.041,2562,192,3969,0,0,0,0,0,0
$GC,1817,-0.76,-228.7,401.5,-16.8,274,1820,0.00,0.68,0.00,0.000,6,0.000,0.022,2561,791,3969,0,0,0,0,0,0
$GC,2149,-0.76,-228.7,452.2,-14.9,305,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,791,3968,0,0,0,0,0,0
$GC,2468,-0.76,-228.7,495.5,-13.0,335,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,791,3967,0,0,0,0,0,0
$STATE,2506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2506,begin apogee
$GC,2514,-0.14,0.0,500.6,12.4,339,2693,0.62,0.00,169.93,0.950,4,0.125,0.000,2771,1006,3028,0,0,0,0,0,0
$STATE,2694,end apogee,CONTROL_FINISHED_OK
$STATE,2694,begin climb
$GC,2696,0.76,228.7,508.5,0.0,354,2878,0.75,1.98,171.98,0.926,4,0.049,0.018,3074,2353,2096,0,0,0,0,0,0
$GC,3026,0.76,228.7,473.5,15.1,382,3030,0.00,2.03,0.00,0.000,6,0.000,0.033,3084,1006,2091,0,0,0,0,0,0
$GC,3358,0.76,228.7,419.8,15.9,413,3362,0.00,1.20,0.00,0.000,4,0.000,0.041,3091,191,2089,0,0,0,0,0,0
$GC,3616,0.76,228.7,374.3,20.4,436,3619,0.00,1.00,0.00,0.000,6,0.000,0.020,3090,998,2086,0,0,0,0,0,0
$GC,3948,0.76,228.7,319.3,15.5,467,3951,0.00,1.20,0.00,0.000,4,0.000,0.041,3096,190,2084,0,0,0,0,0,0
$GC,3974,0.76,228.7,315.5,15.2,469,3979,0.08,1.02,0.00,0.000,6,0.161,0.020,3072,998,2084,0,0,0,0,0,0
$GC,4312,0.76,228.7,272.9,12.4,519,4319,0.00,1.90,0.00,0.000,4,0.000,0.018,3072,2356,2082,0,0,0,0,0,0
$GC,4502,0.77,237.6,248.8,12.0,553,4517,0.00,1.98,6.22,0.653,6,0.000,0.032,3080,1011,2059,0,0,0,0,0,0
$GC,4857,0.79,247.4,201.2,12.0,615,4872,0.00,1.95,8.85,0.682,4,0.000,0.018,3080,2354,2020,0,0,0,0,0,0
$GC,4925,0.81,267.0,192.9,11.6,626,4948,0.00,2.00,16.65,0.722,6,0.000,0.033,3088,1029,1939,0,0,0,0,0,0
$GC,5284,0.81,267.0,144.8,13.5,689,5292,0.00,1.88,0.00,0.000,4,0.000,0.018,3088,2352,1936,0,0,0,0,0,0
$GC,5388,0.81,267.0,129.9,15.0,708,5396,0.00,1.98,0.00,0.000,6,0.000,0.033,3096,1042,1935,0,0,0,0,0,0
$GC,5717,0.89,330.3,91.3,10.1,769,5777,0.00,1.30,49.20,0.667,4,0.000,0.042,3099,194,1681,0,0,0,0,0,0
$GC,5792,0.98,402.7,83.9,9.7,779,5858,0.08,1.08,56.75,0.645,6,0.066,0.019,3148,1041,1385,0,0,0,0,0,0
$GC,6178,0.98,402.7,21.4,15.9,848,6187,0.00,1.85,0.00,0.000,4,0.000,0.018,3149,2342,1379,0,0,0,0,0,0
$GC,6216,0.98,402.7,15.4,15.3,854,6224,0.00,1.98,0.00,0.000,6,0.000,0.032,3156,1037,1378,0,0,0,0,0,0
$STATE,6304,end climb,SURFACE_DEPTH_REACHED
$STATE,6304,begin surface coast
$FINISH,0.6,1.021559
$STATE,6330,end surface coast,CONTROL_FINISHED_OK
$STATE,6330,begin surface
$SM_CCo,6408,0.00,0.000,0,0,1375,405.73
$SM_GC,1.21,7.72,0.00,0.00,0.036,0.000,0.000,113,786,1375,-8.37,-0.11,405.73
$IRIDIUM_FIX,2258.07,12654.54,111010,060626
$TT8_MAMPS,0.026964
$HUMID,40.86
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,27.40
$XPDR_PINGS,0
$24V_AH,24.7,28.303
$10V_AH,10.5,25.055
$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,18.675,31.450,479.575,0.000,0.000,28.440,39.264,137.496,0.000,0.000,14.184,2057.374,1642.865,455.408,2319.262,280.090,0.000,1278.134,0.000,2128.969,0.000,0.543,0.000
$DEVICE_MAMPS,225.675,77.265,950.130,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,588.167,893.890,1471.339,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50248,874
$CAP_FILE_SIZE,83476,0
$CFSIZE,260165632,159883264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.200, 23.4,1
$GPS,111010,103656,2305.817,12657.025,13,1.8,13,-3.4