version: 66.08
glider: 167
mission: 6
dive: 140
start: 10 11 110 10 43 14
data:
$ID,167
$MISSION,6
$DIVE,140
$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,-34446.184
$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,42
$R_STBD_OVSHOOT,147
$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
$GPS1,111010,103656,2305.817,12657.025,13,1.8,13,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-73.4
$GPS2,111010,104250,2305.864,12657.032,12,1.8,12,-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,150.6,14577,-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,-228.7,0.0,0.0,0,83,0.00,0.00,-62.53,0.000,2,0.000,0.000,112,786,3247,0,0,0,0,0,0
$GC,86,-0.76,-228.7,5.1,-10.3,9,118,9.55,0.88,-11.35,0.000,4,0.231,0.079,2564,192,3965,0,0,0,0,0,0
$GC,312,-0.76,-228.7,92.9,-35.4,50,320,0.00,0.70,0.00,0.000,6,0.000,0.021,2561,807,3967,0,0,0,0,0,0
$GC,646,-0.76,-228.7,180.7,-24.1,111,653,0.00,0.90,0.00,0.000,4,0.000,0.040,2562,189,3968,0,0,0,0,0,0
$GC,907,-0.76,-228.7,242.4,-23.1,157,913,0.00,0.68,0.00,0.000,6,0.000,0.021,2557,800,3969,0,0,0,0,0,0
$GC,1250,-0.76,-228.7,310.3,-19.0,214,1254,0.00,0.88,0.00,0.000,4,0.000,0.041,2557,195,3969,0,0,0,0,0,0
$GC,1317,-0.76,-228.7,324.1,-20.9,220,1321,0.00,0.60,0.00,0.000,6,0.000,0.022,2553,752,3969,0,0,0,0,0,0
$GC,1649,-0.76,-228.7,384.3,-17.7,251,1653,0.00,0.80,0.00,0.000,4,0.000,0.041,2553,197,3969,0,0,0,0,0,0
$GC,1800,-0.76,-228.7,412.3,-17.6,264,1809,0.00,0.62,0.00,0.000,6,0.000,0.022,2550,757,3969,0,0,0,0,0,0
$GC,2127,-0.76,-228.7,468.7,-16.8,295,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,758,3968,0,0,0,0,0,0
$STATE,2324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2325,begin apogee
$GC,2331,-0.14,0.0,501.4,15.4,314,2511,0.65,0.00,169.75,0.946,4,0.126,0.000,2767,1002,3029,0,0,0,0,0,0
$STATE,2512,end apogee,CONTROL_FINISHED_OK
$STATE,2512,begin climb
$GC,2514,0.76,228.7,512.3,0.0,329,2694,0.77,0.00,171.65,0.925,6,0.056,0.000,3066,1002,2095,0,0,0,0,0,0
$GC,3012,0.76,228.7,447.7,15.7,374,3016,0.00,1.92,0.00,0.000,4,0.000,0.018,3066,2341,2088,0,0,0,0,0,0
$GC,3261,0.76,228.7,410.2,15.2,396,3265,0.00,1.98,0.00,0.000,6,0.000,0.034,3075,1014,2086,0,0,0,0,0,0
$GC,3593,0.76,228.7,356.5,16.0,427,3596,0.00,1.88,0.00,0.000,4,0.000,0.018,3075,2345,2085,0,0,0,0,0,0
$GC,3649,0.76,228.7,347.6,14.9,432,3653,0.00,1.98,0.00,0.000,6,0.000,0.034,3082,1019,2084,0,0,0,0,0,0
$GC,3979,0.76,228.7,295.5,15.1,465,3985,0.00,1.85,0.00,0.000,4,0.000,0.018,3082,2352,2083,0,0,0,0,0,0
$GC,4049,0.76,228.7,285.4,14.2,477,4055,0.00,1.95,0.00,0.000,6,0.000,0.033,3091,1022,2082,0,0,0,0,0,0
$GC,4390,0.76,228.7,235.3,13.8,538,4397,0.00,1.88,0.00,0.000,4,0.000,0.018,3091,2347,2081,0,0,0,0,0,0
$GC,4481,0.76,228.7,222.8,13.6,554,4490,0.08,1.95,0.00,0.000,6,0.148,0.034,3072,1049,2081,0,0,0,0,0,0
$GC,4826,0.76,228.7,177.7,12.6,615,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1049,2081,0,0,0,0,0,0
$GC,5160,0.77,235.1,137.6,12.1,676,5170,0.00,1.88,3.90,0.473,4,0.000,0.018,3073,2353,2069,0,0,0,0,0,0
$GC,5303,0.84,289.3,122.8,10.4,701,5354,0.00,1.95,42.62,0.695,6,0.000,0.034,3077,1055,1847,0,0,0,0,0,0
$GC,5675,0.94,375.0,85.1,9.2,768,5746,0.12,1.35,65.65,0.656,4,0.088,0.041,3145,189,1499,0,0,0,0,0,0
$GC,5764,0.94,375.0,72.6,15.5,780,5773,0.00,1.08,0.00,0.000,6,0.000,0.018,3145,1045,1496,0,0,0,0,0,0
$GC,6092,0.94,375.0,19.6,14.5,841,6100,0.00,1.80,0.00,0.000,4,0.000,0.018,3146,2324,1492,0,0,0,0,0,0
$GC,6122,0.94,375.0,15.7,14.6,845,6129,0.00,1.92,0.00,0.000,6,0.000,0.033,3153,1049,1490,0,0,0,0,0,0
$STATE,6214,end climb,SURFACE_DEPTH_REACHED
$STATE,6214,begin surface coast
$FINISH,0.4,1.000437
$STATE,6238,end surface coast,CONTROL_FINISHED_OK
$STATE,6238,begin surface
$SM_CCo,6256,29.95,0.389,1,0,1398,400.08
$SM_GC,1.74,0.00,0.00,29.95,0.000,0.000,0.389,123,776,1398,-8.44,-0.40,400.08
$IRIDIUM_FIX,2255.72,12656.41,111010,080818
$TT8_MAMPS,0.028462
$HUMID,40.98
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,27.30
$XPDR_PINGS,0
$24V_AH,24.7,28.428
$10V_AH,10.5,25.168
$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,18.775,31.950,453.575,29.950,0.000,30.832,39.621,139.178,0.000,0.000,13.655,2040.741,1567.819,467.334,2295.715,274.637,0.000,1274.354,0.000,2100.918,0.000,0.544,0.000
$DEVICE_MAMPS,231.030,78.795,946.305,388.620,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,583.227,885.751,1479.042,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333932
$DATA_FILE_SIZE,50242,866
$CAP_FILE_SIZE,82262,0
$CFSIZE,260165632,159834112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.160,  8.0,1
$GPS,111010,122925,2305.614,12658.000,41,1.0,41,-3.4