version: 66.08
glider: 167
mission: 6
dive: 82
start: 10 6 110 18 48 49
data:
$ID,167
$MISSION,6
$DIVE,82
$N_DIVES,95
$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,-34373.344
$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,41
$R_STBD_OVSHOOT,134
$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
$GPS1,061010,184236,2304.207,12706.425,14,1.0,30,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-69.0
$GPS2,061010,184825,2304.275,12706.374,11,1.1,16,-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,195.1,3325,-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,-64.25,0.000,2,0.000,0.000,117,786,3279,0,0,0,0,0,0
$GC,87,-0.76,-228.7,5.1,-10.9,9,113,9.30,0.90,-11.12,0.000,4,0.223,0.078,2568,189,3964,0,0,0,0,0,0
$GC,352,-0.76,-228.7,99.7,-25.5,57,360,0.00,0.73,0.00,0.000,6,0.000,0.022,2566,801,3967,0,0,0,0,0,0
$GC,683,-0.76,-228.7,173.2,-22.0,118,691,0.00,0.90,0.00,0.000,4,0.000,0.042,2566,186,3969,0,0,0,0,0,0
$GC,944,-0.76,-228.7,232.0,-21.7,164,952,0.00,0.70,0.00,0.000,6,0.000,0.021,2562,790,3969,0,0,0,0,0,0
$GC,1286,-0.76,-228.7,293.0,-17.4,225,1293,0.00,0.90,0.00,0.000,4,0.000,0.044,2562,190,3969,0,0,0,0,0,0
$GC,1463,-0.76,-228.7,325.3,-17.8,243,1469,0.00,0.70,0.00,0.000,6,0.000,0.021,2561,814,3969,0,0,0,0,0,0
$GC,1788,-0.76,-228.7,376.7,-14.7,274,1791,0.00,0.90,0.00,0.000,4,0.000,0.043,2561,194,3969,0,0,0,0,0,0
$GC,1924,-0.76,-228.7,397.1,-14.9,286,1927,0.00,0.65,0.00,0.000,6,0.000,0.022,2558,769,3969,0,0,0,0,0,0
$GC,2256,-0.76,-228.7,445.8,-15.0,317,2260,0.00,1.88,0.00,0.000,4,0.000,0.016,2549,2143,3968,0,0,0,0,0,0
$GC,2295,-0.76,-228.7,451.5,-12.5,320,2303,0.00,2.03,0.00,0.000,6,0.000,0.034,2549,794,3969,0,0,0,0,0,0
$GC,2622,-0.76,-228.7,495.1,-13.1,351,2625,0.00,0.88,0.00,0.000,4,0.000,0.044,2549,187,3967,0,0,0,0,0,0
$STATE,2658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2658,begin apogee
$GC,2665,-0.14,0.0,500.6,13.2,354,2840,0.65,0.00,169.75,0.955,4,0.123,0.000,2769,1026,3029,0,0,0,0,0,0
$STATE,2840,end apogee,CONTROL_FINISHED_OK
$STATE,2841,begin climb
$GC,2843,0.76,228.7,509.0,0.0,369,3026,0.82,1.95,171.90,0.930,4,0.057,0.018,3074,2381,2096,0,0,0,0,0,0
$GC,3277,0.76,228.7,453.4,17.6,407,3284,0.00,2.10,0.00,0.000,6,0.000,0.034,3077,987,2090,0,0,0,0,0,0
$GC,3603,0.76,228.7,397.6,15.3,438,3606,0.00,1.95,0.00,0.000,4,0.000,0.019,3076,2361,2088,0,0,0,0,0,0
$GC,3863,0.76,228.7,359.2,14.0,461,3867,0.00,2.05,0.00,0.000,6,0.000,0.034,3081,993,2086,0,0,0,0,0,0
$GC,4197,0.76,228.7,310.0,14.0,492,4200,0.00,1.92,0.00,0.000,4,0.000,0.018,3081,2372,2085,0,0,0,0,0,0
$GC,4449,0.76,228.7,269.9,16.0,532,4457,0.00,2.05,0.00,0.000,6,0.000,0.034,3091,1015,2084,0,0,0,0,0,0
$GC,4790,0.76,228.7,219.9,13.3,593,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1015,2083,0,0,0,0,0,0
$GC,5130,0.76,230.6,180.0,12.3,654,5139,0.00,1.92,0.00,0.000,4,0.000,0.018,3091,2370,2082,0,0,0,0,0,0
$GC,5344,0.78,243.8,154.8,11.9,691,5364,0.00,2.00,10.82,0.675,6,0.000,0.034,3099,1020,2033,0,0,0,0,0,0
$GC,5684,0.78,243.8,110.1,12.4,754,5693,0.00,1.23,0.00,0.000,4,0.000,0.044,3100,190,2032,0,0,0,0,0,0
$GC,5753,0.78,243.8,101.0,13.7,766,5761,0.00,1.08,0.00,0.000,6,0.000,0.019,3100,1058,2032,0,0,0,0,0,0
$GC,6081,0.84,296.1,64.0,10.5,827,6127,0.00,1.90,40.15,0.653,4,0.000,0.020,3099,2365,1821,0,0,0,0,0,0
$GC,6261,0.95,378.4,46.7,9.4,858,6335,0.00,2.03,63.42,0.628,6,0.000,0.034,3100,1037,1485,0,0,0,0,0,0
$GC,6657,1.05,462.6,4.9,9.3,928,6681,0.15,0.00,21.60,0.574,2,0.082,0.000,3174,1037,1374,0,0,0,0,0,0
$STATE,6682,end climb,SURFACE_DEPTH_REACHED
$STATE,6682,begin surface coast
$FINISH,0.4,1.021980
$STATE,6710,end surface coast,CONTROL_FINISHED_OK
$STATE,6710,begin surface
$SM_CCo,6789,0.00,0.000,0,0,1368,407.44
$SM_GC,1.08,7.82,0.00,0.00,0.035,0.000,0.000,119,793,1368,-8.37,0.08,407.44
$IRIDIUM_FIX,2258.07,12704.84,061010,161637
$TT8_MAMPS,0.028462
$HUMID,38.97
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.40
$XPDR_PINGS,1
$24V_AH,24.7,21.166
$10V_AH,10.5,18.354
$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,18.750,34.700,477.650,0.000,0.000,30.576,37.130,135.341,0.250,0.000,16.869,2204.714,1686.386,449.166,2511.647,283.450,0.000,1328.745,0.000,2320.958,0.000,0.543,0.000
$DEVICE_MAMPS,223.380,78.030,955.485,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,630.372,956.989,1618.647,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53665,936
$CAP_FILE_SIZE,87037,0
$CFSIZE,260165632,162869248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.155,330.0,1
$GPS,061010,204304,2304.227,12706.465,11,2.7,30,-3.4