version: 66.08
glider: 167
mission: 6
dive: 119
start: 10 9 110 18 28 55
data:
$ID,167
$MISSION,6
$DIVE,119
$N_DIVES,131
$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,-34419.809
$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,150
$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
$GPS1,091010,182258,2302.081,12657.577,12,2.1,31,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-74.5
$GPS2,091010,182831,2302.133,12657.563,11,1.8,16,-3.3
$SPEED_LIMITS,0.214,0.341
$TGT_NAME,WAKEB_WEST
$TGT_LATLONG,2303.000,12650.000
$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,235.4,12988,-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,-64.60,0.000,2,0.000,0.000,111,779,3331,0,0,0,0,0,0
$GC,88,-0.76,-228.7,5.3,-10.4,9,113,9.43,1.98,-9.98,0.000,4,0.226,0.031,2557,2176,3964,0,0,0,0,0,0
$GC,268,-0.76,-228.7,65.1,-23.3,41,276,0.00,2.10,0.00,0.000,6,0.000,0.034,2557,789,3967,0,0,0,0,0,0
$GC,593,-0.76,-228.7,149.1,-22.5,102,602,0.00,0.85,0.00,0.000,4,0.000,0.042,2556,193,3968,0,0,0,0,0,0
$GC,852,-0.76,-228.7,206.9,-23.0,148,860,0.00,0.68,0.00,0.000,6,0.000,0.022,2553,791,3969,0,0,0,0,0,0
$GC,1194,-0.76,-228.7,273.0,-18.5,209,1200,0.00,0.88,0.00,0.000,4,0.000,0.041,2553,189,3969,0,0,0,0,0,0
$GC,1449,-0.76,-228.7,325.1,-19.8,244,1453,0.00,0.65,0.00,0.000,6,0.000,0.022,2549,763,3969,0,0,0,0,0,0
$GC,1781,-0.76,-228.7,384.2,-17.7,275,1785,0.00,1.88,0.00,0.000,4,0.000,0.016,2548,2143,3969,0,0,0,0,0,0
$GC,1815,-0.76,-228.7,389.9,-15.4,278,1819,0.00,2.03,0.00,0.000,6,0.000,0.034,2548,761,3969,0,0,0,0,0,0
$GC,2141,-0.76,-228.7,440.3,-14.7,308,2144,0.00,0.80,0.00,0.000,4,0.000,0.044,2548,199,3968,0,0,0,0,0,0
$GC,2402,-0.76,-228.7,479.7,-15.3,331,2406,0.00,0.65,0.00,0.000,6,0.000,0.023,2548,764,3967,0,0,0,0,0,0
$STATE,2539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2540,begin apogee
$GC,2546,-0.14,0.0,500.8,14.6,344,2726,0.65,0.00,169.98,0.952,4,0.122,0.000,2769,1001,3027,0,0,0,0,0,0
$STATE,2727,end apogee,CONTROL_FINISHED_OK
$STATE,2727,begin climb
$GC,2729,0.76,228.7,512.0,0.0,359,2910,0.82,2.00,171.98,0.928,4,0.050,0.018,3080,2386,2096,0,0,0,0,0,0
$GC,3165,0.76,228.7,458.1,18.2,397,3169,0.00,2.10,0.00,0.000,6,0.000,0.033,3090,998,2089,0,0,0,0,0,0
$GC,3492,0.76,228.7,398.1,16.6,427,3496,0.00,1.20,0.00,0.000,4,0.000,0.042,3096,186,2087,0,0,0,0,0,0
$GC,3616,0.76,228.7,375.8,18.0,438,3620,0.08,1.05,0.00,0.000,6,0.167,0.019,3073,1021,2086,0,0,0,0,0,0
$GC,3947,0.76,228.7,325.6,15.8,469,3951,0.00,1.83,0.00,0.000,4,0.000,0.019,3073,2342,2083,0,0,0,0,0,0
$GC,4123,0.76,228.7,298.6,15.5,485,4129,0.00,1.95,0.00,0.000,6,0.000,0.033,3078,1031,2083,0,0,0,0,0,0
$GC,4462,0.76,228.7,244.6,15.2,546,4473,0.00,1.85,0.00,0.000,4,0.000,0.018,3078,2338,2081,0,0,0,0,0,0
$GC,4524,0.76,228.7,235.8,14.0,556,4532,0.00,1.95,0.00,0.000,6,0.000,0.033,3086,1042,2082,0,0,0,0,0,0
$GC,4865,0.76,228.7,190.9,13.6,617,4871,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1042,2081,0,0,0,0,0,0
$GC,5201,0.79,254.7,144.3,11.4,678,5225,0.00,1.30,18.42,0.703,4,0.000,0.042,3093,185,1989,0,0,0,0,0,0
$GC,5265,0.79,254.7,136.2,13.2,688,5273,0.00,1.08,0.00,0.000,6,0.000,0.019,3093,1047,1987,0,0,0,0,0,0
$GC,5592,0.89,334.3,97.0,9.5,749,5658,0.00,1.90,61.08,0.678,4,0.000,0.018,3093,2342,1665,0,0,0,0,0,0
$GC,5751,0.96,388.2,81.7,10.4,774,5804,0.00,1.98,42.40,0.646,6,0.000,0.034,3099,1055,1445,0,0,0,0,0,0
$GC,6125,0.98,409.6,35.1,11.6,841,6149,0.10,1.83,16.70,0.588,4,0.106,0.016,3153,2354,1360,0,0,0,0,0,0
$GC,6204,0.98,409.6,24.1,14.6,854,6213,0.00,1.95,0.00,0.000,6,0.000,0.033,3161,1071,1358,0,0,0,0,0,0
$STATE,6343,end climb,SURFACE_DEPTH_REACHED
$STATE,6346,begin surface coast
$FINISH,0.3,1.008325
$STATE,6363,end surface coast,CONTROL_FINISHED_OK
$STATE,6363,begin surface
$SM_CCo,6441,0.00,0.000,0,0,1354,410.88
$SM_GC,1.07,7.72,0.00,0.00,0.035,0.000,0.000,116,783,1354,-8.37,-0.23,410.88
$IRIDIUM_FIX,2253.38,12658.28,091010,161634
$TT8_MAMPS,0.027713
$HUMID,40.07
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.30
$XPDR_PINGS,1
$24V_AH,24.7,25.814
$10V_AH,10.5,22.710
$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,18.800,37.000,480.550,0.000,0.000,28.936,15.322,139.237,0.250,0.000,17.758,2092.847,1575.308,448.600,2380.062,273.731,0.000,1297.750,0.000,2203.805,0.000,0.544,0.000
$DEVICE_MAMPS,226.440,48.960,952.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,594.699,902.819,1522.035,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50422,883
$CAP_FILE_SIZE,85411,0
$CFSIZE,260165632,160919552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.268,  6.5,1
$GPS,091010,201731,2302.265,12657.151,40,1.1,40,-3.3