version: 66.08
glider: 167
mission: 6
dive: 148
start: 10 12 110 1 54 38
data:
$ID,167
$MISSION,6
$DIVE,148
$N_DIVES,155
$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,-34456.223
$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,130
$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
$GPS1,121010,014813,2306.302,12703.379,9,1.8,14,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-74.0
$GPS2,121010,015413,2306.296,12703.385,12,1.9,17,-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,170.2,6696,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.76,-228.7,0.0,0.0,0,83,0.00,0.00,-64.00,0.000,2,0.000,0.000,121,783,3305,0,0,0,0,0,0
$GC,87,-0.76,-228.7,5.5,-12.0,9,112,9.48,0.90,-10.40,0.000,4,0.230,0.076,2567,182,3964,0,0,0,0,0,0
$GC,349,-0.76,-228.7,102.2,-28.5,57,357,0.00,0.73,0.00,0.000,6,0.000,0.021,2564,814,3967,0,0,0,0,0,0
$GC,677,-0.76,-228.7,182.1,-23.0,118,685,0.00,0.90,0.00,0.000,4,0.000,0.040,2564,193,3968,0,0,0,0,0,0
$GC,932,-0.76,-228.7,240.4,-22.1,164,940,0.00,0.65,0.00,0.000,6,0.000,0.021,2561,793,3969,0,0,0,0,0,0
$GC,1274,-0.76,-228.7,305.8,-18.4,223,1278,0.00,0.88,0.00,0.000,4,0.000,0.041,2560,190,3968,0,0,0,0,0,0
$GC,1357,-0.76,-228.7,322.5,-18.4,230,1366,0.00,0.62,0.00,0.000,6,0.000,0.021,2560,781,3968,0,0,0,0,0,0
$GC,1684,-0.76,-228.7,377.4,-16.9,261,1688,0.00,1.80,0.00,0.000,4,0.000,0.016,2559,2110,3969,0,0,0,0,0,0
$GC,1709,-0.76,-228.7,381.6,-16.4,263,1713,0.00,1.98,0.00,0.000,6,0.000,0.034,2560,758,3969,0,0,0,0,0,0
$GC,2040,-0.76,-228.7,436.5,-15.9,294,2044,0.00,0.80,0.00,0.000,4,0.000,0.042,2560,193,3968,0,0,0,0,0,0
$GC,2119,-0.76,-228.7,449.8,-16.9,301,2122,0.00,0.60,0.00,0.000,6,0.000,0.023,2558,735,3968,0,0,0,0,0,0
$STATE,2438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2438,begin apogee
$GC,2446,-0.14,0.0,500.4,15.6,331,2624,0.62,0.00,169.88,0.945,4,0.125,0.000,2768,981,3030,0,0,0,0,0,0
$STATE,2625,end apogee,CONTROL_FINISHED_OK
$STATE,2625,begin climb
$GC,2629,0.76,228.7,509.2,0.0,346,2810,0.77,2.03,172.25,0.920,4,0.044,0.017,3082,2368,2095,0,0,0,0,0,0
$GC,2822,0.76,228.7,492.6,17.9,362,2827,0.00,2.10,0.00,0.000,6,0.000,0.031,3091,1004,2093,0,0,0,0,0,0
$GC,3148,0.76,228.7,432.1,18.2,392,3152,0.00,1.20,0.00,0.000,4,0.000,0.040,3098,190,2090,0,0,0,0,0,0
$GC,3171,0.76,228.7,427.9,18.0,394,3175,0.08,1.02,0.00,0.000,6,0.164,0.019,3074,1004,2090,0,0,0,0,0,0
$GC,3502,0.76,228.7,376.2,14.1,425,3506,0.00,1.88,0.00,0.000,4,0.000,0.018,3074,2341,2087,0,0,0,0,0,0
$GC,3592,0.76,228.7,363.9,13.7,433,3597,0.00,2.00,0.00,0.000,6,0.000,0.033,3082,996,2086,0,0,0,0,0,0
$GC,3924,0.76,228.7,311.6,15.7,464,3927,0.00,1.88,0.00,0.000,4,0.000,0.018,3082,2344,2085,0,0,0,0,0,0
$GC,4147,0.76,228.7,276.1,16.6,498,4155,0.00,1.95,0.00,0.000,6,0.000,0.033,3090,1052,2084,0,0,0,0,0,0
$GC,4483,0.76,228.7,220.8,15.1,559,4491,0.00,1.25,0.00,0.000,4,0.000,0.041,3096,196,2083,0,0,0,0,0,0
$GC,4530,0.76,228.7,213.4,14.9,567,4538,0.00,1.08,0.00,0.000,6,0.000,0.019,3096,1061,2083,0,0,0,0,0,0
$GC,4865,0.76,228.7,167.1,13.1,628,4873,0.00,1.80,0.00,0.000,4,0.000,0.018,3096,2351,2082,0,0,0,0,0,0
$GC,5067,0.76,228.7,142.2,12.4,665,5076,0.10,1.92,0.00,0.000,6,0.142,0.033,3068,1067,2082,0,0,0,0,0,0
$GC,5395,0.80,262.3,107.1,11.1,726,5425,0.00,1.27,24.20,0.675,4,0.000,0.039,3074,183,1957,0,0,0,0,0,0
$GC,5509,0.83,287.1,93.6,11.4,745,5534,0.00,1.12,20.40,0.649,6,0.000,0.018,3074,1073,1857,0,0,0,0,0,0
$GC,5859,0.95,382.7,58.8,8.9,808,5941,0.15,1.35,73.40,0.634,4,0.076,0.038,3156,195,1467,0,0,0,0,0,0
$GC,5999,0.95,382.7,40.1,14.3,829,6007,0.00,1.10,0.00,0.000,6,0.000,0.018,3156,1067,1463,0,0,0,0,0,0
$STATE,6250,end climb,SURFACE_DEPTH_REACHED
$STATE,6250,begin surface coast
$FINISH,0.3,0.998508
$STATE,6272,end surface coast,CONTROL_FINISHED_OK
$STATE,6272,begin surface
$SM_CCo,6291,18.60,0.246,1,0,1398,400.08
$SM_GC,1.31,0.00,0.00,18.60,0.000,0.000,0.246,115,782,1398,-8.46,-0.25,400.08
$IRIDIUM_FIX,2258.07,12704.84,111010,232312
$TT8_MAMPS,0.028462
$HUMID,40.94
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.20
$XPDR_PINGS,0
$24V_AH,24.7,29.430
$10V_AH,10.5,26.094
$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,18.900,35.400,460.125,18.600,0.000,28.416,38.038,143.642,0.000,0.000,18.629,2079.037,1534.107,454.929,2325.200,282.810,0.000,1263.838,0.000,2132.807,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,76.500,944.775,246.330,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,592.613,900.341,1524.787,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50300,880
$CAP_FILE_SIZE,83712,0
$CFSIZE,260165632,159420416
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.161,346.9,1
$GPS,121010,034106,2306.106,12703.872,34,1.1,34,-3.4