version: 66.08
glider: 167
mission: 6
dive: 164
start: 10 13 110 8 33 23
data:
$ID,167
$MISSION,6
$DIVE,164
$N_DIVES,169
$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,-34476.395
$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,32
$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
$GPS1,131010,082650,2304.381,12706.824,13,2.0,13,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-73.6
$GPS2,131010,083258,2304.378,12706.778,15,99.0,34,-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,200.8,3961,-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,-228.7,0.0,0.0,0,90,0.00,0.00,-70.12,0.000,2,0.000,0.000,102,796,3255,0,0,0,0,0,0
$GC,92,-0.76,-228.7,5.9,-13.9,10,117,9.90,0.95,-11.07,0.000,4,0.240,0.077,2566,171,3965,0,0,0,0,0,0
$GC,356,-0.76,-228.7,99.4,-26.4,58,364,0.00,0.70,0.00,0.000,6,0.000,0.021,2563,794,3968,0,0,0,0,0,0
$GC,686,-0.76,-228.7,176.6,-22.1,119,693,0.00,0.90,0.00,0.000,4,0.000,0.040,2563,178,3969,0,0,0,0,0,0
$GC,946,-0.76,-228.7,238.0,-21.1,165,953,0.00,0.68,0.00,0.000,6,0.000,0.021,2561,788,3969,0,0,0,0,0,0
$GC,1285,-0.76,-228.7,302.3,-17.6,225,1288,0.00,0.88,0.00,0.000,4,0.000,0.041,2560,186,3969,0,0,0,0,0,0
$GC,1486,-0.76,-228.7,340.5,-17.6,243,1490,0.00,0.68,0.00,0.000,6,0.000,0.021,2558,793,3969,0,0,0,0,0,0
$GC,1817,-0.76,-228.7,396.0,-15.8,274,1821,0.00,1.83,0.00,0.000,4,0.000,0.016,2557,2125,3969,0,0,0,0,0,0
$GC,1879,-0.76,-228.7,404.2,-13.9,279,1882,0.00,2.00,0.00,0.000,6,0.000,0.033,2558,775,3969,0,0,0,0,0,0
$GC,2210,-0.76,-228.7,453.8,-14.6,310,2213,0.00,0.82,0.00,0.000,4,0.000,0.042,2558,194,3969,0,0,0,0,0,0
$GC,2449,-0.76,-228.7,489.6,-15.9,331,2453,0.00,0.65,0.00,0.000,6,0.000,0.022,2557,765,3967,0,0,0,0,0,0
$STATE,2523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2523,begin apogee
$GC,2529,-0.14,0.0,500.8,13.8,338,2708,0.62,0.00,170.68,0.954,4,0.122,0.000,2768,1010,3029,0,0,0,0,0,0
$STATE,2709,end apogee,CONTROL_FINISHED_OK
$STATE,2709,begin climb
$GC,2711,0.76,228.7,510.5,0.0,353,2892,0.77,1.98,172.52,0.931,4,0.048,0.017,3080,2359,2096,0,0,0,0,0,0
$GC,3067,0.76,228.7,470.2,16.4,384,3071,0.00,2.05,0.00,0.000,6,0.000,0.032,3089,1006,2090,0,0,0,0,0,0
$GC,3392,0.76,228.7,416.8,16.8,414,3395,0.00,1.20,0.00,0.000,4,0.000,0.041,3096,190,2088,0,0,0,0,0,0
$GC,3526,0.76,228.7,391.6,19.3,426,3530,0.00,1.05,0.00,0.000,6,0.000,0.019,3094,1030,2086,0,0,0,0,0,0
$GC,3859,0.76,228.7,335.2,17.3,457,3862,0.00,1.83,0.00,0.000,4,0.000,0.018,3095,2352,2083,0,0,0,0,0,0
$GC,4095,0.76,228.7,296.6,16.1,479,4103,0.12,1.95,0.00,0.000,6,0.164,0.033,3070,1040,2082,0,0,0,0,0,0
$GC,4434,0.76,228.7,249.3,12.8,540,4442,0.00,1.23,0.00,0.000,4,0.000,0.041,3075,203,2081,0,0,0,0,0,0
$GC,4491,0.76,228.7,241.6,13.8,549,4498,0.00,1.05,0.00,0.000,6,0.000,0.020,3076,1047,2081,0,0,0,0,0,0
$GC,4830,0.76,228.7,196.7,13.6,610,4838,0.00,1.83,0.00,0.000,4,0.000,0.018,3075,2349,2080,0,0,0,0,0,0
$GC,5029,0.76,228.7,171.3,12.6,645,5036,0.00,1.92,0.00,0.000,6,0.000,0.033,3084,1050,2079,0,0,0,0,0,0
$GC,5363,0.78,244.6,132.2,11.8,706,5379,0.00,1.30,10.82,0.659,4,0.000,0.041,3090,190,2031,0,0,0,0,0,0
$GC,5411,0.83,286.1,127.0,10.8,713,5450,0.00,1.10,33.12,0.693,6,0.000,0.019,3090,1072,1861,0,0,0,0,0,0
$GC,5773,0.85,298.7,82.7,11.9,778,5789,0.00,1.83,10.27,0.604,4,0.000,0.018,3090,2346,1810,0,0,0,0,0,0
$GC,5845,0.87,315.5,74.3,11.7,790,5869,0.00,1.92,14.57,0.620,6,0.000,0.034,3092,1078,1742,0,0,0,0,0,0
$GC,6191,0.99,414.6,42.5,8.8,853,6272,0.12,0.00,76.65,0.620,6,0.089,0.000,3157,1077,1337,0,0,0,0,0,0
$STATE,6470,end climb,SURFACE_DEPTH_REACHED
$STATE,6470,begin surface coast
$FINISH,0.3,1.005760
$STATE,6494,end surface coast,CONTROL_FINISHED_OK
$STATE,6494,begin surface
$SM_CCo,6574,0.00,0.000,0,0,1327,417.26
$SM_GC,1.33,7.82,0.00,0.00,0.038,0.000,0.000,106,786,1327,-8.38,-0.11,417.26
$IRIDIUM_FIX,2255.72,12704.84,131010,060608
$TT8_MAMPS,0.028462
$HUMID,40.31
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,27.50
$XPDR_PINGS,0
$24V_AH,24.7,31.467
$10V_AH,10.5,27.965
$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,19.375,32.900,488.650,0.000,0.000,22.488,39.805,138.929,0.000,0.000,36.538,2149.552,1583.032,442.948,2475.262,288.990,0.000,1305.799,0.000,2265.230,0.000,0.543,0.000
$DEVICE_MAMPS,240.210,77.265,953.955,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,609.874,926.247,1565.156,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53490,905
$CAP_FILE_SIZE,86674,0
$CFSIZE,260165632,158564352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.196,342.7,1
$GPS,131010,102407,2304.356,12706.732,35,1.4,35,-3.4