version: 66.08
glider: 167
mission: 6
dive: 168
start: 10 13 110 16 8 44
data:
$ID,167
$MISSION,6
$DIVE,168
$N_DIVES,181
$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,-34481.426
$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,47
$R_STBD_OVSHOOT,158
$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
$GPS1,131010,160236,2303.573,12706.225,30,1.1,30,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-74.4
$GPS2,131010,160808,2303.610,12706.159,15,1.2,15,-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,213.4,2275,-19.0,-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,-189.4,0.0,0.0,0,82,0.00,0.00,-61.25,0.000,2,0.000,0.000,114,775,3200,0,0,0,0,0,0
$GC,85,-0.78,-203.3,5.2,-11.7,9,110,9.52,0.88,-10.73,0.000,4,0.230,0.077,2564,191,3860,0,0,0,0,0,0
$GC,349,-0.78,-203.3,96.8,-26.5,57,357,0.00,0.68,0.00,0.000,6,0.000,0.021,2561,778,3863,0,0,0,0,0,0
$GC,678,-0.78,-203.3,176.7,-23.6,118,687,0.00,0.85,0.00,0.000,4,0.000,0.041,2561,191,3865,0,0,0,0,0,0
$GC,938,-0.78,-203.3,238.5,-22.1,164,946,0.00,0.70,0.00,0.000,6,0.000,0.021,2557,812,3866,0,0,0,0,0,0
$GC,1283,-0.78,-203.3,308.9,-19.1,222,1287,0.00,0.90,0.00,0.000,4,0.000,0.039,2557,190,3866,0,0,0,0,0,0
$GC,1544,-0.78,-203.3,357.0,-17.2,245,1548,0.00,0.68,0.00,0.000,6,0.000,0.021,2553,792,3866,0,0,0,0,0,0
$GC,1875,-0.78,-203.3,412.6,-18.3,276,1879,0.00,0.88,0.00,0.000,4,0.000,0.041,2553,190,3865,0,0,0,0,0,0
$GC,2069,-0.78,-203.3,447.4,-17.2,293,2072,0.00,0.70,0.00,0.000,6,0.000,0.022,2548,800,3865,0,0,0,0,0,0
$GC,2400,-0.78,-203.3,499.3,-15.3,324,2403,0.00,0.88,0.00,0.000,4,0.000,0.041,2548,199,3863,0,0,0,0,0,0
$STATE,2411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2411,begin apogee
$GC,2419,-0.14,0.0,501.1,14.9,325,2576,0.68,0.00,151.02,0.946,4,0.126,0.000,2773,1048,3029,0,0,0,0,0,0
$STATE,2577,end apogee,CONTROL_FINISHED_OK
$STATE,2577,begin climb
$GC,2579,0.78,203.3,509.1,0.0,338,2741,0.77,1.95,153.15,0.923,4,0.047,0.017,3086,2383,2198,0,0,0,0,0,0
$GC,2993,0.78,203.3,457.8,16.8,374,2998,0.00,2.05,0.00,0.000,6,0.000,0.032,3096,1007,2192,0,0,0,0,0,0
$GC,3326,0.78,203.3,401.2,16.9,405,3329,0.00,1.20,0.00,0.000,4,0.000,0.041,3102,191,2190,0,0,0,0,0,0
$GC,3410,0.78,203.3,385.5,17.2,412,3418,0.00,1.08,0.00,0.000,6,0.000,0.018,3102,1060,2189,0,0,0,0,0,0
$GC,3737,0.78,203.3,332.7,15.4,443,3741,0.00,1.83,0.00,0.000,4,0.000,0.018,3102,2355,2187,0,0,0,0,0,0
$GC,3799,0.78,203.3,323.3,13.5,448,3807,0.10,2.00,0.00,0.000,6,0.148,0.032,3079,1024,2188,0,0,0,0,0,0
$GC,4133,0.78,203.3,279.2,13.4,493,4140,0.00,1.88,0.00,0.000,4,0.000,0.018,3079,2368,2185,0,0,0,0,0,0
$GC,4351,0.78,203.3,251.1,13.5,532,4359,0.00,2.00,0.00,0.000,6,0.000,0.033,3086,1037,2185,0,0,0,0,0,0
$GC,4693,0.78,203.3,204.6,13.0,593,4700,0.00,1.83,0.00,0.000,4,0.000,0.018,3086,2365,2184,0,0,0,0,0,0
$GC,4723,0.78,203.3,200.6,12.4,598,4732,0.00,1.95,0.00,0.000,6,0.000,0.033,3094,1066,2184,0,0,0,0,0,0
$GC,5066,0.78,203.3,157.2,13.5,659,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1066,2184,0,0,0,0,0,0
$GC,5394,0.80,222.1,119.2,11.5,720,5418,0.00,1.30,12.82,0.656,4,0.000,0.041,3101,194,2123,0,0,0,0,0,0
$GC,5479,0.81,228.4,109.7,12.1,734,5489,0.00,1.10,6.35,0.562,6,0.000,0.019,3101,1090,2098,0,0,0,0,0,0
$GC,5810,0.91,309.5,71.7,8.8,795,5876,0.00,0.00,62.12,0.650,6,0.000,0.000,3101,1090,1766,0,0,0,0,0,0
$GC,6198,1.06,435.1,32.4,6.9,864,6300,0.17,1.40,95.60,0.603,4,0.071,0.038,3196,194,1254,0,0,0,0,0,0
$STATE,6371,end climb,SURFACE_DEPTH_REACHED
$STATE,6371,begin surface coast
$FINISH,0.3,1.021804
$STATE,6385,end surface coast,CONTROL_FINISHED_OK
$STATE,6386,begin surface
$SM_CCo,6464,0.00,0.000,0,0,1246,437.12
$SM_GC,1.32,7.95,0.00,0.00,0.036,0.000,0.000,112,786,1246,-8.36,-0.11,437.12
$IRIDIUM_FIX,2255.72,12704.84,131010,141449
$TT8_MAMPS,0.028462
$HUMID,40.03
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.10
$XPDR_PINGS,0
$24V_AH,24.7,31.966
$10V_AH,10.5,28.425
$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,19.200,30.425,481.075,0.000,0.000,25.810,19.743,139.298,0.000,0.000,16.439,2114.823,1594.145,438.275,2380.938,276.505,0.000,1281.040,0.000,2204.600,0.000,0.544,0.000
$DEVICE_MAMPS,229.500,77.265,945.540,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,601.067,912.912,1542.515,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53731,893
$CAP_FILE_SIZE,83808,0
$CFSIZE,260165632,158359552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.239,346.3,1
$GPS,131010,175714,2303.731,12705.894,11,2.0,11,-3.4