version: 66.08
glider: 167
mission: 6
dive: 170
start: 10 13 110 20 2 33
data:
$ID,167
$MISSION,6
$DIVE,170
$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,-34483.93
$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,43
$R_STBD_OVSHOOT,114
$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
$GPS1,131010,195636,2303.932,12706.317,38,1.0,43,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-73.5
$GPS2,131010,200208,2304.005,12706.260,15,1.0,15,-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,200.2,2841,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.76,-228.7,0.0,0.0,0,90,0.00,0.00,-69.85,0.000,2,0.000,0.000,115,765,3335,0,0,0,0,0,0
$GC,92,-0.76,-228.7,6.0,-14.0,10,117,9.50,0.88,-9.75,0.000,4,0.227,0.076,2567,188,3964,0,0,0,0,0,0
$GC,354,-0.76,-228.7,94.0,-25.4,58,362,0.00,0.75,0.00,0.000,6,0.000,0.021,2564,844,3967,0,0,0,0,0,0
$GC,683,-0.76,-228.7,171.9,-23.3,119,690,0.00,0.95,0.00,0.000,4,0.000,0.040,2564,190,3968,0,0,0,0,0,0
$GC,944,-0.76,-228.7,233.7,-21.3,165,951,0.00,0.75,0.00,0.000,6,0.000,0.020,2561,867,3968,0,0,0,0,0,0
$GC,1284,-0.76,-228.7,300.0,-18.7,226,1292,0.00,0.98,0.00,0.000,4,0.000,0.040,2560,195,3968,0,0,0,0,0,0
$GC,1447,-0.76,-228.7,331.2,-19.0,241,1450,0.00,0.75,0.00,0.000,6,0.000,0.020,2560,872,3969,0,0,0,0,0,0
$GC,1777,-0.76,-228.7,393.1,-17.9,272,1781,0.00,1.00,0.00,0.000,4,0.000,0.040,2560,187,3969,0,0,0,0,0,0
$GC,1996,-0.76,-228.7,431.5,-17.6,291,2002,0.00,0.73,0.00,0.000,6,0.000,0.021,2558,823,3969,0,0,0,0,0,0
$GC,2321,-0.76,-228.7,479.5,-14.6,322,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,824,3967,0,0,0,0,0,0
$STATE,2467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2468,begin apogee
$GC,2475,-0.14,0.0,501.6,15.3,336,2655,0.62,0.00,170.23,0.952,4,0.125,0.000,2767,1010,3027,0,0,0,0,0,0
$STATE,2656,end apogee,CONTROL_FINISHED_OK
$STATE,2656,begin climb
$GC,2659,0.76,228.7,511.2,0.0,351,2840,0.82,1.95,171.95,0.929,4,0.052,0.017,3077,2350,2095,0,0,0,0,0,0
$GC,3042,0.76,228.7,468.5,15.5,384,3046,0.00,2.05,0.00,0.000,6,0.000,0.032,3086,996,2090,0,0,0,0,0,0
$GC,3368,0.76,228.7,413.8,16.2,414,3371,0.00,1.17,0.00,0.000,4,0.000,0.041,3092,194,2087,0,0,0,0,0,0
$GC,3606,0.76,228.7,374.3,16.5,435,3609,0.00,1.00,0.00,0.000,6,0.000,0.020,3092,996,2086,0,0,0,0,0,0
$GC,3937,0.76,228.7,318.4,18.0,466,3940,0.00,1.85,0.00,0.000,4,0.000,0.018,3093,2342,2084,0,0,0,0,0,0
$GC,3995,0.76,228.7,308.6,16.7,471,4000,0.12,2.00,0.00,0.000,6,0.169,0.033,3068,1000,2083,0,0,0,0,0,0
$GC,4333,0.76,228.7,258.9,14.6,526,4341,0.00,1.90,0.00,0.000,4,0.000,0.018,3068,2340,2082,0,0,0,0,0,0
$GC,4499,0.77,233.1,237.2,12.2,555,4505,0.00,1.95,0.00,0.000,6,0.000,0.033,3076,1014,2081,0,0,0,0,0,0
$GC,4841,0.78,246.5,192.0,11.9,616,4855,0.00,0.00,12.48,0.715,6,0.000,0.000,3076,1014,2024,0,0,0,0,0,0
$GC,5186,0.83,283.8,149.6,11.0,678,5223,0.00,1.90,29.45,0.715,4,0.000,0.016,3075,2354,1871,0,0,0,0,0,0
$GC,5423,0.89,328.8,122.7,10.7,720,5468,0.00,2.03,36.10,0.685,6,0.000,0.033,3083,1018,1686,0,0,0,0,0,0
$GC,5789,0.92,353.5,75.2,11.5,786,5812,0.00,0.00,19.02,0.633,6,0.000,0.000,3084,1018,1587,0,0,0,0,0,0
$GC,6132,1.07,482.4,38.7,7.7,849,6241,0.22,1.25,99.80,0.614,4,0.062,0.038,3202,198,1060,0,0,0,0,0,0
$STATE,6318,end climb,SURFACE_DEPTH_REACHED
$STATE,6318,begin surface coast
$FINISH,0.4,1.021836
$STATE,6330,end surface coast,CONTROL_FINISHED_OK
$STATE,6330,begin surface
$SM_CCo,6408,0.00,0.000,0,0,1055,484.22
$SM_GC,1.18,7.95,0.00,0.00,0.034,0.000,0.000,112,776,1055,-8.37,-0.40,484.22
$IRIDIUM_FIX,2255.72,12708.12,131010,181821
$TT8_MAMPS,0.028462
$HUMID,40.98
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,26.90
$XPDR_PINGS,0
$24V_AH,24.7,32.237
$10V_AH,10.5,28.659
$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,19.250,26.625,539.025,0.000,0.000,25.773,17.305,140.811,0.000,0.000,15.963,2053.784,1586.518,477.059,2345.101,275.191,0.000,1319.861,0.000,2174.566,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,91.035,951.660,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,591.855,900.520,1504.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50376,880
$CAP_FILE_SIZE,81791,0
$CFSIZE,260165632,158261248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.277, 27.0,1
$GPS,131010,215025,2304.064,12706.836,12,1.6,29,-3.4