version: 66.08
glider: 167
mission: 6
dive: 171
start: 10 13 110 21 56 57
data:
$ID,167
$MISSION,6
$DIVE,171
$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,-34485.188
$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,121
$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
$GPS1,131010,215025,2304.064,12706.836,12,1.6,29,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-73.4
$GPS2,131010,215632,2304.188,12706.807,17,1.3,17,-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,215.9,3784,-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,-228.7,0.0,0.0,0,97,0.00,0.00,-77.15,0.000,2,0.000,0.000,112,777,3323,0,0,0,0,0,0
$GC,99,-0.76,-228.7,6.0,-13.8,11,125,9.52,0.90,-9.95,0.000,4,0.228,0.077,2566,187,3963,0,0,0,0,0,0
$GC,364,-0.76,-228.7,95.0,-29.0,59,372,0.00,0.75,0.00,0.000,6,0.000,0.021,2563,846,3966,0,0,0,0,0,0
$GC,695,-0.76,-228.7,172.7,-23.4,120,704,0.00,0.95,0.00,0.000,4,0.000,0.040,2563,193,3968,0,0,0,0,0,0
$GC,956,-0.76,-228.7,232.9,-21.6,166,964,0.00,0.73,0.00,0.000,6,0.000,0.021,2560,853,3968,0,0,0,0,0,0
$GC,1305,-0.76,-228.7,303.0,-20.8,227,1309,0.00,0.95,0.00,0.000,4,0.000,0.040,2560,196,3968,0,0,0,0,0,0
$GC,1562,-0.76,-228.7,355.8,-19.5,250,1566,0.00,0.73,0.00,0.000,6,0.000,0.021,2557,847,3968,0,0,0,0,0,0
$GC,1897,-0.76,-228.7,413.4,-16.4,281,1901,0.00,0.95,0.00,0.000,4,0.000,0.041,2557,193,3968,0,0,0,0,0,0
$GC,2092,-0.76,-228.7,446.6,-17.6,298,2100,0.00,0.68,0.00,0.000,6,0.000,0.021,2554,800,3968,0,0,0,0,0,0
$GC,2419,-0.76,-228.7,497.3,-16.3,329,2423,0.00,1.83,0.00,0.000,4,0.000,0.015,2547,2133,3966,0,0,0,0,0,0
$STATE,2434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2434,begin apogee
$GC,2443,-0.14,0.0,500.6,16.7,330,2618,0.65,0.00,170.07,0.949,4,0.119,0.000,2767,990,3028,0,0,0,0,0,0
$STATE,2619,end apogee,CONTROL_FINISHED_OK
$STATE,2619,begin climb
$GC,2623,0.76,228.7,513.3,0.0,345,2799,0.77,0.00,171.90,0.928,6,0.056,0.000,3065,989,2096,0,0,0,0,0,0
$GC,3119,0.76,228.7,451.9,15.1,390,3123,0.00,1.92,0.00,0.000,4,0.000,0.018,3064,2330,2088,0,0,0,0,0,0
$GC,3363,0.76,228.7,416.3,13.9,412,3367,0.00,1.98,0.00,0.000,6,0.000,0.032,3073,1000,2086,0,0,0,0,0,0
$GC,3695,0.76,228.7,368.9,15.3,443,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1000,2084,0,0,0,0,0,0
$GC,4016,0.76,228.7,319.8,14.8,473,4020,0.00,1.90,0.00,0.000,4,0.000,0.018,3073,2337,2083,0,0,0,0,0,0
$GC,4064,0.76,228.7,312.3,13.2,477,4072,0.00,1.98,0.00,0.000,6,0.000,0.032,3082,1026,2082,0,0,0,0,0,0
$GC,4398,0.76,228.7,262.5,16.3,530,4406,0.00,1.85,0.00,0.000,4,0.000,0.018,3082,2338,2081,0,0,0,0,0,0
$GC,4549,0.76,228.7,240.6,14.5,557,4557,0.00,1.92,0.00,0.000,6,0.000,0.032,3091,1053,2081,0,0,0,0,0,0
$GC,4884,0.76,228.8,194.4,12.3,618,4892,0.00,1.27,0.00,0.000,4,0.000,0.041,3097,190,2080,0,0,0,0,0,0
$GC,4929,0.76,228.8,188.4,14.8,625,4937,0.08,1.05,0.00,0.000,6,0.150,0.019,3072,1035,2080,0,0,0,0,0,0
$GC,5264,0.79,253.0,148.5,11.5,686,5287,0.00,1.88,17.05,0.696,4,0.000,0.018,3073,2343,1997,0,0,0,0,0,0
$GC,5424,0.80,255.7,129.1,12.2,714,5434,0.00,1.92,3.55,0.429,6,0.000,0.032,3075,1067,1985,0,0,0,0,0,0
$GC,5753,0.90,340.8,91.1,9.3,775,5826,0.10,0.00,65.88,0.669,6,0.102,0.000,3123,1067,1638,0,0,0,0,0,0
$GC,6146,0.95,378.2,40.9,11.0,845,6184,0.00,1.30,28.80,0.611,4,0.000,0.038,3130,201,1487,0,0,0,0,0,0
$GC,6336,0.95,378.2,17.4,12.8,878,6343,0.00,1.08,0.00,0.000,6,0.000,0.018,3130,1072,1484,0,0,0,0,0,0
$STATE,6450,end climb,SURFACE_DEPTH_REACHED
$STATE,6450,begin surface coast
$FINISH,0.3,1.021787
$STATE,6475,end surface coast,CONTROL_FINISHED_OK
$STATE,6475,begin surface
$SM_CCo,6493,22.98,0.321,1,0,1397,400.08
$SM_GC,1.69,0.00,0.00,22.98,0.000,0.000,0.321,108,783,1397,-8.48,-0.20,400.08
$IRIDIUM_FIX,2255.72,12708.12,131010,191944
$TT8_MAMPS,0.028462
$HUMID,41.37
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,27.30
$XPDR_PINGS,0
$24V_AH,24.7,32.361
$10V_AH,10.5,28.777
$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,18.800,30.650,457.250,22.975,0.000,31.314,38.813,142.793,0.000,0.000,18.309,2130.810,1581.724,464.616,2426.078,284.620,0.000,1304.810,0.000,2221.906,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,77.265,948.600,320.535,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,608.168,923.802,1555.221,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53545,903
$CAP_FILE_SIZE,84285,0
$CFSIZE,260165632,158203904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.213, 43.0,1
$GPS,131010,234654,2303.844,12707.286,38,1.1,38,-3.4