version: 66.08
glider: 167
mission: 6
dive: 174
start: 10 14 110 3 38 3
data:
$ID,167
$MISSION,6
$DIVE,174
$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,-34488.945
$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,48
$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
$GPS1,141010,033155,2303.157,12706.628,40,1.9,40,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-72.0
$GPS2,141010,033738,2303.229,12706.656,10,2.0,10,-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,256.9,2854,-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,-63.97,0.000,2,0.000,0.000,116,779,3241,0,0,0,0,0,0
$GC,86,-0.76,-228.7,5.2,-11.0,9,112,9.65,0.88,-11.68,0.000,4,0.233,0.076,2567,191,3965,0,0,0,0,0,0
$GC,350,-0.76,-228.7,94.6,-28.0,57,358,0.00,0.68,0.00,0.000,6,0.000,0.022,2565,775,3968,0,0,0,0,0,0
$GC,681,-0.76,-228.7,177.2,-25.2,118,690,0.00,0.82,0.00,0.000,4,0.000,0.041,2565,200,3969,0,0,0,0,0,0
$GC,940,-0.76,-228.7,242.0,-20.5,164,948,0.00,0.70,0.00,0.000,6,0.000,0.021,2561,826,3970,0,0,0,0,0,0
$GC,1288,-0.76,-228.7,311.3,-20.2,221,1292,0.00,0.90,0.00,0.000,4,0.000,0.041,2561,203,3969,0,0,0,0,0,0
$GC,1546,-0.76,-228.7,366.6,-19.6,244,1550,0.00,0.62,0.00,0.000,6,0.000,0.022,2561,784,3969,0,0,0,0,0,0
$GC,1879,-0.76,-228.7,423.9,-16.4,275,1883,0.00,0.85,0.00,0.000,4,0.000,0.041,2561,197,3969,0,0,0,0,0,0
$GC,2082,-0.76,-228.7,456.7,-15.7,293,2086,0.00,0.62,0.00,0.000,6,0.000,0.022,2558,755,3968,0,0,0,0,0,0
$STATE,2370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2370,begin apogee
$GC,2376,-0.14,0.0,500.9,14.7,320,2557,0.62,0.00,170.00,0.942,4,0.123,0.000,2768,1006,3028,0,0,0,0,0,0
$STATE,2558,end apogee,CONTROL_FINISHED_OK
$STATE,2558,begin climb
$GC,2561,0.76,228.7,508.1,0.0,335,2740,0.75,1.27,171.60,0.919,4,0.050,0.041,3076,193,2096,0,0,0,0,0,0
$GC,2943,0.76,228.7,453.6,18.4,368,2946,0.00,1.00,0.00,0.000,6,0.000,0.019,3076,1001,2089,0,0,0,0,0,0
$GC,3275,0.76,228.7,400.7,15.5,399,3279,0.00,1.17,0.00,0.000,4,0.000,0.039,3082,203,2085,0,0,0,0,0,0
$GC,3422,0.76,228.7,373.9,19.4,412,3426,0.00,1.00,0.00,0.000,6,0.000,0.020,3082,1019,2085,0,0,0,0,0,0
$GC,3754,0.76,228.7,318.5,14.7,443,3758,0.00,1.83,0.00,0.000,4,0.000,0.018,3082,2337,2083,0,0,0,0,0,0
$GC,3816,0.76,228.7,308.9,14.7,448,3824,0.00,1.98,0.00,0.000,6,0.000,0.032,3091,1023,2083,0,0,0,0,0,0
$GC,4151,0.76,228.7,257.6,14.1,504,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1023,2081,0,0,0,0,0,0
$GC,4494,0.76,228.7,209.4,14.3,565,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1023,2080,0,0,0,0,0,0
$GC,4832,0.76,228.7,164.1,12.6,626,4842,0.00,1.85,0.00,0.000,4,0.000,0.018,3091,2340,2080,0,0,0,0,0,0
$GC,4894,0.76,228.7,156.5,12.8,636,4902,0.08,1.95,0.00,0.000,6,0.142,0.032,3073,1040,2079,0,0,0,0,0,0
$GC,5223,0.79,249.0,118.1,11.6,697,5246,0.00,1.85,14.23,0.659,4,0.000,0.018,3073,2335,2013,0,0,0,0,0,0
$GC,5322,0.84,294.0,106.9,10.7,714,5362,0.00,1.92,35.72,0.673,6,0.000,0.033,3077,1056,1829,0,0,0,0,0,0
$GC,5684,0.94,372.4,69.5,9.5,779,5752,0.12,1.27,60.08,0.641,4,0.086,0.037,3146,189,1511,0,0,0,0,0,0
$GC,5773,0.94,372.4,57.3,16.2,791,5781,0.00,1.08,0.00,0.000,6,0.000,0.018,3146,1051,1507,0,0,0,0,0,0
$GC,6101,0.94,372.4,10.4,13.7,852,6108,0.00,1.27,0.00,0.000,4,0.000,0.039,3153,191,1504,0,0,0,0,0,0
$GC,6148,0.94,372.4,3.4,14.4,860,6156,0.00,1.02,0.00,0.000,6,0.000,0.018,3152,1039,1504,0,0,0,0,0,0
$STATE,6163,end climb,SURFACE_DEPTH_REACHED
$STATE,6163,begin surface coast
$FINISH,0.3,1.021098
$STATE,6186,end surface coast,CONTROL_FINISHED_OK
$STATE,6186,begin surface
$SM_CCo,6204,27.08,0.362,1,0,1398,400.08
$SM_GC,1.77,0.00,0.00,27.08,0.000,0.000,0.362,106,786,1398,-8.49,-0.11,400.08
$IRIDIUM_FIX,2253.38,12706.71,141010,010154
$TT8_MAMPS,0.028462
$HUMID,40.82
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,27.30
$XPDR_PINGS,0
$24V_AH,24.7,32.733
$10V_AH,10.5,29.121
$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,19.000,27.075,451.625,27.075,0.000,23.173,36.948,138.741,0.000,0.000,11.588,2055.914,1446.707,458.807,2342.764,277.278,0.000,1285.519,0.000,2162.867,0.000,0.544,0.000
$DEVICE_MAMPS,232.560,75.735,942.480,361.845,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,582.940,885.511,1507.037,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50302,866
$CAP_FILE_SIZE,82874,0
$CFSIZE,260165632,158052352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.053,  4.5,1
$GPS,141010,052250,2302.909,12706.083,12,1.6,12,-3.4