version: 66.08
glider: 167
mission: 6
dive: 182
start: 10 14 110 18 55 22
data:
$ID,167
$MISSION,6
$DIVE,182
$N_DIVES,189
$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,-34498.996
$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,42
$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
$GPS1,141010,184850,2303.819,12658.623,11,1.0,11,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-73.8
$GPS2,141010,185458,2303.869,12658.551,11,2.4,30,-3.4
$SPEED_LIMITS,0.214,0.341
$TGT_NAME,WAKEB_WEST
$TGT_LATLONG,2303.000,12650.000
$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,222.1,14660,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.76,-228.7,0.0,0.0,0,83,0.00,0.00,-62.65,0.000,2,0.000,0.000,110,785,3310,0,0,0,0,0,0
$GC,86,-0.76,-228.7,6.3,-14.2,9,111,9.65,0.90,-9.85,0.000,4,0.233,0.075,2568,184,3964,0,0,0,0,0,0
$GC,349,-0.76,-228.7,95.0,-24.3,57,357,0.00,0.70,0.00,0.000,6,0.000,0.021,2565,794,3967,0,0,0,0,0,0
$GC,679,-0.76,-228.7,169.5,-22.1,118,687,0.00,0.88,0.00,0.000,4,0.000,0.040,2565,192,3969,0,0,0,0,0,0
$GC,931,-0.76,-228.7,223.2,-20.5,164,939,0.00,0.68,0.00,0.000,6,0.000,0.021,2561,789,3969,0,0,0,0,0,0
$GC,1267,-0.76,-228.7,281.9,-17.6,225,1273,0.00,0.88,0.00,0.000,4,0.000,0.041,2561,186,3969,0,0,0,0,0,0
$GC,1523,-0.76,-228.7,327.9,-17.7,257,1527,0.00,0.65,0.00,0.000,6,0.000,0.022,2561,777,3969,0,0,0,0,0,0
$GC,1855,-0.76,-228.7,381.9,-16.3,288,1858,0.00,0.85,0.00,0.000,4,0.000,0.041,2561,190,3969,0,0,0,0,0,0
$GC,1989,-0.76,-228.7,404.7,-16.8,300,1993,0.00,0.62,0.00,0.000,6,0.000,0.022,2560,760,3968,0,0,0,0,0,0
$GC,2320,-0.76,-228.7,456.8,-15.2,331,2324,0.00,0.82,0.00,0.000,4,0.000,0.042,2561,192,3968,0,0,0,0,0,0
$GC,2412,-0.76,-228.7,471.0,-16.0,339,2416,0.00,0.62,0.00,0.000,6,0.000,0.022,2560,754,3968,0,0,0,0,0,0
$STATE,2613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2613,begin apogee
$GC,2619,-0.14,0.0,501.3,14.0,358,2794,0.62,0.00,170.68,0.956,4,0.125,0.000,2770,1002,3028,0,0,0,0,0,0
$STATE,2795,end apogee,CONTROL_FINISHED_OK
$STATE,2795,begin climb
$GC,2797,0.76,228.7,510.4,0.0,372,2979,0.77,1.98,172.40,0.933,4,0.050,0.017,3077,2359,2095,0,0,0,0,0,0
$GC,3197,0.76,228.7,462.8,15.0,406,3206,0.00,2.08,0.00,0.000,6,0.000,0.031,3087,1000,2090,0,0,0,0,0,0
$GC,3525,0.76,228.7,407.6,17.0,437,3529,0.00,1.20,0.00,0.000,4,0.000,0.041,3093,186,2087,0,0,0,0,0,0
$GC,3743,0.76,228.7,366.9,17.6,456,3751,0.00,1.05,0.00,0.000,6,0.000,0.018,3094,1033,2086,0,0,0,0,0,0
$GC,4069,0.76,228.7,311.5,17.9,487,4073,0.00,1.80,0.00,0.000,4,0.000,0.018,3093,2329,2084,0,0,0,0,0,0
$GC,4127,0.76,228.7,301.6,16.3,492,4132,0.12,1.95,0.00,0.000,6,0.169,0.032,3069,1017,2084,0,0,0,0,0,0
$GC,4471,0.76,228.7,256.2,13.3,551,4477,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1017,2082,0,0,0,0,0,0
$GC,4807,0.76,228.7,215.3,13.0,612,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1017,2082,0,0,0,0,0,0
$GC,5151,0.79,249.9,174.6,11.6,673,5171,0.00,1.25,15.07,0.715,4,0.000,0.041,3074,190,2010,0,0,0,0,0,0
$GC,5327,0.79,249.9,152.1,12.8,704,5336,0.00,1.02,0.00,0.000,6,0.000,0.019,3074,1022,2008,0,0,0,0,0,0
$GC,5655,0.80,261.0,114.1,11.9,765,5670,0.00,0.00,9.80,0.634,6,0.000,0.000,3075,1022,1963,0,0,0,0,0,0
$GC,5990,0.94,370.6,79.9,8.4,827,6081,0.12,1.30,84.25,0.660,4,0.086,0.039,3143,192,1518,0,0,0,0,0,0
$GC,6144,0.94,370.6,60.4,14.9,850,6151,0.00,1.05,0.00,0.000,6,0.000,0.019,3144,1029,1514,0,0,0,0,0,0
$GC,6470,0.97,397.8,19.1,11.4,911,6501,0.00,1.88,21.50,0.588,4,0.000,0.018,3144,2338,1406,0,0,0,0,0,0
$GC,6515,0.97,400.0,13.5,12.3,917,6524,0.00,2.00,3.25,0.339,6,0.000,0.032,3149,1024,1398,0,0,0,0,0,0
$STATE,6597,end climb,SURFACE_DEPTH_REACHED
$STATE,6597,begin surface coast
$FINISH,0.4,1.021420
$STATE,6623,end surface coast,CONTROL_FINISHED_OK
$STATE,6623,begin surface
$SM_CCo,6702,0.00,0.000,0,0,1393,401.31
$SM_GC,1.56,7.72,0.00,0.00,0.035,0.000,0.000,121,790,1393,-8.35,0.00,401.31
$IRIDIUM_FIX,2255.72,12653.13,141010,161618
$TT8_MAMPS,0.027713
$HUMID,40.66
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,27.50
$XPDR_PINGS,0
$24V_AH,24.6,33.752
$10V_AH,10.4,30.067
$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,19.025,26.650,476.950,0.000,0.000,27.595,38.667,137.349,0.000,0.000,32.515,2217.170,1604.804,441.126,2515.981,287.195,0.000,1314.415,0.000,2309.669,0.000,0.542,0.000
$DEVICE_MAMPS,232.560,74.970,956.250,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,630.795,957.537,1611.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53653,936
$CAP_FILE_SIZE,87347,0
$CFSIZE,260165632,157622272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.315, 13.3,1
$GPS,141010,204807,2304.257,12658.694,28,1.2,28,-3.4