version: 66.08
glider: 167
mission: 6
dive: 183
start: 10 14 110 20 54 37
data:
$ID,167
$MISSION,6
$DIVE,183
$N_DIVES,196
$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,-34500.254
$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,157
$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
$GPS1,141010,204807,2304.257,12658.694,28,1.2,28,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-73.6
$GPS2,141010,205413,2304.342,12658.669,10,1.2,15,-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,218.8,14980,-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,-228.7,0.0,0.0,0,79,0.00,0.00,-59.33,0.000,2,0.000,0.000,122,791,3160,0,0,0,0,0,0
$GC,82,-0.76,-228.7,5.4,-12.8,8,113,9.55,0.88,-12.73,0.000,4,0.230,0.069,2569,188,3962,0,0,0,0,0,0
$GC,352,-0.76,-228.7,97.6,-23.6,57,360,0.00,0.68,0.00,0.000,6,0.000,0.021,2566,779,3963,0,0,0,0,0,0
$GC,681,-0.76,-228.7,177.5,-23.1,118,690,0.00,0.85,0.00,0.000,4,0.000,0.041,2566,190,3965,0,0,0,0,0,0
$GC,941,-0.76,-228.7,238.8,-23.3,164,950,0.00,0.68,0.00,0.000,6,0.000,0.021,2562,791,3966,0,0,0,0,0,0
$GC,1290,-0.76,-228.7,304.1,-18.7,224,1294,0.00,0.88,0.00,0.000,4,0.000,0.041,2563,188,3967,0,0,0,0,0,0
$GC,1553,-0.76,-228.7,355.0,-19.4,247,1556,0.00,0.65,0.00,0.000,6,0.000,0.021,2561,778,3966,0,0,0,0,0,0
$GC,1884,-0.76,-228.7,414.9,-17.3,278,1888,0.00,1.88,0.00,0.000,4,0.000,0.016,2560,2126,3965,0,0,0,0,0,0
$GC,1921,-0.76,-228.7,420.5,-14.5,281,1925,0.00,2.00,0.00,0.000,6,0.000,0.033,2561,775,3966,0,0,0,0,0,0
$GC,2252,-0.76,-228.7,469.0,-13.5,312,2256,0.00,0.82,0.00,0.000,4,0.000,0.041,2560,196,3964,0,0,0,0,0,0
$GC,2434,-0.76,-228.7,495.9,-14.6,328,2438,0.00,0.65,0.00,0.000,6,0.000,0.022,2560,770,3963,0,0,0,0,0,0
$STATE,2467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2467,begin apogee
$GC,2473,-0.14,0.0,500.5,13.9,331,2651,0.62,0.00,169.75,0.952,4,0.121,0.000,2771,1003,3028,0,0,0,0,0,0
$STATE,2652,end apogee,CONTROL_FINISHED_OK
$STATE,2652,begin climb
$GC,2655,0.76,228.7,508.7,0.0,346,2836,0.75,1.98,172.23,0.929,4,0.047,0.017,3076,2356,2095,0,0,0,0,0,0
$GC,3016,0.76,228.7,467.5,15.4,377,3020,0.00,2.05,0.00,0.000,6,0.000,0.031,3086,1004,2090,0,0,0,0,0,0
$GC,3343,0.76,228.7,408.9,18.0,407,3346,0.00,1.20,0.00,0.000,4,0.000,0.041,3092,189,2087,0,0,0,0,0,0
$GC,3568,0.76,228.7,365.6,18.2,427,3572,0.00,1.02,0.00,0.000,6,0.000,0.019,3092,1022,2086,0,0,0,0,0,0
$GC,3899,0.76,228.7,309.4,16.2,458,3903,0.00,1.80,0.00,0.000,4,0.000,0.018,3093,2331,2083,0,0,0,0,0,0
$GC,4020,0.76,228.7,291.3,15.2,473,4027,0.12,1.92,0.00,0.000,6,0.169,0.033,3068,1036,2083,0,0,0,0,0,0
$GC,4360,0.76,228.7,241.7,12.9,534,4369,0.00,1.23,0.00,0.000,4,0.000,0.041,3074,196,2081,0,0,0,0,0,0
$GC,4453,0.76,228.7,228.6,14.2,549,4459,0.00,1.02,0.00,0.000,6,0.000,0.020,3073,1027,2081,0,0,0,0,0,0
$GC,4793,0.79,253.4,185.5,11.5,610,4816,0.00,1.30,17.70,0.728,4,0.000,0.041,3080,180,1994,0,0,0,0,0,0
$GC,4967,0.84,291.1,164.1,11.0,640,5002,0.00,1.05,30.08,0.719,6,0.000,0.019,3079,1031,1841,0,0,0,0,0,0
$GC,5328,0.84,291.1,118.0,13.7,705,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1031,1836,0,0,0,0,0,0
$GC,5653,0.89,332.2,78.3,10.9,766,5693,0.00,1.83,31.77,0.653,4,0.000,0.016,3080,2336,1675,0,0,0,0,0,0
$GC,5708,0.97,395.3,72.7,10.1,773,5768,0.10,2.00,50.42,0.641,6,0.049,0.033,3151,1022,1415,0,0,0,0,0,0
$GC,6088,0.97,395.3,17.3,13.4,841,6096,0.00,1.85,0.00,0.000,4,0.000,0.017,3151,2329,1409,0,0,0,0,0,0
$GC,6140,0.97,395.3,10.4,13.1,850,6149,0.00,1.95,0.00,0.000,6,0.000,0.032,3160,1037,1408,0,0,0,0,0,0
$STATE,6196,end climb,SURFACE_DEPTH_REACHED
$STATE,6196,begin surface coast
$FINISH,0.2,1.011124
$STATE,6219,end surface coast,CONTROL_FINISHED_OK
$STATE,6219,begin surface
$SM_CCo,6238,1.42,0.070,0,0,1398,400.08
$SM_GC,2.35,0.00,0.00,1.42,0.000,0.000,0.070,114,791,1398,-8.47,0.00,400.08
$IRIDIUM_FIX,2258.07,12659.69,141010,181801
$TT8_MAMPS,0.028462
$HUMID,41.73
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,27.40
$XPDR_PINGS,0
$24V_AH,24.7,33.878
$10V_AH,10.5,30.180
$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,18.875,32.650,471.950,1.425,0.000,23.256,44.220,147.019,0.000,0.000,16.620,2052.537,1469.377,444.018,2351.016,287.618,0.000,1273.745,0.000,2151.538,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,68.850,952.425,70.380,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,581.562,885.163,1478.904,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50235,864
$CAP_FILE_SIZE,84589,0
$CFSIZE,260165632,157577216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.288, 27.4,1
$GPS,141010,223927,2304.604,12659.002,12,2.0,12,-3.4