version: 66.08
glider: 167
mission: 6
dive: 181
start: 10 14 110 16 58 26
data:
$ID,167
$MISSION,6
$DIVE,181
$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,-34497.742
$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,149
$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
$GPS1,141010,165206,2303.390,12659.502,13,0.8,29,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-73.9
$GPS2,141010,165802,2303.395,12659.439,14,1.1,14,-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,235.6,16102,-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,-62.72,0.000,2,0.000,0.000,114,780,3167,0,0,0,0,0,0
$GC,85,-0.76,-228.7,5.4,-12.5,9,117,9.75,0.88,-12.57,0.000,4,0.236,0.078,2567,187,3967,0,0,0,0,0,0
$GC,356,-0.76,-228.7,92.7,-24.1,58,364,0.00,0.70,0.00,0.000,6,0.000,0.021,2564,803,3968,0,0,0,0,0,0
$GC,687,-0.76,-228.7,166.0,-20.3,119,694,0.00,1.80,0.00,0.000,4,0.000,0.015,2561,2142,3970,0,0,0,0,0,0
$GC,890,-0.76,-228.7,199.8,-15.2,155,897,0.00,2.03,0.00,0.000,6,0.000,0.033,2561,772,3971,0,0,0,0,0,0
$GC,1222,-0.76,-228.7,262.0,-17.7,216,1230,0.00,0.82,0.00,0.000,4,0.000,0.041,2561,192,3971,0,0,0,0,0,0
$GC,1458,-0.76,-228.7,307.6,-18.9,255,1466,0.00,0.65,0.00,0.000,6,0.000,0.021,2560,794,3971,0,0,0,0,0,0
$GC,1783,-0.76,-228.7,360.1,-16.6,286,1787,0.00,0.88,0.00,0.000,4,0.000,0.041,2561,190,3971,0,0,0,0,0,0
$GC,1898,-0.76,-228.7,380.3,-17.1,296,1906,0.00,0.62,0.00,0.000,6,0.000,0.021,2561,760,3971,0,0,0,0,0,0
$GC,2225,-0.76,-228.7,430.1,-14.3,327,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,760,3969,0,0,0,0,0,0
$GC,2546,-0.76,-228.7,472.0,-12.9,357,2550,0.00,0.82,0.00,0.000,4,0.000,0.042,2561,192,3968,0,0,0,0,0,0
$GC,2716,-0.76,-228.7,495.7,-13.9,372,2720,0.00,0.62,0.00,0.000,6,0.000,0.022,2561,746,3967,0,0,0,0,0,0
$STATE,2749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2749,begin apogee
$GC,2757,-0.14,0.0,501.0,14.2,375,2937,0.62,0.00,170.48,0.953,4,0.121,0.000,2772,1011,3028,0,0,0,0,0,0
$STATE,2937,end apogee,CONTROL_FINISHED_OK
$STATE,2937,begin climb
$GC,2940,0.76,228.7,512.2,0.0,390,3123,0.77,0.00,172.12,0.932,6,0.054,0.000,3073,1012,2094,0,0,0,0,0,0
$GC,3440,0.76,228.7,453.4,16.0,435,3443,0.00,1.23,0.00,0.000,4,0.000,0.040,3080,191,2087,0,0,0,0,0,0
$GC,3475,0.76,228.7,447.3,18.0,438,3479,0.00,1.02,0.00,0.000,6,0.000,0.019,3079,1015,2087,0,0,0,0,0,0
$GC,3808,0.76,228.7,388.6,18.9,469,3812,0.00,1.83,0.00,0.000,4,0.000,0.018,3079,2333,2086,0,0,0,0,0,0
$GC,3870,0.76,228.7,377.3,16.2,474,3879,0.00,2.00,0.00,0.000,6,0.000,0.031,3088,1012,2085,0,0,0,0,0,0
$GC,4198,0.76,228.7,323.2,16.4,505,4201,0.00,1.88,0.00,0.000,4,0.000,0.018,3088,2342,2083,0,0,0,0,0,0
$GC,4268,0.76,228.7,311.2,16.3,511,4272,0.00,1.98,0.00,0.000,6,0.000,0.033,3097,1015,2082,0,0,0,0,0,0
$GC,4605,0.76,228.7,252.4,16.4,566,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1015,2081,0,0,0,0,0,0
$GC,4946,0.76,228.7,200.8,12.9,627,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1015,2080,0,0,0,0,0,0
$GC,5282,0.76,228.7,153.1,13.9,688,5291,0.00,1.20,0.00,0.000,4,0.000,0.041,3104,192,2080,0,0,0,0,0,0
$GC,5374,0.76,228.7,139.7,15.6,704,5383,0.10,1.02,0.00,0.000,6,0.150,0.020,3071,1014,2079,0,0,0,0,0,0
$GC,5705,0.80,262.4,102.8,11.1,765,5736,0.00,1.85,23.98,0.677,4,0.000,0.015,3071,2347,1957,0,0,0,0,0,0
$GC,5777,0.86,307.4,94.6,10.7,776,5823,0.00,2.00,35.22,0.666,6,0.000,0.032,3075,1028,1777,0,0,0,0,0,0
$GC,6145,0.95,383.7,53.3,9.6,842,6212,0.15,1.23,59.55,0.633,4,0.079,0.037,3156,190,1462,0,0,0,0,0,0
$GC,6251,0.95,383.7,38.6,18.0,857,6259,0.00,1.08,0.00,0.000,6,0.000,0.018,3156,1044,1460,0,0,0,0,0,0
$STATE,6507,end climb,SURFACE_DEPTH_REACHED
$STATE,6507,begin surface coast
$FINISH,0.3,1.020962
$STATE,6531,end surface coast,CONTROL_FINISHED_OK
$STATE,6531,begin surface
$SM_CCo,6550,17.98,0.236,1,0,1397,400.08
$SM_GC,1.03,0.00,0.00,17.98,0.000,0.000,0.236,110,785,1397,-8.48,-0.14,400.08
$IRIDIUM_FIX,2255.72,12702.97,141010,151521
$TT8_MAMPS,0.028462
$HUMID,42.47
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,27.00
$XPDR_PINGS,1
$24V_AH,24.7,33.626
$10V_AH,10.5,29.945
$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,19.150,28.700,461.350,17.975,0.000,22.821,42.619,141.870,0.250,0.000,15.422,2138.222,1636.768,471.657,2390.403,290.078,0.000,1308.313,0.000,2200.699,0.000,0.543,0.000
$DEVICE_MAMPS,236.385,78.030,953.190,235.620,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,612.278,930.592,1562.735,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333932
$DATA_FILE_SIZE,53638,909
$CAP_FILE_SIZE,84654,0
$CFSIZE,260165632,157679616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.279,356.2,1
$GPS,141010,184850,2303.819,12658.623,11,1.0,11,-3.4