version: 66.08
glider: 167
mission: 6
dive: 176
start: 10 14 110 7 24 38
data:
$ID,167
$MISSION,6
$DIVE,176
$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,-34491.457
$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,37
$R_STBD_OVSHOOT,150
$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
$GPS1,141010,071807,2302.881,12705.075,31,1.3,31,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-72.8
$GPS2,141010,072414,2302.895,12705.106,16,1.3,16,-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,259.1,25744,-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,-228.7,0.0,0.0,0,84,0.00,0.00,-63.60,0.000,2,0.000,0.000,106,788,3147,0,0,0,0,0,0
$GC,87,-0.76,-228.7,5.0,-11.1,9,119,9.68,0.90,-13.12,0.000,4,0.233,0.080,2564,180,3965,0,0,0,0,0,0
$GC,153,-0.76,-228.7,34.5,-40.8,19,162,0.00,0.70,0.00,0.000,6,0.000,0.021,2561,806,3966,0,0,0,0,0,0
$GC,479,-0.76,-228.7,122.3,-21.8,80,488,0.00,1.83,0.00,0.000,4,0.000,0.015,2552,2136,3968,0,0,0,0,0,0
$GC,597,-0.76,-228.7,145.1,-18.2,101,605,0.00,2.08,0.00,0.000,6,0.000,0.034,2552,755,3969,0,0,0,0,0,0
$GC,929,-0.76,-228.7,223.2,-21.2,162,937,0.00,0.80,0.00,0.000,4,0.000,0.041,2551,192,3969,0,0,0,0,0,0
$GC,1092,-0.76,-228.7,260.1,-22.3,191,1100,0.00,0.60,0.00,0.000,6,0.000,0.022,2548,739,3969,0,0,0,0,0,0
$GC,1422,-0.76,-228.7,326.5,-18.7,239,1425,0.00,0.77,0.00,0.000,4,0.000,0.041,2548,198,3969,0,0,0,0,0,0
$GC,1676,-0.76,-228.7,375.7,-17.8,262,1679,0.00,0.57,0.00,0.000,6,0.000,0.023,2547,727,3969,0,0,0,0,0,0
$GC,2008,-0.76,-228.7,431.4,-17.2,293,2012,0.00,0.77,0.00,0.000,4,0.000,0.041,2547,192,3969,0,0,0,0,0,0
$GC,2054,-0.76,-228.7,439.5,-16.8,297,2058,0.08,0.57,0.00,0.000,6,0.148,0.023,2569,708,3969,0,0,0,0,0,0
$GC,2385,-0.76,-228.7,485.9,-14.4,328,2389,0.00,1.95,0.00,0.000,4,0.000,0.016,2563,2136,3967,0,0,0,0,0,0
$GC,2433,-0.76,-228.7,492.3,-12.1,332,2441,0.00,2.10,0.00,0.000,6,0.000,0.034,2562,739,3967,0,0,0,0,0,0
$STATE,2490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2491,begin apogee
$GC,2497,-0.14,0.0,500.0,13.9,338,2678,0.60,0.00,170.70,0.953,4,0.118,0.000,2766,970,3027,0,0,0,0,0,0
$STATE,2679,end apogee,CONTROL_FINISHED_OK
$STATE,2679,begin climb
$GC,2681,0.76,228.7,511.8,0.0,353,2864,0.82,2.00,172.25,0.933,4,0.050,0.017,3079,2371,2095,0,0,0,0,0,0
$GC,3044,0.76,228.7,468.5,17.7,384,3055,0.00,2.08,0.00,0.000,6,0.000,0.032,3089,1014,2090,0,0,0,0,0,0
$GC,3371,0.76,228.7,407.5,17.5,415,3375,0.00,1.92,0.00,0.000,4,0.000,0.018,3089,2356,2087,0,0,0,0,0,0
$GC,3626,0.76,228.7,365.5,15.8,438,3630,0.12,2.03,0.00,0.000,6,0.170,0.033,3065,1003,2085,0,0,0,0,0,0
$GC,3952,0.76,228.7,319.2,14.9,468,3955,0.00,1.88,0.00,0.000,4,0.000,0.018,3065,2350,2083,0,0,0,0,0,0
$GC,4055,0.76,228.7,304.0,15.0,477,4062,0.00,2.00,0.00,0.000,6,0.000,0.033,3072,1010,2082,0,0,0,0,0,0
$GC,4390,0.76,228.7,256.4,14.7,535,4397,0.00,1.20,0.00,0.000,4,0.000,0.041,3079,193,2082,0,0,0,0,0,0
$GC,4427,0.76,228.7,250.3,16.1,541,4433,0.00,1.02,0.00,0.000,6,0.000,0.020,3079,1026,2080,0,0,0,0,0,0
$GC,4760,0.76,228.7,203.6,14.0,602,4768,0.00,1.85,0.00,0.000,4,0.000,0.018,3079,2346,2080,0,0,0,0,0,0
$GC,4819,0.77,238.0,196.1,12.0,612,4833,0.00,1.98,5.78,0.614,6,0.000,0.033,3088,1031,2059,0,0,0,0,0,0
$GC,5163,0.77,238.0,152.7,12.8,674,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1031,2058,0,0,0,0,0,0
$GC,5490,0.77,238.0,110.5,13.2,735,5499,0.00,1.85,0.00,0.000,4,0.000,0.018,3088,2346,2058,0,0,0,0,0,0
$GC,5641,0.82,275.7,93.2,11.0,762,5679,0.00,1.98,30.17,0.672,6,0.000,0.032,3096,1028,1904,0,0,0,0,0,0
$GC,6001,0.95,377.9,53.2,8.6,827,6086,0.00,1.90,78.32,0.634,4,0.000,0.015,3096,2346,1486,0,0,0,0,0,0
$GC,6111,1.02,440.5,42.6,10.1,842,6171,0.10,2.05,49.12,0.607,6,0.050,0.033,3165,1018,1230,0,0,0,0,0,0
$STATE,6356,end climb,SURFACE_DEPTH_REACHED
$STATE,6356,begin surface coast
$FINISH,0.4,1.021346
$STATE,6375,end surface coast,CONTROL_FINISHED_OK
$STATE,6375,begin surface
$SM_CCo,6455,0.00,0.000,0,0,1223,442.77
$SM_GC,1.11,7.75,0.00,0.00,0.031,0.000,0.000,113,792,1223,-8.35,0.06,442.77
$IRIDIUM_FIX,2255.72,12704.84,141010,050559
$TT8_MAMPS,0.028462
$HUMID,41.77
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,26.80
$XPDR_PINGS,0
$24V_AH,24.7,32.992
$10V_AH,10.4,29.356
$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,19.150,39.875,506.350,0.000,0.000,22.036,45.124,144.482,0.000,0.000,17.517,2092.820,1539.402,482.156,2413.714,288.620,0.000,1351.246,0.000,2211.480,0.000,0.543,0.000
$DEVICE_MAMPS,232.560,80.325,953.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,597.358,907.982,1529.680,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53606,888
$CAP_FILE_SIZE,87074,0
$CFSIZE,260165632,157937664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.159,328.5,1
$GPS,141010,091302,2302.990,12704.051,13,1.6,13,-3.4