version: 66.08
glider: 167
mission: 6
dive: 173
start: 10 14 110 1 45 53
data:
$ID,167
$MISSION,6
$DIVE,173
$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,-34487.691
$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,43
$R_STBD_OVSHOOT,147
$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
$GPS1,141010,013942,2303.359,12706.979,12,1.5,22,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-74.0
$GPS2,141010,014528,2303.437,12706.987,11,4.0,30,-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,253.8,3482,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.76,-228.7,0.0,0.0,0,88,0.00,0.00,-68.18,0.000,2,0.000,0.000,111,782,3496,0,0,0,0,0,0
$GC,91,-0.76,-228.7,7.0,-15.7,10,115,9.73,0.82,-6.85,0.000,4,0.236,0.067,2563,182,3962,0,0,0,0,0,0
$GC,354,-0.76,-228.7,105.9,-27.0,58,362,0.00,0.70,0.00,0.000,6,0.000,0.021,2560,801,3965,0,0,0,0,0,0
$GC,687,-0.76,-228.7,188.7,-23.9,119,694,0.00,0.88,0.00,0.000,4,0.000,0.040,2560,195,3967,0,0,0,0,0,0
$GC,949,-0.76,-228.7,252.1,-22.6,165,955,0.00,0.68,0.00,0.000,6,0.000,0.021,2556,802,3968,0,0,0,0,0,0
$GC,1291,-0.76,-228.7,322.9,-20.9,217,1294,0.00,0.88,0.00,0.000,4,0.000,0.041,2556,197,3967,0,0,0,0,0,0
$GC,1549,-0.76,-228.7,378.8,-19.0,240,1553,0.00,0.65,0.00,0.000,6,0.000,0.021,2552,783,3967,0,0,0,0,0,0
$GC,1882,-0.76,-228.7,438.4,-17.6,271,1885,0.00,0.85,0.00,0.000,4,0.000,0.041,2552,194,3967,0,0,0,0,0,0
$GC,2068,-0.76,-228.7,471.5,-18.1,287,2075,0.00,0.65,0.00,0.000,6,0.000,0.022,2549,772,3967,0,0,0,0,0,0
$STATE,2255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2255,begin apogee
$GC,2261,-0.14,0.0,501.4,15.0,305,2439,0.68,0.00,169.93,0.943,4,0.124,0.000,2773,1011,3027,0,0,0,0,0,0
$STATE,2440,end apogee,CONTROL_FINISHED_OK
$STATE,2440,begin climb
$GC,2442,0.76,228.7,509.4,0.0,320,2625,0.75,1.95,171.57,0.920,4,0.049,0.017,3074,2353,2096,0,0,0,0,0,0
$GC,2752,0.76,228.7,476.2,15.8,346,2760,0.00,2.08,0.00,0.000,6,0.000,0.031,3084,997,2092,0,0,0,0,0,0
$GC,3080,0.76,228.7,425.0,15.4,377,3084,0.00,1.17,0.00,0.000,4,0.000,0.040,3090,194,2090,0,0,0,0,0,0
$GC,3208,0.76,228.7,402.6,18.1,388,3217,0.00,1.02,0.00,0.000,6,0.000,0.018,3090,1032,2088,0,0,0,0,0,0
$GC,3535,0.76,228.7,345.6,17.2,419,3539,0.00,1.80,0.00,0.000,4,0.000,0.018,3090,2332,2087,0,0,0,0,0,0
$GC,3562,0.76,228.7,340.4,17.4,421,3570,0.08,1.95,0.00,0.000,6,0.147,0.032,3073,1031,2086,0,0,0,0,0,0
$GC,3890,0.76,228.7,294.5,13.2,455,3897,0.00,1.80,0.00,0.000,4,0.000,0.018,3073,2328,2085,0,0,0,0,0,0
$GC,3942,0.76,228.7,287.6,12.8,464,3951,0.00,1.95,0.00,0.000,6,0.000,0.033,3081,1031,2084,0,0,0,0,0,0
$GC,4288,0.76,228.7,239.0,14.1,525,4294,0.00,1.80,0.00,0.000,4,0.000,0.018,3081,2330,2084,0,0,0,0,0,0
$GC,4324,0.76,228.7,233.7,13.0,531,4331,0.00,1.95,0.00,0.000,6,0.000,0.032,3089,1013,2084,0,0,0,0,0,0
$GC,4664,0.81,270.1,191.3,10.8,592,4701,0.00,1.92,30.55,0.740,4,0.000,0.018,3089,2334,1926,0,0,0,0,0,0
$GC,4744,0.81,270.1,181.1,13.9,604,4753,0.00,1.98,0.00,0.000,6,0.000,0.033,3095,1036,1923,0,0,0,0,0,0
$GC,5081,0.81,270.1,126.1,17.3,665,5089,0.00,1.83,0.00,0.000,4,0.000,0.018,3096,2325,1922,0,0,0,0,0,0
$GC,5160,0.81,270.1,113.0,15.4,679,5168,0.00,1.92,0.00,0.000,6,0.000,0.032,3102,1047,1921,0,0,0,0,0,0
$GC,5488,0.86,307.4,73.4,11.0,740,5526,0.00,1.27,28.90,0.644,4,0.000,0.039,3109,193,1774,0,0,0,0,0,0
$GC,5767,0.97,400.8,47.9,9.0,790,5849,0.00,1.02,72.05,0.620,6,0.000,0.020,3109,1028,1393,0,0,0,0,0,0
$GC,6170,0.99,414.9,3.4,11.8,861,6179,0.00,0.00,6.85,0.488,2,0.000,0.000,3108,1029,1361,0,0,0,0,0,0
$STATE,6180,end climb,SURFACE_DEPTH_REACHED
$STATE,6180,begin surface coast
$FINISH,0.3,1.008447
$STATE,6207,end surface coast,CONTROL_FINISHED_OK
$STATE,6207,begin surface
$SM_CCo,6287,0.00,0.000,0,0,1357,410.14
$SM_GC,1.15,7.62,0.00,0.00,0.036,0.000,0.000,116,779,1357,-8.36,-0.31,410.14
$IRIDIUM_FIX,2255.72,12708.12,131010,232311
$TT8_MAMPS,0.028462
$HUMID,39.76
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,28.00
$XPDR_PINGS,0
$24V_AH,24.7,32.610
$10V_AH,10.5,29.006
$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,18.850,34.025,479.850,0.000,0.000,27.929,15.408,138.145,0.000,0.000,31.898,2037.219,1529.253,461.850,2324.168,276.731,0.000,1286.014,0.000,2142.773,0.000,0.543,0.000
$DEVICE_MAMPS,236.385,67.320,943.245,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,582.253,886.843,1507.061,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50207,867
$CAP_FILE_SIZE,82739,0
$CFSIZE,260165632,158101504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084, 47.8,1
$GPS,141010,033155,2303.157,12706.628,40,1.9,40,-3.4