version: 66.08
glider: 167
mission: 6
dive: 175
start: 10 14 110 5 29 9
data:
$ID,167
$MISSION,6
$DIVE,175
$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,-34490.199
$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,46
$R_STBD_OVSHOOT,170
$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
$GPS1,141010,052250,2302.909,12706.083,12,1.6,12,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-73.1
$GPS2,141010,052844,2302.929,12706.097,11,1.5,11,-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,264.9,27431,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.76,-228.7,0.0,0.0,0,82,0.00,0.00,-63.03,0.000,2,0.000,0.000,106,786,3287,0,0,0,0,0,0
$GC,85,-0.76,-228.7,5.9,-13.5,9,111,9.73,1.92,-10.60,0.000,4,0.235,0.031,2555,2176,3964,0,0,0,0,0,0
$GC,261,-0.76,-228.7,62.2,-24.1,40,269,0.00,2.10,0.00,0.000,6,0.000,0.034,2555,784,3967,0,0,0,0,0,0
$GC,586,-0.76,-228.7,143.4,-24.5,101,594,0.00,0.85,0.00,0.000,4,0.000,0.041,2555,189,3969,0,0,0,0,0,0
$GC,686,-0.76,-228.7,167.5,-24.8,118,695,0.00,0.65,0.00,0.000,6,0.000,0.022,2551,777,3969,0,0,0,0,0,0
$GC,1030,-0.76,-228.7,246.6,-21.4,179,1036,0.00,0.85,0.00,0.000,4,0.000,0.040,2551,189,3969,0,0,0,0,0,0
$GC,1183,-0.76,-228.7,282.3,-23.1,206,1192,0.00,0.65,0.00,0.000,6,0.000,0.021,2546,782,3969,0,0,0,0,0,0
$GC,1519,-0.76,-228.7,351.6,-17.8,244,1523,0.00,0.85,0.00,0.000,4,0.000,0.041,2547,191,3969,0,0,0,0,0,0
$GC,1780,-0.76,-228.7,401.2,-19.0,267,1785,0.08,0.62,0.00,0.000,6,0.153,0.022,2568,755,3969,0,0,0,0,0,0
$GC,2110,-0.76,-228.7,449.0,-14.6,298,2114,0.00,0.80,0.00,0.000,4,0.000,0.041,2569,198,3969,0,0,0,0,0,0
$GC,2200,-0.76,-228.7,462.9,-15.4,306,2203,0.00,0.65,0.00,0.000,6,0.000,0.022,2567,770,3969,0,0,0,0,0,0
$STATE,2478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2479,begin apogee
$GC,2485,-0.14,0.0,500.8,14.5,332,2663,0.60,0.00,170.50,0.952,4,0.119,0.000,2769,1010,3028,0,0,0,0,0,0
$STATE,2663,end apogee,CONTROL_FINISHED_OK
$STATE,2663,begin climb
$GC,2667,0.76,228.7,510.0,0.0,347,2848,0.75,1.27,172.00,0.926,4,0.056,0.041,3070,197,2095,0,0,0,0,0,0
$GC,3093,0.76,228.7,450.2,17.8,384,3102,0.00,1.02,0.00,0.000,6,0.000,0.018,3070,1022,2089,0,0,0,0,0,0
$GC,3421,0.76,228.7,395.3,16.3,415,3424,0.00,1.23,0.00,0.000,4,0.000,0.039,3076,193,2085,0,0,0,0,0,0
$GC,3641,0.76,228.7,358.0,16.1,435,3645,0.00,1.00,0.00,0.000,6,0.000,0.020,3076,1002,2085,0,0,0,0,0,0
$GC,3972,0.76,228.7,306.0,14.9,466,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1002,2083,0,0,0,0,0,0
$GC,4298,0.76,228.7,257.5,14.5,522,4306,0.00,1.88,0.00,0.000,4,0.000,0.018,3076,2338,2081,0,0,0,0,0,0
$GC,4384,0.76,228.7,246.3,12.5,537,4391,0.00,2.00,0.00,0.000,6,0.000,0.032,3085,993,2081,0,0,0,0,0,0
$GC,4715,0.76,228.7,200.1,12.9,598,4723,0.00,1.17,0.00,0.000,4,0.000,0.041,3092,188,2080,0,0,0,0,0,0
$GC,4803,0.76,228.7,187.6,15.5,613,4810,0.00,0.98,0.00,0.000,6,0.000,0.020,3092,990,2081,0,0,0,0,0,0
$GC,5134,0.76,228.7,141.7,13.4,674,5142,0.00,1.88,0.00,0.000,4,0.000,0.018,3091,2333,2080,0,0,0,0,0,0
$GC,5327,0.76,228.7,115.5,13.8,710,5336,0.10,2.03,0.00,0.000,6,0.136,0.032,3067,983,2079,0,0,0,0,0,0
$GC,5655,0.88,327.3,79.7,8.8,771,5740,0.12,2.00,73.03,0.663,4,0.084,0.017,3129,2341,1692,0,0,0,0,0,0
$GC,5825,0.89,330.7,59.8,12.2,797,5834,0.08,2.08,3.85,0.415,6,0.147,0.032,3113,985,1679,0,0,0,0,0,0
$GC,6157,0.99,413.3,25.6,9.4,858,6225,0.00,1.23,63.58,0.607,4,0.000,0.041,3118,194,1344,0,0,0,0,0,0
$GC,6271,1.00,426.1,13.7,11.9,875,6288,0.00,0.95,11.02,0.538,6,0.000,0.020,3118,957,1291,0,0,0,0,0,0
$STATE,6364,end climb,SURFACE_DEPTH_REACHED
$STATE,6364,begin surface coast
$FINISH,0.2,0.997156
$STATE,6395,end surface coast,CONTROL_FINISHED_OK
$STATE,6395,begin surface
$SM_CCo,6472,0.00,0.000,0,0,1285,428.05
$SM_GC,1.11,7.70,0.00,0.00,0.036,0.000,0.000,106,787,1285,-8.36,-0.08,428.05
$IRIDIUM_FIX,2253.38,12708.12,141010,030302
$TT8_MAMPS,0.028462
$HUMID,40.78
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,27.40
$XPDR_PINGS,1
$24V_AH,24.7,32.861
$10V_AH,10.4,29.239
$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,19.150,31.075,493.975,0.000,0.000,26.365,38.460,142.775,0.250,0.000,12.695,2115.461,1544.426,456.175,2422.249,285.737,0.000,1307.455,0.000,2227.525,0.000,0.543,0.000
$DEVICE_MAMPS,234.855,62.730,951.660,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,602.987,916.533,1567.846,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53671,896
$CAP_FILE_SIZE,85554,0
$CFSIZE,260165632,157999104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094,338.4,1
$GPS,141010,071807,2302.881,12705.075,31,1.3,31,-3.4