version: 66.08
glider: 167
mission: 6
dive: 177
start: 10 14 110 9 19 23
data:
$ID,167
$MISSION,6
$DIVE,177
$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,-34492.715
$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,38
$R_STBD_OVSHOOT,154
$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
$GPS1,141010,091302,2302.990,12704.051,13,1.6,13,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-73.7
$GPS2,141010,091858,2302.979,12704.033,11,2.1,30,-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,250.1,23915,-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,17,-0.76,-228.7,0.0,0.0,0,88,0.00,0.00,-68.07,0.000,2,0.000,0.000,113,792,3267,0,0,0,0,0,0
$GC,90,-0.76,-228.7,6.2,-14.3,10,115,9.73,0.93,-10.62,0.000,4,0.236,0.076,2565,179,3963,0,0,0,0,0,0
$GC,124,-0.76,-228.7,24.5,-49.1,14,132,0.00,0.70,0.00,0.000,6,0.000,0.022,2563,760,3965,0,0,0,0,0,0
$GC,451,-0.76,-228.7,114.8,-21.6,75,459,0.00,1.95,0.00,0.000,4,0.000,0.015,2553,2177,3967,0,0,0,0,0,0
$GC,583,-0.76,-228.7,138.2,-16.9,99,590,0.00,2.10,0.00,0.000,6,0.000,0.034,2553,783,3968,0,0,0,0,0,0
$GC,920,-0.76,-228.7,215.0,-22.2,160,929,0.00,0.85,0.00,0.000,4,0.000,0.041,2552,189,3968,0,0,0,0,0,0
$GC,1101,-0.76,-228.7,256.3,-23.0,192,1110,0.00,0.73,0.00,0.000,6,0.000,0.021,2548,832,3968,0,0,0,0,0,0
$GC,1443,-0.76,-228.7,325.3,-18.8,242,1446,0.00,0.93,0.00,0.000,4,0.000,0.041,2548,192,3969,0,0,0,0,0,0
$GC,1705,-0.76,-228.7,377.6,-19.1,265,1708,0.00,0.65,0.00,0.000,6,0.000,0.022,2548,783,3969,0,0,0,0,0,0
$GC,2035,-0.76,-228.7,437.6,-17.5,296,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,783,3968,0,0,0,0,0,0
$GC,2356,-0.76,-228.7,489.6,-16.0,326,2359,0.00,0.88,0.00,0.000,4,0.000,0.042,2548,182,3967,0,0,0,0,0,0
$GC,2415,-0.76,-228.7,499.4,-16.5,331,2419,0.00,0.65,0.00,0.000,6,0.000,0.022,2548,754,3966,0,0,0,0,0,0
$STATE,2425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2425,begin apogee
$GC,2431,-0.14,0.0,501.9,16.3,332,2612,0.68,0.00,170.50,0.952,4,0.126,0.000,2772,1002,3029,0,0,0,0,0,0
$STATE,2613,end apogee,CONTROL_FINISHED_OK
$STATE,2613,begin climb
$GC,2617,0.76,228.7,512.2,0.0,347,2796,0.77,0.00,172.27,0.930,6,0.054,0.000,3073,1002,2096,0,0,0,0,0,0
$GC,3114,0.76,228.7,450.6,17.0,392,3118,0.00,1.90,0.00,0.000,4,0.000,0.018,3073,2331,2087,0,0,0,0,0,0
$GC,3172,0.76,228.7,441.0,16.9,397,3176,0.00,2.00,0.00,0.000,6,0.000,0.033,3082,1001,2087,0,0,0,0,0,0
$GC,3502,0.76,228.7,383.9,16.8,428,3506,0.00,1.90,0.00,0.000,4,0.000,0.018,3082,2341,2086,0,0,0,0,0,0
$GC,3631,0.76,228.7,362.5,16.7,439,3638,0.00,1.98,0.00,0.000,6,0.000,0.033,3091,1031,2085,0,0,0,0,0,0
$GC,3956,0.76,228.7,308.9,16.1,470,3960,0.00,1.23,0.00,0.000,4,0.000,0.041,3097,198,2083,0,0,0,0,0,0
$GC,4069,0.76,228.7,290.6,15.7,485,4077,0.08,1.02,0.00,0.000,6,0.160,0.020,3073,1015,2082,0,0,0,0,0,0
$GC,4410,0.76,228.7,246.2,12.5,546,4418,0.00,1.88,0.00,0.000,4,0.000,0.018,3073,2344,2081,0,0,0,0,0,0
$GC,4457,0.78,245.5,241.0,11.7,553,4476,0.00,1.92,11.75,0.743,6,0.000,0.033,3080,1033,2028,0,0,0,0,0,0
$GC,4814,0.78,245.5,193.3,13.1,616,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1033,2026,0,0,0,0,0,0
$GC,5156,0.78,245.5,146.5,13.1,677,5163,0.00,1.88,0.00,0.000,4,0.000,0.018,3080,2356,2025,0,0,0,0,0,0
$GC,5276,0.81,266.0,132.3,11.6,699,5299,0.00,1.98,16.73,0.682,6,0.000,0.032,3088,1042,1943,0,0,0,0,0,0
$GC,5621,0.89,330.1,89.9,10.0,762,5683,0.00,1.90,50.20,0.666,4,0.000,0.018,3089,2340,1682,0,0,0,0,0,0
$GC,5847,0.94,376.0,63.0,10.7,800,5892,0.00,1.95,35.97,0.629,6,0.000,0.033,3095,1060,1495,0,0,0,0,0,0
$GC,6215,1.04,451.0,28.6,9.6,866,6284,0.17,1.33,58.45,0.601,4,0.070,0.041,3188,194,1189,0,0,0,0,0,0
$GC,6316,1.04,451.0,13.1,19.8,880,6325,0.10,1.12,0.00,0.000,6,0.152,0.018,3157,1088,1187,0,0,0,0,0,0
$STATE,6379,end climb,SURFACE_DEPTH_REACHED
$STATE,6380,begin surface coast
$FINISH,0.3,1.006538
$STATE,6404,end surface coast,CONTROL_FINISHED_OK
$STATE,6404,begin surface
$SM_CCo,6481,0.00,0.000,0,0,1182,452.82
$SM_GC,1.28,7.78,0.00,0.00,0.034,0.000,0.000,117,786,1182,-8.35,-0.14,452.82
$IRIDIUM_FIX,2255.72,12708.12,141010,070722
$TT8_MAMPS,0.028462
$HUMID,40.58
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.60
$XPDR_PINGS,0
$24V_AH,24.7,33.124
$10V_AH,10.5,29.473
$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,19.300,34.950,515.875,0.000,0.000,24.670,27.209,138.640,0.000,0.000,32.218,2097.150,1588.092,485.707,2379.974,283.422,0.000,1337.626,0.000,2185.317,0.000,0.543,0.000
$DEVICE_MAMPS,235.620,76.500,952.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,601.923,914.812,1557.567,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53557,895
$CAP_FILE_SIZE,85453,0
$CFSIZE,260165632,157888512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.140,333.5,1
$GPS,141010,110836,2302.952,12702.927,36,0.8,36,-3.4