version: 66.08
glider: 167
mission: 6
dive: 5
start: 9 30 110 12 34 33
data:
$ID,167
$MISSION,6
$DIVE,5
$N_DIVES,8
$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,375
$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,-34030.418
$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,125
$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,49
$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
$GPS1,300910,122701,2304.003,12654.248,42,1.2,42,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-70.9
$GPS2,300910,123408,2304.087,12654.260,16,1.2,16,-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,235.2,7533,-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,-228.7,0.0,0.0,0,84,0.00,0.00,-64.10,0.000,2,0.000,0.000,118,777,3383,0,0,0,0,0,0
$GC,87,-0.76,-228.7,5.4,-11.2,9,112,9.25,1.92,-9.00,0.000,4,0.223,0.031,2558,2167,3962,0,0,0,0,0,0
$GC,121,-0.76,-228.7,25.5,-53.6,13,128,0.00,2.08,0.00,0.000,6,0.000,0.032,2558,791,3964,0,0,0,0,0,0
$GC,448,-0.76,-228.7,121.2,-20.7,74,457,0.00,1.92,0.00,0.000,4,0.000,0.018,2548,2164,3966,0,0,0,0,0,0
$GC,503,-0.76,-228.7,131.9,-17.0,83,511,0.00,2.10,0.00,0.000,6,0.000,0.036,2548,772,3967,0,0,0,0,0,0
$GC,842,-0.76,-228.7,199.4,-18.9,144,850,0.00,0.82,0.00,0.000,4,0.000,0.044,2548,194,3968,0,0,0,0,0,0
$GC,1100,-0.76,-228.7,251.7,-21.0,190,1109,0.00,0.68,0.00,0.000,6,0.000,0.023,2547,781,3968,0,0,0,0,0,0
$GC,1441,-0.76,-228.7,315.9,-17.8,243,1444,0.00,0.88,0.00,0.000,4,0.000,0.044,2547,182,3968,0,0,0,0,0,0
$GC,1696,-0.76,-228.7,362.1,-17.1,266,1700,0.00,0.68,0.00,0.000,6,0.000,0.023,2547,763,3967,0,0,0,0,0,0
$GC,2028,-0.76,-228.7,414.3,-15.1,297,2033,0.10,0.85,0.00,0.000,4,0.182,0.047,2573,192,3966,0,0,0,0,0,0
$GC,2196,-0.76,-228.7,438.0,-14.0,312,2199,0.00,0.65,0.00,0.000,6,0.000,0.024,2573,745,3966,0,0,0,0,0,0
$GC,2529,-0.76,-228.7,479.5,-11.8,343,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,745,3964,0,0,0,0,0,0
$STATE,2716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2716,begin apogee
$GC,2724,-0.14,0.0,501.0,11.1,361,2901,0.57,0.00,168.90,0.962,4,0.116,0.000,2775,996,3027,0,0,0,0,0,0
$STATE,2901,end apogee,CONTROL_FINISHED_OK
$STATE,2902,begin climb
$GC,2904,0.76,228.7,508.9,0.0,376,3088,0.80,2.00,172.30,0.936,4,0.057,0.020,3073,2386,2095,0,0,0,0,0,0
$GC,3204,0.76,228.7,478.3,14.8,401,3208,0.00,2.12,0.00,0.000,6,0.000,0.034,3082,996,2091,0,0,0,0,0,0
$GC,3531,0.76,228.7,426.5,16.1,431,3535,0.00,1.20,0.00,0.000,4,0.000,0.044,3088,187,2087,0,0,0,0,0,0
$GC,3790,0.76,228.7,378.7,17.0,454,3793,0.00,1.08,0.00,0.000,6,0.000,0.021,3088,1023,2085,0,0,0,0,0,0
$GC,4122,0.76,228.7,328.3,14.4,485,4125,0.00,1.85,0.00,0.000,4,0.000,0.021,3088,2355,2083,0,0,0,0,0,0
$GC,4204,0.76,228.7,316.6,13.7,492,4208,0.12,2.03,0.00,0.000,6,0.181,0.034,3066,999,2083,0,0,0,0,0,0
$GC,4535,0.76,228.7,275.3,12.9,540,4543,0.00,1.92,0.00,0.000,4,0.000,0.021,3066,2345,2081,0,0,0,0,0,0
$GC,4627,0.82,277.2,265.2,10.6,555,4667,0.00,1.98,35.83,0.816,6,0.000,0.034,3073,1017,1899,0,0,0,0,0,0
$GC,5002,0.82,277.2,212.8,14.6,621,5009,0.00,1.92,0.00,0.000,4,0.000,0.021,3073,2354,1893,0,0,0,0,0,0
$GC,5073,0.82,277.2,202.6,14.4,633,5080,0.00,2.03,0.00,0.000,6,0.000,0.035,3081,1018,1892,0,0,0,0,0,0
$GC,5415,0.82,277.2,152.2,15.2,694,5423,0.00,1.90,0.00,0.000,4,0.000,0.020,3080,2350,1891,0,0,0,0,0,0
$GC,5454,0.82,277.2,146.6,14.1,700,5462,0.00,2.00,0.00,0.000,6,0.000,0.034,3089,1023,1891,0,0,0,0,0,0
$GC,5783,0.82,277.2,105.1,13.0,761,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1023,1891,0,0,0,0,0,0
$GC,6110,0.94,376.7,67.0,8.7,822,6193,0.10,1.92,74.88,0.656,4,0.101,0.018,3138,2359,1491,0,0,0,0,0,0
$GC,6275,0.94,376.7,46.5,12.5,848,6283,0.00,2.00,0.00,0.000,6,0.000,0.034,3147,1055,1487,0,0,0,0,0,0
$GC,6601,0.94,376.7,3.4,15.2,909,6609,0.00,1.85,0.00,0.000,4,0.000,0.021,3147,2354,1485,0,0,0,0,0,0
$STATE,6616,end climb,SURFACE_DEPTH_REACHED
$STATE,6616,begin surface coast
$FINISH,0.3,0.999043
$STATE,6638,end surface coast,CONTROL_FINISHED_OK
$STATE,6638,begin surface
$SM_CCo,6719,0.00,0.000,0,0,1481,379.72
$SM_GC,1.55,7.72,0.00,0.00,0.041,0.000,0.000,126,796,1481,-8.35,0.17,379.72
$IRIDIUM_FIX,2253.38,12655.00,300910,101035
$TT8_MAMPS,0.028462
$HUMID,40.62
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,27.40
$XPDR_PINGS,0
$24V_AH,24.7,11.424
$10V_AH,10.6,9.227
$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,18.675,43.000,451.900,0.000,0.000,28.202,22.840,215.066,0.000,0.000,17.498,2176.438,1722.442,439.295,2521.941,283.551,0.000,1298.305,0.000,2259.404,0.000,0.545,0.000
$DEVICE_MAMPS,223.380,47.430,962.370,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,617.076,936.168,1565.219,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333916
$DATA_FILE_SIZE,53495,915
$CAP_FILE_SIZE,87700,0
$CFSIZE,260165632,166952960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.166,324.7,1
$GPS,300910,142736,2303.902,12653.248,12,1.3,28,-3.4