version: 66.08
glider: 167
mission: 6
dive: 7
start: 9 30 110 16 33 32
data:
$ID,167
$MISSION,6
$DIVE,7
$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,-34032.926
$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,39
$R_STBD_OVSHOOT,121
$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
$GPS1,300910,162654,2304.076,12652.421,14,2.0,30,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.0
$GPS2,300910,163308,2304.150,12652.381,15,2.0,15,-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,210.5,4582,-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,-228.7,0.0,0.0,0,78,0.00,0.00,-57.72,0.000,2,0.000,0.000,114,776,3209,0,0,0,0,0,0
$GC,81,-0.76,-228.7,5.1,-11.6,8,112,9.32,0.88,-12.18,0.000,4,0.226,0.083,2565,195,3965,0,0,0,0,0,0
$GC,172,-0.76,-228.7,46.8,-40.2,23,180,0.00,0.73,0.00,0.000,6,0.000,0.024,2562,771,3967,0,0,0,0,0,0
$GC,498,-0.76,-228.7,126.9,-20.3,84,506,0.00,0.85,0.00,0.000,4,0.000,0.065,2562,196,3969,0,0,0,0,0,0
$GC,748,-0.76,-228.7,179.2,-20.2,130,756,0.00,0.75,0.00,0.000,6,0.000,0.023,2561,824,3970,0,0,0,0,0,0
$GC,1079,-0.76,-228.7,238.3,-17.1,191,1085,0.00,1.80,0.00,0.000,4,0.000,0.018,2552,2166,3971,0,0,0,0,0,0
$GC,1298,-0.76,-228.7,268.8,-13.4,231,1305,0.00,2.10,0.00,0.000,6,0.000,0.036,2552,750,3971,0,0,0,0,0,0
$GC,1637,-0.76,-228.7,327.0,-17.4,279,1640,0.00,0.80,0.00,0.000,4,0.000,0.046,2552,193,3970,0,0,0,0,0,0
$GC,1831,-0.76,-228.7,363.0,-17.1,296,1839,0.00,0.65,0.00,0.000,6,0.000,0.024,2548,751,3970,0,0,0,0,0,0
$GC,2158,-0.76,-228.7,414.2,-15.6,327,2162,0.00,0.82,0.00,0.000,4,0.000,0.047,2548,188,3969,0,0,0,0,0,0
$GC,2327,-0.76,-228.7,439.1,-15.1,342,2331,0.00,0.65,0.00,0.000,6,0.000,0.024,2548,729,3968,0,0,0,0,0,0
$GC,2659,-0.76,-228.7,484.2,-13.1,373,2663,0.00,0.77,0.00,0.000,4,0.000,0.047,2548,199,3966,0,0,0,0,0,0
$STATE,2771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2771,begin apogee
$GC,2779,-0.14,0.0,500.6,14.6,383,2954,0.65,0.00,169.73,0.955,4,0.122,0.000,2769,1027,3029,0,0,0,0,0,0
$STATE,2955,end apogee,CONTROL_FINISHED_OK
$STATE,2955,begin climb
$GC,2958,0.76,228.7,508.6,0.0,398,3144,0.77,2.00,172.88,0.928,4,0.052,0.020,3066,2378,2094,0,0,0,0,0,0
$GC,3386,0.76,228.7,458.1,15.5,436,3390,0.00,2.10,0.00,0.000,6,0.000,0.035,3073,996,2090,0,0,0,0,0,0
$GC,3711,0.76,228.7,404.1,15.9,466,3715,0.00,1.20,0.00,0.000,4,0.000,0.044,3080,187,2087,0,0,0,0,0,0
$GC,3968,0.76,228.7,359.3,16.1,489,3972,0.00,1.08,0.00,0.000,6,0.000,0.021,3080,1020,2085,0,0,0,0,0,0
$GC,4299,0.76,228.7,306.2,17.0,520,4303,0.00,1.90,0.00,0.000,4,0.000,0.021,3080,2354,2083,0,0,0,0,0,0
$GC,4355,0.76,228.7,297.2,16.0,526,4363,0.00,2.03,0.00,0.000,6,0.000,0.034,3087,1015,2083,0,0,0,0,0,0
$GC,4690,0.76,228.7,244.3,14.4,587,4697,0.00,1.90,0.00,0.000,4,0.000,0.020,3087,2362,2082,0,0,0,0,0,0
$GC,4749,0.76,228.7,235.9,13.9,597,4756,0.00,2.00,0.00,0.000,6,0.000,0.035,3097,1019,2082,0,0,0,0,0,0
$GC,5082,0.76,228.7,187.3,15.2,658,5090,0.00,1.90,0.00,0.000,4,0.000,0.020,3096,2352,2081,0,0,0,0,0,0
$GC,5209,0.76,228.7,169.5,13.0,681,5218,0.15,1.95,0.00,0.000,6,0.172,0.035,3065,1036,2081,0,0,0,0,0,0
$GC,5543,0.81,264.9,133.6,11.0,742,5574,0.00,1.30,25.77,0.711,4,0.000,0.044,3069,189,1948,0,0,0,0,0,0
$GC,5599,0.86,308.5,127.8,10.8,750,5643,0.00,1.10,34.72,0.696,6,0.000,0.020,3069,1038,1768,0,0,0,0,0,0
$GC,5964,0.86,308.5,77.7,14.9,816,5972,0.00,1.88,0.00,0.000,4,0.000,0.020,3069,2349,1763,0,0,0,0,0,0
$GC,6012,0.86,308.5,71.4,12.6,824,6020,0.00,1.98,0.00,0.000,6,0.000,0.035,3072,1049,1763,0,0,0,0,0,0
$GC,6338,1.06,471.9,42.4,6.4,885,6474,0.25,1.95,123.93,0.624,4,0.061,0.019,3197,2342,1103,0,0,0,0,0,0
$GC,6567,1.06,471.9,3.4,22.3,920,6575,0.12,1.98,0.00,0.000,6,0.139,0.035,3163,1061,1099,0,0,0,0,0,0
$STATE,6581,end climb,SURFACE_DEPTH_REACHED
$STATE,6581,begin surface coast
$FINISH,0.3,1.001441
$STATE,6598,end surface coast,CONTROL_FINISHED_OK
$STATE,6599,begin surface
$SM_CCo,6676,0.00,0.000,0,0,1096,473.92
$SM_GC,1.30,7.85,0.00,0.00,0.036,0.000,0.000,119,793,1096,-8.38,0.08,473.92
$IRIDIUM_FIX,2255.72,12653.13,300910,141447
$TT8_MAMPS,0.028462
$HUMID,39.25
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,26.80
$XPDR_PINGS,2
$24V_AH,24.6,11.680
$10V_AH,10.6,9.471
$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,19.125,40.450,527.025,0.000,0.000,28.666,41.265,153.422,0.500,0.000,16.422,2170.107,1597.950,487.965,2507.717,282.927,0.000,1382.259,0.000,2298.392,0.000,0.544,0.000
$DEVICE_MAMPS,225.675,82.620,954.720,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.825,945.458,1577.864,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333884
$DATA_FILE_SIZE,53642,925
$CAP_FILE_SIZE,89815,0
$CFSIZE,260165632,166838272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.252,327.7,1
$GPS,300910,182606,2304.362,12651.772,37,0.8,42,-3.4