version: 66.08
glider: 167
mission: 6
dive: 26
start: 10 2 110 5 34 2
data:
$ID,167
$MISSION,6
$DIVE,26
$N_DIVES,40
$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,-34056.805
$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,151
$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
$GPS1,021010,052737,2303.840,12654.142,32,0.9,32,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-71.0
$GPS2,021010,053338,2303.870,12654.142,12,1.1,12,-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,252.1,7239,-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,17,-0.76,-228.7,0.0,0.0,0,85,0.00,0.00,-64.78,0.000,2,0.000,0.000,121,787,3431,0,0,0,0,0,0
$GC,87,-0.76,-228.7,6.0,-12.7,9,112,9.27,0.85,-8.23,0.000,4,0.226,0.073,2567,188,3965,0,0,0,0,0,0
$GC,350,-0.76,-228.7,93.6,-24.3,57,358,0.00,0.70,0.00,0.000,6,0.000,0.023,2565,773,3968,0,0,0,0,0,0
$GC,680,-0.76,-228.7,166.2,-20.8,118,688,0.00,0.85,0.00,0.000,4,0.000,0.045,2565,193,3970,0,0,0,0,0,0
$GC,707,-0.76,-228.7,172.2,-22.0,122,716,0.00,0.68,0.00,0.000,6,0.000,0.023,2561,775,3970,0,0,0,0,0,0
$GC,1051,-0.76,-228.7,238.8,-18.8,183,1057,0.00,1.85,0.00,0.000,4,0.000,0.018,2557,2147,3970,0,0,0,0,0,0
$GC,1216,-0.76,-228.7,264.2,-14.6,212,1224,0.00,2.10,0.00,0.000,6,0.000,0.036,2557,749,3970,0,0,0,0,0,0
$GC,1556,-0.76,-228.7,322.1,-15.9,262,1560,0.00,0.80,0.00,0.000,4,0.000,0.046,2557,192,3970,0,0,0,0,0,0
$GC,1707,-0.76,-228.7,346.5,-16.1,275,1714,0.00,0.62,0.00,0.000,6,0.000,0.024,2553,743,3970,0,0,0,0,0,0
$GC,2032,-0.76,-228.7,395.8,-14.1,306,2036,0.00,0.80,0.00,0.000,4,0.000,0.045,2554,193,3969,0,0,0,0,0,0
$GC,2293,-0.76,-228.7,437.1,-16.7,329,2297,0.00,0.60,0.00,0.000,6,0.000,0.024,2551,715,3968,0,0,0,0,0,0
$GC,2624,-0.76,-228.7,489.2,-15.0,360,2627,0.00,0.77,0.00,0.000,4,0.000,0.047,2551,185,3967,0,0,0,0,0,0
$STATE,2693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2693,begin apogee
$GC,2701,-0.14,0.0,500.9,15.6,366,2876,0.65,0.00,169.75,0.955,4,0.125,0.000,2771,1030,3029,0,0,0,0,0,0
$STATE,2876,end apogee,CONTROL_FINISHED_OK
$STATE,2877,begin climb
$GC,2879,0.76,228.7,511.4,0.0,381,3059,0.82,1.98,172.73,0.930,4,0.058,0.019,3076,2385,2095,0,0,0,0,0,0
$GC,3243,0.76,228.7,468.5,18.2,412,3251,0.00,2.12,0.00,0.000,6,0.000,0.034,3082,1004,2090,0,0,0,0,0,0
$GC,3570,0.76,228.7,411.1,18.1,443,3574,0.00,1.20,0.00,0.000,4,0.000,0.043,3089,194,2087,0,0,0,0,0,0
$GC,3773,0.76,228.7,373.2,18.0,461,3777,0.00,1.08,0.00,0.000,6,0.000,0.020,3089,1049,2086,0,0,0,0,0,0
$GC,4106,0.76,228.7,312.7,17.6,492,4110,0.00,1.80,0.00,0.000,4,0.000,0.021,3089,2336,2084,0,0,0,0,0,0
$GC,4142,0.76,228.7,306.3,17.2,495,4147,0.05,1.95,0.00,0.000,6,0.142,0.034,3069,1042,2083,0,0,0,0,0,0
$GC,4479,0.78,241.0,260.2,11.9,552,4493,0.00,1.90,8.68,0.727,4,0.000,0.020,3069,2345,2045,0,0,0,0,0,0
$GC,4589,0.78,241.0,246.2,12.6,571,4596,0.00,1.92,0.00,0.000,6,0.000,0.034,3076,1054,2043,0,0,0,0,0,0
$GC,4932,0.78,241.0,195.3,15.3,632,4940,0.00,1.83,0.00,0.000,4,0.000,0.020,3076,2337,2043,0,0,0,0,0,0
$GC,4988,0.78,241.0,187.7,13.5,641,4995,0.00,1.90,0.00,0.000,6,0.000,0.034,3083,1056,2043,0,0,0,0,0,0
$GC,5327,0.79,253.4,143.3,11.9,702,5344,0.00,1.83,10.48,0.673,4,0.000,0.018,3083,2347,1995,0,0,0,0,0,0
$GC,5420,0.79,253.4,131.5,13.4,718,5429,0.00,1.92,0.00,0.000,6,0.000,0.034,3090,1073,1993,0,0,0,0,0,0
$GC,5750,0.84,296.2,91.9,10.8,779,5789,0.00,1.38,33.62,0.678,4,0.000,0.044,3097,181,1820,0,0,0,0,0,0
$GC,5921,0.92,353.2,74.6,10.3,808,5973,0.00,1.12,43.88,0.654,6,0.000,0.019,3097,1061,1587,0,0,0,0,0,0
$GC,6293,1.01,431.0,36.2,9.5,875,6361,0.15,1.90,60.17,0.617,4,0.086,0.019,3170,2345,1270,0,0,0,0,0,0
$GC,6440,1.01,431.0,11.4,18.5,898,6449,0.08,1.95,0.00,0.000,6,0.152,0.034,3154,1073,1266,0,0,0,0,0,0
$STATE,6481,end climb,SURFACE_DEPTH_REACHED
$STATE,6481,begin surface coast
$FINISH,0.5,1.021784
$STATE,6498,end surface coast,CONTROL_FINISHED_OK
$STATE,6499,begin surface
$SM_CCo,6578,0.00,0.000,0,0,1262,433.45
$SM_GC,1.24,7.80,0.00,0.00,0.038,0.000,0.000,126,779,1262,-8.35,-0.31,433.45
$IRIDIUM_FIX,2255.72,12653.13,021010,030337
$TT8_MAMPS,0.028462
$HUMID,39.40
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,27.10
$XPDR_PINGS,0
$24V_AH,24.6,14.100
$10V_AH,10.5,11.730
$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,18.825,39.850,499.300,0.000,0.000,30.642,37.400,154.250,0.000,0.000,13.138,2141.750,1596.885,460.010,2459.210,278.556,0.000,1330.813,0.000,2252.114,0.000,0.543,0.000
$DEVICE_MAMPS,225.675,73.440,955.485,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,611.589,928.616,1560.219,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333960
$DATA_FILE_SIZE,53586,908
$CAP_FILE_SIZE,88380,0
$CFSIZE,260165632,165826560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110,291.9,1
$GPS,021010,072426,2303.657,12653.232,10,1.4,10,-3.4