version: 66.08
glider: 167
mission: 6
dive: 31
start: 10 2 110 15 13 55
data:
$ID,167
$MISSION,6
$DIVE,31
$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,-34063.086
$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,122
$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
$GPS1,021010,150734,2303.614,12651.716,9,99.0,28,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-72.1
$GPS2,021010,151331,2303.593,12651.675,15,1.2,15,-3.4
$SPEED_LIMITS,0.214,0.341
$TGT_NAME,WAKEB_EAST
$TGT_LATLONG,2303.000,12705.000
$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,117.7,22735,-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,-228.7,0.0,0.0,0,83,0.00,0.00,-62.70,0.000,2,0.000,0.000,119,789,3420,0,0,0,0,0,0
$GC,86,-0.76,-228.7,6.5,-15.6,9,111,9.27,0.88,-8.32,0.000,4,0.225,0.074,2566,194,3964,0,0,0,0,0,0
$GC,350,-0.76,-228.7,101.1,-28.2,57,358,0.00,0.73,0.00,0.000,6,0.000,0.022,2563,796,3967,0,0,0,0,0,0
$GC,681,-0.76,-228.7,173.0,-19.9,118,690,0.00,0.88,0.00,0.000,4,0.000,0.044,2563,196,3969,0,0,0,0,0,0
$GC,943,-0.76,-228.7,227.9,-20.4,164,951,0.00,0.73,0.00,0.000,6,0.000,0.021,2560,847,3969,0,0,0,0,0,0
$GC,1290,-0.76,-228.7,291.9,-16.9,225,1297,0.00,0.95,0.00,0.000,4,0.000,0.043,2561,195,3970,0,0,0,0,0,0
$GC,1529,-0.76,-228.7,336.2,-17.8,250,1538,0.00,0.70,0.00,0.000,6,0.000,0.021,2557,813,3969,0,0,0,0,0,0
$GC,1856,-0.76,-228.7,388.5,-15.4,281,1860,0.00,0.90,0.00,0.000,4,0.000,0.044,2557,197,3969,0,0,0,0,0,0
$GC,2114,-0.76,-228.7,431.8,-16.7,304,2117,0.00,0.62,0.00,0.000,6,0.000,0.023,2557,755,3968,0,0,0,0,0,0
$GC,2447,-0.76,-228.7,479.4,-14.1,335,2450,0.00,1.88,0.00,0.000,4,0.000,0.018,2557,2130,3966,0,0,0,0,0,0
$GC,2464,-0.76,-228.7,481.9,-12.9,336,2472,0.00,2.05,0.00,0.000,6,0.000,0.035,2557,764,3967,0,0,0,0,0,0
$STATE,2606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2606,begin apogee
$GC,2612,-0.14,0.0,500.3,12.3,350,2792,0.62,0.00,170.00,0.953,4,0.121,0.000,2770,981,3027,0,0,0,0,0,0
$STATE,2793,end apogee,CONTROL_FINISHED_OK
$STATE,2793,begin climb
$GC,2795,0.76,228.7,509.0,0.0,365,2974,0.77,0.00,172.23,0.929,6,0.059,0.000,3067,981,2096,0,0,0,0,0,0
$GC,3292,0.76,228.7,445.0,16.7,410,3296,0.00,1.98,0.00,0.000,4,0.000,0.021,3066,2358,2089,0,0,0,0,0,0
$GC,3488,0.76,228.7,416.0,15.0,427,3491,0.00,2.00,0.00,0.000,6,0.000,0.034,3074,1028,2087,0,0,0,0,0,0
$GC,3819,0.76,228.7,361.3,16.6,458,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1028,2085,0,0,0,0,0,0
$GC,4140,0.76,228.7,310.1,15.2,488,4144,0.00,1.88,0.00,0.000,4,0.000,0.020,3074,2356,2083,0,0,0,0,0,0
$GC,4231,0.76,228.7,295.0,15.7,498,4240,0.00,1.95,0.00,0.000,6,0.000,0.033,3083,1058,2082,0,0,0,0,0,0
$GC,4574,0.76,228.7,241.0,15.3,559,4581,0.00,1.83,0.00,0.000,4,0.000,0.020,3083,2359,2082,0,0,0,0,0,0
$GC,4679,0.76,228.7,225.4,14.6,577,4686,0.00,1.92,0.00,0.000,6,0.000,0.034,3092,1062,2081,0,0,0,0,0,0
$GC,5021,0.76,228.7,173.7,13.4,638,5029,0.00,1.85,0.00,0.000,4,0.000,0.020,3092,2361,2080,0,0,0,0,0,0
$GC,5077,0.76,228.7,166.3,13.2,647,5084,0.12,1.92,0.00,0.000,6,0.181,0.034,3066,1062,2080,0,0,0,0,0,0
$GC,5409,0.80,257.5,130.9,11.3,708,5433,0.00,0.00,20.42,0.699,6,0.000,0.000,3067,1062,1978,0,0,0,0,0,0
$GC,5750,0.93,365.8,94.1,8.4,771,5843,0.15,1.33,83.20,0.673,4,0.080,0.040,3142,186,1535,0,0,0,0,0,0
$GC,5869,0.93,365.8,79.4,16.6,787,5877,0.00,1.17,0.00,0.000,6,0.000,0.019,3142,1089,1533,0,0,0,0,0,0
$GC,6196,0.93,365.8,30.5,15.3,848,6204,0.00,1.35,0.00,0.000,4,0.000,0.042,3146,192,1528,0,0,0,0,0,0
$GC,6275,0.93,365.8,18.5,15.5,862,6284,0.00,1.12,0.00,0.000,6,0.000,0.019,3147,1084,1527,0,0,0,0,0,0
$STATE,6378,end climb,SURFACE_DEPTH_REACHED
$STATE,6378,begin surface coast
$FINISH,0.3,1.021950
$STATE,6397,end surface coast,CONTROL_FINISHED_OK
$STATE,6397,begin surface
$SM_CCo,6415,17.23,0.223,1,0,1500,375.06
$SM_GC,1.17,0.00,0.00,17.23,0.000,0.000,0.223,122,780,1500,-8.44,-0.28,375.06
$IRIDIUM_FIX,2253.38,12651.73,021010,131303
$TT8_MAMPS,0.028462
$HUMID,39.91
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.10
$XPDR_PINGS,0
$24V_AH,24.6,14.714
$10V_AH,10.6,12.317
$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,18.675,31.225,445.850,17.225,0.000,28.939,37.549,139.586,0.000,0.000,15.843,2089.431,1607.482,451.932,2369.623,275.915,0.000,1277.026,0.000,2171.469,0.000,0.543,0.000
$DEVICE_MAMPS,224.910,74.205,953.190,223.380,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,596.207,905.382,1516.906,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50310,884
$CAP_FILE_SIZE,82673,0
$CFSIZE,260165632,165572608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.238,317.2,1
$GPS,021010,170230,2304.291,12652.037,34,1.3,38,-3.4