version: 66.08
glider: 167
mission: 6
dive: 40
start: 10 3 110 8 35 26
data:
$ID,167
$MISSION,6
$DIVE,40
$N_DIVES,50
$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,-34074.398
$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,133
$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
$GPS1,031010,082901,2306.196,12658.589,14,1.8,31,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-73.5
$GPS2,031010,083502,2306.294,12658.590,15,1.3,15,-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,126.6,12513,-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,14,begin dive
$GC,18,-0.76,-228.7,0.0,0.0,0,82,0.00,0.00,-61.95,0.000,2,0.000,0.000,113,782,3302,0,0,0,0,0,0
$GC,85,-0.76,-228.7,5.5,-12.0,9,110,9.27,0.90,-10.48,0.000,4,0.223,0.081,2566,192,3965,0,0,0,0,0,0
$GC,349,-0.76,-228.7,98.7,-25.4,57,357,0.00,0.73,0.00,0.000,6,0.000,0.020,2563,858,3968,0,0,0,0,0,0
$GC,681,-0.76,-228.7,178.3,-21.3,118,689,0.00,0.98,0.00,0.000,4,0.000,0.041,2563,191,3970,0,0,0,0,0,0
$GC,738,-0.76,-228.7,190.4,-22.3,127,745,0.00,0.70,0.00,0.000,6,0.000,0.021,2560,854,3969,0,0,0,0,0,0
$GC,1078,-0.76,-228.7,253.0,-18.5,188,1086,0.00,1.80,0.00,0.000,4,0.000,0.017,2551,2158,3970,0,0,0,0,0,0
$GC,1267,-0.76,-228.7,283.3,-15.3,221,1274,0.00,2.08,0.00,0.000,6,0.000,0.034,2551,756,3970,0,0,0,0,0,0
$GC,1606,-0.76,-228.7,346.0,-17.8,260,1609,0.00,0.80,0.00,0.000,4,0.000,0.045,2551,197,3970,0,0,0,0,0,0
$GC,1768,-0.76,-228.7,374.2,-15.7,274,1776,0.00,0.68,0.00,0.000,6,0.000,0.021,2550,810,3970,0,0,0,0,0,0
$GC,2094,-0.76,-228.7,423.6,-14.8,305,2098,0.00,0.90,0.00,0.000,4,0.000,0.044,2550,195,3969,0,0,0,0,0,0
$GC,2318,-0.76,-228.7,459.4,-15.7,325,2322,0.00,0.60,0.00,0.000,6,0.000,0.024,2548,740,3968,0,0,0,0,0,0
$STATE,2598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2599,begin apogee
$GC,2605,-0.14,0.0,500.3,14.0,351,2782,0.65,0.00,169.80,0.956,4,0.123,0.000,2770,995,3028,0,0,0,0,0,0
$STATE,2783,end apogee,CONTROL_FINISHED_OK
$STATE,2783,begin climb
$GC,2786,0.76,228.7,510.2,0.0,366,2966,0.77,0.00,171.90,0.932,6,0.053,0.000,3069,994,2097,0,0,0,0,0,0
$GC,3285,0.76,228.7,446.7,15.8,411,3288,0.00,1.92,0.00,0.000,4,0.000,0.019,3069,2347,2090,0,0,0,0,0,0
$GC,3341,0.76,228.7,437.9,14.2,416,3345,0.00,2.00,0.00,0.000,6,0.000,0.034,3079,1008,2089,0,0,0,0,0,0
$GC,3674,0.76,228.7,383.9,16.1,447,3677,0.00,1.90,0.00,0.000,4,0.000,0.019,3078,2347,2087,0,0,0,0,0,0
$GC,3708,0.76,228.7,377.8,17.2,450,3711,0.00,1.98,0.00,0.000,6,0.000,0.035,3086,1014,2087,0,0,0,0,0,0
$GC,4040,0.76,228.7,319.8,17.6,481,4043,0.00,1.88,0.00,0.000,4,0.000,0.019,3085,2356,2085,0,0,0,0,0,0
$GC,4170,0.76,228.7,299.0,16.0,493,4177,0.00,1.92,0.00,0.000,6,0.000,0.034,3094,1049,2084,0,0,0,0,0,0
$GC,4511,0.76,228.7,244.1,16.6,554,4520,0.00,1.27,0.00,0.000,4,0.000,0.044,3101,190,2083,0,0,0,0,0,0
$GC,4560,0.76,228.7,235.3,18.0,562,4570,0.10,1.10,0.00,0.000,6,0.164,0.021,3068,1054,2082,0,0,0,0,0,0
$GC,4904,0.76,228.7,186.8,12.9,623,4911,0.00,1.80,0.00,0.000,4,0.000,0.020,3068,2347,2082,0,0,0,0,0,0
$GC,5018,0.81,269.1,173.8,10.9,643,5052,0.00,1.90,29.50,0.744,6,0.000,0.034,3076,1066,1932,0,0,0,0,0,0
$GC,5376,0.83,283.1,131.4,11.8,708,5393,0.00,1.88,11.90,0.665,4,0.000,0.019,3076,2333,1874,0,0,0,0,0,0
$GC,5430,0.88,327.6,125.5,10.7,716,5474,0.00,1.92,35.85,0.694,6,0.000,0.036,3082,1081,1691,0,0,0,0,0,0
$GC,5796,0.97,394.9,80.1,9.9,782,5857,0.15,1.85,51.80,0.655,4,0.085,0.018,3152,2338,1418,0,0,0,0,0,0
$GC,6028,0.97,394.9,43.1,16.9,822,6036,0.00,1.90,0.00,0.000,6,0.000,0.034,3161,1094,1414,0,0,0,0,0,0
$STATE,6280,end climb,SURFACE_DEPTH_REACHED
$STATE,6281,begin surface coast
$FINISH,0.4,1.009965
$STATE,6298,end surface coast,CONTROL_FINISHED_OK
$STATE,6298,begin surface
$SM_CCo,6376,0.00,0.000,0,0,1409,397.14
$SM_GC,1.19,7.70,0.00,0.00,0.034,0.000,0.000,122,782,1409,-8.37,-0.23,397.14
$IRIDIUM_FIX,2255.72,12656.41,031010,060609
$TT8_MAMPS,0.027713
$HUMID,39.76
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.00
$XPDR_PINGS,0
$24V_AH,24.6,15.830
$10V_AH,10.5,13.374
$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,18.650,36.025,470.750,0.000,0.000,30.615,15.437,172.686,0.000,0.000,16.232,2051.597,1650.214,443.034,2322.582,268.710,0.000,1254.777,0.000,2116.910,0.000,0.543,0.000
$DEVICE_MAMPS,223.380,81.090,956.250,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,587.517,891.885,1476.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50343,872
$CAP_FILE_SIZE,82369,0
$CFSIZE,260165632,165097472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114,321.8,1
$GPS,031010,102232,2306.517,12658.975,14,1.3,14,-3.4