version: 66.08
glider: 167
mission: 6
dive: 50
start: 10 4 110 4 3 8
data:
$ID,167
$MISSION,6
$DIVE,50
$N_DIVES,55
$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,-34086.953
$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,153
$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
$GPS1,041010,034755,2308.441,12703.057,43,1.0,43,-3.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-72.5
$GPS2,041010,040244,2308.483,12702.901,16,1.1,16,-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,198.5,10767,-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,-228.7,0.0,0.0,0,85,0.00,0.00,-64.38,0.000,2,0.000,0.000,118,780,3346,0,0,0,0,0,0
$GC,88,-0.76,-228.7,5.4,-11.5,9,113,9.25,1.95,-9.80,0.000,4,0.223,0.033,2554,2144,3965,0,0,0,0,0,0
$GC,315,-0.76,-228.7,81.2,-25.4,50,324,0.00,2.05,0.00,0.000,6,0.000,0.035,2554,788,3967,0,0,0,0,0,0
$GC,646,-0.76,-228.7,167.8,-23.2,111,653,0.00,0.85,0.00,0.000,4,0.000,0.041,2554,192,3968,0,0,0,0,0,0
$GC,906,-0.76,-228.7,235.3,-24.2,157,913,0.00,0.68,0.00,0.000,6,0.000,0.021,2549,791,3968,0,0,0,0,0,0
$GC,1249,-0.76,-228.7,304.8,-18.6,217,1253,0.00,0.88,0.00,0.000,4,0.000,0.042,2549,190,3968,0,0,0,0,0,0
$GC,1400,-0.76,-228.7,335.5,-18.8,230,1409,0.00,0.65,0.00,0.000,6,0.000,0.022,2548,801,3969,0,0,0,0,0,0
$GC,1726,-0.76,-228.7,393.2,-16.9,261,1730,0.00,0.88,0.00,0.000,4,0.000,0.043,2548,197,3968,0,0,0,0,0,0
$GC,1828,-0.76,-228.7,411.2,-17.7,270,1832,0.00,0.60,0.00,0.000,6,0.000,0.023,2547,750,3967,0,0,0,0,0,0
$GC,2160,-0.76,-228.7,468.1,-15.8,301,2164,0.00,1.90,0.00,0.000,4,0.000,0.018,2546,2132,3966,0,0,0,0,0,0
$GC,2187,-0.76,-228.7,472.6,-14.5,303,2195,0.05,2.03,0.00,0.000,6,0.134,0.034,2577,772,3966,0,0,0,0,0,0
$STATE,2404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2408,begin apogee
$GC,2414,-0.14,0.0,500.2,12.3,324,2591,0.55,0.00,168.88,0.946,4,0.116,0.000,2769,974,3027,0,0,0,0,0,0
$STATE,2592,end apogee,CONTROL_FINISHED_OK
$STATE,2592,begin climb
$GC,2596,0.76,228.7,508.6,0.0,339,2777,0.82,2.03,171.90,0.923,4,0.054,0.018,3078,2374,2095,0,0,0,0,0,0
$GC,2951,0.76,228.7,467.7,16.8,370,2955,0.00,2.08,0.00,0.000,6,0.000,0.034,3086,1007,2090,0,0,0,0,0,0
$GC,3278,0.76,228.7,414.4,16.7,400,3282,0.00,1.20,0.00,0.000,4,0.000,0.044,3093,192,2086,0,0,0,0,0,0
$GC,3301,0.76,228.7,410.5,15.8,402,3304,0.00,1.05,0.00,0.000,6,0.000,0.020,3093,1039,2087,0,0,0,0,0,0
$GC,3633,0.76,228.7,356.3,16.9,433,3636,0.00,1.27,0.00,0.000,4,0.000,0.043,3099,186,2084,0,0,0,0,0,0
$GC,3823,0.76,228.7,321.7,17.2,450,3827,0.08,1.00,0.00,0.000,6,0.158,0.020,3074,977,2083,0,0,0,0,0,0
$GC,4160,0.76,228.7,273.2,13.9,497,4166,0.00,1.92,0.00,0.000,4,0.000,0.020,3074,2351,2082,0,0,0,0,0,0
$GC,4417,0.76,228.7,240.7,12.4,543,4426,0.00,1.98,0.00,0.000,6,0.000,0.034,3080,1020,2080,0,0,0,0,0,0
$GC,4761,0.76,228.7,194.0,13.7,604,4768,0.00,1.90,0.00,0.000,4,0.000,0.019,3080,2357,2080,0,0,0,0,0,0
$GC,4841,0.76,228.7,182.8,13.1,618,4849,0.00,2.00,0.00,0.000,6,0.000,0.034,3089,1026,2080,0,0,0,0,0,0
$GC,5180,0.79,248.7,139.7,11.6,679,5203,0.00,1.25,13.80,0.675,4,0.000,0.044,3096,189,2014,0,0,0,0,0,0
$GC,5296,0.79,248.7,124.1,13.5,699,5304,0.00,1.05,0.00,0.000,6,0.000,0.019,3095,1041,2012,0,0,0,0,0,0
$GC,5625,0.85,304.3,85.2,10.3,760,5676,0.00,0.00,42.95,0.662,6,0.000,0.000,3095,1041,1787,0,0,0,0,0,0
$GC,5999,0.89,329.2,45.1,11.4,827,6032,0.00,1.30,20.08,0.609,4,0.000,0.042,3099,190,1684,0,0,0,0,0,0
$GC,6052,0.93,363.1,38.8,11.1,834,6083,0.00,1.05,26.83,0.604,6,0.000,0.020,3099,1019,1547,0,0,0,0,0,0
$STATE,6361,end climb,SURFACE_DEPTH_REACHED
$STATE,6361,begin surface coast
$FINISH,0.3,1.010165
$STATE,6397,end surface coast,CONTROL_FINISHED_OK
$STATE,6397,begin surface
$SM_CCo,6415,14.48,0.137,1,0,1500,375.06
$SM_GC,1.11,0.00,0.00,14.48,0.000,0.000,0.137,116,772,1500,-8.46,-0.51,375.06
$IRIDIUM_FIX,2258.07,12702.97,041010,030306
$TT8_MAMPS,0.027713
$HUMID,39.09
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,27.40
$XPDR_PINGS,2
$24V_AH,24.7,17.095
$10V_AH,10.6,14.560
$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,18.400,34.025,444.425,14.475,0.000,146.425,92.916,226.683,0.500,0.000,17.297,2126.815,1774.396,447.705,2676.194,296.738,0.000,1279.596,0.000,2206.089,0.000,0.545,0.000
$DEVICE_MAMPS,223.380,51.255,945.540,136.935,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,604.339,917.003,1563.019,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333952
$DATA_FILE_SIZE,53533,897
$CAP_FILE_SIZE,89602,0
$CFSIZE,260165632,164564992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.157, 62.0,1
$GPS,041010,055133,2307.972,12703.326,12,2.5,31,-3.4