version: 66.08
glider: 167
mission: 6
dive: 53
start: 10 4 110 9 45 38
data:
$ID,167
$MISSION,6
$DIVE,53
$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,-34090.715
$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,37
$R_STBD_OVSHOOT,143
$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
$GPS1,041010,093931,2306.917,12704.468,41,1.0,41,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.3
$GPS2,041010,094514,2306.958,12704.410,14,1.2,14,-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,177.0,7399,-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,-228.7,0.0,0.0,0,90,0.00,0.00,-69.88,0.000,2,0.000,0.000,122,777,3568,0,0,0,0,0,0
$GC,93,-0.76,-228.7,7.2,-16.8,9,117,9.25,0.85,-5.70,0.000,4,0.223,0.065,2570,177,3963,0,0,0,0,0,0
$GC,125,-0.76,-228.7,28.9,-59.5,13,133,0.00,0.73,0.00,0.000,6,0.000,0.021,2565,800,3964,0,0,0,0,0,0
$GC,453,-0.76,-228.7,126.6,-23.3,74,461,0.00,1.85,0.00,0.000,4,0.000,0.016,2557,2139,3966,0,0,0,0,0,0
$GC,590,-0.76,-228.7,153.8,-18.2,99,597,0.00,2.00,0.00,0.000,6,0.000,0.034,2556,775,3967,0,0,0,0,0,0
$GC,920,-0.76,-228.7,226.1,-20.0,160,928,0.00,0.82,0.00,0.000,4,0.000,0.042,2556,193,3968,0,0,0,0,0,0
$GC,1172,-0.76,-228.7,279.2,-20.5,206,1180,0.00,0.65,0.00,0.000,6,0.000,0.021,2552,802,3968,0,0,0,0,0,0
$GC,1509,-0.76,-228.7,341.3,-17.6,247,1513,0.00,0.88,0.00,0.000,4,0.000,0.043,2552,197,3968,0,0,0,0,0,0
$GC,1646,-0.76,-228.7,364.8,-14.8,259,1654,0.00,0.60,0.00,0.000,6,0.000,0.022,2549,748,3967,0,0,0,0,0,0
$GC,1974,-0.76,-228.7,417.3,-15.6,290,1978,0.00,1.90,0.00,0.000,4,0.000,0.018,2548,2125,3967,0,0,0,0,0,0
$GC,2001,-0.76,-228.7,421.9,-14.2,292,2009,0.00,2.05,0.00,0.000,6,0.000,0.034,2548,759,3967,0,0,0,0,0,0
$GC,2328,-0.76,-228.7,472.8,-15.4,323,2332,0.00,0.80,0.00,0.000,4,0.000,0.044,2548,197,3965,0,0,0,0,0,0
$STATE,2497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2497,begin apogee
$GC,2503,-0.14,0.0,500.5,16.1,338,2678,0.65,0.00,169.00,0.953,4,0.127,0.000,2768,1027,3029,0,0,0,0,0,0
$STATE,2679,end apogee,CONTROL_FINISHED_OK
$STATE,2679,begin climb
$GC,2682,0.76,228.7,509.7,0.0,353,2863,0.75,1.95,172.18,0.928,4,0.050,0.018,3070,2360,2095,0,0,0,0,0,0
$GC,3043,0.76,228.7,469.5,15.3,384,3053,0.00,2.10,0.00,0.000,6,0.000,0.034,3080,999,2090,0,0,0,0,0,0
$GC,3370,0.76,228.7,413.6,17.3,415,3374,0.00,1.17,0.00,0.000,4,0.000,0.043,3087,203,2087,0,0,0,0,0,0
$GC,3484,0.76,228.7,391.7,18.5,425,3491,0.00,1.05,0.00,0.000,6,0.000,0.019,3087,1048,2086,0,0,0,0,0,0
$GC,3810,0.76,228.7,334.0,18.2,456,3813,0.00,1.77,0.00,0.000,4,0.000,0.021,3086,2330,2084,0,0,0,0,0,0
$GC,4065,0.76,228.7,292.8,14.8,483,4073,0.00,1.88,0.00,0.000,6,0.000,0.034,3094,1083,2083,0,0,0,0,0,0
$GC,4401,0.76,228.7,243.3,14.2,544,4409,0.00,1.77,0.00,0.000,4,0.000,0.019,3096,2336,2081,0,0,0,0,0,0
$GC,4649,0.76,228.7,207.4,13.9,589,4656,0.12,1.83,0.00,0.000,6,0.181,0.035,3067,1092,2080,0,0,0,0,0,0
$GC,4983,0.78,243.4,166.2,11.8,650,4999,0.00,1.38,10.05,0.682,4,0.000,0.044,3072,189,2036,0,0,0,0,0,0
$GC,5138,0.78,243.4,145.4,13.8,677,5146,0.00,1.12,0.00,0.000,6,0.000,0.019,3072,1086,2034,0,0,0,0,0,0
$GC,5465,0.80,258.2,105.7,11.8,738,5482,0.00,1.80,12.43,0.652,4,0.000,0.020,3072,2337,1976,0,0,0,0,0,0
$GC,5659,0.91,350.1,84.7,9.0,773,5740,0.08,1.85,70.50,0.666,6,0.061,0.036,3122,1109,1599,0,0,0,0,0,0
$GC,6062,0.91,350.1,28.9,14.1,844,6070,0.00,1.35,0.00,0.000,4,0.000,0.042,3129,201,1593,0,0,0,0,0,0
$STATE,6259,end climb,SURFACE_DEPTH_REACHED
$STATE,6259,begin surface coast
$FINISH,0.3,0.997675
$STATE,6281,end surface coast,CONTROL_FINISHED_OK
$STATE,6281,begin surface
$SM_CCo,6301,27.12,0.369,1,0,1500,375.06
$SM_GC,1.63,0.00,0.00,27.12,0.000,0.000,0.369,126,753,1500,-8.43,-1.05,375.06
$IRIDIUM_FIX,2258.07,12702.97,041010,070735
$TT8_MAMPS,0.027713
$HUMID,40.31
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,26.90
$XPDR_PINGS,0
$24V_AH,24.7,17.467
$10V_AH,10.5,14.907
$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,18.475,35.825,434.150,27.125,0.000,30.586,16.673,144.712,0.000,0.000,15.709,2097.621,1469.104,467.581,2368.503,271.881,0.000,1290.803,0.000,2184.219,0.000,0.543,0.000
$DEVICE_MAMPS,223.380,65.025,953.190,369.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,596.825,904.670,1514.382,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50304,885
$CAP_FILE_SIZE,83619,0
$CFSIZE,260165632,164417536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.108,314.1,1
$GPS,041010,113218,2306.654,12704.285,13,1.4,29,-3.4