version: 66.08
glider: 167
mission: 6
dive: 60
start: 10 5 110 0 22 32
data:
$ID,167
$MISSION,6
$DIVE,60
$N_DIVES,75
$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,-34345.695
$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,32
$R_STBD_OVSHOOT,139
$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,48
$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
$GPS1,051010,001631,2307.634,12705.368,40,1.2,40,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-62.8
$GPS2,051010,002208,2307.664,12705.302,15,1.2,15,-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,194.7,8653,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.76,-228.7,0.0,0.0,0,99,0.00,0.00,-78.82,0.000,2,0.000,0.000,113,794,3589,0,0,0,0,0,0
$GC,102,-0.76,-228.7,6.7,-14.8,11,126,9.12,0.90,-5.57,0.000,4,0.217,0.067,2572,172,3965,0,0,0,0,0,0
$GC,366,-0.76,-228.7,101.1,-25.2,59,374,0.00,0.73,0.00,0.000,6,0.000,0.021,2568,804,3968,0,0,0,0,0,0
$GC,699,-0.76,-228.7,178.1,-21.9,120,707,0.00,0.90,0.00,0.000,4,0.000,0.042,2568,187,3969,0,0,0,0,0,0
$GC,960,-0.76,-228.7,238.4,-21.6,166,969,0.00,0.68,0.00,0.000,6,0.000,0.022,2564,781,3970,0,0,0,0,0,0
$GC,1306,-0.76,-228.7,299.6,-17.3,227,1314,0.00,0.88,0.00,0.000,4,0.000,0.042,2565,179,3970,0,0,0,0,0,0
$GC,1570,-0.76,-228.7,342.0,-15.5,251,1574,0.00,0.73,0.00,0.000,6,0.000,0.021,2561,818,3970,0,0,0,0,0,0
$GC,1902,-0.76,-228.7,395.1,-15.9,282,1906,0.00,0.93,0.00,0.000,4,0.000,0.042,2561,187,3970,0,0,0,0,0,0
$GC,2132,-0.76,-228.7,433.1,-16.3,302,2141,0.00,0.68,0.00,0.000,6,0.000,0.021,2561,782,3969,0,0,0,0,0,0
$GC,2459,-0.76,-228.7,482.2,-14.0,333,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,782,3968,0,0,0,0,0,0
$STATE,2593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2593,begin apogee
$GC,2600,-0.14,0.0,500.0,12.3,346,2779,0.62,0.00,169.62,0.956,4,0.122,0.000,2774,999,3028,0,0,0,0,0,0
$STATE,2779,end apogee,CONTROL_FINISHED_OK
$STATE,2779,begin climb
$GC,2783,0.76,228.7,507.3,0.0,361,2963,0.75,2.00,172.20,0.931,4,0.050,0.018,3076,2362,2096,0,0,0,0,0,0
$GC,3135,0.76,228.7,464.4,15.9,391,3142,0.00,2.10,0.00,0.000,6,0.000,0.034,3086,984,2089,0,0,0,0,0,0
$GC,3461,0.76,228.7,411.6,16.5,422,3464,0.00,1.17,0.00,0.000,4,0.000,0.043,3091,189,2086,0,0,0,0,0,0
$GC,3686,0.76,228.7,372.6,16.0,442,3690,0.00,1.05,0.00,0.000,6,0.000,0.019,3091,1038,2085,0,0,0,0,0,0
$GC,4018,0.76,228.7,315.1,16.5,473,4022,0.00,1.77,0.00,0.000,4,0.000,0.019,3091,2323,2083,0,0,0,0,0,0
$GC,4275,0.76,228.7,277.3,15.0,510,4284,0.08,1.92,0.00,0.000,6,0.155,0.034,3074,1044,2081,0,0,0,0,0,0
$GC,4620,0.76,228.7,235.4,12.9,571,4626,0.00,1.80,0.00,0.000,4,0.000,0.019,3074,2334,2080,0,0,0,0,0,0
$GC,4668,0.76,228.7,228.9,13.1,579,4674,0.00,1.95,0.00,0.000,6,0.000,0.034,3080,1025,2080,0,0,0,0,0,0
$GC,5005,0.76,228.7,179.3,13.7,640,5013,0.00,1.85,0.00,0.000,4,0.000,0.019,3080,2330,2080,0,0,0,0,0,0
$GC,5183,0.76,228.7,155.8,12.4,671,5189,0.00,1.88,0.00,0.000,6,0.000,0.034,3087,1047,2079,0,0,0,0,0,0
$GC,5511,0.81,264.4,117.8,11.1,732,5541,0.00,0.00,25.05,0.692,6,0.000,0.000,3087,1048,1950,0,0,0,0,0,0
$GC,5864,0.85,303.3,73.7,10.9,796,5900,0.00,0.00,30.52,0.655,6,0.000,0.000,3087,1047,1790,0,0,0,0,0,0
$GC,6221,0.98,404.0,41.6,8.7,861,6302,0.12,0.00,76.93,0.622,6,0.091,0.000,3148,1048,1380,0,0,0,0,0,0
$STATE,6472,end climb,SURFACE_DEPTH_REACHED
$STATE,6472,begin surface coast
$FINISH,0.3,1.017952
$STATE,6490,end surface coast,CONTROL_FINISHED_OK
$STATE,6490,begin surface
$SM_CCo,6569,0.00,0.000,0,0,1369,406.95
$SM_GC,1.18,7.72,0.00,0.00,0.034,0.000,0.000,122,790,1369,-8.36,0.00,406.95
$IRIDIUM_FIX,2300.41,12706.25,041010,222238
$TT8_MAMPS,0.027713
$HUMID,40.35
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,27.00
$XPDR_PINGS,0
$24V_AH,24.7,18.421
$10V_AH,10.5,15.761
$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,18.425,24.425,474.325,0.000,0.000,28.948,23.977,137.777,0.000,0.000,16.841,2128.736,1616.556,446.441,2438.068,272.243,0.000,1298.270,0.000,2256.425,0.000,0.543,0.000
$DEVICE_MAMPS,217.260,67.320,956.250,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,611.281,927.513,1565.187,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333964
$DATA_FILE_SIZE,53750,907
$CAP_FILE_SIZE,82496,0
$CFSIZE,260165632,164040704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.257, 35.6,1
$GPS,051010,021306,2308.126,12706.209,14,1.0,30,-3.4