version: 66.08
glider: 167
mission: 6
dive: 70
start: 10 5 110 19 41 42
data:
$ID,167
$MISSION,6
$DIVE,70
$N_DIVES,85
$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,400
$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,-34358.266
$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,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,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
$GPS1,051010,193316,2304.220,12705.944,13,2.3,32,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-67.3
$GPS2,051010,194116,2304.276,12705.924,12,2.6,31,-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,186.7,2840,-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,13,begin dive
$GC,16,-0.76,-228.7,0.0,0.0,0,88,0.00,0.00,-69.22,0.000,2,0.000,0.000,113,778,3504,0,0,0,0,0,0
$GC,91,-0.76,-228.7,6.3,-13.6,10,115,9.27,0.85,-6.90,0.000,4,0.222,0.070,2572,170,3963,0,0,0,0,0,0
$GC,354,-0.76,-228.7,105.9,-25.8,58,362,0.00,0.75,0.00,0.000,6,0.000,0.021,2570,796,3965,0,0,0,0,0,0
$GC,686,-0.76,-228.7,184.4,-23.1,119,692,0.00,1.85,0.00,0.000,4,0.000,0.016,2560,2168,3967,0,0,0,0,0,0
$GC,882,-0.76,-228.7,219.3,-16.7,153,888,0.00,2.08,0.00,0.000,6,0.000,0.035,2560,752,3967,0,0,0,0,0,0
$GC,1222,-0.76,-228.7,283.5,-17.2,214,1230,0.00,0.80,0.00,0.000,4,0.000,0.041,2560,189,3967,0,0,0,0,0,0
$GC,1266,-0.76,-228.7,291.3,-17.1,221,1273,0.00,0.68,0.00,0.000,6,0.000,0.022,2556,787,3967,0,0,0,0,0,0
$GC,1596,-0.76,-228.7,348.7,-17.4,256,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,787,3967,0,0,0,0,0,0
$GC,1918,-0.76,-228.7,400.4,-15.5,286,1921,0.00,0.88,0.00,0.000,4,0.000,0.042,2556,186,3967,0,0,0,0,0,0
$GC,1990,-0.76,-228.7,412.3,-16.2,292,1998,0.00,0.62,0.00,0.000,6,0.000,0.023,2552,735,3966,0,0,0,0,0,0
$GC,2316,-0.76,-228.7,462.9,-15.2,323,2320,0.00,0.80,0.00,0.000,4,0.000,0.044,2552,186,3965,0,0,0,0,0,0
$STATE,2549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2550,begin apogee
$GC,2556,-0.14,0.0,500.8,15.9,344,2730,0.65,0.00,169.12,0.946,4,0.125,0.000,2771,1015,3028,0,0,0,0,0,0
$STATE,2731,end apogee,CONTROL_FINISHED_OK
$STATE,2731,begin climb
$GC,2733,0.76,228.7,510.7,0.0,358,2914,0.82,2.00,172.00,0.923,4,0.057,0.018,3077,2405,2095,0,0,0,0,0,0
$GC,3137,0.76,228.7,461.4,16.6,393,3141,0.00,2.12,0.00,0.000,6,0.000,0.034,3087,999,2090,0,0,0,0,0,0
$GC,3468,0.76,228.7,405.4,15.9,424,3472,0.00,1.20,0.00,0.000,4,0.000,0.042,3094,186,2087,0,0,0,0,0,0
$GC,3495,0.76,228.7,400.3,17.7,426,3503,0.00,1.10,0.00,0.000,6,0.000,0.018,3094,1068,2087,0,0,0,0,0,0
$GC,3822,0.76,228.7,343.2,17.3,457,3825,0.00,1.83,0.00,0.000,4,0.000,0.019,3094,2352,2085,0,0,0,0,0,0
$GC,3913,0.76,228.7,328.0,15.4,465,3922,0.08,1.98,0.00,0.000,6,0.145,0.034,3067,1036,2084,0,0,0,0,0,0
$GC,4244,0.76,228.7,280.0,13.3,509,4252,0.00,1.88,0.00,0.000,4,0.000,0.019,3069,2366,2083,0,0,0,0,0,0
$GC,4491,0.77,233.0,247.5,12.2,554,4499,0.00,1.95,0.00,0.000,6,0.000,0.034,3075,1070,2082,0,0,0,0,0,0
$GC,4823,0.77,233.0,203.6,12.8,615,4830,0.00,1.30,0.00,0.000,4,0.000,0.042,3081,186,2081,0,0,0,0,0,0
$GC,4913,0.77,233.0,191.5,13.7,631,4919,0.00,1.12,0.00,0.000,6,0.000,0.019,3081,1081,2081,0,0,0,0,0,0
$GC,5244,0.82,272.2,152.7,10.9,692,5287,0.00,1.88,31.50,0.718,4,0.000,0.019,3081,2365,1917,0,0,0,0,0,0
$GC,5349,0.82,272.2,140.6,12.5,709,5357,0.00,1.98,0.00,0.000,6,0.000,0.034,3088,1065,1916,0,0,0,0,0,0
$GC,5679,0.85,297.1,93.7,11.4,770,5709,0.00,1.33,20.02,0.654,4,0.000,0.043,3094,189,1816,0,0,0,0,0,0
$GC,5787,0.97,399.7,83.0,8.6,788,5875,0.08,1.17,79.62,0.653,6,0.072,0.018,3141,1108,1397,0,0,0,0,0,0
$GC,6194,0.97,399.7,24.2,14.4,860,6202,0.00,1.77,0.00,0.000,4,0.000,0.020,3140,2352,1389,0,0,0,0,0,0
$GC,6264,0.97,399.7,12.5,17.2,872,6272,0.00,1.90,0.00,0.000,6,0.000,0.032,3148,1090,1388,0,0,0,0,0,0
$STATE,6320,end climb,SURFACE_DEPTH_REACHED
$STATE,6320,begin surface coast
$FINISH,1.2,1.022099
$STATE,6339,end surface coast,CONTROL_FINISHED_OK
$STATE,6339,begin surface
$SM_CCo,6417,0.00,0.000,0,0,1384,403.27
$SM_GC,1.17,7.70,0.00,0.00,0.037,0.000,0.000,126,781,1384,-8.36,-0.25,403.27
$IRIDIUM_FIX,2255.72,12704.84,051010,191922
$TT8_MAMPS,0.028462
$HUMID,40.07
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.00
$XPDR_PINGS,0
$24V_AH,24.7,19.664
$10V_AH,10.5,16.934
$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,18.600,37.225,472.275,0.000,0.000,57.435,50.972,142.281,0.000,0.000,33.453,2076.865,1677.169,464.028,2406.006,270.638,0.000,1293.552,0.000,2144.541,0.000,0.543,0.000
$DEVICE_MAMPS,221.850,69.615,946.305,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,595.312,904.529,1481.486,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53425,885
$CAP_FILE_SIZE,85061,0
$CFSIZE,260165632,163512320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.194,329.1,1
$GPS,051010,212955,2304.222,12705.747,40,1.4,40,-3.4