version: 66.08
glider: 167
mission: 6
dive: 122
start: 10 10 110 0 16 20
data:
$ID,167
$MISSION,6
$DIVE,122
$N_DIVES,131
$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,-34423.578
$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,43
$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,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
$GPS1,101010,001025,2302.173,12656.853,39,1.4,39,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-71.4
$GPS2,101010,001556,2302.180,12656.837,10,1.8,10,-3.3
$SPEED_LIMITS,0.214,0.341
$TGT_NAME,WAKEB_WEST
$TGT_LATLONG,2303.000,12650.000
$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,254.0,11749,-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,18,-0.76,-228.7,0.0,0.0,0,96,0.00,0.00,-76.40,0.000,2,0.000,0.000,117,784,3393,0,0,0,0,0,0
$GC,99,-0.76,-228.7,6.3,-14.3,11,124,9.43,0.90,-8.65,0.000,4,0.227,0.073,2566,175,3964,0,0,0,0,0,0
$GC,362,-0.76,-228.7,104.8,-27.2,59,370,0.00,0.70,0.00,0.000,6,0.000,0.021,2564,794,3967,0,0,0,0,0,0
$GC,691,-0.76,-228.7,181.4,-23.0,120,699,0.00,0.88,0.00,0.000,4,0.000,0.041,2564,193,3968,0,0,0,0,0,0
$GC,946,-0.76,-228.7,239.6,-21.6,166,954,0.00,0.65,0.00,0.000,6,0.000,0.022,2561,788,3968,0,0,0,0,0,0
$GC,1281,-0.76,-228.7,302.2,-18.6,226,1285,0.00,0.85,0.00,0.000,4,0.000,0.042,2561,199,3969,0,0,0,0,0,0
$GC,1541,-0.76,-228.7,351.9,-18.2,249,1545,0.00,0.62,0.00,0.000,6,0.000,0.022,2560,767,3969,0,0,0,0,0,0
$GC,1871,-0.76,-228.7,407.2,-15.5,280,1875,0.00,0.82,0.00,0.000,4,0.000,0.041,2560,196,3968,0,0,0,0,0,0
$GC,2131,-0.76,-228.7,447.7,-15.0,303,2135,0.00,0.65,0.00,0.000,6,0.000,0.022,2558,763,3967,0,0,0,0,0,0
$GC,2463,-0.76,-228.7,491.6,-12.7,334,2467,0.00,0.82,0.00,0.000,4,0.000,0.043,2558,195,3965,0,0,0,0,0,0
$STATE,2520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2520,begin apogee
$GC,2527,-0.14,0.0,500.1,14.2,339,2702,0.62,0.05,169.27,0.948,4,0.122,0.142,2769,1008,3030,0,0,0,0,0,0
$STATE,2703,end apogee,CONTROL_FINISHED_OK
$STATE,2703,begin climb
$GC,2705,0.76,228.7,507.8,0.0,354,2890,0.77,2.03,172.10,0.923,4,0.050,0.018,3067,2380,2094,0,0,0,0,0,0
$GC,3049,0.76,228.7,468.5,16.0,384,3057,0.00,2.12,0.00,0.000,6,0.000,0.034,3077,996,2090,0,0,0,0,0,0
$GC,3376,0.76,228.7,414.5,16.2,415,3379,0.00,1.20,0.00,0.000,4,0.000,0.041,3084,187,2088,0,0,0,0,0,0
$GC,3553,0.76,228.7,384.2,16.1,431,3557,0.00,1.08,0.00,0.000,6,0.000,0.019,3084,1054,2086,0,0,0,0,0,0
$GC,3885,0.76,228.7,333.4,15.0,462,3888,0.00,1.83,0.00,0.000,4,0.000,0.019,3084,2357,2084,0,0,0,0,0,0
$GC,3964,0.76,228.7,322.4,14.0,469,3967,0.00,2.00,0.00,0.000,6,0.000,0.034,3093,1017,2083,0,0,0,0,0,0
$GC,4293,0.76,228.7,272.1,15.4,516,4301,0.00,1.90,0.00,0.000,4,0.000,0.018,3093,2352,2082,0,0,0,0,0,0
$GC,4447,0.76,228.7,249.4,15.0,543,4454,0.12,1.95,0.00,0.000,6,0.169,0.033,3069,1036,2081,0,0,0,0,0,0
$GC,4780,0.76,228.7,206.2,13.1,604,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1036,2081,0,0,0,0,0,0
$GC,5110,0.82,277.5,166.1,10.6,665,5152,0.00,1.90,35.58,0.734,4,0.000,0.016,3068,2362,1896,0,0,0,0,0,0
$GC,5172,0.87,318.0,159.5,10.9,674,5212,0.00,2.00,32.12,0.711,6,0.000,0.034,3074,1052,1732,0,0,0,0,0,0
$GC,5532,0.87,318.0,111.4,14.6,740,5540,0.00,1.88,0.00,0.000,4,0.000,0.018,3074,2362,1727,0,0,0,0,0,0
$GC,5600,0.87,318.0,102.0,13.4,752,5607,0.00,1.98,0.00,0.000,6,0.000,0.034,3080,1060,1726,0,0,0,0,0,0
$GC,5927,0.99,416.1,66.9,8.8,813,6009,0.17,1.35,75.20,0.644,4,0.075,0.041,3172,191,1331,0,0,0,0,0,0
$GC,6038,0.99,416.1,50.4,19.5,828,6046,0.08,1.15,0.00,0.000,6,0.151,0.018,3148,1102,1328,0,0,0,0,0,0
$STATE,6322,end climb,SURFACE_DEPTH_REACHED
$STATE,6322,begin surface coast
$FINISH,0.4,1.010887
$STATE,6347,end surface coast,CONTROL_FINISHED_OK
$STATE,6348,begin surface
$SM_CCo,6425,0.00,0.000,0,0,1321,418.97
$SM_GC,1.02,7.70,0.00,0.00,0.036,0.000,0.000,126,791,1321,-8.35,0.03,418.97
$IRIDIUM_FIX,2253.38,12658.28,091010,222200
$TT8_MAMPS,0.027713
$HUMID,40.74
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,27.10
$XPDR_PINGS,2
$24V_AH,24.7,26.198
$10V_AH,10.5,23.066
$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,18.900,32.800,484.275,0.000,0.000,28.002,20.030,141.591,0.500,0.000,11.553,2086.513,1559.648,455.124,2371.151,280.120,0.000,1305.759,0.000,2198.718,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,141.525,947.835,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,595.703,905.252,1496.644,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50483,885
$CAP_FILE_SIZE,84620,0
$CFSIZE,260165632,160759808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.171,344.1,1
$GPS,101010,020432,2302.162,12656.511,32,1.4,32,-3.3