version: 66.08
glider: 167
mission: 6
dive: 10
start: 9 30 110 22 27 26
data:
$ID,167
$MISSION,6
$DIVE,10
$N_DIVES,15
$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,-34036.699
$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,28
$R_STBD_OVSHOOT,131
$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
$GPS1,300910,222107,2305.297,12653.188,42,1.2,42,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-68.6
$GPS2,300910,222702,2305.360,12653.195,14,1.5,14,-3.4
$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,208.6,6982,-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,-228.7,0.0,0.0,0,99,0.00,0.00,-78.40,0.000,2,0.000,0.000,124,795,3295,0,0,0,0,0,0
$GC,101,-0.76,-228.7,5.5,-12.4,11,127,9.48,0.95,-10.50,0.000,4,0.233,0.079,2568,173,3964,0,0,0,0,0,0
$GC,363,-0.76,-228.7,95.1,-21.7,59,371,0.00,0.75,0.00,0.000,6,0.000,0.023,2565,778,3967,0,0,0,0,0,0
$GC,691,-0.76,-228.7,162.6,-20.4,120,700,0.00,0.88,0.00,0.000,4,0.000,0.045,2565,185,3969,0,0,0,0,0,0
$GC,949,-0.76,-228.7,214.0,-20.4,166,958,0.00,0.73,0.00,0.000,6,0.000,0.025,2561,775,3969,0,0,0,0,0,0
$GC,1294,-0.76,-228.7,271.5,-16.9,227,1302,0.00,0.88,0.00,0.000,4,0.000,0.045,2561,178,3969,0,0,0,0,0,0
$GC,1554,-0.76,-228.7,317.0,-19.1,265,1558,0.00,0.73,0.00,0.000,6,0.000,0.024,2559,779,3969,0,0,0,0,0,0
$GC,1885,-0.76,-228.7,369.8,-15.1,296,1889,0.00,0.88,0.00,0.000,4,0.000,0.046,2559,184,3968,0,0,0,0,0,0
$GC,2146,-0.76,-228.7,410.9,-16.2,319,2150,0.00,0.68,0.00,0.000,6,0.000,0.024,2558,752,3967,0,0,0,0,0,0
$GC,2478,-0.76,-228.7,459.9,-13.4,350,2482,0.00,0.85,0.00,0.000,4,0.000,0.047,2558,174,3966,0,0,0,0,0,0
$GC,2737,-0.76,-228.7,495.2,-13.5,373,2741,0.00,0.68,0.00,0.000,6,0.000,0.024,2557,728,3964,0,0,0,0,0,0
$STATE,2780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2780,begin apogee
$GC,2788,-0.14,0.0,501.2,12.8,377,2965,0.62,0.00,169.02,0.959,4,0.122,0.000,2771,1003,3030,0,0,0,0,0,0
$STATE,2966,end apogee,CONTROL_FINISHED_OK
$STATE,2966,begin climb
$GC,2969,0.76,228.7,510.9,0.0,392,3152,0.82,2.03,173.07,0.935,4,0.057,0.020,3076,2399,2095,0,0,0,0,0,0
$GC,3333,0.76,228.7,473.1,15.4,423,3337,0.00,2.12,0.00,0.000,6,0.000,0.034,3087,988,2090,0,0,0,0,0,0
$GC,3660,0.76,228.7,416.3,17.1,453,3664,0.00,1.20,0.00,0.000,4,0.000,0.044,3093,186,2087,0,0,0,0,0,0
$GC,3841,0.76,228.7,384.7,17.3,469,3845,0.00,1.08,0.00,0.000,6,0.000,0.021,3093,1027,2085,0,0,0,0,0,0
$GC,4173,0.76,228.7,330.4,16.8,500,4177,0.00,1.88,0.00,0.000,4,0.000,0.021,3093,2340,2083,0,0,0,0,0,0
$GC,4290,0.76,228.7,312.4,14.4,510,4299,0.10,1.98,0.00,0.000,6,0.164,0.034,3067,1026,2082,0,0,0,0,0,0
$GC,4626,0.76,228.7,267.0,13.1,563,4632,0.00,1.85,0.00,0.000,4,0.000,0.020,3067,2343,2081,0,0,0,0,0,0
$GC,4718,0.76,228.7,255.0,12.6,579,4725,0.00,1.92,0.00,0.000,6,0.000,0.034,3074,1049,2081,0,0,0,0,0,0
$GC,5057,0.76,228.7,209.1,14.1,640,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1049,2080,0,0,0,0,0,0
$GC,5399,0.78,246.1,166.6,11.7,701,5419,0.00,1.88,12.12,0.702,4,0.000,0.021,3074,2344,2024,0,0,0,0,0,0
$GC,5569,0.82,277.5,146.6,11.2,731,5600,0.00,1.95,25.10,0.715,6,0.000,0.035,3077,1058,1896,0,0,0,0,0,0
$GC,5921,0.82,277.5,101.7,12.8,795,5929,0.00,1.85,0.00,0.000,4,0.000,0.020,3077,2352,1892,0,0,0,0,0,0
$GC,6080,0.84,289.2,81.6,11.9,824,6097,0.00,1.92,9.75,0.612,6,0.000,0.036,3078,1080,1849,0,0,0,0,0,0
$GC,6418,0.97,399.3,48.5,8.4,886,6509,0.15,1.40,84.30,0.633,4,0.086,0.044,3156,191,1399,0,0,0,0,0,0
$GC,6586,0.97,399.3,25.8,13.9,912,6595,0.00,1.15,0.00,0.000,6,0.000,0.020,3155,1073,1395,0,0,0,0,0,0
$STATE,6750,end climb,SURFACE_DEPTH_REACHED
$STATE,6751,begin surface coast
$FINISH,0.8,1.021778
$STATE,6768,end surface coast,CONTROL_FINISHED_OK
$STATE,6768,begin surface
$SM_CCo,6846,0.00,0.000,0,0,1389,402.29
$SM_GC,1.28,7.75,0.00,0.00,0.035,0.000,0.000,121,789,1389,-8.37,-0.06,402.29
$IRIDIUM_FIX,2258.07,12651.26,300910,202048
$TT8_MAMPS,0.028462
$HUMID,39.95
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,27.20
$XPDR_PINGS,0
$24V_AH,24.6,12.071
$10V_AH,10.5,9.836
$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,18.925,32.850,473.375,0.000,0.000,27.730,41.962,141.942,0.000,0.000,15.480,2235.807,1678.340,451.579,2555.283,276.561,0.000,1345.002,0.000,2352.365,0.000,0.543,0.000
$DEVICE_MAMPS,233.325,78.795,959.310,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,637.617,965.811,1615.976,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333908
$DATA_FILE_SIZE,53551,945
$CAP_FILE_SIZE,88381,0
$CFSIZE,260165632,166682624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.234, 29.8,1
$GPS,011010,002220,2305.601,12654.084,13,1.9,13,-3.4