version: 66.08
glider: 167
mission: 6
dive: 13
start: 10 1 110 4 23 32
data:
$ID,167
$MISSION,6
$DIVE,13
$N_DIVES,25
$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,-34040.469
$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,46
$R_STBD_OVSHOOT,121
$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
$GPS1,011010,041731,2305.158,12654.826,8,1.6,12,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.3
$GPS2,011010,042307,2305.161,12654.782,15,1.5,15,-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,230.9,9079,-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,17,-0.76,-228.7,0.0,0.0,0,82,0.00,0.00,-62.72,0.000,2,0.000,0.000,118,775,3215,0,0,0,0,0,0
$GC,85,-0.76,-228.7,5.1,-12.3,9,111,9.25,0.90,-12.25,0.000,4,0.224,0.083,2567,190,3963,0,0,0,0,0,0
$GC,350,-0.76,-228.7,95.6,-25.3,57,358,0.00,0.75,0.00,0.000,6,0.000,0.023,2564,808,3966,0,0,0,0,0,0
$GC,678,-0.76,-228.7,163.4,-18.6,118,686,0.00,1.88,0.00,0.000,4,0.000,0.018,2555,2167,3969,0,0,0,0,0,0
$GC,871,-0.76,-228.7,193.2,-14.0,152,879,0.00,2.10,0.00,0.000,6,0.000,0.037,2555,771,3969,0,0,0,0,0,0
$GC,1213,-0.76,-228.7,256.6,-18.7,213,1219,0.00,0.82,0.00,0.000,4,0.000,0.046,2555,195,3969,0,0,0,0,0,0
$GC,1468,-0.76,-228.7,304.7,-18.0,257,1472,0.00,0.65,0.00,0.000,6,0.000,0.024,2551,746,3969,0,0,0,0,0,0
$GC,1799,-0.76,-228.7,358.6,-15.9,288,1803,0.00,0.80,0.00,0.000,4,0.000,0.045,2551,196,3969,0,0,0,0,0,0
$GC,2059,-0.76,-228.7,402.6,-17.4,311,2063,0.00,0.62,0.00,0.000,6,0.000,0.024,2549,738,3968,0,0,0,0,0,0
$GC,2392,-0.76,-228.7,450.5,-14.0,342,2395,0.00,0.80,0.00,0.000,4,0.000,0.047,2548,192,3967,0,0,0,0,0,0
$GC,2652,-0.76,-228.7,490.3,-15.2,365,2655,0.00,0.62,0.00,0.000,6,0.000,0.024,2547,730,3966,0,0,0,0,0,0
$STATE,2725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2726,begin apogee
$GC,2733,-0.14,0.0,500.8,13.5,372,2911,0.65,0.00,169.27,0.953,4,0.125,0.000,2770,1009,3028,0,0,0,0,0,0
$STATE,2911,end apogee,CONTROL_FINISHED_OK
$STATE,2912,begin climb
$GC,2914,0.76,228.7,509.3,0.0,387,3095,0.82,2.00,172.40,0.928,4,0.050,0.019,3083,2386,2095,0,0,0,0,0,0
$GC,3220,0.76,228.7,472.0,18.8,413,3224,0.00,2.12,0.00,0.000,6,0.000,0.034,3093,996,2091,0,0,0,0,0,0
$GC,3546,0.76,228.7,410.8,17.1,443,3550,0.00,1.20,0.00,0.000,4,0.000,0.044,3099,187,2087,0,0,0,0,0,0
$GC,3719,0.76,228.7,379.6,16.9,458,3723,0.08,1.08,0.00,0.000,6,0.166,0.021,3075,1014,2086,0,0,0,0,0,0
$GC,4050,0.76,228.7,323.7,15.9,489,4054,0.00,1.88,0.00,0.000,4,0.000,0.021,3074,2358,2084,0,0,0,0,0,0
$GC,4145,0.76,228.7,309.8,15.0,497,4148,0.00,2.00,0.00,0.000,6,0.000,0.034,3083,1017,2083,0,0,0,0,0,0
$GC,4483,0.76,228.7,256.9,16.1,552,4491,0.00,1.92,0.00,0.000,4,0.000,0.020,3083,2362,2082,0,0,0,0,0,0
$GC,4538,0.76,228.7,248.5,14.9,561,4545,0.00,1.98,0.00,0.000,6,0.000,0.034,3091,1033,2082,0,0,0,0,0,0
$GC,4879,0.76,228.7,196.3,16.2,622,4887,0.00,1.90,0.00,0.000,4,0.000,0.020,3091,2365,2081,0,0,0,0,0,0
$GC,4916,0.76,228.7,190.2,14.7,628,4925,0.10,2.00,0.00,0.000,6,0.157,0.034,3068,1035,2080,0,0,0,0,0,0
$GC,5259,0.81,270.4,148.6,10.8,689,5297,0.00,1.88,30.27,0.722,4,0.000,0.018,3068,2360,1924,0,0,0,0,0,0
$GC,5331,0.81,270.4,139.7,12.4,700,5339,0.00,2.00,0.00,0.000,6,0.000,0.034,3075,1049,1922,0,0,0,0,0,0
$GC,5657,0.82,277.1,97.9,12.1,761,5673,0.00,1.90,6.00,0.558,4,0.000,0.020,3075,2363,1898,0,0,0,0,0,0
$GC,5746,0.82,277.1,86.9,12.7,776,5754,0.00,1.98,0.00,0.000,6,0.000,0.036,3081,1062,1897,0,0,0,0,0,0
$GC,6073,1.02,439.9,53.9,6.5,837,6207,0.20,1.38,123.90,0.633,4,0.073,0.043,3181,191,1233,0,0,0,0,0,0
$GC,6258,1.02,439.9,26.4,19.3,864,6267,0.08,1.12,0.00,0.000,6,0.138,0.019,3156,1063,1230,0,0,0,0,0,0
$STATE,6407,end climb,SURFACE_DEPTH_REACHED
$STATE,6407,begin surface coast
$FINISH,0.3,1.021748
$STATE,6424,end surface coast,CONTROL_FINISHED_OK
$STATE,6424,begin surface
$SM_CCo,6502,0.00,0.000,0,0,1225,442.52
$SM_GC,1.19,7.80,0.00,0.00,0.037,0.000,0.000,118,774,1225,-8.38,-0.45,442.52
$IRIDIUM_FIX,2258.07,12651.26,011010,020225
$TT8_MAMPS,0.028462
$HUMID,39.17
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,26.90
$XPDR_PINGS,0
$24V_AH,24.6,12.453
$10V_AH,10.6,10.191
$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,18.975,38.950,501.850,0.000,0.000,25.132,27.145,140.576,0.000,0.000,15.877,2114.502,1585.091,460.927,2407.326,269.914,0.000,1324.065,0.000,2219.502,0.000,0.543,0.000
$DEVICE_MAMPS,224.145,82.620,953.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,601.894,913.833,1534.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53650,894
$CAP_FILE_SIZE,86449,0
$CFSIZE,260165632,166518784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.138,319.2,1
$GPS,011010,061307,2304.875,12654.250,36,1.0,36,-3.4