version: 66.08
glider: 167
mission: 6
dive: 20
start: 10 1 110 18 0 21
data:
$ID,167
$MISSION,6
$DIVE,20
$N_DIVES,40
$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,-34049.262
$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,41
$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,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
$GPS1,011010,175422,2304.350,12652.480,15,99.0,34,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-70.7
$GPS2,011010,175956,2304.374,12652.356,14,1.2,14,-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,200.4,4753,-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,-228.7,0.0,0.0,0,91,0.00,0.00,-71.15,0.000,2,0.000,0.000,123,782,3318,0,0,0,0,0,0
$GC,94,-0.76,-228.7,5.6,-12.3,10,118,9.10,0.90,-10.32,0.000,4,0.219,0.077,2567,186,3965,0,0,0,0,0,0
$GC,357,-0.76,-228.7,96.7,-23.5,58,365,0.00,0.73,0.00,0.000,6,0.000,0.022,2564,802,3967,0,0,0,0,0,0
$GC,687,-0.76,-228.7,165.9,-20.9,119,695,0.00,0.90,0.00,0.000,4,0.000,0.044,2564,192,3969,0,0,0,0,0,0
$GC,940,-0.76,-228.7,219.2,-19.5,165,946,0.00,0.68,0.00,0.000,6,0.000,0.023,2561,781,3969,0,0,0,0,0,0
$GC,1269,-0.76,-228.7,277.3,-16.7,226,1277,0.00,0.85,0.00,0.000,4,0.000,0.045,2561,197,3969,0,0,0,0,0,0
$GC,1524,-0.76,-228.7,322.0,-17.0,261,1528,0.00,0.65,0.00,0.000,6,0.000,0.023,2560,783,3970,0,0,0,0,0,0
$GC,1855,-0.76,-228.7,373.8,-15.3,292,1859,0.00,0.85,0.00,0.000,4,0.000,0.046,2560,200,3969,0,0,0,0,0,0
$GC,2113,-0.76,-228.7,411.4,-13.6,315,2116,0.00,0.62,0.00,0.000,6,0.000,0.023,2559,751,3968,0,0,0,0,0,0
$GC,2443,-0.76,-228.7,455.6,-13.4,346,2447,0.00,0.82,0.00,0.000,4,0.000,0.045,2558,190,3967,0,0,0,0,0,0
$GC,2679,-0.76,-228.7,491.0,-15.4,367,2683,0.00,0.65,0.00,0.000,6,0.000,0.024,2558,754,3966,0,0,0,0,0,0
$STATE,2744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2744,begin apogee
$GC,2751,-0.14,0.0,501.0,14.6,373,2929,0.62,0.00,169.50,0.960,4,0.124,0.000,2770,995,3028,0,0,0,0,0,0
$STATE,2930,end apogee,CONTROL_FINISHED_OK
$STATE,2930,begin climb
$GC,2932,0.76,228.7,511.8,0.0,388,3116,0.82,2.03,172.30,0.936,4,0.056,0.018,3078,2395,2097,0,0,0,0,0,0
$GC,3361,0.76,228.7,456.7,18.1,425,3365,0.00,2.10,0.00,0.000,6,0.000,0.034,3087,1000,2091,0,0,0,0,0,0
$GC,3692,0.76,228.7,397.1,16.7,456,3696,0.00,1.20,0.00,0.000,4,0.000,0.043,3093,190,2089,0,0,0,0,0,0
$GC,3949,0.76,228.7,349.4,20.0,479,3953,0.00,1.08,0.00,0.000,6,0.000,0.021,3093,1027,2086,0,0,0,0,0,0
$GC,4276,0.76,228.7,296.8,15.2,511,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1028,2085,0,0,0,0,0,0
$GC,4610,0.76,228.7,243.0,17.7,572,4618,0.00,1.88,0.00,0.000,4,0.000,0.020,3093,2348,2083,0,0,0,0,0,0
$GC,4658,0.76,228.7,235.2,15.6,580,4666,0.10,2.00,0.00,0.000,6,0.161,0.034,3068,1020,2083,0,0,0,0,0,0
$GC,4989,0.76,228.7,187.1,12.9,641,4996,0.00,1.88,0.00,0.000,4,0.000,0.019,3068,2352,2082,0,0,0,0,0,0
$GC,5089,0.80,260.4,174.9,11.2,659,5118,0.00,1.98,22.92,0.744,6,0.000,0.034,3075,1036,1967,0,0,0,0,0,0
$GC,5443,0.80,260.4,128.4,13.3,723,5452,0.00,1.25,0.00,0.000,4,0.000,0.043,3081,189,1963,0,0,0,0,0,0
$GC,5534,0.80,260.4,115.9,14.9,739,5543,0.00,1.05,0.00,0.000,6,0.000,0.020,3080,1031,1963,0,0,0,0,0,0
$GC,5862,0.92,355.5,78.2,8.9,800,5943,0.10,1.30,72.32,0.671,4,0.106,0.041,3134,193,1578,0,0,0,0,0,0
$GC,5978,0.92,355.5,63.6,15.2,817,5986,0.00,1.05,0.00,0.000,6,0.000,0.020,3134,1006,1575,0,0,0,0,0,0
$GC,6306,0.92,355.5,21.5,13.0,878,6314,0.00,1.90,0.00,0.000,4,0.000,0.019,3133,2339,1572,0,0,0,0,0,0
$GC,6365,0.92,355.5,14.2,12.9,888,6374,0.00,2.00,0.00,0.000,6,0.000,0.034,3143,1018,1571,0,0,0,0,0,0
$STATE,6448,end climb,SURFACE_DEPTH_REACHED
$STATE,6449,begin surface coast
$FINISH,0.3,1.020666
$STATE,6473,end surface coast,CONTROL_FINISHED_OK
$STATE,6473,begin surface
$SM_CCo,6490,25.50,0.357,1,0,1500,375.06
$SM_GC,1.66,0.00,0.00,25.50,0.000,0.000,0.357,127,786,1500,-8.42,-0.11,375.06
$IRIDIUM_FIX,2255.72,12649.85,011010,151522
$TT8_MAMPS,0.028462
$HUMID,40.70
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,26.80
$XPDR_PINGS,2
$24V_AH,24.6,13.345
$10V_AH,10.6,11.025
$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,18.500,30.850,437.050,25.500,0.000,30.556,17.305,139.587,0.500,0.000,15.679,2155.213,1509.365,462.310,2455.251,274.854,0.000,1320.262,0.000,2277.215,0.000,0.544,0.000
$DEVICE_MAMPS,218.790,77.265,960.075,357.255,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,612.517,927.214,1557.469,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333960
$DATA_FILE_SIZE,53563,907
$CAP_FILE_SIZE,86555,0
$CFSIZE,260165632,166146048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.229,337.5,1
$GPS,011010,195024,2304.625,12652.368,26,1.3,43,-3.4