version: 66.08
glider: 167
mission: 6
dive: 24
start: 10 2 110 1 42 32
data:
$ID,167
$MISSION,6
$DIVE,24
$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,-34054.289
$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,35
$R_STBD_OVSHOOT,143
$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
$GPS1,021010,013636,2305.025,12654.197,14,0.9,30,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-72.4
$GPS2,021010,014208,2305.098,12654.193,10,1.8,10,-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,227.3,8133,-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,-228.7,0.0,0.0,0,89,0.00,0.00,-69.43,0.000,2,0.000,0.000,118,782,3463,0,0,0,0,0,0
$GC,92,-0.76,-228.7,6.4,-14.6,10,117,9.25,0.90,-7.65,0.000,4,0.223,0.078,2569,187,3963,0,0,0,0,0,0
$GC,355,-0.76,-228.7,101.2,-25.3,58,363,0.00,0.70,0.00,0.000,6,0.000,0.021,2566,783,3967,0,0,0,0,0,0
$GC,687,-0.76,-228.7,177.2,-21.1,119,694,0.00,0.88,0.00,0.000,4,0.000,0.044,2566,189,3968,0,0,0,0,0,0
$GC,948,-0.76,-228.7,227.9,-17.9,165,954,0.00,0.73,0.00,0.000,6,0.000,0.022,2560,801,3969,0,0,0,0,0,0
$GC,1287,-0.76,-228.7,287.8,-17.2,226,1295,0.00,0.90,0.00,0.000,4,0.000,0.044,2562,187,3969,0,0,0,0,0,0
$GC,1549,-0.76,-228.7,334.7,-17.7,255,1553,0.00,0.70,0.00,0.000,6,0.000,0.022,2561,801,3970,0,0,0,0,0,0
$GC,1879,-0.76,-228.7,387.2,-15.3,286,1883,0.00,0.90,0.00,0.000,4,0.000,0.044,2561,189,3969,0,0,0,0,0,0
$GC,2127,-0.76,-228.7,426.0,-16.3,308,2131,0.00,0.68,0.00,0.000,6,0.000,0.023,2561,780,3968,0,0,0,0,0,0
$GC,2459,-0.76,-228.7,475.3,-14.8,339,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,780,3967,0,0,0,0,0,0
$STATE,2636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2636,begin apogee
$GC,2644,-0.14,0.0,500.1,12.9,356,2822,0.62,0.00,169.90,0.953,4,0.124,0.000,2774,986,3027,0,0,0,0,0,0
$STATE,2823,end apogee,CONTROL_FINISHED_OK
$STATE,2823,begin climb
$GC,2827,0.76,228.7,508.8,0.0,371,3006,0.77,0.00,172.32,0.929,6,0.059,0.000,3071,986,2095,0,0,0,0,0,0
$GC,3324,0.76,228.7,442.6,16.4,416,3328,0.00,1.98,0.00,0.000,4,0.000,0.021,3071,2347,2089,0,0,0,0,0,0
$GC,3417,0.76,228.7,427.5,15.2,424,3426,0.00,2.03,0.00,0.000,6,0.000,0.034,3078,1017,2087,0,0,0,0,0,0
$GC,3744,0.76,228.7,376.0,15.5,455,3748,0.00,1.90,0.00,0.000,4,0.000,0.020,3079,2354,2085,0,0,0,0,0,0
$GC,3782,0.76,228.7,369.7,15.1,458,3790,0.00,2.00,0.00,0.000,6,0.000,0.034,3087,1029,2085,0,0,0,0,0,0
$GC,4110,0.76,228.7,317.3,15.7,489,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1030,2083,0,0,0,0,0,0
$GC,4434,0.76,228.7,267.6,16.0,538,4442,0.00,1.90,0.00,0.000,4,0.000,0.020,3088,2357,2081,0,0,0,0,0,0
$GC,4578,0.76,228.7,246.3,15.3,563,4584,0.00,1.98,0.00,0.000,6,0.000,0.034,3097,1026,2082,0,0,0,0,0,0
$GC,4919,0.76,228.7,195.9,14.0,624,4927,0.00,1.90,0.00,0.000,4,0.000,0.020,3097,2357,2081,0,0,0,0,0,0
$GC,5076,0.76,228.7,175.0,13.6,651,5083,0.12,1.95,0.00,0.000,6,0.181,0.034,3070,1039,2081,0,0,0,0,0,0
$GC,5407,0.76,228.7,131.4,13.6,712,5416,0.00,1.88,0.00,0.000,4,0.000,0.019,3069,2361,2080,0,0,0,0,0,0
$GC,5590,0.80,256.3,109.5,11.3,745,5620,0.00,1.95,19.27,0.675,6,0.000,0.034,3075,1062,1983,0,0,0,0,0,0
$GC,5942,0.94,373.9,73.5,8.1,809,6040,0.12,1.30,89.95,0.651,4,0.090,0.041,3139,190,1503,0,0,0,0,0,0
$GC,6057,0.94,373.9,60.1,13.8,824,6066,0.00,1.12,0.00,0.000,6,0.000,0.018,3140,1063,1500,0,0,0,0,0,0
$GC,6385,0.94,373.9,12.3,13.9,885,6393,0.00,1.85,0.00,0.000,4,0.000,0.019,3140,2361,1495,0,0,0,0,0,0
$STATE,6449,end climb,SURFACE_DEPTH_REACHED
$STATE,6449,begin surface coast
$FINISH,0.3,1.021965
$STATE,6472,end surface coast,CONTROL_FINISHED_OK
$STATE,6472,begin surface
$SM_CCo,6552,0.00,0.000,0,0,1492,376.78
$SM_GC,1.72,7.62,0.00,0.00,0.034,0.000,0.000,126,789,1492,-8.35,-0.06,376.78
$IRIDIUM_FIX,2255.72,12656.41,011010,232326
$TT8_MAMPS,0.028462
$HUMID,38.73
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.20
$XPDR_PINGS,1
$24V_AH,24.6,13.846
$10V_AH,10.5,11.493
$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,18.525,32.675,451.450,0.000,0.000,41.164,17.846,136.306,0.250,0.000,11.691,2115.510,1694.668,439.056,2361.001,272.651,0.000,1263.437,0.000,2183.724,0.000,0.546,0.000
$DEVICE_MAMPS,223.380,78.030,953.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,606.427,920.930,1537.347,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53564,900
$CAP_FILE_SIZE,82186,0
$CFSIZE,260165632,165937152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109, 47.9,1
$GPS,021010,033232,2304.371,12654.234,12,1.4,12,-3.4