version: 66.08
glider: 167
mission: 6
dive: 28
start: 10 2 110 9 27 27
data:
$ID,167
$MISSION,6
$DIVE,28
$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,-34059.316
$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,38
$R_STBD_OVSHOOT,147
$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
$GPS1,021010,092136,2303.466,12652.305,38,1.0,43,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-72.6
$GPS2,021010,092702,2303.493,12652.295,14,1.2,14,-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,240.4,4016,-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,-228.7,0.0,0.0,0,85,0.00,0.00,-66.00,0.000,2,0.000,0.000,126,785,3283,0,0,0,0,0,0
$GC,88,-0.76,-228.7,5.4,-11.7,9,114,9.20,0.90,-10.85,0.000,4,0.223,0.077,2564,188,3965,0,0,0,0,0,0
$GC,351,-0.76,-228.7,101.5,-26.3,57,360,0.00,0.70,0.00,0.000,6,0.000,0.021,2563,805,3968,0,0,0,0,0,0
$GC,681,-0.76,-228.7,174.4,-20.1,118,689,0.00,0.90,0.00,0.000,4,0.000,0.044,2561,192,3969,0,0,0,0,0,0
$GC,935,-0.76,-228.7,225.0,-19.2,164,944,0.00,0.62,0.00,0.000,6,0.000,0.023,2557,754,3970,0,0,0,0,0,0
$GC,1271,-0.76,-228.7,286.1,-18.5,225,1278,0.00,1.90,0.00,0.000,4,0.000,0.016,2547,2153,3970,0,0,0,0,0,0
$GC,1492,-0.76,-228.7,318.7,-13.8,253,1496,0.00,2.08,0.00,0.000,6,0.000,0.034,2548,743,3970,0,0,0,0,0,0
$GC,1819,-0.76,-228.7,370.3,-15.3,283,1823,0.00,0.77,0.00,0.000,4,0.000,0.044,2548,197,3970,0,0,0,0,0,0
$GC,2074,-0.76,-228.7,413.6,-18.1,306,2077,0.00,0.60,0.00,0.000,6,0.000,0.024,2548,735,3970,0,0,0,0,0,0
$GC,2406,-0.76,-228.7,464.4,-14.1,337,2410,0.00,0.80,0.00,0.000,4,0.000,0.044,2547,186,3967,0,0,0,0,0,0
$GC,2564,-0.76,-228.7,486.7,-14.8,351,2568,0.00,0.60,0.00,0.000,6,0.000,0.024,2547,708,3967,0,0,0,0,0,0
$STATE,2659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2659,begin apogee
$GC,2665,-0.14,0.0,500.7,13.2,360,2840,0.65,0.00,170.00,0.955,4,0.124,0.000,2769,1000,3028,0,0,0,0,0,0
$STATE,2841,end apogee,CONTROL_FINISHED_OK
$STATE,2841,begin climb
$GC,2843,0.76,228.7,509.0,0.0,374,3027,0.77,2.00,173.15,0.930,4,0.052,0.018,3077,2362,2095,0,0,0,0,0,0
$GC,3242,0.76,228.7,456.7,17.2,408,3250,0.00,2.10,0.00,0.000,6,0.000,0.034,3087,997,2089,0,0,0,0,0,0
$GC,3569,0.76,228.7,398.3,16.6,439,3572,0.00,1.20,0.00,0.000,4,0.000,0.043,3093,186,2086,0,0,0,0,0,0
$GC,3695,0.76,228.7,375.4,18.5,450,3703,0.00,1.08,0.00,0.000,6,0.000,0.020,3094,1034,2085,0,0,0,0,0,0
$GC,4022,0.76,228.7,319.8,16.3,481,4025,0.00,1.83,0.00,0.000,4,0.000,0.021,3093,2335,2084,0,0,0,0,0,0
$GC,4124,0.76,228.7,303.4,16.5,490,4128,0.12,1.95,0.00,0.000,6,0.177,0.034,3070,1010,2083,0,0,0,0,0,0
$GC,4451,0.76,228.7,253.5,14.4,548,4460,0.00,1.90,0.00,0.000,4,0.000,0.020,3070,2340,2081,0,0,0,0,0,0
$GC,4483,0.76,228.7,249.1,14.2,553,4491,0.00,1.95,0.00,0.000,6,0.000,0.034,3076,1031,2081,0,0,0,0,0,0
$GC,4816,0.76,228.7,203.9,13.9,614,4824,0.00,1.85,0.00,0.000,4,0.000,0.020,3076,2332,2080,0,0,0,0,0,0
$GC,4870,0.76,228.7,196.3,14.4,623,4877,0.00,1.92,0.00,0.000,6,0.000,0.035,3080,1037,2080,0,0,0,0,0,0
$GC,5200,0.79,249.3,151.6,11.6,684,5222,0.00,1.88,14.40,0.705,4,0.000,0.018,3080,2344,2011,0,0,0,0,0,0
$GC,5278,0.79,249.3,142.7,12.6,697,5287,0.00,1.95,0.00,0.000,6,0.000,0.034,3089,1053,2009,0,0,0,0,0,0
$GC,5608,0.86,304.7,103.1,10.3,758,5660,0.00,1.88,42.88,0.689,4,0.000,0.020,3089,2332,1784,0,0,0,0,0,0
$GC,5684,0.88,323.8,94.0,11.7,769,5710,0.00,1.95,16.00,0.640,6,0.000,0.035,3093,1067,1708,0,0,0,0,0,0
$GC,6030,0.95,378.9,57.0,10.4,832,6076,0.10,0.00,42.83,0.636,6,0.109,0.000,3140,1067,1483,0,0,0,0,0,0
$STATE,6389,end climb,SURFACE_DEPTH_REACHED
$STATE,6389,begin surface coast
$FINISH,0.4,1.021856
$STATE,6411,end surface coast,CONTROL_FINISHED_OK
$STATE,6411,begin surface
$SM_CCo,6489,0.00,0.000,0,0,1473,381.69
$SM_GC,1.46,7.80,0.00,0.00,0.044,0.000,0.000,124,793,1473,-8.37,0.08,381.69
$IRIDIUM_FIX,2255.72,12655.00,021010,070732
$TT8_MAMPS,0.028462
$HUMID,39.52
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.20
$XPDR_PINGS,0
$24V_AH,24.6,14.350
$10V_AH,10.5,11.968
$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,18.650,35.950,459.250,0.000,0.000,29.401,14.732,138.827,0.000,0.000,15.808,2140.217,1548.375,437.545,2412.002,274.546,0.000,1295.619,0.000,2245.459,0.000,0.542,0.000
$DEVICE_MAMPS,223.380,77.265,955.485,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,608.117,922.136,1539.708,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53599,901
$CAP_FILE_SIZE,86039,0
$CFSIZE,260165632,165724160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.149,324.0,1
$GPS,021010,111636,2303.452,12651.562,14,1.2,24,-3.4