version: 66.08
glider: 167
mission: 6
dive: 30
start: 10 2 110 13 16 44
data:
$ID,167
$MISSION,6
$DIVE,30
$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,-34061.832
$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,44
$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
$GPS1,021010,131055,2303.159,12651.018,37,1.3,37,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.5
$GPS2,021010,131619,2303.169,12651.039,11,1.7,11,-3.3
$SPEED_LIMITS,0.214,0.341
$TGT_NAME,WAKEB_EAST
$TGT_LATLONG,2303.000,12705.000
$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,112.1,23793,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.76,-228.7,0.0,0.0,0,84,0.00,0.00,-64.03,0.000,2,0.000,0.000,124,772,3472,0,0,0,0,0,0
$GC,86,-0.76,-228.7,6.9,-15.9,9,111,9.32,0.85,-7.30,0.000,4,0.227,0.073,2569,192,3965,0,0,0,0,0,0
$GC,334,-0.76,-228.7,99.7,-27.4,54,342,0.00,0.70,0.00,0.000,6,0.000,0.021,2566,818,3967,0,0,0,0,0,0
$GC,663,-0.76,-228.7,175.4,-19.5,115,670,0.00,0.90,0.00,0.000,4,0.000,0.042,2566,203,3969,0,0,0,0,0,0
$GC,917,-0.76,-228.7,227.0,-19.6,161,924,0.00,0.62,0.00,0.000,6,0.000,0.024,2562,764,3970,0,0,0,0,0,0
$GC,1246,-0.76,-228.7,286.2,-17.2,222,1253,0.00,0.82,0.00,0.000,4,0.000,0.044,2562,196,3970,0,0,0,0,0,0
$GC,1397,-0.76,-228.7,313.7,-17.7,242,1405,0.00,0.65,0.00,0.000,6,0.000,0.021,2561,793,3970,0,0,0,0,0,0
$GC,1724,-0.76,-228.7,366.8,-15.8,273,1728,0.00,0.88,0.00,0.000,4,0.000,0.044,2561,193,3970,0,0,0,0,0,0
$GC,1962,-0.76,-228.7,407.2,-15.7,294,1970,0.00,0.60,0.00,0.000,6,0.000,0.023,2561,732,3970,0,0,0,0,0,0
$GC,2288,-0.76,-228.7,451.0,-13.2,325,2292,0.00,1.90,0.00,0.000,4,0.000,0.016,2561,2109,3968,0,0,0,0,0,0
$GC,2304,-0.76,-228.7,453.4,-12.5,326,2312,0.00,2.05,0.00,0.000,6,0.000,0.034,2561,740,3969,0,0,0,0,0,0
$GC,2631,-0.76,-228.7,494.3,-13.1,357,2635,0.00,1.88,0.00,0.000,4,0.000,0.018,2561,2107,3967,0,0,0,0,0,0
$GC,2666,-0.76,-228.7,498.7,-12.4,360,2669,0.00,2.03,0.00,0.000,6,0.000,0.035,2561,737,3967,0,0,0,0,0,0
$STATE,2677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2677,begin apogee
$GC,2684,-0.14,0.0,500.1,11.5,361,2861,0.60,0.00,169.88,0.957,4,0.119,0.000,2769,953,3028,0,0,0,0,0,0
$STATE,2862,end apogee,CONTROL_FINISHED_OK
$STATE,2862,begin climb
$GC,2864,0.76,228.7,511.5,0.0,376,3048,0.80,0.00,172.80,0.934,6,0.060,0.000,3073,952,2094,0,0,0,0,0,0
$GC,3368,0.76,228.7,443.8,18.0,421,3372,0.00,2.00,0.00,0.000,4,0.000,0.020,3072,2354,2088,0,0,0,0,0,0
$GC,3572,0.76,228.7,411.2,14.7,439,3576,0.00,2.00,0.00,0.000,6,0.000,0.034,3082,1023,2086,0,0,0,0,0,0
$GC,3903,0.76,228.7,356.6,17.1,470,3907,0.00,1.88,0.00,0.000,4,0.000,0.020,3081,2359,2084,0,0,0,0,0,0
$GC,3971,0.76,228.7,345.6,16.4,476,3974,0.00,1.98,0.00,0.000,6,0.000,0.034,3091,1036,2083,0,0,0,0,0,0
$GC,4302,0.76,228.7,290.7,17.0,511,4309,0.00,1.85,0.00,0.000,4,0.000,0.020,3090,2359,2081,0,0,0,0,0,0
$GC,4493,0.76,228.7,260.7,15.6,545,4502,0.12,1.92,0.00,0.000,6,0.180,0.034,3066,1064,2081,0,0,0,0,0,0
$GC,4836,0.76,228.7,210.9,13.9,606,4844,0.00,1.85,0.00,0.000,4,0.000,0.020,3066,2361,2080,0,0,0,0,0,0
$GC,4892,0.76,228.7,203.3,14.4,615,4899,0.00,1.90,0.00,0.000,6,0.000,0.034,3073,1079,2080,0,0,0,0,0,0
$GC,5232,0.76,228.7,158.8,12.7,676,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1079,2079,0,0,0,0,0,0
$GC,5561,0.76,228.7,116.6,12.5,737,5569,0.00,1.83,0.00,0.000,4,0.000,0.020,3074,2367,2079,0,0,0,0,0,0
$GC,5646,0.81,264.4,106.7,11.1,752,5676,0.00,1.92,25.25,0.685,6,0.000,0.035,3078,1082,1951,0,0,0,0,0,0
$GC,5999,0.93,363.7,77.2,8.7,816,6081,0.12,0.00,75.70,0.656,6,0.091,0.000,3136,1082,1546,0,0,0,0,0,0
$GC,6403,0.93,363.7,20.8,16.4,887,6410,0.00,1.33,0.00,0.000,4,0.000,0.042,3141,192,1540,0,0,0,0,0,0
$GC,6488,0.93,363.7,8.0,14.8,902,6496,0.00,1.17,0.00,0.000,6,0.000,0.019,3142,1124,1540,0,0,0,0,0,0
$STATE,6522,end climb,SURFACE_DEPTH_REACHED
$STATE,6523,begin surface coast
$FINISH,0.3,1.021974
$STATE,6545,end surface coast,CONTROL_FINISHED_OK
$STATE,6545,begin surface
$SM_CCo,6563,13.38,0.091,1,0,1499,375.06
$SM_GC,1.03,0.00,0.00,13.38,0.000,0.000,0.091,121,789,1499,-8.44,-0.03,375.06
$IRIDIUM_FIX,2253.38,12651.73,021010,111146
$TT8_MAMPS,0.028462
$HUMID,39.13
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.30
$XPDR_PINGS,1
$24V_AH,24.6,14.592
$10V_AH,10.5,12.201
$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,18.575,36.175,443.625,13.375,0.000,29.975,15.066,140.220,0.250,0.000,11.875,2153.746,1630.616,453.465,2391.791,277.681,0.000,1296.510,0.000,2222.516,0.000,0.543,0.000
$DEVICE_MAMPS,227.205,73.440,957.015,91.035,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,615.321,932.381,1560.055,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53527,912
$CAP_FILE_SIZE,85421,0
$CFSIZE,260165632,165617664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.196,312.6,1
$GPS,021010,150734,2303.614,12651.716,9,99.0,28,-3.4