version: 66.08
glider: 167
mission: 5
dive: 21
start: 9 25 110 18 15 7
data:
$ID,167
$MISSION,5
$DIVE,21
$N_DIVES,30
$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,120
$T_MISSION,150
$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,250
$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,400
$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,-33768.863
$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,2865
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,920
$C_ROLL_CLIMB,1200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,99
$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,2707
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,-15.831312
$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
$GPS1,250910,180936,2409.593,12612.739,26,1.3,26,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-71.3
$GPS2,250910,181444,2409.618,12612.635,12,1.8,12,-3.6
$SPEED_LIMITS,0.241,0.365
$TGT_NAME,WAKE_N
$TGT_LATLONG,2400.000,12606.000
$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,193.0,21055,-18.5,-13.889
$D_GRID,1710
$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,16,-0.92,-243.3,0.0,0.0,0,92,0.00,0.00,-74.07,0.000,2,0.000,0.000,123,903,3203,0,0,0,0,0,0
$GC,95,-0.92,-243.3,5.5,-10.9,10,120,9.27,2.00,-8.25,0.000,4,0.226,0.033,2550,2325,3700,0,0,0,0,0,0
$GC,345,-0.92,-243.3,86.4,-21.0,55,354,0.00,2.15,0.00,0.000,6,0.000,0.037,2549,910,3703,0,0,0,0,0,0
$GC,673,-0.92,-243.3,162.8,-22.7,116,681,0.00,1.05,0.00,0.000,4,0.000,0.046,2549,190,3705,0,0,0,0,0,0
$GC,805,-0.92,-243.3,192.0,-22.9,139,812,0.00,0.95,0.00,0.000,6,0.000,0.024,2544,922,3705,0,0,0,0,0,0
$GC,1137,-0.92,-243.3,260.5,-20.4,200,1145,0.00,1.08,0.00,0.000,4,0.000,0.045,2544,190,3706,0,0,0,0,0,0
$GC,1392,-0.92,-243.3,311.1,-19.7,241,1396,0.08,0.90,0.00,0.000,6,0.173,0.024,2563,894,3706,0,0,0,0,0,0
$GC,1724,-0.92,-243.3,360.4,-14.4,272,1728,0.00,1.02,0.00,0.000,4,0.000,0.046,2563,193,3706,0,0,0,0,0,0
$GC,1981,-0.92,-243.3,399.8,-15.5,295,1985,0.00,0.88,0.00,0.000,6,0.000,0.024,2561,891,3704,0,0,0,0,0,0
$GC,2314,-0.92,-243.3,445.1,-13.2,326,2318,0.00,1.02,0.00,0.000,4,0.000,0.047,2561,192,3703,0,0,0,0,0,0
$GC,2572,-0.92,-243.3,482.6,-14.4,349,2576,0.00,0.85,0.00,0.000,6,0.000,0.024,2561,877,3702,0,0,0,0,0,0
$STATE,2700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2700,begin apogee
$GC,2706,-0.17,0.0,500.2,13.3,361,2891,0.73,0.00,180.12,0.959,4,0.130,0.000,2806,1181,2707,0,0,0,0,0,0
$STATE,2892,end apogee,CONTROL_FINISHED_OK
$STATE,2892,begin climb
$GC,2894,0.92,243.3,507.1,0.0,376,3090,0.95,2.10,186.15,0.927,4,0.049,0.024,3166,2576,1713,0,0,0,0,0,0
$GC,3289,0.92,243.3,417.8,28.2,410,3297,0.00,2.12,0.00,0.000,6,0.000,0.035,3176,1198,1708,0,0,0,0,0,0
$GC,3615,0.92,243.3,322.5,28.8,441,3619,0.00,1.50,0.00,0.000,4,0.000,0.044,3183,197,1705,0,0,0,0,0,0
$GC,3835,0.92,243.3,257.6,28.7,474,3843,0.00,1.38,0.00,0.000,6,0.000,0.023,3183,1211,1702,0,0,0,0,0,0
$GC,4168,0.92,243.3,170.7,26.0,535,4176,0.00,1.92,0.00,0.000,4,0.000,0.028,3183,2550,1701,0,0,0,0,0,0
$GC,4318,0.92,243.3,133.9,25.7,562,4327,0.10,2.03,0.00,0.000,6,0.174,0.035,3161,1209,1700,0,0,0,0,0,0
$GC,4648,0.95,273.9,71.2,12.7,623,4679,0.00,1.55,21.92,0.662,4,0.000,0.047,3169,194,1589,0,0,0,0,0,0
$GC,4920,0.95,273.9,28.5,15.8,672,4928,0.00,1.38,0.00,0.000,6,0.000,0.023,3169,1211,1585,0,0,0,0,0,0
$STATE,5087,end climb,SURFACE_DEPTH_REACHED
$STATE,5087,begin surface coast
$FINISH,0.8,1.002035
$STATE,5110,end surface coast,CONTROL_FINISHED_OK
$STATE,5110,begin surface
$SM_CCo,5127,99.75,0.559,1,0,1076,400.08
$SM_GC,1.64,0.00,0.00,99.75,0.000,0.000,0.559,127,913,1076,-8.55,-0.20,400.08
$IRIDIUM_FIX,2401.56,12610.15,250910,161610
$TT8_MAMPS,0.028462
$HUMID,38.42
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,24.6,6.709
$10V_AH,10.6,5.540
$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,18.825,26.650,388.200,99.750,0.000,22.310,15.425,129.396,0.000,0.000,12.950,1695.490,1176.071,484.073,1956.725,231.070,0.000,1176.745,0.000,1799.239,0.000,0.543,0.000
$DEVICE_MAMPS,226.440,56.610,959.310,559.215,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,476.126,722.760,1234.896,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333864
$DATA_FILE_SIZE,40300,707
$CAP_FILE_SIZE,69805,0
$CFSIZE,260165632,166273024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.198,306.9,1
$GPS,250910,194328,2409.485,12612.341,9,2.5,28,-3.6