version: 66.08
glider: 167
mission: 5
dive: 26
start: 9 26 110 2 13 1
data:
$ID,167
$MISSION,5
$DIVE,26
$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,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,620
$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,-33775.148
$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,37
$R_STBD_OVSHOOT,89
$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,-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
$GPS1,260910,020720,2409.379,12611.756,15,1.7,15,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-66.4
$GPS2,260910,021237,2409.398,12611.633,10,1.7,15,-3.6
$SPEED_LIMITS,0.241,0.355
$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,191.0,19844,-19.1,-13.889
$D_GRID,1758
$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,-228.7,0.0,0.0,0,111,0.00,0.00,-92.62,0.000,2,0.000,0.000,121,917,3131,0,0,0,0,0,0
$GC,114,-0.92,-228.7,5.2,-10.5,12,145,9.12,1.10,-14.00,0.000,4,0.220,0.069,2560,187,3962,0,0,0,0,0,0
$GC,383,-0.92,-228.7,102.5,-29.2,61,392,0.00,1.00,0.00,0.000,6,0.000,0.022,2555,982,3965,0,0,0,0,0,0
$GC,715,-0.92,-228.7,183.9,-21.0,122,723,0.00,1.17,0.00,0.000,4,0.000,0.044,2555,190,3966,0,0,0,0,0,0
$GC,970,-0.92,-228.7,246.2,-24.7,168,980,0.00,0.93,0.00,0.000,6,0.000,0.025,2549,906,3966,0,0,0,0,0,0
$GC,1307,-0.92,-228.7,311.3,-19.7,224,1310,0.00,1.05,0.00,0.000,4,0.000,0.046,2550,193,3966,0,0,0,0,0,0
$GC,1563,-0.92,-228.7,361.0,-17.7,247,1567,0.00,0.88,0.00,0.000,6,0.000,0.024,2547,892,3966,0,0,0,0,0,0
$GC,1895,-0.92,-228.7,416.5,-15.7,278,1898,0.00,1.02,0.00,0.000,4,0.000,0.045,2548,193,3965,0,0,0,0,0,0
$GC,2023,-0.92,-228.7,438.5,-18.0,289,2031,0.00,0.88,0.00,0.000,6,0.000,0.024,2547,887,3965,0,0,0,0,0,0
$GC,2348,-0.92,-228.7,491.1,-15.1,320,2352,0.00,1.02,0.00,0.000,4,0.000,0.047,2547,193,3963,0,0,0,0,0,0
$STATE,2405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2405,begin apogee
$GC,2414,-0.17,0.0,500.5,15.7,325,2589,0.75,0.00,169.05,0.958,4,0.125,0.000,2802,1239,3028,0,0,0,0,0,0
$STATE,2590,end apogee,CONTROL_FINISHED_OK
$STATE,2590,begin climb
$GC,2592,0.92,228.7,510.1,0.0,340,2777,0.95,1.67,172.80,0.931,4,0.050,0.046,3164,193,2095,0,0,0,0,0,0
$GC,2835,0.92,228.7,475.7,27.7,361,2839,0.00,1.38,0.00,0.000,6,0.000,0.023,3164,1169,2091,0,0,0,0,0,0
$GC,3166,0.92,228.7,395.0,24.4,392,3169,0.00,1.48,0.00,0.000,4,0.000,0.044,3172,197,2085,0,0,0,0,0,0
$GC,3202,0.92,228.7,385.4,24.0,395,3209,0.00,1.38,0.00,0.000,6,0.000,0.021,3172,1208,2085,0,0,0,0,0,0
$GC,3529,0.92,228.7,309.7,21.4,426,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1209,2083,0,0,0,0,0,0
$GC,3856,0.92,228.7,239.1,20.4,481,3863,0.00,1.52,0.00,0.000,4,0.000,0.043,3179,193,2081,0,0,0,0,0,0
$GC,3904,0.92,228.7,229.5,20.2,489,3912,0.00,1.33,0.00,0.000,6,0.000,0.023,3179,1173,2081,0,0,0,0,0,0
$GC,4238,0.92,228.7,164.8,16.5,550,4245,0.00,1.48,0.00,0.000,4,0.000,0.044,3186,190,2079,0,0,0,0,0,0
$GC,4264,0.92,228.7,160.3,17.1,554,4272,0.00,1.33,0.00,0.000,6,0.000,0.022,3186,1180,2080,0,0,0,0,0,0
$GC,4593,0.92,228.7,104.3,14.1,615,4601,0.00,1.48,0.00,0.000,4,0.000,0.043,3193,192,2079,0,0,0,0,0,0
$GC,4678,0.96,261.0,92.6,12.6,630,4708,0.00,1.30,22.83,0.681,6,0.000,0.024,3194,1153,1962,0,0,0,0,0,0
$GC,5031,1.04,330.1,46.2,11.1,694,5091,0.00,1.45,52.08,0.641,4,0.000,0.043,3201,191,1684,0,0,0,0,0,0
$STATE,5321,end climb,SURFACE_DEPTH_REACHED
$STATE,5322,begin surface coast
$FINISH,0.8,1.006566
$STATE,5341,end surface coast,CONTROL_FINISHED_OK
$STATE,5341,begin surface
$SM_CCo,5359,219.95,0.562,1,0,500,620.12
$SM_GC,1.62,0.00,0.00,219.95,0.000,0.000,0.562,120,925,500,-8.58,0.14,620.12
$IRIDIUM_FIX,2359.20,12610.15,260910,000040
$TT8_MAMPS,0.028462
$HUMID,36.45
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,26.90
$XPDR_PINGS,0
$24V_AH,24.6,7.409
$10V_AH,10.6,6.031
$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,18.725,27.175,416.750,219.950,0.000,26.073,17.132,129.341,0.000,0.000,16.388,1759.662,1240.885,649.179,2015.817,239.848,0.000,1373.760,0.000,1854.196,0.000,0.544,0.000
$DEVICE_MAMPS,219.555,68.850,957.780,562.275,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,503.849,765.926,1306.039,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333972
$DATA_FILE_SIZE,43575,749
$CAP_FILE_SIZE,73327,0
$CFSIZE,260165632,166031360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.165,282.4,1
$GPS,260910,034716,2409.068,12611.467,13,99.0,32,-3.6