version: 66.08
glider: 167
mission: 5
dive: 29
start: 9 26 110 7 13 54
data:
$ID,167
$MISSION,5
$DIVE,29
$N_DIVES,35
$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,-33778.918
$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,32
$R_STBD_OVSHOOT,124
$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
$GPS1,260910,070755,2408.592,12610.979,9,1.3,14,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-67.2
$GPS2,260910,071330,2408.665,12610.833,12,1.8,16,-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,179.8,18010,-19.1,-13.889
$D_GRID,1779
$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,14,begin dive
$GC,17,-0.92,-228.7,0.0,0.0,0,113,0.00,0.00,-93.85,0.000,2,0.000,0.000,128,919,3170,0,0,0,0,0,0
$GC,117,-0.92,-228.7,5.4,-12.5,13,148,9.23,1.10,-13.10,0.000,4,0.224,0.065,2561,176,3963,0,0,0,0,0,0
$GC,385,-0.92,-228.7,96.3,-26.6,62,393,0.00,0.95,0.00,0.000,6,0.000,0.024,2557,912,3965,0,0,0,0,0,0
$GC,716,-0.92,-228.7,175.5,-21.3,123,723,0.00,1.08,0.00,0.000,4,0.000,0.045,2557,189,3966,0,0,0,0,0,0
$GC,969,-0.92,-228.7,236.0,-21.1,169,976,0.00,0.90,0.00,0.000,6,0.000,0.024,2552,897,3967,0,0,0,0,0,0
$GC,1301,-0.92,-228.7,304.9,-20.4,228,1305,0.00,1.05,0.00,0.000,4,0.000,0.045,2552,186,3967,0,0,0,0,0,0
$GC,1536,-0.92,-228.7,352.4,-18.5,249,1539,0.00,0.90,0.00,0.000,6,0.000,0.024,2547,911,3967,0,0,0,0,0,0
$GC,1868,-0.92,-228.7,411.7,-18.1,280,1872,0.00,1.08,0.00,0.000,4,0.000,0.046,2547,182,3966,0,0,0,0,0,0
$GC,2018,-0.92,-228.7,441.5,-18.7,293,2025,0.00,0.88,0.00,0.000,6,0.000,0.024,2544,874,3965,0,0,0,0,0,0
$GC,2344,-0.92,-228.7,495.2,-16.2,324,2348,0.00,1.02,0.00,0.000,4,0.000,0.047,2544,181,3964,0,0,0,0,0,0
$STATE,2369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2369,begin apogee
$GC,2377,-0.17,0.0,500.2,18.2,326,2556,0.77,0.00,168.65,0.954,4,0.129,0.000,2802,1224,3029,0,0,0,0,0,0
$STATE,2556,end apogee,CONTROL_FINISHED_OK
$STATE,2556,begin climb
$GC,2560,0.92,228.7,512.2,0.0,341,2741,0.98,2.00,173.05,0.930,4,0.046,0.024,3177,2569,2096,0,0,0,0,0,0
$GC,2913,0.92,228.7,456.0,24.5,371,2917,0.00,2.10,0.00,0.000,6,0.000,0.034,3187,1186,2089,0,0,0,0,0,0
$GC,3244,0.92,228.7,375.4,23.8,402,3248,0.00,1.95,0.00,0.000,4,0.000,0.023,3186,2534,2087,0,0,0,0,0,0
$GC,3294,0.92,228.7,362.8,25.2,406,3303,0.10,2.05,0.00,0.000,6,0.181,0.033,3166,1182,2087,0,0,0,0,0,0
$GC,3625,0.92,228.7,289.1,21.2,441,3631,0.00,1.95,0.00,0.000,4,0.000,0.022,3165,2539,2084,0,0,0,0,0,0
$GC,3656,0.92,228.7,282.5,20.8,446,3664,0.00,2.03,0.00,0.000,6,0.000,0.034,3174,1199,2084,0,0,0,0,0,0
$GC,3998,0.92,228.7,211.2,19.3,507,4004,0.00,1.90,0.00,0.000,4,0.000,0.023,3174,2540,2082,0,0,0,0,0,0
$GC,4024,0.92,228.7,205.8,19.3,511,4031,0.00,1.98,0.00,0.000,6,0.000,0.034,3183,1197,2082,0,0,0,0,0,0
$GC,4366,0.92,228.7,141.9,17.5,572,4375,0.00,1.50,0.00,0.000,4,0.000,0.044,3190,190,2081,0,0,0,0,0,0
$GC,4482,0.92,228.7,120.0,21.0,593,4490,0.08,1.33,0.00,0.000,6,0.184,0.021,3169,1179,2080,0,0,0,0,0,0
$GC,4812,1.07,356.9,74.6,8.7,654,4912,0.12,2.10,92.85,0.667,4,0.103,0.024,3219,2557,1573,0,0,0,0,0,0
$GC,5006,1.07,356.9,41.0,19.1,684,5015,0.00,2.12,0.00,0.000,6,0.000,0.034,3229,1175,1569,0,0,0,0,0,0
$STATE,5187,end climb,SURFACE_DEPTH_REACHED
$STATE,5187,begin surface coast
$FINISH,0.7,1.009140
$STATE,5204,end surface coast,CONTROL_FINISHED_OK
$STATE,5204,begin surface
$SM_CCo,5222,200.50,0.562,1,0,500,620.12
$SM_GC,1.52,0.00,0.00,200.50,0.000,0.000,0.562,126,924,500,-8.56,0.11,620.12
$IRIDIUM_FIX,2401.56,12612.06,260910,050526
$TT8_MAMPS,0.028462
$HUMID,37.91
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,24.6,7.856
$10V_AH,10.6,6.332
$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,19.275,33.700,434.550,200.500,0.000,25.398,35.335,131.720,0.000,0.000,17.653,1693.091,1211.902,640.965,1973.225,245.459,0.000,1358.500,0.000,1792.022,0.000,0.543,0.000
$DEVICE_MAMPS,224.145,65.025,953.955,562.275,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,483.851,736.534,1242.637,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43519,720
$CAP_FILE_SIZE,73146,0
$CFSIZE,260165632,165883904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.199,314.7,1
$GPS,260910,084536,2408.438,12610.918,36,1.5,36,-3.6