version: 66.08
glider: 167
mission: 5
dive: 41
start: 9 27 110 3 53 7
data:
$ID,167
$MISSION,5
$DIVE,41
$N_DIVES,45
$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,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,-33793.973
$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,39
$R_STBD_OVSHOOT,102
$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
$GPS1,270910,034631,2403.341,12607.945,42,1.5,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-72.7
$GPS2,270910,035244,2403.386,12607.890,12,1.1,12,-3.6
$SPEED_LIMITS,0.241,0.355
$TGT_NAME,NWALL_S
$TGT_LATLONG,2402.000,12606.000
$TGT_RADIUS,1000.000
$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,225.3,4100,-19.1,-13.889
$D_GRID,1575
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.81,-228.7,0.0,0.0,0,90,0.00,0.00,-70.00,0.000,2,0.000,0.000,118,786,3457,0,0,0,0,0,0
$GC,94,-0.81,-228.7,6.7,-13.7,10,118,9.35,2.03,-7.65,0.000,4,0.230,0.035,2539,2186,3965,0,0,0,0,0,0
$GC,274,-0.81,-228.7,75.6,-24.2,42,281,0.00,2.12,0.00,0.000,6,0.000,0.037,2539,790,3968,0,0,0,0,0,0
$GC,602,-0.81,-228.7,163.2,-23.5,103,609,0.00,0.90,0.00,0.000,4,0.000,0.047,2539,186,3969,0,0,0,0,0,0
$GC,852,-0.81,-228.7,230.3,-25.0,147,859,0.00,0.75,0.00,0.000,6,0.000,0.026,2534,781,3970,0,0,0,0,0,0
$GC,1190,-0.81,-228.7,304.8,-21.2,206,1194,0.00,0.88,0.00,0.000,4,0.000,0.046,2535,185,3970,0,0,0,0,0,0
$GC,1417,-0.81,-228.7,355.8,-22.6,226,1420,0.00,0.73,0.00,0.000,6,0.000,0.026,2530,759,3970,0,0,0,0,0,0
$GC,1749,-0.81,-228.7,419.5,-17.0,257,1753,0.10,0.85,0.00,0.000,4,0.194,0.047,2555,190,3969,0,0,0,0,0,0
$GC,1799,-0.81,-228.7,427.9,-14.8,261,1806,0.00,0.70,0.00,0.000,6,0.000,0.025,2553,752,3970,0,0,0,0,0,0
$GC,2125,-0.81,-228.7,473.9,-13.0,292,2129,0.00,0.82,0.00,0.000,4,0.000,0.046,2553,189,3968,0,0,0,0,0,0
$GC,2184,-0.81,-228.7,481.4,-13.0,297,2188,0.00,0.73,0.00,0.000,6,0.000,0.026,2550,761,3967,0,0,0,0,0,0
$STATE,2321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2321,begin apogee
$GC,2329,-0.14,0.0,501.3,14.5,310,2507,0.65,0.00,170.05,0.954,4,0.125,0.000,2769,1012,3028,0,0,0,0,0,0
$STATE,2507,end apogee,CONTROL_FINISHED_OK
$STATE,2507,begin climb
$GC,2511,0.81,228.7,512.1,0.0,325,2692,0.88,2.03,173.12,0.930,4,0.057,0.021,3093,2399,2095,0,0,0,0,0,0
$GC,2822,0.81,228.7,480.3,16.9,352,2826,0.00,2.15,0.00,0.000,6,0.000,0.034,3103,1000,2090,0,0,0,0,0,0
$GC,3151,0.81,228.7,420.2,18.4,382,3154,0.00,1.20,0.00,0.000,4,0.000,0.044,3110,191,2087,0,0,0,0,0,0
$GC,3411,0.81,228.7,369.8,17.8,405,3415,0.00,1.10,0.00,0.000,6,0.000,0.023,3110,1022,2085,0,0,0,0,0,0
$GC,3742,0.81,228.7,310.4,16.8,436,3746,0.00,1.90,0.00,0.000,4,0.000,0.021,3110,2371,2083,0,0,0,0,0,0
$GC,3780,0.81,228.7,303.7,16.9,439,3788,0.08,2.05,0.00,0.000,6,0.169,0.034,3086,1014,2082,0,0,0,0,0,0
$GC,4117,0.81,228.7,251.4,16.2,498,4125,0.00,1.23,0.00,0.000,4,0.000,0.044,3091,184,2081,0,0,0,0,0,0
$GC,4165,0.81,228.7,243.5,16.3,506,4173,0.00,1.08,0.00,0.000,6,0.000,0.021,3091,1015,2080,0,0,0,0,0,0
$GC,4506,0.85,258.1,194.7,12.7,567,4534,0.00,1.23,20.95,0.755,4,0.000,0.043,3097,191,1975,0,0,0,0,0,0
$GC,4586,0.85,258.1,182.5,16.5,580,4595,0.00,1.02,0.00,0.000,6,0.000,0.023,3097,972,1973,0,0,0,0,0,0
$GC,4925,0.87,273.3,133.5,13.3,641,4947,0.00,2.03,12.73,0.679,4,0.000,0.022,3098,2365,1913,0,0,0,0,0,0
$GC,5047,0.90,305.2,118.3,12.6,662,5078,0.00,2.10,25.77,0.691,6,0.000,0.035,3106,985,1783,0,0,0,0,0,0
$GC,5402,0.90,305.2,72.5,14.2,726,5409,0.00,1.17,0.00,0.000,4,0.000,0.045,3113,192,1778,0,0,0,0,0,0
$GC,5472,0.95,337.8,62.7,12.6,738,5503,0.00,1.02,25.58,0.644,6,0.000,0.024,3113,964,1650,0,0,0,0,0,0
$GC,5823,1.08,445.3,27.2,9.5,802,5914,0.15,1.20,81.90,0.611,4,0.083,0.041,3195,191,1212,0,0,0,0,0,0
$STATE,5958,end climb,SURFACE_DEPTH_REACHED
$STATE,5958,begin surface coast
$FINISH,0.7,1.021695
$STATE,5969,end surface coast,CONTROL_FINISHED_OK
$STATE,5969,begin surface
$SM_CCo,6050,0.00,0.000,0,0,1206,447.18
$SM_GC,1.74,8.02,0.00,0.00,0.041,0.000,0.000,125,826,1206,-8.36,1.02,447.18
$IRIDIUM_FIX,2354.48,12607.37,270910,010159
$TT8_MAMPS,0.027713
$HUMID,38.46
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,27.20
$XPDR_PINGS,0
$24V_AH,24.6,9.516
$10V_AH,10.6,7.598
$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,19.225,34.050,510.100,0.000,0.000,30.195,41.006,158.755,0.000,0.000,13.293,1942.525,1484.895,466.717,2249.541,276.488,0.000,1273.517,0.000,2043.468,0.000,0.543,0.000
$DEVICE_MAMPS,230.265,47.430,953.955,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.347,842.235,1422.932,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333988
$DATA_FILE_SIZE,46953,824
$CAP_FILE_SIZE,82644,0
$CFSIZE,260165632,165273600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,334.6,1
$GPS,270910,053504,2403.032,12607.152,12,2.2,31,-3.6