version: 66.08
glider: 167
mission: 5
dive: 44
start: 9 27 110 9 18 55
data:
$ID,167
$MISSION,5
$DIVE,44
$N_DIVES,50
$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,-33797.742
$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,36
$R_STBD_OVSHOOT,110
$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
$GPS1,270910,091237,2402.694,12606.151,36,1.0,36,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-72.0
$GPS2,270910,091820,2402.704,12606.128,14,1.1,14,-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,176.3,1321,-21.6,-13.889
$D_GRID,1594
$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,14,begin dive
$GC,17,-0.82,-177.7,0.0,0.0,0,84,0.00,0.00,-64.55,0.000,2,0.000,0.000,117,778,3328,0,0,0,0,0,0
$GC,87,-0.82,-179.8,6.4,-13.8,9,112,9.30,0.88,-6.82,0.000,4,0.228,0.071,2551,182,3764,0,0,0,0,0,0
$GC,352,-0.82,-179.8,108.4,-25.8,57,359,0.00,0.77,0.00,0.000,6,0.000,0.024,2548,791,3767,0,0,0,0,0,0
$GC,685,-0.82,-179.8,184.1,-19.6,118,694,0.00,1.95,0.00,0.000,4,0.000,0.019,2538,2180,3769,0,0,0,0,0,0
$GC,908,-0.82,-179.8,221.3,-15.9,157,915,0.00,2.08,0.00,0.000,6,0.000,0.035,2538,769,3770,0,0,0,0,0,0
$GC,1248,-0.82,-179.8,289.3,-19.7,218,1256,0.00,0.82,0.00,0.000,4,0.000,0.046,2538,191,3770,0,0,0,0,0,0
$GC,1433,-0.82,-179.8,325.8,-19.5,239,1437,0.00,0.73,0.00,0.000,6,0.000,0.024,2534,791,3770,0,0,0,0,0,0
$GC,1764,-0.82,-179.8,380.8,-15.8,270,1767,0.00,0.88,0.00,0.000,4,0.000,0.044,2534,190,3769,0,0,0,0,0,0
$GC,2025,-0.82,-179.8,422.8,-16.6,293,2028,0.00,0.68,0.00,0.000,6,0.000,0.025,2530,738,3768,0,0,0,0,0,0
$GC,2355,-0.82,-179.8,473.2,-15.2,324,2359,0.00,1.98,0.00,0.000,4,0.000,0.019,2520,2149,3767,0,0,0,0,0,0
$GC,2437,-0.84,-195.5,484.2,-13.1,331,2442,0.10,2.05,0.00,0.000,6,0.174,0.036,2546,761,3766,0,0,0,0,0,0
$STATE,2549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2550,begin apogee
$GC,2556,-0.14,0.0,500.8,14.1,341,2699,0.65,0.00,133.27,0.966,4,0.129,0.000,2768,980,3028,0,0,0,0,0,0
$STATE,2699,end apogee,CONTROL_FINISHED_OK
$STATE,2699,begin climb
$GC,2702,0.84,195.5,507.3,0.0,353,2855,0.85,0.00,147.60,0.940,6,0.062,0.000,3092,979,2231,0,0,0,0,0,0
$GC,3171,0.84,195.5,442.4,17.0,396,3174,0.00,2.00,0.00,0.000,4,0.000,0.021,3092,2368,2223,0,0,0,0,0,0
$GC,3349,0.84,195.5,413.2,16.8,412,3353,0.00,2.08,0.00,0.000,6,0.000,0.035,3101,1001,2221,0,0,0,0,0,0
$GC,3681,0.84,195.5,357.1,16.3,443,3685,0.00,1.95,0.00,0.000,4,0.000,0.021,3101,2381,2219,0,0,0,0,0,0
$GC,3715,0.84,195.5,351.2,16.5,446,3719,0.00,2.08,0.00,0.000,6,0.000,0.034,3111,1003,2218,0,0,0,0,0,0
$GC,4042,0.84,195.5,298.2,15.9,477,4049,0.00,1.20,0.00,0.000,4,0.000,0.045,3118,190,2217,0,0,0,0,0,0
$GC,4115,0.84,195.5,286.1,17.9,490,4124,0.00,1.10,0.00,0.000,6,0.000,0.022,3118,1031,2216,0,0,0,0,0,0
$GC,4457,0.84,195.5,233.1,15.5,551,4463,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1031,2215,0,0,0,0,0,0
$GC,4795,0.87,218.2,183.9,12.7,612,4817,0.00,1.30,15.77,0.741,4,0.000,0.045,3124,190,2138,0,0,0,0,0,0
$GC,4944,0.87,218.2,159.5,17.5,637,4951,0.00,1.08,0.00,0.000,6,0.000,0.023,3124,1004,2136,0,0,0,0,0,0
$GC,5270,0.94,274.1,113.8,11.0,698,5323,0.00,2.00,42.72,0.705,4,0.000,0.022,3124,2362,1909,0,0,0,0,0,0
$GC,5342,0.94,279.7,104.3,13.6,708,5358,0.00,2.10,5.57,0.540,6,0.000,0.035,3132,1003,1888,0,0,0,0,0,0
$GC,5681,0.94,279.7,61.3,14.5,770,5689,0.00,1.20,0.00,0.000,4,0.000,0.044,3138,191,1885,0,0,0,0,0,0
$GC,5720,0.97,302.3,55.8,12.7,776,5744,0.00,1.08,18.05,0.633,6,0.000,0.023,3139,1003,1795,0,0,0,0,0,0
$GC,6065,1.05,362.4,20.9,10.7,839,6118,0.00,1.98,45.95,0.612,4,0.000,0.019,3138,2370,1550,0,0,0,0,0,0
$GC,6207,1.07,385.8,3.7,12.7,862,6217,0.00,2.08,5.72,0.473,2,0.000,0.034,3146,1014,1523,0,0,0,0,0,0
$STATE,6218,end climb,SURFACE_DEPTH_REACHED
$STATE,6218,begin surface coast
$FINISH,0.7,0.999178
$STATE,6240,end surface coast,CONTROL_FINISHED_OK
$STATE,6240,begin surface
$SM_CCo,6259,29.98,0.389,1,0,1397,400.08
$SM_GC,2.22,0.00,0.00,29.98,0.000,0.000,0.389,122,786,1397,-8.44,-0.11,400.08
$IRIDIUM_FIX,2352.12,12607.37,270910,070703
$TT8_MAMPS,0.028462
$HUMID,38.22
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,27.20
$XPDR_PINGS,0
$24V_AH,24.6,9.860
$10V_AH,10.6,7.934
$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,18.700,36.525,414.675,29.975,0.000,26.287,14.526,158.203,0.000,0.000,14.978,2072.542,1550.583,442.823,2297.788,284.671,0.000,1246.486,0.000,2123.992,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,71.145,966.195,389.385,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,585.235,886.180,1496.471,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334044
$DATA_FILE_SIZE,50312,867
$CAP_FILE_SIZE,83971,0
$CFSIZE,260165632,165117952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.114,319.5,1
$GPS,270910,110455,2402.428,12606.168,10,1.7,27,-3.6