version: 66.08
glider: 167
mission: 5
dive: 46
start: 9 27 110 12 58 36
data:
$ID,167
$MISSION,5
$DIVE,46
$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,-33800.254
$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,130
$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
$GPS1,270910,125225,2403.532,12606.004,40,1.0,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-72.0
$GPS2,270910,125813,2403.535,12605.967,11,1.3,16,-3.6
$SPEED_LIMITS,0.241,0.355
$TGT_NAME,NWALL_N
$TGT_LATLONG,2412.000,12606.000
$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,12.2,15678,-19.1,-13.889
$D_GRID,1633
$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,-0.81,-228.7,0.0,0.0,0,90,0.00,0.00,-71.72,0.000,2,0.000,0.000,125,782,3471,0,0,0,0,0,0
$GC,93,-0.81,-228.7,6.4,-12.4,10,117,9.23,1.95,-7.45,0.000,4,0.226,0.031,2542,2170,3963,0,0,0,0,0,0
$GC,162,-0.81,-228.7,42.8,-39.1,21,170,0.00,2.12,0.00,0.000,6,0.000,0.037,2542,785,3965,0,0,0,0,0,0
$GC,489,-0.81,-228.7,136.7,-25.7,82,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,785,3967,0,0,0,0,0,0
$GC,832,-0.81,-228.7,220.1,-23.3,143,839,0.00,0.85,0.00,0.000,4,0.000,0.046,2542,192,3969,0,0,0,0,0,0
$GC,968,-0.81,-228.7,252.1,-20.5,167,974,0.00,0.73,0.00,0.000,6,0.000,0.025,2538,782,3968,0,0,0,0,0,0
$GC,1310,-0.81,-228.7,321.1,-19.4,219,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,783,3968,0,0,0,0,0,0
$GC,1638,-0.81,-228.7,381.2,-17.2,250,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,783,3968,0,0,0,0,0,0
$GC,1967,-0.81,-228.7,438.6,-16.9,281,1971,0.00,0.88,0.00,0.000,4,0.000,0.046,2537,186,3968,0,0,0,0,0,0
$GC,2201,-0.81,-228.7,477.0,-15.0,302,2205,0.00,0.75,0.00,0.000,6,0.000,0.024,2535,791,3967,0,0,0,0,0,0
$STATE,2361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2361,begin apogee
$GC,2368,-0.14,0.0,500.9,14.6,317,2542,0.70,0.00,169.98,0.959,4,0.129,0.000,2770,998,3028,0,0,0,0,0,0
$STATE,2543,end apogee,CONTROL_FINISHED_OK
$STATE,2543,begin climb
$GC,2546,0.81,228.7,510.9,0.0,332,2726,0.82,0.00,173.12,0.936,6,0.057,0.000,3086,998,2095,0,0,0,0,0,0
$GC,3045,0.81,228.7,441.8,17.7,377,3049,0.00,1.23,0.00,0.000,4,0.000,0.043,3092,190,2088,0,0,0,0,0,0
$GC,3237,0.81,228.7,407.2,18.2,394,3241,0.00,1.08,0.00,0.000,6,0.000,0.022,3092,1012,2087,0,0,0,0,0,0
$GC,3570,0.81,228.7,349.5,16.4,425,3573,0.00,1.88,0.00,0.000,4,0.000,0.021,3093,2354,2084,0,0,0,0,0,0
$GC,3640,0.81,228.7,338.4,15.4,431,3644,0.00,2.03,0.00,0.000,6,0.000,0.034,3101,994,2083,0,0,0,0,0,0
$GC,3968,0.82,233.0,285.8,13.7,470,3976,0.00,1.95,0.00,0.000,4,0.000,0.021,3101,2351,2082,0,0,0,0,0,0
$GC,3984,0.82,233.0,283.6,14.2,472,3994,0.00,2.03,2.65,0.343,6,0.000,0.034,3111,1012,2079,0,0,0,0,0,0
$GC,4330,0.82,233.0,231.1,14.2,533,4336,0.00,1.88,0.00,0.000,4,0.000,0.021,3111,2355,2077,0,0,0,0,0,0
$GC,4388,0.82,233.0,222.2,14.4,543,4395,0.12,1.98,0.00,0.000,6,0.181,0.035,3088,1015,2077,0,0,0,0,0,0
$GC,4731,0.86,266.5,175.3,12.5,604,4767,0.00,1.95,26.85,0.744,4,0.000,0.021,3088,2351,1940,0,0,0,0,0,0
$GC,4803,0.87,273.5,166.0,13.6,615,4818,0.00,2.00,6.65,0.613,6,0.000,0.035,3096,1022,1914,0,0,0,0,0,0
$GC,5140,0.87,273.5,114.6,16.3,677,5148,0.00,1.23,0.00,0.000,4,0.000,0.045,3102,194,1911,0,0,0,0,0,0
$GC,5183,0.87,273.5,108.1,15.3,684,5192,0.00,1.12,0.00,0.000,6,0.000,0.021,3102,1052,1911,0,0,0,0,0,0
$GC,5510,1.01,393.8,70.4,9.0,745,5609,0.12,1.95,91.93,0.655,4,0.098,0.022,3162,2351,1422,0,0,0,0,0,0
$GC,5835,1.01,393.8,20.5,15.8,800,5844,0.00,1.95,0.00,0.000,6,0.000,0.034,3171,1074,1415,0,0,0,0,0,0
$STATE,5933,end climb,SURFACE_DEPTH_REACHED
$STATE,5933,begin surface coast
$FINISH,0.8,1.017306
$STATE,5953,end surface coast,CONTROL_FINISHED_OK
$STATE,5953,begin surface
$SM_CCo,5971,4.78,0.067,0,0,1398,400.08
$SM_GC,2.74,0.00,0.00,4.78,0.000,0.000,0.067,117,779,1398,-8.46,-0.31,400.08
$IRIDIUM_FIX,2354.48,12608.76,270910,111107
$TT8_MAMPS,0.028462
$HUMID,39.84
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,26.70
$XPDR_PINGS,0
$24V_AH,24.6,10.115
$10V_AH,10.6,8.149
$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,18.850,32.100,471.175,4.775,0.000,28.613,41.541,132.651,0.000,0.000,17.143,1915.917,1516.523,453.049,2189.656,249.746,0.000,1231.283,0.000,1990.604,0.000,0.544,0.000
$DEVICE_MAMPS,226.440,52.785,958.545,66.555,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,552.832,839.050,1394.894,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333992
$DATA_FILE_SIZE,47008,821
$CAP_FILE_SIZE,77873,0
$CFSIZE,260165632,165027840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.017, 37.2,1
$GPS,270910,143922,2404.494,12606.060,11,3.2,30,-3.6