version: 66.08
glider: 167
mission: 5
dive: 47
start: 9 27 110 14 45 58
data:
$ID,167
$MISSION,5
$DIVE,47
$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,-33801.512
$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,40
$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
$GPS1,270910,143922,2404.494,12606.060,11,3.2,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-71.6
$GPS2,270910,144534,2404.476,12606.003,14,3.5,33,-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,2.0,13935,-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,17,-0.81,-228.7,0.0,0.0,0,82,0.00,0.00,-62.80,0.000,2,0.000,0.000,116,779,3255,0,0,0,0,0,0
$GC,86,-0.81,-228.7,5.7,-11.7,9,111,9.18,2.00,-11.35,0.000,4,0.223,0.035,2540,2160,3964,0,0,0,0,0,0
$GC,151,-0.81,-228.7,36.3,-38.4,19,159,0.00,2.10,0.00,0.000,6,0.000,0.037,2540,790,3966,0,0,0,0,0,0
$GC,477,-0.81,-228.7,131.2,-24.7,80,485,0.00,1.92,0.00,0.000,4,0.000,0.019,2530,2152,3968,0,0,0,0,0,0
$GC,521,-0.81,-228.7,142.1,-23.4,87,529,0.00,2.05,0.00,0.000,6,0.000,0.035,2530,794,3968,0,0,0,0,0,0
$GC,864,-0.81,-228.7,223.1,-22.6,148,872,0.10,0.90,0.00,0.000,4,0.191,0.047,2554,186,3970,0,0,0,0,0,0
$GC,1042,-0.81,-228.7,263.2,-20.9,179,1048,0.00,0.77,0.00,0.000,6,0.000,0.023,2551,833,3970,0,0,0,0,0,0
$GC,1374,-0.81,-228.7,330.1,-19.2,226,1378,0.00,0.95,0.00,0.000,4,0.000,0.044,2552,186,3970,0,0,0,0,0,0
$GC,1481,-0.81,-228.7,350.0,-17.7,235,1487,0.00,0.73,0.00,0.000,6,0.000,0.024,2548,795,3970,0,0,0,0,0,0
$GC,1807,-0.81,-228.7,403.9,-15.7,266,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,796,3970,0,0,0,0,0,0
$GC,2129,-0.81,-228.7,452.6,-15.5,296,2132,0.00,0.88,0.00,0.000,4,0.000,0.045,2548,193,3969,0,0,0,0,0,0
$GC,2377,-0.81,-228.7,490.6,-14.5,318,2380,0.00,0.70,0.00,0.000,6,0.000,0.024,2548,779,3968,0,0,0,0,0,0
$STATE,2452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2452,begin apogee
$GC,2458,-0.14,0.0,500.6,12.4,325,2636,0.65,0.00,170.15,0.959,4,0.125,0.000,2769,990,3028,0,0,0,0,0,0
$STATE,2636,end apogee,CONTROL_FINISHED_OK
$STATE,2636,begin climb
$GC,2640,0.81,228.7,507.6,0.0,340,2820,0.82,0.00,172.75,0.935,6,0.058,0.000,3086,989,2095,0,0,0,0,0,0
$GC,3136,0.81,228.7,438.9,18.4,385,3140,0.00,2.00,0.00,0.000,4,0.000,0.021,3086,2391,2088,0,0,0,0,0,0
$GC,3249,0.81,228.7,419.4,17.6,395,3253,0.00,2.10,0.00,0.000,6,0.000,0.034,3095,996,2087,0,0,0,0,0,0
$GC,3580,0.81,228.7,359.5,16.8,426,3584,0.00,1.20,0.00,0.000,4,0.000,0.045,3102,188,2085,0,0,0,0,0,0
$GC,3626,0.81,228.7,351.5,17.4,430,3630,0.00,1.08,0.00,0.000,6,0.000,0.021,3102,1018,2084,0,0,0,0,0,0
$GC,3952,0.81,228.7,296.5,16.1,462,3961,0.00,1.90,0.00,0.000,4,0.000,0.021,3102,2350,2083,0,0,0,0,0,0
$GC,3975,0.81,228.7,293.2,16.1,465,3982,0.00,2.03,0.00,0.000,6,0.000,0.034,3112,995,2083,0,0,0,0,0,0
$GC,4316,0.81,228.7,236.0,16.4,526,4325,0.00,1.95,0.00,0.000,4,0.000,0.021,3111,2352,2081,0,0,0,0,0,0
$GC,4372,0.81,228.7,227.4,15.4,535,4379,0.15,1.98,0.00,0.000,6,0.181,0.035,3081,1021,2081,0,0,0,0,0,0
$GC,4711,0.81,228.7,176.3,14.6,596,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1021,2081,0,0,0,0,0,0
$GC,5047,0.86,269.8,133.9,12.2,657,5083,0.00,0.00,29.58,0.718,6,0.000,0.000,3081,1021,1929,0,0,0,0,0,0
$GC,5402,0.99,371.0,91.6,9.8,722,5490,0.17,2.00,77.70,0.675,4,0.077,0.022,3159,2347,1514,0,0,0,0,0,0
$GC,5636,0.99,371.0,51.1,18.0,761,5644,0.00,2.00,0.00,0.000,6,0.000,0.035,3169,1045,1508,0,0,0,0,0,0
$STATE,5946,end climb,SURFACE_DEPTH_REACHED
$STATE,5946,begin surface coast
$FINISH,0.8,1.020575
$STATE,5963,end surface coast,CONTROL_FINISHED_OK
$STATE,5965,begin surface
$SM_CCo,5982,26.08,0.362,1,0,1398,400.08
$SM_GC,2.14,0.00,0.00,26.08,0.000,0.000,0.362,132,777,1398,-8.41,-0.37,400.08
$IRIDIUM_FIX,2354.48,12604.07,270910,121235
$TT8_MAMPS,0.028462
$HUMID,39.72
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,26.40
$XPDR_PINGS,1
$24V_AH,24.6,10.240
$10V_AH,10.6,8.258
$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,18.825,31.775,450.175,26.075,0.000,30.541,39.662,134.693,0.250,0.000,34.920,1934.804,1522.920,459.415,2214.379,255.689,0.000,1230.211,0.000,1995.378,0.000,0.543,0.000
$DEVICE_MAMPS,223.380,53.550,958.545,361.845,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.284,839.894,1402.509,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333976
$DATA_FILE_SIZE,46930,822
$CAP_FILE_SIZE,78215,0
$CFSIZE,260165632,164978688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.044,165.9,1
$GPS,270910,162702,2405.291,12605.820,11,1.2,11,-3.6