version: 66.08
glider: 167
mission: 5
dive: 10
start: 9 24 110 22 0 18
data:
$ID,167
$MISSION,5
$DIVE,10
$N_DIVES,12
$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,140
$T_MISSION,180
$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,180
$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,-27437.764
$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,2885
$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,35
$C_ROLL_DIVE,920
$C_ROLL_CLIMB,1200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,100
$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,2707
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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
$GPS1,240910,215430,2408.225,12613.928,33,1.9,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-69.2
$GPS2,240910,215955,2408.239,12613.806,12,1.8,12,-3.6
$SPEED_LIMITS,0.206,0.299
$TGT_NAME,WAKE_N
$TGT_LATLONG,2400.000,12630.000
$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,123.8,31361,-19.2,-11.905
$D_GRID,1660
$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,-0.86,-175.2,0.0,0.0,0,93,0.00,0.00,-74.93,0.000,2,0.000,0.000,119,927,3247,0,0,0,0,0,0
$GC,96,-0.86,-175.2,5.6,-11.6,10,113,9.60,1.15,-2.85,0.000,4,0.233,0.072,2604,172,3424,0,0,0,0,0,0
$GC,267,-0.86,-175.2,63.9,-26.0,41,276,0.00,1.00,0.00,0.000,6,0.000,0.027,2600,916,3426,0,0,0,0,0,0
$GC,592,-0.86,-175.2,121.5,-16.1,102,600,0.00,1.10,0.00,0.000,4,0.000,0.050,2600,182,3428,0,0,0,0,0,0
$GC,842,-0.86,-175.2,163.6,-15.6,148,850,0.00,0.98,0.00,0.000,6,0.000,0.028,2594,914,3428,0,0,0,0,0,0
$GC,1178,-0.86,-175.2,211.0,-13.7,209,1185,0.00,1.10,0.00,0.000,4,0.000,0.050,2594,176,3429,0,0,0,0,0,0
$GC,1431,-0.86,-175.2,249.6,-14.6,255,1438,0.00,0.95,0.00,0.000,6,0.000,0.028,2588,893,3429,0,0,0,0,0,0
$GC,1762,-0.86,-175.2,291.7,-11.5,316,1770,0.00,1.05,0.00,0.000,4,0.000,0.050,2589,186,3428,0,0,0,0,0,0
$GC,2020,-0.86,-175.2,325.8,-12.9,345,2024,0.00,0.95,0.00,0.000,6,0.000,0.028,2587,906,3428,0,0,0,0,0,0
$GC,2354,-0.86,-175.2,363.6,-11.1,376,2358,0.00,1.08,0.00,0.000,4,0.000,0.051,2587,186,3427,0,0,0,0,0,0
$GC,2503,-0.86,-175.2,382.3,-12.3,389,2511,0.00,0.95,0.00,0.000,6,0.000,0.028,2587,903,3427,0,0,0,0,0,0
$GC,2828,-0.86,-175.2,415.2,-8.4,420,2832,0.00,1.70,0.00,0.000,4,0.000,0.029,2586,2105,3425,0,0,0,0,0,0
$GC,2864,-0.86,-175.2,418.0,-7.7,423,2868,0.00,1.83,0.00,0.000,6,0.000,0.041,2586,882,3425,0,0,0,0,0,0
$GC,3196,-0.86,-175.2,450.0,-10.2,454,3199,0.00,1.00,0.00,0.000,4,0.000,0.051,2586,200,3424,0,0,0,0,0,0
$GC,3298,-0.86,-175.2,461.7,-11.2,463,3302,0.00,0.95,0.00,0.000,6,0.000,0.028,2586,916,3423,0,0,0,0,0,0
$GC,3630,-0.86,-175.2,498.1,-10.8,494,3633,0.00,1.08,0.00,0.000,4,0.000,0.051,2587,195,3421,0,0,0,0,0,0
$STATE,3643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3643,begin apogee
$GC,3650,-0.17,0.0,500.1,10.7,495,3790,0.73,0.00,129.55,0.969,4,0.135,0.000,2828,1215,2706,0,0,0,0,0,0
$STATE,3791,end apogee,CONTROL_FINISHED_OK
$STATE,3791,begin climb
$GC,3793,0.86,175.2,502.9,0.0,507,3937,0.82,1.80,134.00,0.935,4,0.045,0.029,3168,2406,1992,0,0,0,0,0,0
$GC,3955,0.86,175.2,479.6,21.0,520,3963,0.00,1.90,0.00,0.000,6,0.000,0.038,3177,1207,1988,0,0,0,0,0,0
$GC,4281,0.86,175.2,399.3,25.3,551,4285,0.00,1.75,0.00,0.000,4,0.000,0.031,3176,2400,1983,0,0,0,0,0,0
$GC,4330,0.86,175.2,387.6,20.9,555,4337,0.00,1.83,0.00,0.000,6,0.000,0.038,3185,1209,1982,0,0,0,0,0,0
$GC,4656,0.86,175.2,310.2,23.7,586,4659,0.00,1.73,0.00,0.000,4,0.000,0.030,3185,2402,1980,0,0,0,0,0,0
$GC,4691,0.86,175.2,302.4,22.6,589,4695,0.12,1.80,0.00,0.000,6,0.202,0.038,3163,1201,1980,0,0,0,0,0,0
$GC,5020,0.86,175.2,228.7,20.9,649,5027,0.00,1.73,0.00,0.000,4,0.000,0.030,3163,2395,1978,0,0,0,0,0,0
$GC,5133,0.86,175.2,207.9,18.4,669,5140,0.00,1.77,0.00,0.000,6,0.000,0.039,3171,1207,1977,0,0,0,0,0,0
$GC,5465,0.86,175.2,147.5,17.0,730,5473,0.00,1.52,0.00,0.000,4,0.000,0.049,3178,199,1977,0,0,0,0,0,0
$GC,5713,0.86,175.2,99.8,19.2,776,5721,0.00,1.38,0.00,0.000,6,0.000,0.026,3178,1205,1976,0,0,0,0,0,0
$GC,6040,0.93,231.4,60.0,9.3,837,6086,0.00,1.77,40.72,0.658,4,0.000,0.029,3178,2392,1762,0,0,0,0,0,0
$GC,6237,0.93,231.4,36.8,14.4,871,6245,0.00,1.75,0.00,0.000,6,0.000,0.039,3186,1245,1758,0,0,0,0,0,0
$STATE,6489,end climb,SURFACE_DEPTH_REACHED
$STATE,6489,begin surface coast
$FINISH,0.7,0.996952
$STATE,6511,end surface coast,CONTROL_FINISHED_OK
$STATE,6511,begin surface
$SM_CCo,6528,129.82,0.556,1,0,1075,400.08
$SM_GC,1.44,0.00,0.00,129.82,0.000,0.000,0.556,128,920,1075,-8.62,0.00,400.08
$IRIDIUM_FIX,2359.20,12615.36,240910,191950
$TT8_MAMPS,0.028462
$HUMID,39.48
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,27.20
$XPDR_PINGS,1
$24V_AH,24.6,5.376
$10V_AH,10.6,4.271
$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,19.150,39.450,304.275,129.825,0.000,32.941,15.804,132.362,0.250,0.000,12.837,2216.348,1620.511,480.683,2411.157,260.968,0.000,1279.574,0.000,2234.458,0.000,0.543,0.000
$DEVICE_MAMPS,233.325,71.910,969.255,556.155,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,623.638,942.102,1585.517,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333768
$DATA_FILE_SIZE,53653,922
$CAP_FILE_SIZE,86313,0
$CFSIZE,260165632,166752256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,40.708, 91.2,1
$GPS,240910,215955,2408.239,12613.806,901,99.0,901,-3.6