version: 66.08
glider: 167
mission: 5
dive: 12
start: 9 25 110 2 47 31
data:
$ID,167
$MISSION,5
$DIVE,12
$N_DIVES,25
$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,-31049.785
$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,2865
$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,41
$R_STBD_OVSHOOT,115
$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
$GPS1,240910,215955,2408.239,12613.806,901,99.0,901,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-70.0
$GPS2,240910,215955,2408.239,12613.806,901,99.0,901,-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,125.9,31361,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.86,-175.2,0.0,0.0,0,99,0.00,0.00,-78.53,0.000,2,0.000,0.000,113,933,3421,0,0,0,0,0,0
$GC,101,-0.86,-175.2,6.6,-14.4,11,117,9.27,1.05,0.00,0.000,4,0.230,0.031,2582,174,3423,0,0,0,0,0,0
$GC,355,-0.86,-175.2,94.3,-25.2,58,363,0.00,0.95,0.00,0.000,6,0.000,0.026,2579,903,3424,0,0,0,0,0,0
$GC,681,-0.86,-175.2,151.6,-16.9,119,687,0.00,1.05,0.00,0.000,4,0.000,0.047,2578,190,3425,0,0,0,0,0,0
$GC,931,-0.86,-175.2,195.0,-15.8,165,938,0.00,0.93,0.00,0.000,6,0.000,0.025,2573,911,3425,0,0,0,0,0,0
$GC,1265,-0.86,-175.2,242.7,-12.8,226,1273,0.00,1.05,0.00,0.000,4,0.000,0.047,2573,195,3424,0,0,0,0,0,0
$GC,1342,-0.86,-175.2,253.3,-13.9,239,1348,0.00,0.90,0.00,0.000,6,0.000,0.026,2568,891,3424,0,0,0,0,0,0
$GC,1673,-0.86,-175.2,300.4,-14.8,300,1677,0.00,1.02,0.00,0.000,4,0.000,0.047,2568,196,3422,0,0,0,0,0,0
$GC,1777,-0.86,-175.2,315.9,-14.5,309,1784,0.00,0.93,0.00,0.000,6,0.000,0.026,2564,906,3422,0,0,0,0,0,0
$GC,2102,-0.86,-175.2,355.5,-11.6,340,2106,0.00,1.05,0.00,0.000,4,0.000,0.048,2564,194,3421,0,0,0,0,0,0
$GC,2147,-0.86,-175.2,361.4,-13.5,344,2151,0.00,0.93,0.00,0.000,6,0.000,0.026,2561,920,3421,0,0,0,0,0,0
$GC,2479,-0.86,-175.2,404.0,-12.6,375,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,921,3419,0,0,0,0,0,0
$GC,2801,-0.86,-175.2,446.2,-13.1,405,2805,0.00,1.10,0.00,0.000,4,0.000,0.050,2561,194,3417,0,0,0,0,0,0
$GC,2860,-0.86,-175.2,455.1,-13.5,410,2869,0.05,0.90,0.00,0.000,6,0.181,0.026,2576,879,3416,0,0,0,0,0,0
$GC,3189,-0.86,-175.2,491.7,-10.7,441,3192,0.00,1.02,0.00,0.000,4,0.000,0.050,2575,192,3414,0,0,0,0,0,0
$STATE,3256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3256,begin apogee
$GC,3263,-0.17,0.0,500.3,11.9,447,3402,0.70,0.00,127.85,0.957,4,0.138,0.000,2806,1229,2705,0,0,0,0,0,0
$STATE,3403,end apogee,CONTROL_FINISHED_OK
$STATE,3403,begin climb
$GC,3405,0.86,175.2,502.1,0.0,459,3548,0.88,1.75,133.57,0.922,4,0.056,0.026,3149,2402,1992,0,0,0,0,0,0
$GC,3553,0.86,175.2,480.8,20.1,471,3560,0.00,1.88,0.00,0.000,6,0.000,0.037,3158,1203,1990,0,0,0,0,0,0
$GC,3881,0.86,175.2,404.3,22.4,502,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1203,1982,0,0,0,0,0,0
$GC,4200,0.86,175.2,334.5,21.7,532,4203,0.00,1.70,0.00,0.000,4,0.000,0.028,3158,2377,1981,0,0,0,0,0,0
$GC,4313,0.86,175.2,311.1,18.5,542,4321,0.00,1.77,0.00,0.000,6,0.000,0.037,3166,1203,1979,0,0,0,0,0,0
$GC,4641,0.86,175.2,244.2,21.2,598,4649,0.00,1.70,0.00,0.000,4,0.000,0.028,3166,2372,1977,0,0,0,0,0,0
$GC,4814,0.86,175.2,209.5,20.2,629,4822,0.12,1.73,0.00,0.000,6,0.190,0.037,3144,1209,1976,0,0,0,0,0,0
$GC,5145,0.86,175.2,149.2,17.5,690,5153,0.00,1.52,0.00,0.000,4,0.000,0.047,3150,192,1975,0,0,0,0,0,0
$GC,5235,0.86,175.2,132.8,16.8,706,5243,0.00,1.38,0.00,0.000,6,0.000,0.024,3150,1206,1975,0,0,0,0,0,0
$GC,5563,0.89,202.8,83.3,10.6,767,5587,0.00,1.58,19.55,0.661,4,0.000,0.047,3158,191,1879,0,0,0,0,0,0
$GC,5634,0.90,209.4,76.0,11.6,778,5649,0.00,1.38,6.25,0.547,6,0.000,0.024,3158,1190,1852,0,0,0,0,0,0
$GC,5971,0.90,209.5,35.0,11.9,840,5979,0.00,1.50,0.00,0.000,4,0.000,0.046,3165,196,1850,0,0,0,0,0,0
$GC,6015,0.92,226.3,29.6,11.1,847,6038,0.00,1.38,13.85,0.592,6,0.000,0.023,3165,1210,1784,0,0,0,0,0,0
$STATE,6248,end climb,SURFACE_DEPTH_REACHED
$STATE,6248,begin surface coast
$FINISH,0.8,1.009339
$STATE,6278,end surface coast,CONTROL_FINISHED_OK
$STATE,6278,begin surface
$SM_CCo,6297,134.18,0.553,1,0,1075,400.08
$SM_GC,1.60,0.00,0.00,134.18,0.000,0.000,0.553,122,922,1075,-8.57,0.06,400.08
$IRIDIUM_FIX,2359.20,12612.06,250910,000005
$TT8_MAMPS,0.028462
$HUMID,37.95
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.70
$XPDR_PINGS,4
$24V_AH,24.7,5.574
$10V_AH,10.6,4.588
$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,18.850,33.950,301.075,134.175,0.000,31.246,16.626,126.516,1.000,0.000,901.514,2139.412,1545.800,484.864,3204.508,265.154,0.000,1262.199,0.000,2151.187,0.000,0.545,0.000
$DEVICE_MAMPS,230.265,56.610,957.015,553.095,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,604.253,915.608,1547.647,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333716
$DATA_FILE_SIZE,53612,895
$CAP_FILE_SIZE,84589,0
$CFSIZE,260165632,166653952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,1.807, 15.5,1
$GPS,250910,000905,2359.202,12612.057,0,10000.0,0,-3.6