version: 66.08
glider: 167
mission: 5
dive: 28
start: 9 26 110 5 33 28
data:
$ID,167
$MISSION,5
$DIVE,28
$N_DIVES,35
$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,620
$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,-33777.66
$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,40
$C_ROLL_DIVE,920
$C_ROLL_CLIMB,1200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,119
$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
$GPS1,260910,052722,2408.864,12611.116,9,99.0,28,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-68.6
$GPS2,260910,053304,2408.943,12610.942,15,2.1,34,-3.6
$SPEED_LIMITS,0.241,0.355
$TGT_NAME,WAKE_N
$TGT_LATLONG,2400.000,12606.000
$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,173.5,18553,-19.1,-13.889
$D_GRID,1779
$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,-0.92,-228.7,0.0,0.0,0,118,0.00,0.00,-98.40,0.000,2,0.000,0.000,120,921,3369,0,0,0,0,0,0
$GC,121,-0.92,-228.7,6.2,-13.0,14,146,9.20,1.12,-9.27,0.000,4,0.223,0.068,2564,170,3965,0,0,0,0,0,0
$GC,386,-0.92,-228.7,103.7,-28.8,62,394,0.00,0.98,0.00,0.000,6,0.000,0.024,2560,916,3967,0,0,0,0,0,0
$GC,716,-0.92,-228.7,179.4,-20.6,123,723,0.00,1.08,0.00,0.000,4,0.000,0.045,2559,190,3969,0,0,0,0,0,0
$GC,969,-0.92,-228.7,235.5,-21.1,169,976,0.00,0.90,0.00,0.000,6,0.000,0.025,2555,883,3969,0,0,0,0,0,0
$GC,1300,-0.92,-228.7,297.6,-17.1,230,1308,0.00,1.02,0.00,0.000,4,0.000,0.046,2555,189,3969,0,0,0,0,0,0
$GC,1557,-0.92,-228.7,346.2,-18.9,254,1561,0.00,0.93,0.00,0.000,6,0.000,0.024,2550,908,3969,0,0,0,0,0,0
$GC,1889,-0.92,-228.7,402.6,-17.3,285,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,908,3967,0,0,0,0,0,0
$GC,2211,-0.92,-228.7,451.9,-14.6,315,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,908,3966,0,0,0,0,0,0
$STATE,2526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2526,begin apogee
$GC,2532,-0.17,0.0,501.5,15.2,345,2711,0.75,0.00,169.25,0.961,4,0.125,0.000,2803,1186,3027,0,0,0,0,0,0
$STATE,2712,end apogee,CONTROL_FINISHED_OK
$STATE,2712,begin climb
$GC,2714,0.92,228.7,514.3,0.0,360,2897,0.90,1.60,172.62,0.938,4,0.044,0.046,3168,190,2095,0,0,0,0,0,0
$GC,2944,0.92,228.7,485.5,25.2,379,2947,0.00,1.42,0.00,0.000,6,0.000,0.021,3168,1212,2092,0,0,0,0,0,0
$GC,3275,0.92,228.7,407.6,20.4,410,3279,0.00,1.95,0.00,0.000,4,0.000,0.024,3168,2545,2085,0,0,0,0,0,0
$GC,3375,0.92,228.7,386.9,22.5,419,3379,0.00,2.00,0.00,0.000,6,0.000,0.033,3177,1208,2084,0,0,0,0,0,0
$GC,3706,0.92,228.7,311.3,21.2,450,3710,0.00,1.50,0.00,0.000,4,0.000,0.043,3184,201,2082,0,0,0,0,0,0
$GC,3751,0.92,228.7,300.9,23.2,454,3755,0.00,1.35,0.00,0.000,6,0.000,0.021,3184,1210,2083,0,0,0,0,0,0
$GC,4081,0.92,228.7,224.2,21.4,514,4089,0.00,1.52,0.00,0.000,4,0.000,0.044,3192,197,2081,0,0,0,0,0,0
$GC,4135,0.92,228.7,213.6,20.8,523,4143,0.08,1.30,0.00,0.000,6,0.186,0.022,3169,1152,2081,0,0,0,0,0,0
$GC,4469,0.92,228.7,152.2,17.6,584,4477,0.00,1.42,0.00,0.000,4,0.000,0.043,3175,199,2079,0,0,0,0,0,0
$GC,4607,0.92,228.7,126.5,18.5,609,4615,0.00,1.33,0.00,0.000,6,0.000,0.022,3176,1196,2079,0,0,0,0,0,0
$GC,4931,1.06,343.8,76.5,9.2,670,5021,0.00,2.05,83.60,0.675,4,0.000,0.024,3175,2539,1626,0,0,0,0,0,0
$GC,5035,1.06,343.8,61.9,17.0,684,5043,0.00,2.15,0.00,0.000,6,0.000,0.034,3183,1157,1623,0,0,0,0,0,0
$STATE,5360,end climb,SURFACE_DEPTH_REACHED
$STATE,5360,begin surface coast
$FINISH,0.8,1.021557
$STATE,5381,end surface coast,CONTROL_FINISHED_OK
$STATE,5381,begin surface
$SM_CCo,5400,210.05,0.565,1,0,500,620.12
$SM_GC,1.55,0.00,0.00,210.05,0.000,0.000,0.565,128,919,500,-8.55,-0.03,620.12
$IRIDIUM_FIX,2401.56,12613.45,260910,020224
$TT8_MAMPS,0.028462
$HUMID,37.32
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,24.6,7.707
$10V_AH,10.6,6.234
$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,18.750,26.275,425.475,210.050,0.000,28.089,13.529,135.459,0.000,0.000,36.205,1752.905,1315.054,638.411,2012.522,240.534,0.000,1354.125,0.000,1826.581,0.000,0.543,0.000
$DEVICE_MAMPS,222.615,68.085,960.840,565.335,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,503.467,765.111,1280.716,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333952
$DATA_FILE_SIZE,43656,748
$CAP_FILE_SIZE,72083,0
$CFSIZE,260165632,165933056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.187,311.9,1
$GPS,260910,070755,2408.592,12610.979,9,1.3,14,-3.6