version: 66.08
glider: 167
mission: 5
dive: 31
start: 9 26 110 10 33 27
data:
$ID,167
$MISSION,5
$DIVE,31
$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,-33781.426
$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,36
$R_STBD_OVSHOOT,120
$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
$GPS1,260910,102737,2408.190,12611.040,9,2.0,14,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-68.1
$GPS2,260910,103304,2408.200,12610.999,14,2.1,33,-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,190.9,17383,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.92,-228.7,0.0,0.0,0,118,0.00,0.00,-97.80,0.000,2,0.000,0.000,125,916,3320,0,0,0,0,0,0
$GC,122,-0.92,-228.7,6.0,-12.3,14,146,9.25,1.12,-10.23,0.000,4,0.226,0.072,2560,177,3963,0,0,0,0,0,0
$GC,384,-0.92,-228.7,98.3,-25.0,62,392,0.00,0.95,0.00,0.000,6,0.000,0.024,2556,916,3966,0,0,0,0,0,0
$GC,717,-0.92,-228.7,177.1,-21.0,123,724,0.00,1.08,0.00,0.000,4,0.000,0.045,2555,190,3968,0,0,0,0,0,0
$GC,973,-0.92,-228.7,241.8,-23.2,169,979,0.00,0.93,0.00,0.000,6,0.000,0.024,2550,918,3968,0,0,0,0,0,0
$GC,1309,-0.92,-228.7,307.8,-18.3,227,1312,0.00,1.08,0.00,0.000,4,0.000,0.044,2550,187,3968,0,0,0,0,0,0
$GC,1562,-0.92,-228.7,357.0,-18.2,250,1566,0.00,0.90,0.00,0.000,6,0.000,0.024,2548,911,3968,0,0,0,0,0,0
$GC,1894,-0.92,-228.7,412.4,-18.3,281,1897,0.00,1.05,0.00,0.000,4,0.000,0.044,2547,193,3967,0,0,0,0,0,0
$GC,2149,-0.92,-228.7,459.0,-17.5,304,2153,0.00,0.85,0.00,0.000,6,0.000,0.023,2547,884,3965,0,0,0,0,0,0
$STATE,2439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2439,begin apogee
$GC,2446,-0.17,0.0,501.4,14.1,331,2624,0.75,0.00,169.35,0.952,4,0.126,0.000,2802,1195,3028,0,0,0,0,0,0
$STATE,2625,end apogee,CONTROL_FINISHED_OK
$STATE,2625,begin climb
$GC,2627,0.92,228.7,510.3,0.0,346,2809,0.93,1.60,172.82,0.927,4,0.049,0.046,3170,196,2095,0,0,0,0,0,0
$GC,2858,0.92,228.7,476.3,29.2,365,2865,0.00,1.40,0.00,0.000,6,0.000,0.021,3171,1200,2092,0,0,0,0,0,0
$GC,3185,0.92,228.7,398.6,21.7,396,3188,0.00,1.95,0.00,0.000,4,0.000,0.024,3171,2550,2086,0,0,0,0,0,0
$GC,3222,0.92,228.7,389.9,21.3,399,3231,0.00,2.08,0.00,0.000,6,0.000,0.034,3180,1187,2086,0,0,0,0,0,0
$GC,3548,0.92,228.7,316.2,21.8,430,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1187,2083,0,0,0,0,0,0
$GC,3871,0.92,228.7,241.1,24.3,483,3879,0.00,1.48,0.00,0.000,4,0.000,0.044,3188,196,2082,0,0,0,0,0,0
$GC,4029,0.92,228.7,204.6,25.3,511,4037,0.00,1.35,0.00,0.000,6,0.000,0.022,3187,1209,2081,0,0,0,0,0,0
$GC,4363,0.92,228.7,140.4,18.3,572,4371,0.00,1.52,0.00,0.000,4,0.000,0.042,3195,189,2080,0,0,0,0,0,0
$GC,4490,0.92,228.7,115.7,19.8,595,4499,0.10,1.30,0.00,0.000,6,0.183,0.022,3166,1148,2080,0,0,0,0,0,0
$GC,4822,1.02,309.8,71.6,10.6,656,4887,0.00,1.45,58.55,0.669,4,0.000,0.042,3172,183,1766,0,0,0,0,0,0
$GC,4901,1.03,317.4,62.0,13.6,667,4917,0.00,1.38,7.07,0.543,6,0.000,0.021,3172,1182,1736,0,0,0,0,0,0
$GC,5239,1.03,320.8,12.1,13.7,729,5248,0.00,1.52,3.78,0.402,4,0.000,0.044,3179,191,1720,0,0,0,0,0,0
$STATE,5295,end climb,SURFACE_DEPTH_REACHED
$STATE,5295,begin surface coast
$FINISH,0.8,1.008197
$STATE,5312,end surface coast,CONTROL_FINISHED_OK
$STATE,5313,begin surface
$SM_CCo,5332,227.62,0.562,1,0,500,620.12
$SM_GC,1.46,0.00,0.00,227.62,0.000,0.000,0.562,126,918,500,-8.56,-0.06,620.12
$IRIDIUM_FIX,2401.56,12612.06,260910,080804
$TT8_MAMPS,0.028462
$HUMID,36.53
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,24.6,8.155
$10V_AH,10.6,6.536
$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,18.900,26.275,411.575,227.625,0.000,22.875,14.012,130.998,0.000,0.000,35.201,1747.625,1237.100,652.228,2014.833,241.185,0.000,1363.163,0.000,1840.436,0.000,0.542,0.000
$DEVICE_MAMPS,226.440,71.910,952.425,562.275,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,499.333,758.575,1298.365,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43589,742
$CAP_FILE_SIZE,72951,0
$CFSIZE,260165632,165785600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.082,304.0,1
$GPS,260910,120722,2407.709,12611.046,12,99.0,31,-3.6