version: 66.08
glider: 167
mission: 5
dive: 34
start: 9 26 110 15 33 44
data:
$ID,167
$MISSION,5
$DIVE,34
$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,-33785.195
$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,41
$R_STBD_OVSHOOT,128
$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
$GPS1,260910,152802,2406.248,12610.725,13,1.5,13,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-69.1
$GPS2,260910,153320,2406.260,12610.633,12,1.4,12,-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,211.5,13995,-19.1,-13.889
$D_GRID,1747
$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,-0.92,-228.7,0.0,0.0,0,120,0.00,0.00,-102.00,0.000,2,0.000,0.000,123,918,3495,0,0,0,0,0,0
$GC,123,-0.92,-228.7,6.7,-13.1,14,147,9.32,1.05,-7.03,0.000,4,0.228,0.065,2564,184,3964,0,0,0,0,0,0
$GC,156,-0.92,-228.7,27.5,-57.0,18,164,0.00,0.95,0.00,0.000,6,0.000,0.024,2560,898,3965,0,0,0,0,0,0
$GC,481,-0.92,-228.7,123.0,-22.7,79,489,0.00,2.00,0.00,0.000,4,0.000,0.022,2550,2296,3967,0,0,0,0,0,0
$GC,659,-0.92,-228.7,155.7,-17.2,112,668,0.00,2.10,0.00,0.000,6,0.000,0.036,2550,906,3968,0,0,0,0,0,0
$GC,1003,-0.92,-228.7,230.2,-20.1,173,1010,0.00,1.05,0.00,0.000,4,0.000,0.044,2551,183,3967,0,0,0,0,0,0
$GC,1260,-0.92,-228.7,283.7,-20.0,219,1266,0.00,0.93,0.00,0.000,6,0.000,0.024,2545,909,3968,0,0,0,0,0,0
$GC,1599,-0.92,-228.7,348.0,-17.9,257,1603,0.00,1.05,0.00,0.000,4,0.000,0.044,2545,190,3968,0,0,0,0,0,0
$GC,1762,-0.92,-228.7,378.9,-17.8,271,1768,0.00,0.88,0.00,0.000,6,0.000,0.024,2541,883,3967,0,0,0,0,0,0
$GC,2087,-0.92,-228.7,432.1,-16.2,302,2090,0.00,1.02,0.00,0.000,4,0.000,0.044,2541,183,3966,0,0,0,0,0,0
$GC,2348,-0.92,-228.7,477.6,-17.9,325,2351,0.00,0.85,0.00,0.000,6,0.000,0.024,2539,851,3965,0,0,0,0,0,0
$STATE,2485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2485,begin apogee
$GC,2491,-0.17,0.0,501.3,16.1,338,2666,0.80,0.00,168.93,0.950,4,0.131,0.000,2805,1192,3031,0,0,0,0,0,0
$STATE,2667,end apogee,CONTROL_FINISHED_OK
$STATE,2667,begin climb
$GC,2669,0.92,228.7,511.0,0.0,352,2854,0.90,2.10,173.40,0.926,4,0.042,0.023,3180,2576,2094,0,0,0,0,0,0
$GC,2938,0.92,228.7,477.4,22.7,375,2941,0.00,2.10,0.00,0.000,6,0.000,0.033,3189,1191,2090,0,0,0,0,0,0
$GC,3268,0.92,228.7,395.8,24.3,406,3272,0.00,1.50,0.00,0.000,4,0.000,0.042,3197,192,2087,0,0,0,0,0,0
$GC,3352,0.92,228.7,372.5,28.4,413,3359,0.10,1.38,0.00,0.000,6,0.188,0.021,3167,1198,2086,0,0,0,0,0,0
$GC,3679,0.92,228.7,296.0,20.7,445,3685,0.00,1.95,0.00,0.000,4,0.000,0.024,3167,2558,2083,0,0,0,0,0,0
$GC,3728,0.92,228.7,286.0,20.2,453,3735,0.00,2.08,0.00,0.000,6,0.000,0.033,3176,1164,2083,0,0,0,0,0,0
$GC,4070,0.92,228.7,212.4,21.7,514,4079,0.00,2.03,0.00,0.000,4,0.000,0.024,3176,2559,2081,0,0,0,0,0,0
$GC,4170,0.92,228.7,193.1,18.7,531,4177,0.00,2.05,0.00,0.000,6,0.000,0.032,3185,1174,2081,0,0,0,0,0,0
$GC,4507,0.92,228.7,133.0,18.1,592,4515,0.00,1.45,0.00,0.000,4,0.000,0.043,3193,195,2080,0,0,0,0,0,0
$GC,4604,0.92,228.7,114.0,21.7,609,4612,0.10,1.33,0.00,0.000,6,0.185,0.021,3163,1185,2080,0,0,0,0,0,0
$GC,4931,1.08,357.9,69.4,8.6,670,5034,0.15,1.52,94.35,0.660,4,0.085,0.041,3232,207,1566,0,0,0,0,0,0
$GC,5191,1.08,357.9,19.7,22.9,713,5199,0.00,1.30,0.00,0.000,6,0.000,0.021,3232,1182,1560,0,0,0,0,0,0
$STATE,5272,end climb,SURFACE_DEPTH_REACHED
$STATE,5272,begin surface coast
$FINISH,0.8,1.009395
$STATE,5284,end surface coast,CONTROL_FINISHED_OK
$STATE,5287,begin surface
$SM_CCo,5305,199.88,0.558,1,0,500,620.12
$SM_GC,1.48,0.00,0.00,199.88,0.000,0.000,0.558,129,910,500,-8.55,-0.31,620.12
$IRIDIUM_FIX,2356.84,12610.66,260910,131340
$TT8_MAMPS,0.028462
$HUMID,37.83
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,24.6,8.600
$10V_AH,10.6,6.839
$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,19.375,33.425,436.675,199.875,0.000,28.862,14.912,130.742,0.000,0.000,13.641,1708.758,1258.064,651.092,1971.666,241.713,0.000,1372.040,0.000,1805.090,0.000,0.542,0.000
$DEVICE_MAMPS,227.970,65.025,950.130,557.685,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,490.353,746.126,1260.289,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43588,730
$CAP_FILE_SIZE,74112,0
$CFSIZE,260165632,165634048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.082,282.0,1
$GPS,260910,170654,2405.753,12610.312,41,1.8,41,-3.6