version: 66.08
glider: 167
mission: 5
dive: 37
start: 9 26 110 20 42 50
data:
$ID,167
$MISSION,5
$DIVE,37
$N_DIVES,45
$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,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,-33788.961
$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,2822
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$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,790
$C_ROLL_CLIMB,1000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,113
$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
$GPS1,260910,203705,2404.964,12609.663,13,99.0,32,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-70.5
$GPS2,260910,204226,2405.021,12609.639,14,1.1,14,-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,196.5,11152,-19.1,-13.889
$D_GRID,1638
$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,-0.81,-228.7,0.0,0.0,0,90,0.00,0.00,-71.60,0.000,2,0.000,0.000,119,790,3297,0,0,0,0,0,0
$GC,93,-0.81,-228.7,5.8,-11.5,9,118,9.30,2.00,-10.57,0.000,4,0.229,0.035,2540,2171,3965,0,0,0,0,0,0
$GC,289,-0.81,-228.7,73.9,-26.6,44,297,0.00,2.10,0.00,0.000,6,0.000,0.037,2539,795,3967,0,0,0,0,0,0
$GC,617,-0.81,-228.7,159.1,-24.1,105,624,0.00,0.88,0.00,0.000,4,0.000,0.045,2539,188,3969,0,0,0,0,0,0
$GC,743,-0.81,-228.7,187.6,-22.4,127,749,0.00,0.73,0.00,0.000,6,0.000,0.024,2535,778,3970,0,0,0,0,0,0
$GC,1084,-0.81,-228.7,266.2,-22.0,188,1092,0.00,0.88,0.00,0.000,4,0.000,0.044,2535,179,3970,0,0,0,0,0,0
$GC,1152,-0.81,-228.7,281.2,-23.7,199,1159,0.00,0.75,0.00,0.000,6,0.000,0.024,2531,802,3970,0,0,0,0,0,0
$GC,1489,-0.81,-228.7,350.9,-19.3,237,1492,0.00,0.90,0.00,0.000,4,0.000,0.044,2531,187,3970,0,0,0,0,0,0
$GC,1551,-0.81,-228.7,364.2,-20.7,242,1560,0.08,0.70,0.00,0.000,6,0.167,0.024,2552,757,3970,0,0,0,0,0,0
$GC,1877,-0.81,-228.7,414.4,-15.0,273,1880,0.00,0.82,0.00,0.000,4,0.000,0.046,2552,190,3970,0,0,0,0,0,0
$GC,1947,-0.81,-228.7,425.3,-16.5,279,1951,0.00,0.70,0.00,0.000,6,0.000,0.024,2551,761,3969,0,0,0,0,0,0
$GC,2280,-0.81,-228.7,475.9,-13.9,310,2283,0.00,0.85,0.00,0.000,4,0.000,0.046,2550,180,3968,0,0,0,0,0,0
$GC,2407,-0.81,-228.7,494.6,-14.5,321,2414,0.00,0.70,0.00,0.000,6,0.000,0.025,2548,747,3967,0,0,0,0,0,0
$STATE,2454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2454,begin apogee
$GC,2460,-0.14,0.0,501.3,13.8,326,2636,0.65,0.00,169.80,0.957,4,0.127,0.000,2769,1012,3028,0,0,0,0,0,0
$STATE,2637,end apogee,CONTROL_FINISHED_OK
$STATE,2637,begin climb
$GC,2639,0.81,228.7,509.2,0.0,340,2825,0.82,2.05,173.10,0.931,4,0.054,0.022,3097,2379,2094,0,0,0,0,0,0
$GC,3027,0.81,228.7,459.9,16.6,374,3035,0.00,2.12,0.00,0.000,6,0.000,0.034,3105,998,2089,0,0,0,0,0,0
$GC,3354,0.81,228.7,401.2,17.7,405,3358,0.00,1.20,0.00,0.000,4,0.000,0.045,3112,190,2086,0,0,0,0,0,0
$GC,3586,0.81,228.7,355.1,18.9,426,3590,0.00,1.08,0.00,0.000,6,0.000,0.023,3112,1001,2084,0,0,0,0,0,0
$GC,3912,0.81,228.7,295.7,17.1,458,3920,0.00,1.95,0.00,0.000,4,0.000,0.022,3112,2364,2082,0,0,0,0,0,0
$GC,4051,0.81,228.7,274.4,16.2,483,4060,0.15,2.00,0.00,0.000,6,0.182,0.036,3082,1021,2082,0,0,0,0,0,0
$GC,4387,0.81,228.7,224.2,16.0,544,4395,0.00,1.92,0.00,0.000,4,0.000,0.022,3082,2363,2080,0,0,0,0,0,0
$GC,4440,0.81,228.7,216.1,14.6,553,4447,0.00,1.95,0.00,0.000,6,0.000,0.035,3090,1040,2080,0,0,0,0,0,0
$GC,4772,0.81,228.7,170.7,14.9,614,4780,0.00,1.25,0.00,0.000,4,0.000,0.047,3096,194,2080,0,0,0,0,0,0
$GC,4827,0.81,228.7,162.1,16.0,623,4834,0.00,1.12,0.00,0.000,6,0.000,0.023,3096,1047,2080,0,0,0,0,0,0
$GC,5155,0.87,273.7,117.9,12.1,684,5192,0.00,0.00,32.25,0.708,6,0.000,0.000,3096,1047,1912,0,0,0,0,0,0
$GC,5511,0.98,368.1,76.6,10.0,749,5592,0.12,1.95,71.55,0.663,4,0.099,0.021,3153,2362,1525,0,0,0,0,0,0
$GC,5677,0.98,368.1,52.4,16.1,775,5686,0.00,2.05,0.00,0.000,6,0.000,0.035,3163,1033,1521,0,0,0,0,0,0
$STATE,5985,end climb,SURFACE_DEPTH_REACHED
$STATE,5985,begin surface coast
$FINISH,0.8,1.021966
$STATE,6006,end surface coast,CONTROL_FINISHED_OK
$STATE,6006,begin surface
$SM_CCo,6023,29.12,0.387,1,0,1397,400.08
$SM_GC,2.04,0.00,0.00,29.12,0.000,0.000,0.387,124,796,1397,-8.44,0.17,400.08
$IRIDIUM_FIX,2356.84,12612.06,260910,181821
$TT8_MAMPS,0.028462
$HUMID,39.68
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,26.70
$XPDR_PINGS,0
$24V_AH,24.6,9.001
$10V_AH,10.6,7.164
$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,18.900,33.250,446.700,29.125,0.000,29.879,13.016,131.092,0.000,0.000,15.663,1976.618,1436.683,480.965,2225.804,259.040,0.000,1273.093,0.000,2060.667,0.000,0.543,0.000
$DEVICE_MAMPS,228.735,58.905,957.015,387.090,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,563.526,854.334,1438.057,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50251,836
$CAP_FILE_SIZE,81497,0
$CFSIZE,260165632,165474304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.145,329.0,1
$GPS,260910,222438,2404.614,12609.199,12,1.3,12,-3.6