version: 66.08
glider: 167
mission: 5
dive: 40
start: 9 27 110 2 2 23
data:
$ID,167
$MISSION,5
$DIVE,40
$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,-33792.719
$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,36
$R_STBD_OVSHOOT,117
$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
$GPS1,270910,015601,2403.675,12608.743,12,2.0,12,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-72.8
$GPS2,270910,020200,2403.701,12608.714,11,2.0,15,-3.6
$SPEED_LIMITS,0.241,0.355
$TGT_NAME,NWALL_S
$TGT_LATLONG,2402.000,12606.000
$TGT_RADIUS,1000.000
$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,229.7,5567,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.81,-228.7,0.0,0.0,0,84,0.00,0.00,-63.58,0.000,2,0.000,0.000,126,791,3267,0,0,0,0,0,0
$GC,87,-0.81,-228.7,5.9,-12.4,9,112,9.18,0.93,-11.10,0.000,4,0.225,0.080,2551,177,3963,0,0,0,0,0,0
$GC,133,-0.81,-228.7,29.4,-53.2,15,141,0.00,0.77,0.00,0.000,6,0.000,0.024,2548,792,3965,0,0,0,0,0,0
$GC,458,-0.81,-228.7,136.1,-26.4,76,466,0.00,1.92,0.00,0.000,4,0.000,0.019,2538,2160,3967,0,0,0,0,0,0
$GC,593,-0.81,-228.7,164.1,-18.1,100,600,0.00,2.12,0.00,0.000,6,0.000,0.037,2538,755,3968,0,0,0,0,0,0
$GC,935,-0.81,-228.7,238.1,-21.4,161,941,0.00,0.80,0.00,0.000,4,0.000,0.044,2538,193,3969,0,0,0,0,0,0
$GC,1173,-0.81,-228.7,293.4,-23.1,204,1181,0.00,0.68,0.00,0.000,6,0.000,0.025,2534,753,3969,0,0,0,0,0,0
$GC,1504,-0.81,-228.7,357.7,-17.8,237,1507,0.00,1.95,0.00,0.000,4,0.000,0.019,2524,2157,3969,0,0,0,0,0,0
$GC,1532,-0.81,-228.7,363.2,-18.2,239,1539,0.12,2.12,0.00,0.000,6,0.164,0.037,2558,730,3969,0,0,0,0,0,0
$GC,1857,-0.81,-228.7,411.9,-14.0,270,1861,0.00,0.77,0.00,0.000,4,0.000,0.047,2558,191,3969,0,0,0,0,0,0
$GC,1982,-0.81,-228.7,431.2,-16.4,281,1986,0.00,0.68,0.00,0.000,6,0.000,0.025,2557,748,3969,0,0,0,0,0,0
$GC,2313,-0.81,-228.7,480.6,-14.3,312,2317,0.00,0.82,0.00,0.000,4,0.000,0.046,2558,183,3967,0,0,0,0,0,0
$GC,2364,-0.81,-228.7,488.1,-14.7,316,2371,0.00,0.68,0.00,0.000,6,0.000,0.024,2557,738,3966,0,0,0,0,0,0
$STATE,2454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2455,begin apogee
$GC,2461,-0.14,0.0,501.1,13.9,325,2640,0.62,0.00,169.93,0.958,4,0.126,0.000,2770,1005,3027,0,0,0,0,0,0
$STATE,2641,end apogee,CONTROL_FINISHED_OK
$STATE,2641,begin climb
$GC,2644,0.81,228.7,512.8,0.0,340,2825,0.82,1.27,172.75,0.933,4,0.060,0.046,3091,199,2096,0,0,0,0,0,0
$GC,3037,0.81,228.7,462.1,17.7,374,3041,0.00,1.08,0.00,0.000,6,0.000,0.024,3091,992,2089,0,0,0,0,0,0
$GC,3370,0.81,228.7,400.7,18.3,405,3374,0.00,1.20,0.00,0.000,4,0.000,0.044,3097,193,2086,0,0,0,0,0,0
$GC,3619,0.81,228.7,353.8,17.2,427,3622,0.00,1.10,0.00,0.000,6,0.000,0.022,3097,1024,2085,0,0,0,0,0,0
$GC,3949,0.81,228.7,299.2,16.3,458,3958,0.00,1.92,0.00,0.000,4,0.000,0.022,3097,2364,2083,0,0,0,0,0,0
$GC,4050,0.81,228.7,284.1,15.3,475,4056,0.00,2.00,0.00,0.000,6,0.000,0.035,3106,1024,2082,0,0,0,0,0,0
$GC,4388,0.81,228.7,226.2,18.0,536,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1023,2081,0,0,0,0,0,0
$GC,4731,0.81,228.7,172.4,16.0,597,4739,0.00,1.23,0.00,0.000,4,0.000,0.044,3113,191,2080,0,0,0,0,0,0
$GC,4749,0.81,228.7,169.6,16.2,599,4756,0.08,1.12,0.00,0.000,6,0.173,0.021,3089,1044,2081,0,0,0,0,0,0
$GC,5081,0.89,289.8,126.8,11.4,660,5134,0.00,0.00,45.03,0.718,6,0.000,0.000,3089,1045,1845,0,0,0,0,0,0
$GC,5459,0.93,329.1,83.3,12.3,727,5497,0.10,0.00,30.50,0.663,6,0.108,0.000,3133,1045,1685,0,0,0,0,0,0
$GC,5819,1.04,412.6,37.5,10.5,792,5887,0.00,1.35,63.20,0.625,4,0.000,0.044,3140,191,1346,0,0,0,0,0,0
$GC,5996,1.04,412.6,13.4,14.5,821,6004,0.00,1.15,0.00,0.000,6,0.000,0.022,3140,1040,1343,0,0,0,0,0,0
$STATE,6068,end climb,SURFACE_DEPTH_REACHED
$STATE,6068,begin surface coast
$FINISH,0.8,1.013824
$STATE,6091,end surface coast,CONTROL_FINISHED_OK
$STATE,6094,begin surface
$SM_CCo,6171,0.00,0.000,0,0,1338,414.56
$SM_GC,1.69,7.78,0.00,0.00,0.039,0.000,0.000,119,788,1338,-8.38,-0.06,414.56
$IRIDIUM_FIX,2356.84,12610.66,270910,000015
$TT8_MAMPS,0.028462
$HUMID,38.58
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,27.20
$XPDR_PINGS,0
$24V_AH,24.6,9.382
$10V_AH,10.6,7.488
$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,18.700,28.300,481.400,0.000,0.000,24.167,37.639,154.309,0.000,0.000,16.085,1972.617,1571.522,451.161,2257.646,273.182,0.000,1258.025,0.000,2064.626,0.000,0.543,0.000
$DEVICE_MAMPS,224.910,79.560,957.780,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,564.327,856.454,1445.680,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334016
$DATA_FILE_SIZE,50275,838
$CAP_FILE_SIZE,80923,0
$CFSIZE,260165632,165322752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061,303.0,1
$GPS,270910,034631,2403.341,12607.945,42,1.5,42,-3.6