version: 66.08
glider: 167
mission: 5
dive: 48
start: 9 27 110 16 33 25
data:
$ID,167
$MISSION,5
$DIVE,48
$N_DIVES,50
$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,-33802.77
$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,44
$R_STBD_OVSHOOT,127
$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
$GPS1,270910,162702,2405.291,12605.820,11,1.2,11,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-72.6
$GPS2,270910,163302,2405.304,12605.738,14,1.2,14,-3.6
$SPEED_LIMITS,0.241,0.355
$TGT_NAME,NWALL_N
$TGT_LATLONG,2412.000,12606.000
$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,3.7,12409,-19.1,-13.889
$D_GRID,1679
$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,-228.7,0.0,0.0,0,84,0.00,0.00,-65.82,0.000,2,0.000,0.000,131,778,3387,0,0,0,0,0,0
$GC,87,-0.81,-228.7,6.7,-14.2,9,112,9.20,2.03,-8.80,0.000,4,0.226,0.035,2539,2163,3965,0,0,0,0,0,0
$GC,137,-0.81,-228.7,34.2,-50.9,16,145,0.00,2.10,0.00,0.000,6,0.000,0.037,2539,795,3968,0,0,0,0,0,0
$GC,463,-0.81,-228.7,136.1,-27.1,77,471,0.00,1.92,0.00,0.000,4,0.000,0.018,2530,2155,3969,0,0,0,0,0,0
$GC,507,-0.81,-228.7,146.1,-21.0,84,515,0.00,2.05,0.00,0.000,6,0.000,0.036,2530,802,3970,0,0,0,0,0,0
$GC,840,-0.81,-228.7,225.3,-24.3,145,848,0.12,0.90,0.00,0.000,4,0.184,0.047,2562,194,3970,0,0,0,0,0,0
$GC,961,-0.81,-228.7,252.9,-20.9,167,968,0.00,0.75,0.00,0.000,6,0.000,0.023,2561,833,3971,0,0,0,0,0,0
$GC,1299,-0.81,-228.7,318.4,-17.6,220,1302,0.00,0.95,0.00,0.000,4,0.000,0.044,2561,186,3971,0,0,0,0,0,0
$GC,1372,-0.81,-228.7,331.5,-17.2,226,1380,0.00,0.70,0.00,0.000,6,0.000,0.023,2560,782,3971,0,0,0,0,0,0
$GC,1699,-0.81,-228.7,382.9,-15.6,257,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,782,3971,0,0,0,0,0,0
$GC,2020,-0.81,-228.7,431.8,-14.5,287,2023,0.00,0.88,0.00,0.000,4,0.000,0.046,2560,186,3970,0,0,0,0,0,0
$GC,2169,-0.81,-228.7,456.5,-15.1,300,2178,0.00,0.70,0.00,0.000,6,0.000,0.024,2558,757,3970,0,0,0,0,0,0
$STATE,2475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2475,begin apogee
$GC,2481,-0.14,0.0,500.4,14.3,329,2659,0.62,0.00,170.52,0.962,4,0.123,0.000,2771,1005,3028,0,0,0,0,0,0
$STATE,2660,end apogee,CONTROL_FINISHED_OK
$STATE,2660,begin climb
$GC,2664,0.81,228.7,511.5,0.0,344,2845,0.80,1.27,173.18,0.938,4,0.057,0.045,3085,203,2096,0,0,0,0,0,0
$GC,3047,0.81,228.7,462.6,17.7,377,3055,0.00,1.05,0.00,0.000,6,0.000,0.022,3085,996,2089,0,0,0,0,0,0
$GC,3375,0.81,228.7,409.0,15.9,408,3378,0.00,1.20,0.00,0.000,4,0.000,0.044,3091,197,2086,0,0,0,0,0,0
$GC,3631,0.81,228.7,365.3,18.5,431,3634,0.00,1.10,0.00,0.000,6,0.000,0.022,3091,1025,2085,0,0,0,0,0,0
$GC,3962,0.81,228.7,312.3,16.7,462,3966,0.00,1.88,0.00,0.000,4,0.000,0.021,3091,2370,2083,0,0,0,0,0,0
$GC,4008,0.81,228.7,305.1,15.3,466,4011,0.00,2.00,0.00,0.000,6,0.000,0.034,3100,1014,2082,0,0,0,0,0,0
$GC,4336,0.82,234.6,253.6,13.6,524,4344,0.00,0.00,3.70,0.514,6,0.000,0.000,3101,1014,2072,0,0,0,0,0,0
$GC,4672,0.82,234.6,206.1,14.5,585,4679,0.00,1.20,0.00,0.000,4,0.000,0.044,3107,198,2070,0,0,0,0,0,0
$GC,4709,0.82,234.6,200.4,16.1,591,4716,0.00,1.10,0.00,0.000,6,0.000,0.021,3107,1047,2070,0,0,0,0,0,0
$GC,5039,0.82,234.6,152.3,14.7,652,5047,0.00,1.85,0.00,0.000,4,0.000,0.022,3107,2352,2070,0,0,0,0,0,0
$GC,5114,0.82,237.6,141.9,13.8,665,5123,0.00,1.98,3.88,0.484,6,0.000,0.034,3116,1035,2060,0,0,0,0,0,0
$GC,5443,0.90,300.6,99.5,11.3,726,5502,0.00,1.95,49.00,0.690,4,0.000,0.022,3116,2352,1801,0,0,0,0,0,0
$GC,5595,0.98,370.1,81.1,11.1,751,5654,0.00,2.00,53.88,0.658,6,0.000,0.034,3125,1043,1519,0,0,0,0,0,0
$GC,5976,0.98,370.1,31.7,14.7,819,5984,0.00,1.90,0.00,0.000,4,0.000,0.020,3125,2364,1511,0,0,0,0,0,0
$GC,6215,1.02,395.7,3.4,12.8,863,6224,0.00,1.98,4.78,0.448,2,0.000,0.036,3131,1063,1495,0,0,0,0,0,0
$STATE,6225,end climb,SURFACE_DEPTH_REACHED
$STATE,6225,begin surface coast
$FINISH,0.8,1.010889
$STATE,6247,end surface coast,CONTROL_FINISHED_OK
$STATE,6247,begin surface
$SM_CCo,6266,24.17,0.339,1,0,1398,400.08
$SM_GC,2.18,0.00,0.00,24.17,0.000,0.000,0.339,116,783,1398,-8.46,-0.20,400.08
$IRIDIUM_FIX,2356.84,12605.46,270910,141434
$TT8_MAMPS,0.028462
$HUMID,39.21
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,27.10
$XPDR_PINGS,1
$24V_AH,24.5,10.366
$10V_AH,10.6,8.371
$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,18.425,36.050,458.925,24.175,0.000,29.532,42.784,140.147,0.250,0.000,15.215,2050.082,1528.287,471.715,2338.033,266.860,0.000,1287.403,0.000,2133.657,0.000,0.543,0.000
$DEVICE_MAMPS,226.440,50.490,962.370,338.895,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,585.560,887.069,1483.785,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333968
$DATA_FILE_SIZE,50310,868
$CAP_FILE_SIZE,83565,0
$CFSIZE,260165632,164921344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.031,296.8,1
$GPS,270910,181937,2406.210,12605.514,37,1.6,37,-3.6