version: 66.08
glider: 167
mission: 5
dive: 49
start: 9 27 110 18 25 19
data:
$ID,167
$MISSION,5
$DIVE,49
$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,-33804.027
$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,39
$R_STBD_OVSHOOT,124
$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
$GPS1,270910,181937,2406.210,12605.514,37,1.6,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-73.0
$GPS2,270910,182456,2406.251,12605.477,14,1.6,14,-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,12.9,10683,-19.1,-13.889
$D_GRID,1713
$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,-228.7,0.0,0.0,0,82,0.00,0.00,-64.30,0.000,2,0.000,0.000,115,782,3324,0,0,0,0,0,0
$GC,86,-0.81,-228.7,6.1,-12.3,9,110,9.23,2.00,-9.93,0.000,4,0.225,0.034,2541,2167,3964,0,0,0,0,0,0
$GC,140,-0.81,-228.7,34.2,-42.9,17,148,0.00,2.10,0.00,0.000,6,0.000,0.037,2541,796,3966,0,0,0,0,0,0
$GC,465,-0.81,-228.7,135.9,-25.9,78,473,0.00,1.92,0.00,0.000,4,0.000,0.018,2532,2158,3967,0,0,0,0,0,0
$GC,519,-0.81,-228.7,149.3,-21.7,87,528,0.00,2.05,0.00,0.000,6,0.000,0.036,2531,802,3968,0,0,0,0,0,0
$GC,855,-0.81,-228.7,230.3,-22.5,148,863,0.00,0.88,0.00,0.000,4,0.000,0.045,2531,193,3969,0,0,0,0,0,0
$GC,1008,-0.81,-228.7,266.7,-25.2,175,1017,0.08,0.75,0.00,0.000,6,0.176,0.024,2551,806,3969,0,0,0,0,0,0
$GC,1346,-0.81,-228.7,330.0,-18.0,222,1350,0.00,0.90,0.00,0.000,4,0.000,0.044,2551,190,3969,0,0,0,0,0,0
$GC,1450,-0.81,-228.7,349.1,-18.4,231,1454,0.00,0.73,0.00,0.000,6,0.000,0.024,2548,794,3969,0,0,0,0,0,0
$GC,1780,-0.81,-228.7,403.9,-15.7,262,1784,0.00,0.88,0.00,0.000,4,0.000,0.044,2548,193,3969,0,0,0,0,0,0
$GC,1952,-0.81,-228.7,434.4,-17.1,277,1959,0.00,0.70,0.00,0.000,6,0.000,0.024,2547,775,3969,0,0,0,0,0,0
$GC,2278,-0.81,-228.7,488.4,-15.5,308,2282,0.00,1.90,0.00,0.000,4,0.000,0.019,2547,2152,3967,0,0,0,0,0,0
$GC,2317,-0.81,-228.7,493.9,-13.5,311,2325,0.00,2.00,0.00,0.000,6,0.000,0.036,2547,791,3967,0,0,0,0,0,0
$STATE,2365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2365,begin apogee
$GC,2371,-0.14,0.0,500.8,14.6,316,2550,0.65,0.00,170.35,0.955,4,0.123,0.000,2770,996,3028,0,0,0,0,0,0
$STATE,2551,end apogee,CONTROL_FINISHED_OK
$STATE,2551,begin climb
$GC,2554,0.81,228.7,511.7,0.0,331,2736,0.85,2.03,173.18,0.934,4,0.055,0.020,3088,2385,2095,0,0,0,0,0,0
$GC,2845,0.81,228.7,479.8,18.2,356,2853,0.00,2.15,0.00,0.000,6,0.000,0.034,3098,1005,2090,0,0,0,0,0,0
$GC,3173,0.81,228.7,421.8,18.0,387,3177,0.00,1.23,0.00,0.000,4,0.000,0.044,3103,181,2087,0,0,0,0,0,0
$GC,3427,0.81,228.7,374.8,17.5,410,3431,0.00,1.10,0.00,0.000,6,0.000,0.021,3103,1038,2085,0,0,0,0,0,0
$GC,3760,0.81,228.7,316.6,17.4,441,3763,0.00,1.83,0.00,0.000,4,0.000,0.021,3103,2350,2083,0,0,0,0,0,0
$GC,3797,0.81,228.7,310.0,15.7,444,3806,0.08,2.03,0.00,0.000,6,0.170,0.035,3090,1008,2083,0,0,0,0,0,0
$GC,4130,0.81,228.7,258.3,14.1,499,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1009,2081,0,0,0,0,0,0
$GC,4463,0.82,237.5,210.6,13.5,560,4472,0.00,0.00,5.68,0.623,6,0.000,0.000,3090,1009,2060,0,0,0,0,0,0
$GC,4796,0.82,237.5,164.3,14.9,621,4803,0.00,1.88,0.00,0.000,4,0.000,0.021,3090,2349,2058,0,0,0,0,0,0
$GC,4886,0.82,237.5,151.3,14.1,637,4893,0.00,1.98,0.00,0.000,6,0.000,0.034,3097,1021,2058,0,0,0,0,0,0
$GC,5212,0.92,320.3,112.1,10.5,698,5285,0.00,1.95,63.62,0.698,4,0.000,0.021,3098,2337,1721,0,0,0,0,0,0
$GC,5337,0.95,345.9,97.9,12.8,716,5368,0.00,2.00,20.52,0.650,6,0.000,0.036,3099,1043,1617,0,0,0,0,0,0
$GC,5690,1.07,440.5,59.8,10.0,780,5772,0.17,1.92,72.68,0.636,4,0.080,0.020,3185,2335,1232,0,0,0,0,0,0
$STATE,5995,end climb,SURFACE_DEPTH_REACHED
$STATE,5998,begin surface coast
$FINISH,0.8,1.011210
$STATE,6015,end surface coast,CONTROL_FINISHED_OK
$STATE,6015,begin surface
$SM_CCo,6095,0.00,0.000,0,0,1224,442.77
$SM_GC,1.75,7.85,0.00,0.00,0.037,0.000,0.000,123,783,1224,-8.36,-0.20,442.77
$IRIDIUM_FIX,2354.48,12526.78,270910,161616
$TT8_MAMPS,0.027713
$HUMID,38.73
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,27.00
$XPDR_PINGS,0
$24V_AH,24.6,10.497
$10V_AH,10.5,8.481
$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,18.900,39.450,506.025,0.000,0.000,24.210,18.507,134.592,0.000,0.000,14.858,1956.711,1493.060,472.287,2224.917,263.499,0.000,1286.833,0.000,2059.555,0.000,0.542,0.000
$DEVICE_MAMPS,224.910,48.195,954.720,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,562.507,854.840,1425.421,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333976
$DATA_FILE_SIZE,50347,836
$CAP_FILE_SIZE,81135,0
$CFSIZE,260165632,164872192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061,325.6,1
$GPS,270910,200807,2407.273,12605.324,38,0.9,38,-3.6